MPU-6000,6050 Specification Datasheet

TDK InvenSense

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Datasheet

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
CONFIDENTIAL & PROPRIETARY 1 of 47
MPU-6000 and MPU-6050
Register Map and Descriptions
Revision 4.0
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 2 of 47
CONTENTS
1 REVISION HISTORY ............................................................................................................................. 4
2 PURPOSE AND SCOPE ....................................................................................................................... 5
3 REGISTER MAP ................................................................................................................................... 6
4 REGISTER DESCRIPTIONS ................................................................................................................. 9
4.1 REGISTERS 13 TO 16 SELF TEST REGISTERS ................................................................................ 9
4.2 REGISTER 25 SAMPLE RATE DIVIDER ...........................................................................................11
4.3 REGISTER 26 CONFIGURATION ....................................................................................................13
4.4 REGISTER 27 GYROSCOPE CONFIGURATION.................................................................................14
4.5 REGISTER 28 ACCELEROMETER CONFIGURATION..........................................................................15
4.6 REGISTER 31 MOTION DETECTION THRESHOLD ............................................................................16
4.7 REGISTER 35 FIFO ENABLE .......................................................................................................16
4.8 REGISTER 36 I2C MASTER CONTROL ...........................................................................................17
4.9 REGISTERS 37 TO 39 I2C SLAVE 0 CONTROL ................................................................................20
4.10 REGISTERS 40 TO 42 I2C SLAVE 1 CONTROL ................................................................................23
4.11 REGISTERS 43 TO 45 I2C SLAVE 2 CONTROL ................................................................................23
4.12 REGISTERS 46 TO 48 I2C SLAVE 3 CONTROL ................................................................................23
4.13 REGISTERS 49 TO 53 I2C SLAVE 4 CONTROL ................................................................................24
4.14 REGISTER 54 I2C MASTER STATUS ..............................................................................................26
4.15 REGISTER 55 INT PIN / BYPASS ENABLE CONFIGURATION .............................................................27
4.16 REGISTER 56 INTERRUPT ENABLE ...............................................................................................28
4.17 REGISTER 58 INTERRUPT STATUS ...............................................................................................29
4.18 REGISTERS 59 TO 64 ACCELEROMETER MEASUREMENTS ..............................................................30
4.19 REGISTERS 65 AND 66 TEMPERATURE MEASUREMENT ..................................................................31
4.20 REGISTERS 67 TO 72 GYROSCOPE MEASUREMENTS .....................................................................32
4.21 REGISTERS 73 TO 96 EXTERNAL SENSOR DATA ............................................................................33
4.22 REGISTER 99 I2C SLAVE 0 DATA OUT ..........................................................................................35
4.23 REGISTER 100 I2C SLAVE 1 DATA OUT ........................................................................................35
4.24 REGISTER 101 I2C SLAVE 2 DATA OUT ........................................................................................36
4.25 REGISTER 102 I2C SLAVE 3 DATA OUT ........................................................................................36
4.26 REGISTER 103 I2C MASTER DELAY CONTROL ...............................................................................37
4.27 REGISTER 104 SIGNAL PATH RESET ............................................................................................38
4.28 REGISTER 105 MOTION DETECTION CONTROL ..............................................................................39
4.29 REGISTER 106 USER CONTROL...................................................................................................39
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 3 of 47
4.30 REGISTER 107 POWER MANAGEMENT 1 .......................................................................................41
4.31 REGISTER 108 POWER MANAGEMENT 2 .......................................................................................43
4.32 REGISTER 114 AND 115 FIFO COUNT REGISTERS ........................................................................44
4.33 REGISTER 116 FIFO READ WRITE ..............................................................................................45
4.34 REGISTER 117 WHO AM I ...........................................................................................................46
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 4 of 47
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
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)
10/07/2011 3.0 Updates for Rev D silicon:
Updated accelerometer sensitivity specifications (sections 4.6, 4.8, 4.10, 4.23)
10/24/2011 3.1 Edits for clarity
11/14/2011 3.2
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)
3/9/2012 4.0
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)
MPU-6000/MPU-6050 Register Map and
Descriptions
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™.
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 I2C 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
each other with two exceptions. The MPU-6050 supports I2C 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 I2C, 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”.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 6 of 47
3 Register Map
The register map for the MPU-60X0 is listed below.
Addr
(Hex) Addr
(Dec.) Register Name Serial
I/F Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
0D 13 SELF_TEST_X R/W XA_TEST[4-2] XG_TEST[4-0]
0E 14 SELF_TEST_Y R/W YA_TEST[4-2] YG_TEST[4-0]
0F 15 SELF_TEST_Z R/W ZA_TEST[4-2] ZG_TEST[4-0]
10 16 SELF_TEST_A R/W RESERVED XA_TEST[1-0] YA_TEST[1-0] ZA_TEST[1-0]
19 25 SMPLRT_DIV R/W SMPLRT_DIV[7:0]
1A 26 CONFIG R/W - - EXT_SYNC_SET[2:0] DLPF_CFG[2:0]
1B 27 GYRO_CONFIG R/W - - - FS_SEL [1:0] - - -
1C 28 ACCEL_CONFIG R/W XA_ST YA_ST ZA_ST AFS_SEL[1:0]
1F 31 MOT_THR R/W MOT_THR[7:0]
23 35 FIFO_EN R/W TEMP
_FIFO_EN
XG
_FIFO_EN
YG
_FIFO_EN
ZG
_FIFO_EN
ACCEL
_FIFO_EN
SLV2
_FIFO_EN
SLV1
_FIFO_EN
SLV0
_FIFO_EN
24 36 I2C_MST_CTRL R/W
MULT
_MST_EN
WAIT
_FOR_ES
SLV_3
_FIFO_EN
I2C_MST
_P_NSR I2C_MST_CLK[3:0]
25 37 I2C_SLV0_ADDR R/W I2C_SLV0
_RW
I2C_SLV0_ADDR[6:0]
26 38 I2C_SLV0_REG R/W I2C_SLV0_REG[7:0]
27 39 I2C_SLV0_CTRL R/W
I2C_SLV0
_EN
I2C_SLV0
_BYTE_SW
I2C_SLV0
_REG_DIS
I2C_SLV0
_GRP I2C_SLV0_LEN[3:0]
28 40 I2C_SLV1_ADDR R/W I2C_SLV1
_RW
I2C_SLV1_ADDR[6:0]
29 41 I2C_SLV1_REG R/W I2C_SLV1_REG[7:0]
2A 42 I2C_SLV1_CTRL R/W
I2C_SLV1
_EN
I2C_SLV1
_BYTE_SW
I2C_SLV1
_REG_DIS
I2C_SLV1
_GRP
I2C_SLV1_LEN[3:0]
2B 43 I2C_SLV2_ADDR R/W I2C_SLV2
_RW
I2C_SLV2_ADDR[6:0]
2C 44 I2C_SLV2_REG R/W I2C_SLV2_REG[7:0]
2D 45 I2C_SLV2_CTRL R/W
I2C_SLV2
_EN
I2C_SLV2
_BYTE_SW
I2C_SLV2
_REG_DIS
I2C_SLV2
_GRP I2C_SLV2_LEN[3:0]
2E 46 I2C_SLV3_ADDR R/W I2C_SLV3
_RW
I2C_SLV3_ADDR[6:0]
2F 47 I2C_SLV3_REG R/W I2C_SLV3_REG[7:0]
30 48 I2C_SLV3_CTRL R/W I2C_SLV3
_EN
I2C_SLV3
_BYTE_SW
I2C_SLV3
_REG_DIS
I2C_SLV3
_GRP
I2C_SLV3_LEN[3:0]
31 49 I2C_SLV4_ADDR R/W I2C_SLV4
_RW I2C_SLV4_ADDR[6:0]
32 50 I2C_SLV4_REG R/W I2C_SLV4_REG[7:0]
33 51 I2C_SLV4_DO R/W I2C_SLV4_DO[7:0]
34 52 I2C_SLV4_CTRL R/W I2C_SLV4
_EN I2C_SLV4
_INT_EN I2C_SLV4
_REG_DIS I2C_MST_DLY[4:0]
35 53 I2C_SLV4_DI R I2C_SLV4_DI[7:0]
36 54 I2C_MST_STATUS R PASS_
THROUGH I2C_SLV4
_DONE I2C_LOST
_ARB I2C_SLV4
_NACK I2C_SLV3
_NACK I2C_SLV2
_NACK I2C_SLV1
_NACK I2C_SLV0
_NACK
37 55 INT_PIN_CFG R/W INT_LEVEL INT_OPEN LATCH
_INT_EN INT_RD
_CLEAR FSYNC_
INT_LEVEL FSYNC
_INT_EN
I2C
_BYPASS
_EN -
38 56 INT_ENABLE R/W - MOT_EN - FIFO
_OFLOW
_EN
I2C_MST
_INT_EN - - DATA
_RDY_EN
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 7 of 47
Addr
(Hex) Addr
(Dec.) Register Name Serial
I/F Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
3A 58 INT_STATUS R - MOT_INT - FIFO
_OFLOW
_INT
I2C_MST
_INT - - DATA
_RDY_INT
3B 59 ACCEL_XOUT_H R ACCEL_XOUT[15:8]
3C 60 ACCEL_XOUT_L R ACCEL_XOUT[7:0]
3D 61 ACCEL_YOUT_H R ACCEL_YOUT[15:8]
3E 62 ACCEL_YOUT_L R ACCEL_YOUT[7:0]
3F 63 ACCEL_ZOUT_H R ACCEL_ZOUT[15:8]
40 64 ACCEL_ZOUT_L R ACCEL_ZOUT[7:0]
41 65 TEMP_OUT_H R TEMP_OUT[15:8]
42 66 TEMP_OUT_L R TEMP_OUT[7:0]
43 67 GYRO_XOUT_H R GYRO_XOUT[15:8]
44 68 GYRO_XOUT_L R GYRO_XOUT[7:0]
45 69 GYRO_YOUT_H R GYRO_YOUT[15:8]
46 70 GYRO_YOUT_L R GYRO_YOUT[7:0]
47 71 GYRO_ZOUT_H R GYRO_ZOUT[15:8]
48 72 GYRO_ZOUT_L R GYRO_ZOUT[7:0]
49 73 EXT_SENS_DATA_00 R EXT_SENS_DATA_00[7:0]
4A 74 EXT_SENS_DATA_01 R EXT_SENS_DATA_01[7:0]
4B 75 EXT_SENS_DATA_02 R EXT_SENS_DATA_02[7:0]
4C 76 EXT_SENS_DATA_03 R EXT_SENS_DATA_03[7:0]
4D 77 EXT_SENS_DATA_04 R EXT_SENS_DATA_04[7:0]
4E 78 EXT_SENS_DATA_05 R EXT_SENS_DATA_05[7:0]
4F 79 EXT_SENS_DATA_06 R EXT_SENS_DATA_06[7:0]
50 80 EXT_SENS_DATA_07 R EXT_SENS_DATA_07[7:0]
51 81 EXT_SENS_DATA_08 R EXT_SENS_DATA_08[7:0]
52 82 EXT_SENS_DATA_09 R EXT_SENS_DATA_09[7:0]
53 83 EXT_SENS_DATA_10 R EXT_SENS_DATA_10[7:0]
54 84 EXT_SENS_DATA_11 R EXT_SENS_DATA_11[7:0]
55 85 EXT_SENS_DATA_12 R EXT_SENS_DATA_12[7:0]
56 86 EXT_SENS_DATA_13 R EXT_SENS_DATA_13[7:0]
57 87 EXT_SENS_DATA_14 R EXT_SENS_DATA_14[7:0]
58 88 EXT_SENS_DATA_15 R EXT_SENS_DATA_15[7:0]
59 89 EXT_SENS_DATA_16 R EXT_SENS_DATA_16[7:0]
5A 90 EXT_SENS_DATA_17 R EXT_SENS_DATA_17[7:0]
5B 91 EXT_SENS_DATA_18 R EXT_SENS_DATA_18[7:0]
5C 92 EXT_SENS_DATA_19 R EXT_SENS_DATA_19[7:0]
5D 93 EXT_SENS_DATA_20 R EXT_SENS_DATA_20[7:0]
5E 94 EXT_SENS_DATA_21 R EXT_SENS_DATA_21[7:0]
5F 95 EXT_SENS_DATA_22 R EXT_SENS_DATA_22[7:0]
60 96 EXT_SENS_DATA_23 R EXT_SENS_DATA_23[7:0]
63 99 I2C_SLV0_DO R/W I2C_SLV0_DO[7:0]
64 100 I2C_SLV1_DO R/W I2C_SLV1_DO[7:0]
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 8 of 47
Addr
(Hex) Addr
(Dec.) Register Name Serial
I/F Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
65 101 I2C_SLV2_DO R/W I2C_SLV2_DO[7:0]
66 102 I2C_SLV3_DO R/W I2C_SLV3_DO[7:0]
67 103 I2C_MST_DELAY_CT
RL R/W DELAY_ES
_SHADOW - - I2C_SLV4
_DLY_EN I2C_SLV3
_DLY_EN I2C_SLV2
_DLY_EN I2C_SLV1
_DLY_EN I2C_SLV0
_DLY_EN
68 104 SIGNAL_PATH_RES
ET R/W - - - - - GYRO
_RESET ACCEL
_RESET TEMP
_RESET
69 105 MOT_DETECT_CTRL R/W - - ACCEL_ON_DELAY[1:0] - -
6A 106 USER_CTRL R/W - FIFO_EN I2C_MST
_EN I2C_IF
_DIS - FIFO
_RESET I2C_MST
_RESET SIG_COND
_RESET
6B 107 PWR_MGMT_1 R/W DEVICE
_RESET SLEEP CYCLE - TEMP_DIS CLKSEL[2:0]
6C 108 PWR_MGMT_2 R/W LP_WAKE_CTRL[1:0] STBY_XA STBY_YA STBY_ZA STBY_XG STBY_YG STBY_ZG
72 114 FIFO_COUNTH R/W FIFO_COUNT[15:8]
73 115 FIFO_COUNTL R/W FIFO_COUNT[7:0]
74 116 FIFO_R_W R/W FIFO_DATA[7:0]
75 117 WHO_AM_I R - WHO_AM_I[6:1] -
Note:
Register Names ending in _H and _L contain the high and low bytes, respectively, of an internal
register value.
In the detailed register tables that follow, register names are in capital letters, while register values are in
capital letters and italicized. For example, the ACCEL_XOUT_H register (Register 59) contains the 8 most
significant 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.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 9 of 47
4 Register Descriptions
This 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.
4.1 Registers 13 to 16 Self Test Registers
SELF_TEST_X, SELF_TEST_Y, SELF_TEST_Z, and SELF_TEST_A
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
0D 13 XA_TEST[4-2] XG_TEST[4-0]
0E 14 YA_TEST[4-2] YG_TEST[4-0]
0F 15 ZA_TEST[4-2] ZG_TEST[4-0]
10 16 RESERVED XA_TEST[1-0] YA_TEST[1-0] ZA_TEST[1-0]
These registers are used for gyroscope and accelerometer self-tests that permit the user to test the
mechanical and electrical portions of the gyroscope and the accelerometer. The following sections
describe the self-test process.
Description:
1. Gyroscope Hardware Self-Test: Relative Method
Gyroscope self-test permits users to test the mechanical and electrical portions of the gyroscope.
Code for operating self-test is included within the MotionAppssoftware provided by InvenSense.
Please refer to the next section (Obtaining the Gyroscope Factory Trim (FT) Value) if not using
MotionApps software.
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This
actuation will move the sensor’s proof masses over a distance equivalent to a pre-defined Coriolis
force. This proof mass displacement results in a change in the sensor output, which is reflected in
the 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 finding
the change from factory trim of the self-test response as follows:
      - (%)=( )

where,
 =     ,   
This change from factory trim of the self-test response must be within the limits provided in the MPU-
6000/MPU-6050 Product Specification document for the part to pass self-test. Otherwise, the part is
deemed to have failed self-test.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 10 of 47
Obtaining the Gyroscope Factory Trim (FT) Value
If InvenSense MotionApps software is not used, the procedure detailed below should be followed to
obtain the Factory trim value of the self test response (FT) mentioned above. For the specific
registers 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[4-
0], 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.
FT [Xg] = 25 131 1.046(_) if XG_TEST 0
FT [Xg]= 0 if XG_TEST = 0
FT [Yg]= 25 131 1.046(_) if YG_TEST 0
FT [Yg]= 0 if YG_TEST = 0
FT [Zg] = 25 131 1.046(_) if ZG_TEST 0
FT [Zg]= 0 if ZG_TEST = 0
2. Accelerometer Hardware Self-Test: Relative Method
Accelerometer self-test permits users to test the mechanical and electrical portions of the
accelerometer. Code for operating self-test is included within the MotionApps software provided by
InvenSense. 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. This
actuation simulates an external force. The actuated sensor, in turn, will produce a corresponding
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 finding
the change from factory trim of the self-test response as follows:
      - (%)=( )

where,
 =     ,   
This change from factory trim of the self-test response must be within the limits provided in the MPU-
6000/MPU-6050 Product Specification document for the part to pass self-test. Otherwise, the part is
deemed to have failed self-test.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
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Obtaining the Accelerometer Factory Trim (FT) Value
If InvenSense MotionApps software is not used, the procedure detailed below should be followed to
obtain the Factory trim value of the self test response (FT) mentioned above. For the specific
registers 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 they
are determined by concatenating the upper accelerometer self test bits (bits 4-2) with the lower
accelerometer self test bits (bits 1-0).
When performing accelerometer self test, the full-scale range should be set to ±8g.
FT[Xa] = 4096 0.34 .
.
(_
) if XA_TEST 0.
FT[Xa] = 0 if XA_TEST = 0.
FT[Ya] = 4096 0.34 .
.
(_
) if YA_TEST 0.
FT[Ya] = 0 if YA_TEST = 0.
FT[Za] = 4096 0.34 .
.
(_
) if ZA_TEST 0.
FT[Za] = 0 if ZA_TEST = 0.
XA_TEST 5-bit unsigned value. FT[Xa] is determined by using this value as explained
above.
Parameters:
XG_TEST 5-bit unsigned value. FT[Xg] is determined by using this value as explained
above.
YA_TEST 5-bit unsigned value. FT[Ya] is determined by using this value as explained
above.
YG_TEST 5-bit unsigned value. FT[Yg] is determined by using this value as explained
above.
ZA_TEST 5-bit unsigned value. FT[Za] is determined by using this value as explained
above.
ZG_TEST 5-bit unsigned value. FT[Zg] is determined by using this value as explained
above.
4.2 Register 25 Sample Rate Divider
SMPRT_DIV
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
19 25 SMPLRT_DIV[7:0]
Description:
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
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This register specifies the divider from the gyroscope output rate used to generate the Sample Rate
for the MPU-60X0.
The sensor register output, FIFO output, DMP sampling and Motion detection 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 1kHz
when the DLPF is enabled (see Register 26).
Note:
For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-
6000/MPU-6050 Product Specification document.
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 than
once.
SMPLRT_DIV 8-bit unsigned value. The Sample Rate is determined by dividing the
gyroscope output rate by this value.
Parameters:
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4.3 Register 26 Configuration
CONFIG
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
1A 26 - - EXT_SYNC_SET[2:0] DLPF_CFG[2:0]
This register configures the external Frame Synchronization (FSYNC) pin sampling and the Digital
Low Pass Filter (DLPF) setting for both the gyroscopes and accelerometers.
Description:
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 latched
FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the
latch 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 register
determined by the value of EXT_SYNC_SET according to the following table.
EXT_SYNC_SET FSYNC Bit Location
0 Input disabled
1 TEMP_OUT_L[0]
2 GYRO_XOUT_L[0]
3 GYRO_YOUT_L[0]
4 GYRO_ZOUT_L[0]
5 ACCEL_XOUT_L[0]
6 ACCEL_YOUT_L[0]
7 ACCEL_ZOUT_L[0]
The DLPF is configured by DLPF_CFG. The accelerometer and gyroscope are filtered according to
the value of DLPF_CFG as shown in the table below.
DLPF_CFG Accelerometer
(Fs = 1kHz) Gyroscope
Bandwidth
(Hz) Delay
(ms) Bandwidth
(Hz) Delay
(ms) Fs (kHz)
0 260 0 256 0.98 8
1 184 2.0 188 1.9 1
2 94 3.0 98 2.8 1
3 44 4.9 42 4.8 1
4 21 8.5 20 8.3 1
5 10 13.8 10 13.4 1
6 5 19.0 5 18.6 1
7 RESERVED RESERVED 8
Bit 7 and bit 6 are reserved.
EXT_SYNC_SET 3-bit unsigned value. Configures the FSYNC pin sampling.
Parameters:
DLPF_CFG 3-bit unsigned value. Configures the DLPF setting.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
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4.4 Register 27 Gyroscope Configuration
GYRO_CONFIG
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
1B 27 XG_ST YG_ST ZG_ST FS_SEL[1:0] - - -
This register is used to trigger gyroscope self-test and configure the gyroscopes’ full scale range.
Description:
Gyroscope self-test permits users to test the mechanical and electrical portions of the
gyroscope. 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 independently
or all at the same time.
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This
actuation will move the sensor’s proof masses over a distance equivalent to a pre-defined
Coriolis force. This proof mass displacement results in a change in the sensor output, which is
reflected 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 self-
test enabled
The self-test limits for each gyroscope axis is provided in the electrical characteristics tables of
the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test
response 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 is
deemed to have failed self-test.
FS_SEL selects the full scale range of the gyroscope outputs according to the following table.
FS_SEL Full Scale Range
0 ± 250 °/s
1 ± 500 °/s
2 ± 1000 °/s
3 ± 2000 °/s
Bits 2 through 0 are reserved.
XG_ST Setting this bit causes the X axis gyroscope to perform self test.
Parameters:
YG_ST Setting this bit causes the Y axis gyroscope to perform self test.
ZG_ST Setting this bit causes the Z axis gyroscope to perform self test.
FS_SEL 2-bit unsigned value. Selects the full scale range of gyroscopes.
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Descriptions
Document Number: RM-MPU-6000A-00
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4.5 Register 28 Accelerometer Configuration
ACCEL_CONFIG
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
1C 28 XA_ST YA_ST ZA_ST AFS_SEL[1:0] -
This register is used to trigger accelerometer self test and configure the accelerometer full scale
range. This register also configures the Digital High Pass Filter (DHPF).
Description:
Accelerometer self-test permits users to test the mechanical and electrical portions of the
accelerometer. 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 or
all at the same time.
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This
actuation simulates an external force. The actuated sensor, in turn, will produce a corresponding
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 self-test
enabled
The self-test limits for each accelerometer axis is provided in the electrical characteristics tables of
the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test response
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 is deemed to have
failed self-test.
AFS_SEL selects the full scale range of the accelerometer outputs according to the following table.
AFS_SEL
0 ± 2g
1 ± 4g
2 ± 8g
3 ± 16g
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
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XA_ST When set to 1, the X- Axis accelerometer performs self test.
Parameters:
YA_ST When set to 1, the Y- Axis accelerometer performs self test.
ZA_ST When set to 1, the Z- Axis accelerometer performs self test.
AFS_SEL 2-bit unsigned value. Selects the full scale range of accelerometers.
4.6 Register 31 Motion Detection Threshold
MOT_THR
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
1F 31 MOT_THR[7:0]
This register configures the detection threshold for Motion interrupt generation. The mg per LSB
increment for MOT_THR can be found in the Electrical Specifications table of the MPU-6000/MPU-
6050 Product Specification document.
Description:
Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
Motion detection threshold.
The Motion interrupt will indicate the axis and polarity of detected motion in MOT_DETECT
_STATUS (Register 97).
For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050
Product Specification document as well as Registers 56 and 58 of this document.
MOT_THR 8-bit unsigned value. Specifies the Motion detection threshold.
Parameters:
4.7 Register 35 FIFO Enable
FIFO_EN
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
23 35 TEMP_
FIFO_EN XG_
FIFO_EN YG_
FIFO_EN ZG_
FIFO_EN ACCEL
_FIFO_EN SLV2
_FIFO_EN SLV1
_FIFO_EN SLV0
_FIFO_EN
This register determines which sensor measurements are loaded into the FIFO buffer.
Description:
Data stored inside the sensor data registers (Registers 59 to 96) will be loaded into the FIFO buffer if
a 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 be
loaded 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 96
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When an external Slave’s corresponding FIFO_EN bit (SLVx_FIFO_EN, where x=0, 1, or 2) is set to
1, the data stored in its corresponding data registers (EXT_SENS_DATA registers, Registers 73 to
96) will be written into the FIFO buffer at the Sample Rate. EXT_SENS_DATA register association
with I2C 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 to
96.
Note that the corresponding FIFO_EN bit (SLV3_FIFO_EN) is found in I2C_MST_CTRL (Register
36). Also note that Slave 4 behaves in a different manner compared to Slaves 0-3. Please refer to
Registers 49 to 53 for further information regarding Slave 4 usage.
TEMP_FIFO_EN When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers
65 and 66) to be written into the FIFO buffer.
Parameters:
XG_ FIFO_EN When 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_EN When 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_EN When 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_EN When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L,
ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and
ACCEL_ZOUT_L (Registers 59 to 64) to be written into the FIFO buffer.
SLV2_ FIFO_EN When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to
96) associated with Slave 2 to be written into the FIFO buffer.
SLV1_ FIFO_EN When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to
96) associated with Slave 1 to be written into the FIFO buffer.
SLV0_ FIFO_EN When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to
96) associated with Slave 0 to be written into the FIFO buffer.
Note
: For further information regarding the association of EXT_SENS_DATA registers to particular
slave devices, please refer to Registers 73 to 96.
4.8 Register 36 – I2C Master Control
I2C_MST_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
24 36 MULT
_MST_EN WAIT
_FOR_ES SLV_3
_FIFO_EN I2C_MST
_P_NSR I2C_MST_CLK[3:0]
This register configures the auxiliary I2C bus for single-master or multi-master control. In addition, the
register is used to delay the Data Ready interrupt, and also enables the writing of Slave 3 data into
the FIFO buffer. The register also configures the auxiliary I2C Master’s transition from one slave read
to the next, as well as the MPU-60X0’s 8MHz internal clock.
Description:
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
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Multi-master capability allows multiple I2C masters to operate on the same bus. In circuits where
multi-master capability is required, set MULT_MST_EN to 1. This will increase current drawn by
approximately 30µA.
In circuits where multi-master capability is required, the state of the I2C bus must always be
monitored by each separate I2C Master. Before an I2C Master can assume arbitration of the bus, it
must first confirm that no other I2C Master has arbitration of the bus. When MULT_MST_EN is set to
1, the MPU-60X0’s bus arbitration detection logic is turned on, enabling it to detect when the bus is
available.
When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be delayed until External
Sensor data from the Slave Devices are loaded into the EXT_SENS_DATA registers. This is used to
ensure that both the internal sensor data (i.e. from gyro and accel) and external sensor data have
been loaded to their respective data registers (i.e. the data is synced) when the Data Ready interrupt
is triggered.
When the Slave 3 FIFO enable bit (SLV_3_FIFO_EN) is set to 1, Slave 3 sensor measurement data
will be loaded into the FIFO buffer each time. EXT_SENS_DATA register association with I2C Slaves
is determined by I2C_SLV3_CTRL (Register 48).
For further information regarding EXT_SENS_DATA registers, please refer to Registers 73 to 96.
The corresponding FIFO_EN bits for Slave 0, Slave 1, and Slave 2 can be found in Register 35.
The I2C_MST_P_NSR bit configures the I2C Master’s transition from one slave read to the next
slave read. If the bit equals 0, there will be a restart between reads. If the bit equals 1, there will be a
stop followed by a start of the following read. When a write transaction follows a read transaction, the
stop followed by a start of the successive write will be always used.
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I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz
clock. It sets the I2C master clock speed according to the following table:
I2C_MST_CLK I2C Master Clock
Speed 8MHz Clock
Divider
0 348 kHz 23
1 333 kHz 24
2 320 kHz 25
3 308 kHz 26
4 296 kHz 27
5 286 kHz 28
6 276 kHz 29
7 267 kHz 30
8 258 kHz 31
9 500 kHz 16
10 471 kHz 17
11 444 kHz 18
12 421 kHz 19
13 400 kHz 20
14
381 kHz 21
15 364 kHz 22
MUL_MST_EN When set to 1, this bit enables multi-master capability.
Parameters:
WAIT_FOR_ES When set to 1, this bit delays the Data Ready interrupt until External Sensor
data from the Slave devices have been loaded into the EXT_SENS_DATA
registers.
SLV3_FIFO_EN When set to 1, this bit enables EXT_SENS_DATA registers associated with
Slave 3 to be written into the FIFO. The corresponding bits for Slaves 0-2 can
be found in Register 35.
I2C_MST_P_NSR Controls the I2C Master’s transition from one slave read to the next slave
read.
When this bit equals 0, there is a restart between reads.
When this bit equals 1, there is a stop and start marking the beginning of the
next read.
When a write follows a read, a stop and start is always enforced.
I2C_MST_CLK 4 bit unsigned value. Configures the I2C master clock speed divider.
Note
: For further information regarding the association of EXT_SENS_DATA registers to particular
slave devices, please refer to Registers 73 to 96.
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Descriptions
Document Number: RM-MPU-6000A-00
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4.9 Registers 37 to 39 I2C Slave 0 Control
I2C_SLV0_ADDR, I2C_SLV0_REG, and I2C_SLV0_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
25 37 I2C_SLV0
_RW I2C_SLV0_ADDR[6:0]
26 38 I2C_SLV0_REG[7:0]
27 39 I2C_SLV0
_EN
I2C_SLV0
_BYTE
_SW
I2C_SLV0_
REG_DIS I2C_SLV
0_GRP I2C_SLV0_LEN[3:0]
These registers configure the data transfer sequence for Slave 0. Slaves 1, 2, and 3 also behave in a
similar manner to Slave 0. However, Slave 4’s characteristics differ greatly from those of Slaves 0-3.
For further information regarding Slave 4, please refer to registers 49 to 53.
Description:
I2C slave data transactions between the MPU-60X0 and Slave 0 are set as either read or write
operations by the I2C_SLV0_RW bit. When this bit is 1, the transfer is a read operation. When the bit
is 0, the transfer is a write operation.
I2C_SLV0_ADDR is used to specify the I2C slave address of Slave 0.
Data transfer starts at an internal register within Slave 0. This address of this register is specified by
I2C_SLV0_REG.
The number of bytes transferred is specified by I2C_SLV0_LEN. When more than 1 byte is
transferred (I2C_SLV0_LEN > 1), data is read from (written to) sequential addresses starting from
I2C_SLV0_REG.
In read mode, the result of the read is placed in the lowest available EXT_SENS_DATA register. For
further information regarding the allocation of read results, please refer to the EXT_SENS_DATA
register description (Registers 73 96).
In write mode, the contents of I2C_SLV0_DO (Register 99) will be written to the slave device.
I2C_SLV0_EN enables Slave 0 for I2C data transaction. A data transaction is performed only if more
than zero bytes are to be transferred (I2C_SLV0_LEN > 0) between an enabled slave device
(I2C_SLV0_EN = 1).
I2C_SLV0_BYTE_SW configures byte swapping of word pairs. When byte swapping is enabled, the
high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP for the pairing
convention of the word pairs. When this bit is cleared to 0, bytes transferred to and from Slave 0 will
be written to EXT_SENS_DATA registers in the order they were transferred.
When I2C_SLV0_REG_DIS is set to 1, the transaction will read or write data only. When cleared to
0, the transaction will write a register address prior to reading or writing data. This bit should equal 0
when specifying the register address within the Slave device to/from which the ensuing data
transaction will take place.
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Document Number: RM-MPU-6000A-00
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I2C_SLV0_GRP specifies the grouping order of word pairs received from registers. When cleared to
0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired
to form a word. When set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd,
then even register addresses) are paired to form a word.
I2C data transactions are performed at the Sample Rate, as defined in Register 25. The user is
responsible for ensuring that I2C data transactions to and from each enabled Slave can be
completed within a single period of the Sample Rate.
The I2C slave access rate can be reduced relative to the Sample Rate. This reduced access rate is
determined by I2C_MST_DLY (Register 52). Whether a slave’s access rate is reduced relative to the
Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103).
The processing order for the slaves is fixed. The sequence followed for processing the slaves is
Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a particular Slave is disabled it will be skipped.
Each slave can either be accessed at the sample rate or at a reduced sample rate. In a case where
some slaves are accessed at the Sample Rate and some slaves are accessed at the reduced rate,
the sequence of accessing the slaves (Slave 0 to Slave 4) is still followed. However, the reduced rate
slaves will be skipped if their access rate dictates that they should not be accessed during that
particular cycle. For further information regarding the reduced access rate, please refer to Register
52. Whether a slave is accessed at the Sample Rate or at the reduced rate is determined by the
Delay Enable bits in Register 103.
I2C_SLV0_RW When set to 1, this bit configures the data transfer as a read operation.
Parameters:
When cleared to 0, this bit configures the data transfer as a write operation.
I2C_SLV0_ADDR 7-bit I2C address of Slave 0.
I2C_SLV0_REG 8-bit address of the Slave 0 register to/from which data transfer starts.
I2C_SLV0_EN When set to 1, this bit enables Slave 0 for data transfer operations.
When cleared to 0, this bit disables Slave 0 from data transfer operations.
I2C_SLV0_BYTE_SW When set to 1, this bit enables byte swapping. When byte swapping is
enabled, the high and low bytes of a word pair are swapped. Please refer to
I2C_SLV0_GRP for the pairing convention of the word pairs.
When cleared to 0, bytes transferred to and from Slave 0 will be written to
EXT_SENS_DATA registers in the order they were transferred.
I2C_SLV0_REG_DIS When set to 1, the transaction will read or write data only.
When cleared to 0, the transaction will write a register address prior to
reading or writing data.
I2C_SLV0_GRP 1-bit value specifying the grouping order of word pairs received from
registers. When cleared to 0, bytes from register addresses 0 and 1, 2 and
3, etc (even, then odd register addresses) are paired to form a word. When
set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc.
(odd, then even register addresses) are paired to form a word.
I2C_SLV0_LEN 4-bit unsigned value. Specifies the number of bytes transferred to and from
Slave 0.
Clearing this bit to 0 is equivalent to disabling the register by writing 0 to
I2C_SLV0_EN.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
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Release Date: 03/09/2012
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Byte Swapping Example
The following example demonstrates byte swapping for I2C_SLV0_BYTE_SW = 1,
I2C_SLV0_GRP = 0, I2C_SLV0_REG = 0x01, and I2C_SLV0_LEN = 0x4:
1. The first byte, read from Slave 0 register 0x01, will be stored at EXT_SENS_DATA_00. Because
I2C_SLV0_GRP = 0, bytes from even, then odd register addresses will be paired together as
word pairs. Since the read operation started from an odd register address instead of an even
address, only one byte is read.
2. The second and third bytes will be swapped, since I2C_SLV0_BYTE_SW = 1 and
I2C_SLV0_REG[0] = 1. The data read from 0x02 will be stored at EXT_SENS_DATA_02, and
the data read from 0x03 will be stored at EXT_SENS_DATA_01.
3. The last byte, read from address 0x04, will be stored at EXT_SENS_DATA_03. Because there is
only one byte remaining in the read operation, byte swapping will not occur.
Slave 0 is accessed at the Sample Rate, while Slave 1 is accessed at half the Sample Rate. The
other slaves are disabled. In the first cycle, both Slave 0 and Slave 1 will be accessed. However, in
the second cycle, only Slave 0 will be accessed. In the third cycle, both Slave 0 and Slave 1 will be
accessed. In the fourth cycle, only Slave 0 will be accessed. This pattern continues.
Slave Access Example
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4.10 Registers 40 to 42 I2C Slave 1 Control
I2C_SLV1_ADDR, I2C_SLV1_REG, and I2C_SLV1_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
28 40 I2C_SLV1
_RW I2C_SLV1_ADDR[6:0]
29 41 I2C_SLV1_REG[7:0]
2A 42 I2C_SLV1
_EN
I2C_SLV1
_BYTE
_SW
I2C_SLV1_
REG_DIS I2C_SLV
1_GRP I2C_SLV1_LEN[3:0]
These registers describe the data transfer sequence for Slave 1. Their functions correspond to those
described for the Slave 0 registers (Registers 37 to 39).
Description:
4.11 Registers 43 to 45 I2C Slave 2 Control
I2C_SLV2_ADDR, I2C_SLV2_REG, and I2C_SLV2_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
2B 43 I2C_SLV2
_RW I2C_SLV2_ADDR[6:0]
2C 44 I2C_SLV2_REG[7:0]
2D 45 I2C_SLV2
_EN
I2C_SLV2
_BYTE
_SW
I2C_SLV2_
REG_DIS I2C_SLV
2_GRP I2C_SLV2_LEN[3:0]
These registers describe the data transfer sequence for Slave 2. Their functions correspond to those
described for the Slave 0 registers (Registers 37 to 39).
Description:
4.12 Registers 46 to 48 I2C Slave 3 Control
I2C_SLV3_ADDR, I2C_SLV3_REG, and I2C_SLV3_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
2E 46 I2C_SLV3
_RW I2C_SLV3_ADDR[6:0]
2F 47 I2C_SLV3_REG[7:0]
30 48 I2C_SLV3
_EN
I2C_SLV3
_BYTE
_SW
I2C_SLV3_
REG_DIS I2C_SLV
3_GRP I2C_SLV3_LEN[3:0]
These registers describe the data transfer sequence for Slave 3. Their functions correspond to those
described for the Slave 0 registers (Registers 37 to 39).
Description:
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4.13 Registers 49 to 53 I2C Slave 4 Control
I2C_SLV4_ADDR, I2C_SLV4_REG, I2C_SLV4_DO, I2C_SLV4_CTRL, and I2C_SLV4_DI
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
31 49 I2C_SLV4
_RW I2C_SLV4_ADDR[6:0]
32 50 I2C_SLV4_REG[7:0]
33 51 I2C_SLV4_DO[7:0]
34 52 I2C_SLV4_
EN I2C_SLV4
_INT_EN I2C_SLV4
_REG_DIS I2C_MST_DLY[4:0]
35 53 I2C_SLV4_DI[7:0]
These registers describe the data transfer sequence for Slave 4. The characteristics of Slave 4 differ
greatly from those of Slaves 0-3. For further information regarding the characteristics of Slaves 0-3,
please refer to Registers 37 to 48.
Description:
I2C slave data transactions between the MPU-60X0 and Slave 4 are set as either read or write
operations by the I2C_SLV4_RW bit. When this bit is 1, the transfer is a read operation. When the bit
is 0, the transfer is a write operation.
I2C_SLV4_ADDR is used to specify the I2C slave address of Slave 4.
Data transfer starts at an internal register within Slave 4. This register address is specified by
I2C_SLV4_REG.
In read mode, the result of the read will be available in I2C_SLV4_DI. In write mode, the contents of
I2C_SLV4_DO will be written into the slave device.
A data transaction is performed only if the I2C_SLV4_EN bit is set to 1. The data transaction should
be enabled once its parameters are configured in the _ADDR and _REG registers. For write, the
_DO register is also required. I2C_SLV4_EN will be cleared after the transaction is performed once.
An interrupt is triggered at the completion of a Slave 4 data transaction if the interrupt is enabled .
The status of this interrupt can be observed in Register 54.
When I2C_SLV4_REG_DIS is set to 1, the transaction will read or write data instead of writing a
register address. This bit should equal 0 when specifying the register address within the Slave
device to/from which the ensuing data transaction will take place.
I2C_MST_DLY configures the reduced access rate of I2C slaves relative to the Sample Rate. When
a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every
1 / (1 + I2C_MST_DLY) samples
This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG
(register 26). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by
I2C_MST_DELAY_CTRL (register 103).
For further information regarding the Sample Rate, please refer to register 25.
Slave 4 transactions are performed after Slave 0, 1, 2 and 3 transactions have been completed.
Thus the maximum rate for Slave 4 transactions is determined by the Sample Rate as defined in
Register 25.
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I2C_SLV4_RW When set to 1, this bit configures the data transfer as a read operation.
When cleared to 0, this bit configures the data transfer as a write operation.
Parameters:
I2C_SLV4_ADDR 7-bit I2C address for Slave 4.
I2C_SLV4_REG 8-bit address of the Slave 4 register to/from which data transfer starts.
I2C_SLV4_DO This register stores the data to be written into the Slave 4.
If I2C_SLV4_RW is set 1 (set to read), this register has no effect.
I2C_SLV4_EN When set to 1, this bit enables Slave 4 for data transfer operations.
When cleared to 0, this bit disables Slave 4 from data transfer operations.
I2C_SLV4_INT_EN When set to 1, this bit enables the generation of an interrupt signal upon
completion of a Slave 4 transaction.
When cleared to 0, this bit disables the generation of an interrupt signal
upon completion of a Slave 4 transaction.
The interrupt status can be observed in Register 54.
I2C_SLV4_REG_DIS When set to 1, the transaction will read or write data.
When cleared to 0, the transaction will read or write a register address.
I2C_MST_DLY Configures the decreased access rate of slave devices relative to the
Sample Rate.
I2C_SLV4_DI This register stores the data read from Slave 4.
This field is populated after a read transaction.
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4.14 Register 54 – I2C Master Status
I2C_MST_STATUS
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
36 54 PASS_
THROUGH I2C_SLV4
_DONE I2C_LOST
_ARB I2C_SLV4
_NACK I2C_SLV3
_NACK I2C_SLV2
_NACK I2C_SLV1
_NACK I2C_SLV0
_NACK
This register shows the status of the interrupt generating signals in the I2C Master within the MPU-
60X0. This register also communicates the status of the FSYNC interrupt to the host processor.
Description:
Reading this register will clear all the status bits in the register.
PASS_THROUGH This bit reflects the status of the FSYNC interrupt from an external device
into the MPU-60X0. This is used as a way to pass an external interrupt
through the MPU-60X0 to the host application processor. When set to 1, this
bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
(Register 55).
Parameters:
I2C_SLV4_DONE Automatically sets to 1 when a Slave 4 transaction has completed. This
triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
(Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
I2C_SLV4_CTRL register (Register 52).
I2C_LOST_ARB This bit automatically sets to 1 when the I2C Master has lost arbitration of the
auxiliary I2C bus (an error condition). This triggers an interrupt if the
I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
I2C_SLV4_NACK This bit automatically sets to 1 when the I2C Master receives a NACK in a
transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
bit in the INT_ENABLE register (Register 56) is asserted.
I2C_SLV3_NACK This bit automatically sets to 1 when the I2C Master receives a NACK in a
transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
bit in the INT_ENABLE register (Register 56) is asserted.
I2C_SLV2_NACK This bit automatically sets to 1 when the I2C Master receives a NACK in a
transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
bit in the INT_ENABLE register (Register 56) is asserted.
I2C_SLV1_NACK This bit automatically sets to 1 when the I2C Master receives a NACK in a
transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
bit in the INT_ENABLE register (Register 56) is asserted.
I2C_SLV0_NACK This bit automatically sets to 1 when the I2C Master receives a NACK in a
transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
bit in the INT_ENABLE register (Register 56) is asserted.
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4.15 Register 55 INT Pin / Bypass Enable Configuration
INT_PIN_CFG
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
37 55 INT_LEVEL INT_OPEN LATCH
_INT_EN INT_RD
_CLEAR FSYNC_
INT_LEVEL FSYNC_
INT_EN
I2C
_BYPASS
_EN -
This register configures the behavior of the interrupt signals at the INT pins. This register is also
used to enable the FSYNC Pin to be used as an interrupt to the host application processor, as well
as to enable Bypass Mode on the I2C Master. This bit also enables the clock output.
Description:
FSYNC_INT_EN enables the FSYNC pin to be used as an interrupt to the host application
processor. A transition to the active level specified in FSYNC_INT_LEVEL will trigger an interrupt.
The status of this interrupt is read from the PASS_THROUGH bit in the I2C Master Status Register
(Register 54).
When I2C_BYPASS_EN is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host
application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When
this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C
bus of the MPU-60X0 regardless of the state of I2C_MST_EN.
For further information regarding Bypass Mode, please refer to Section 7.11 and 7.13 of the MPU-
6000/MPU-6050 Product Specification document.
INT_LEVEL When this bit is equal to 0, the logic level for the INT pin is active high.
Parameters:
When this bit is equal to 1, the logic level for the INT pin is active low.
INT_OPEN When this bit is equal to 0, the INT pin is configured as push-pull.
When this bit is equal to 1, the INT pin is configured as open drain.
LATCH_INT_EN When this bit is equal to 0, the INT pin emits a 50us long pulse.
When this bit is equal to 1, the INT pin is held high until the interrupt is
cleared.
INT_RD_CLEAR When this bit is equal to 0, interrupt status bits are cleared only by reading
INT_STATUS (Register 58)
When this bit is equal to 1, interrupt status bits are cleared on any read
operation.
FSYNC_INT_LEVEL When this bit is equal to 0, the logic level for the FSYNC pin (when used as
an interrupt to the host processor) is active high.
When this bit is equal to 1, the logic level for the FSYNC pin (when used as
an interrupt to the host processor) is active low.
FSYNC_INT_EN When equal to 0, this bit disables the FSYNC pin from causing an interrupt to
the host processor.
When equal to 1, this bit enables the FSYNC pin to be used as an interrupt to
the host processor.
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I2C_BYPASS_EN When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
0, the host application processor will be able to directly access the auxiliary
I2C bus of the MPU-60X0.
When this bit is equal to 0, the host application processor will not be able to
directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state
of I2C_MST_EN (Register 106 bit[5]).
4.16 Register 56 Interrupt Enable
INT_ENABLE
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
38 56 MOT_EN FIFO
_OFLOW
_EN
I2C_MST
_INT_EN - - DATA
_RDY_EN
This register enables interrupt generation by interrupt sources.
Description:
For information regarding the interrupt status for each interrupt generation source, please refer to
Register 58. Further information regarding I2C Master interrupt generation can be found in Register
54.
Bits 2 and 1 are reserved.
MOT_EN When set to 1, this bit enables Motion detection to generate an interrupt.
Parameters:
FIFO_OFLOW_EN When set to 1, this bit enables a FIFO buffer overflow to generate an
interrupt.
I2C_MST_INT_EN When set to 1, this bit enables any of the I2C Master interrupt sources to
generate an interrupt.
DATA_RDY_EN When set to 1, this bit enables the Data Ready interrupt, which occurs each
time a write operation to all of the sensor registers has been completed.
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4.17 Register 58 Interrupt Status
INT_STATUS
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
3A 58 - MOT_INT - FIFO
_OFLOW
_INT
I2C_MST
_INT - - DATA
_RDY_INT
This register shows the interrupt status of each interrupt generation source. Each bit will clear after
the register is read.
Description:
For information regarding the corresponding interrupt enable bits, please refer to Register 56.
For a list of I2C Master interrupts, please refer to Register 54.
Bits 2 and 1 are reserved.
MOT_INT This bit automatically sets to 1 when a Motion Detection interrupt has been
generated.
Parameters:
The bit clears to 0 after the register has been read.
FIFO_OFLOW_INT This bit automatically sets to 1 when a FIFO buffer overflow interrupt has
been generated.
The bit clears to 0 after the register has been read.
I2C_MST_INT This bit automatically sets to 1 when an I2C Master interrupt has been
generated. For a list of I2C Master interrupts, please refer to Register 54.
The bit clears to 0 after the register has been read.
DATA_RDY_INT This bit automatically sets to 1 when a Data Ready interrupt is generated.
The bit clears to 0 after the register has been read.
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4.18 Registers 59 to 64 Accelerometer Measurements
ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and
ACCEL_ZOUT_L
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
3B 59 ACCEL_XOUT[15:8]
3C 60 ACCEL_XOUT[7:0]
3D 61 ACCEL_YOUT[15:8]
3E 62 ACCEL_YOUT[7:0]
3F 63 ACCEL_ZOUT[15:8]
40 64 ACCEL_ZOUT[7:0]
These registers store the most recent accelerometer measurements.
Description:
Accelerometer measurements are written to these registers at the Sample Rate as defined in
Register 25.
The accelerometer measurement registers, along with the temperature measurement registers,
gyroscope measurement registers, and external sensor data registers, are composed of two sets of
registers: an internal register set and a user-facing read register set.
The data within the accelerometer sensors’ internal register set is always updated at the Sample
Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values
whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read
measurements from the same sampling instant. Note that if burst reads are not used, the user is
responsible for ensuring a set of single byte reads correspond to a single sampling instant by
checking the Data Ready interrupt.
Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS (Register 28). For
each full scale setting, the accelerometerssensitivity per LSB in ACCEL_xOUT is shown in the table
below.
AFS_SEL Full Scale Range LSB Sensitivity
0 ±2g 16384 LSB/g
1 ±4g 8192 LSB/g
2 ±8g 4096 LSB/g
3 ±16g 2048 LSB/g
ACCEL_XOUT 16-bit 2’s complement value.
Parameters:
Stores the most recent X axis accelerometer measurement.
ACCEL_YOUT 16-bit 2’s complement value.
Stores the most recent Y axis accelerometer measurement.
ACCEL_ZOUT 16-bit 2’s complement value.
Stores the most recent Z axis accelerometer measurement.
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4.19 Registers 65 and 66 Temperature Measurement
TEMP_OUT_H and TEMP_OUT_L
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
41 65 TEMP_OUT[15:8]
42 66 TEMP_OUT[7:0]
These registers store the most recent temperature sensor measurement.
Description:
Temperature measurements are written to these registers at the Sample Rate as defined in Register
25.
These temperature measurement registers, along with the accelerometer measurement registers,
gyroscope measurement registers, and external sensor data registers, are composed of two sets of
registers: an internal register set and a user-facing read register set.
The data within the temperature sensor’s internal register set is always updated at the Sample Rate.
Meanwhile, the user-facing read register set duplicates the internal register set’s data values
whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read
measurements from the same sampling instant. Note that if burst reads are not used, the user is
responsible for ensuring a set of single byte reads correspond to a single sampling instant by
checking the Data Ready interrupt.
The scale factor and offset for the temperature sensor are found in the Electrical Specifications table
(Section 6.4 of the MPU-6000/MPU-6050 Product Specification document).
The temperature in degrees C for a given register value may be computed as:
Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 36.53
Please note that the math in the above equation is in decimal.
TEMP_OUT 16-bit signed value.
Parameters:
Stores the most recent temperature sensor measurement.
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4.20 Registers 67 to 72 Gyroscope Measurements
GYRO_XOUT_H, GYRO_XOUT_L, GYRO_YOUT_H, GYRO_YOUT_L, GYRO_ZOUT_H, and
GYRO_ZOUT_L
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
43 67 GYRO_XOUT[15:8]
44 68 GYRO_XOUT[7:0]
45 69 GYRO_YOUT[15:8]
46 70 GYRO_YOUT[7:0]
47 71 GYRO_ZOUT[15:8]
48 72 GYRO_ZOUT[7:0]
These registers store the most recent gyroscope measurements.
Description:
Gyroscope measurements are written to these registers at the Sample Rate as defined in Register
25.
These gyroscope measurement registers, along with the accelerometer measurement registers,
temperature measurement registers, and external sensor data registers, are composed of two sets of
registers: an internal register set and a user-facing read register set.
The data within the gyroscope sensors’ internal register set is always updated at the Sample Rate.
Meanwhile, the user-facing read register set duplicates the internal register set’s data values
whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read
measurements from the same sampling instant. Note that if burst reads are not used, the user is
responsible for ensuring a set of single byte reads correspond to a single sampling instant by
checking the Data Ready interrupt.
Each 16-bit gyroscope measurement has a full scale defined in FS_SEL (Register 27). For each full
scale setting, the gyroscopes’ sensitivity per LSB in GYRO_xOUT is shown in the table below:
FS_SEL Full Scale Range LSB Sensitivity
0 ± 250 °/s 131 LSB/°/s
1 ± 500 °/s 65.5 LSB/°/s
2 ± 1000 °/s 32.8 LSB/°/s
3 ± 2000 °/s 16.4 LSB/°/s
GYRO_XOUT 16-bit 2’s complement value.
Parameters:
Stores the most recent X axis gyroscope measurement.
GYRO_YOUT 16-bit 2’s complement value.
Stores the most recent Y axis gyroscope measurement.
GYRO_ZOUT 16-bit 2’s complement value.
Stores the most recent Z axis gyroscope measurement.
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4.21 Registers 73 to 96External Sensor Data
EXT_SENS_DATA_00 through EXT_SENS_DATA_23
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
49 73 EXT_SENS_DATA_00[7:0]
4A 74 EXT_SENS_DATA_01[7:0]
4B 75 EXT_SENS_DATA_02[7:0]
4C 76 EXT_SENS_DATA_03[7:0]
4D 77 EXT_SENS_DATA_04[7:0]
4E 78 EXT_SENS_DATA_05[7:0]
4F 79 EXT_SENS_DATA_06[7:0]
50 80 EXT_SENS_DATA_07[7:0]
51 81 EXT_SENS_DATA_08[7:0]
52 82 EXT_SENS_DATA_09[7:0]
53 83 EXT_SENS_DATA_10[7:0]
54 84 EXT_SENS_DATA_11[7:0]
55 85 EXT_SENS_DATA_12[7:0]
56 86 EXT_SENS_DATA_13[7:0]
57 87 EXT_SENS_DATA_14[7:0]
58 88 EXT_SENS_DATA_15[7:0]
59 89 EXT_SENS_DATA_16[7:0]
5A 90 EXT_SENS_DATA_17[7:0]
5B 91 EXT_SENS_DATA_18[7:0]
5C 92 EXT_SENS_DATA_19[7:0]
5D 93 EXT_SENS_DATA_20[7:0]
5E 94 EXT_SENS_DATA_21[7:0]
5F 95 EXT_SENS_DATA_22[7:0]
60 96 EXT_SENS_DATA_23[7:0]
These registers store data read from external sensors by the Slave 0, 1, 2, and 3 on the auxiliary I2C
interface. Data read by Slave 4 is stored in I2C_SLV4_DI (Register 53).
Description:
External sensor data is written to these registers at the Sample Rate as defined in Register 25. This
access rate can be reduced by using the Slave Delay Enable registers (Register 103).
External sensor data registers, along with the gyroscope measurement registers, accelerometer
measurement registers, and temperature measurement registers, are composed of two sets of
registers: an internal register set and a user-facing read register set.
The data within the external sensors’ internal register set is always updated at the Sample Rate (or
the reduced access rate) whenever the serial interface is idle. This guarantees that a burst read of
sensor registers will read measurements from the same sampling instant. Note that if burst reads are
not used, the user is responsible for ensuring a set of single byte reads correspond to a single
sampling instant by checking the Data Ready interrupt.
Data is placed in these external sensor data registers according to I2C_SLV0_CTRL,
I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, 42, 45, and 48). When
more than zero bytes are read (I2C_SLVx_LEN > 0) from an enabled slave (I2C_SLVx_EN = 1), the
slave is read at the Sample Rate (as defined in Register 25) or delayed rate (if specified in Register
52 and 103). During each Sample cycle, slave reads are performed in order of Slave number. If all
slaves are enabled with more than zero bytes to be read, the order will be Slave 0, followed by Slave
1, Slave 2, and Slave 3.
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Each enabled slave will have EXT_SENS_DATA registers associated with it by number of bytes read
(I2C_SLVx_LEN) in order of slave number, starting from EXT_SENS_DATA_00. Note that this
means enabling or disabling a slave may change the higher numbered slaves’ associated registers.
Furthermore, if fewer total bytes are being read from the external sensors as a result of such a
change, then the data remaining in the registers which no longer have an associated slave device
(i.e. high numbered registers) will remain in these previously allocated registers unless reset.
If the sum of the read lengths of all SLVx transactions exceed the number of available
EXT_SENS_DATA registers , the excess bytes will be dropped. There are 24 EXT_SENS_DATA
registers and hence the total read lengths between all the slaves cannot be greater than 24 or some
bytes will be lost.
Note
: Slave 4’s behavior is distinct from that of Slaves 0-3. For further information regarding the
characteristics of Slave 4, please refer to Registers 49 to 53.
Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and I2C_SLV0_LEN =
4) while Slave 1 is enabled with 2 bytes to be read, (I2C_SLV1_EN=1 and I2C_SLV1_LEN = 2). In
such a situation, EXT_SENS_DATA _00 through _03 will be associated with Slave 0, while
EXT_SENS_DATA _04 and 05 will be associated with Slave 1.
Example:
If Slave 2 is enabled as well, registers starting from EXT_SENS_DATA_06 will be allocated to Slave
2.
If Slave 2 is disabled while Slave 3 is enabled in this same situation, then registers starting from
EXT_SENS_DATA_06 will be allocated to Slave 3 instead.
If a slave is disabled at any time, the space initially allocated to the slave in the EXT_SENS_DATA
register, will remain associated with that slave. This is to avoid dynamic adjustment of the register
allocation.
Register Allocation for Dynamic Disable vs. Normal Disable
The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all slaves are
disabled, or (2) the I2C_MST_RST bit is set (Register 106).
This above is also true if one of the slaves gets NACKed and stops functioning.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 35 of 47
4.22 Register 99 – I2C Slave 0 Data Out
I2C_SLV0_DO
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
63 99 I2C_SLV0_DO[7:0]
This register holds the output data written into Slave 0 when Slave 0 is set to write mode.
Description:
For further information regarding Slave 0 control, please refer to Registers 37 to 39.
I2C_SLV0_DO 8 bit unsigned value that is written into Slave 0 when Slave 0 is set to write
mode.
Parameters:
4.23 Register 100 – I2C Slave 1 Data Out
I2C_SLV1_DO
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
64 100 I2C_SLV1_DO[7:0]
This register holds the output data written into Slave 1 when Slave 1 is set to write mode.
Description:
For further information regarding Slave 1 control, please refer to Registers 40 to 42.
I2C_SLV1_DO 8 bit unsigned value that is written into Slave 1 when Slave 1 is set to write
mode.
Parameters:
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 36 of 47
4.24 Register 101 – I2C Slave 2 Data Out
I2C_SLV2_DO
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
65 101 I2C_SLV2_DO[7:0]
This register holds the output data written into Slave 2 when Slave 2 is set to write mode.
Description:
For further information regarding Slave 2 control, please refer to Registers 43 to 45.
I2C_SLV2_DO 8 bit unsigned value that is written into Slave 2 when Slave 2 is set to write
mode.
Parameters:
4.25 Register 102 – I2C Slave 3 Data Out
I2C_SLV3_DO
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
66 102 I2C_SLV3_DO[7:0]
This register holds the output data written into Slave 3 when Slave 3 is set to write mode.
Description:
For further information regarding Slave 3 control, please refer to Registers 46 to 48.
I2C_SLV3_DO 8 bit unsigned value that is written into Slave 3 when Slave 3 is set to write
mode.
Parameters:
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 37 of 47
4.26 Register 103 – I2C Master Delay Control
I2C_MST_DELAY_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
67 103 DELAY
_ES
_SHADOW - - I2C_SLV4
_DLY_EN I2C_SLV3
_DLY_EN I2C_SLV2
_DLY_EN I2C_SLV1
_DLY_EN I2C_SLV0
_DLY_EN
This register is used to specify the timing of external sensor data shadowing. The register is also
used to decrease the access rate of slave devices relative to the Sample Rate.
Description:
When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data
has been received.
When I2C_SLV4_DLY_EN, I2C_SLV3_DLY_EN, I2C_SLV2_DLY_EN, I2C_SLV1_DLY_EN, and
I2C_SLV0_DLY_EN are enabled, the rate of access for the corresponding slave devices is reduced.
When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every
1 / (1 + I2C_MST_DLY) samples.
This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG
(register 26).
For further information regarding I2C_MST_DLY, please refer to register 52.
For further information regarding the Sample Rate, please refer to register 25.
Bits 6 and 5 are reserved.
DELAY_ES_SHADOW When set, delays shadowing of external sensor data until all data
has been received.
Parameters:
I2C_SLV4_DLY_EN When enabled, slave 4 will only be accessed at a decreased rate.
I2C_SLV3_DLY_EN When enabled, slave 3 will only be accessed at a decreased rate.
I2C_SLV2_DLY_EN When enabled, slave 2 will only be accessed at a decreased rate.
I2C_SLV1_DLY_EN When enabled, slave 1 will only be accessed at a decreased rate.
I2C_SLV0_DLY_EN When enabled, slave 0 will only be accessed at a decreased rate.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 38 of 47
4.27 Register 104 Signal Path Reset
SIGNAL_PATH_RESET
Type: Write Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
68 104 - - - - - GYRO
_RESET ACCEL
_RESET TEMP
_RESET
This register is used to reset the analog and digital signal paths of the gyroscope, accelerometer,
and temperature sensors.
Description:
The reset will revert the signal path analog to digital converters and filters to their power up
configurations.
Note:
Bits 7 to 3 are reserved.
This register does not clear the sensor registers.
GYRO_RESET When set to 1, this bit resets the gyroscope analog and digital signal paths.
Parameters:
ACCEL_RESET When set to 1, this bit resets the accelerometer analog and digital signal
paths.
TEMP_RESET When set to 1, this bit resets the temperature sensor analog and digital signal
paths.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 39 of 47
4.28 Register 105 Motion Detection Control
MOT_DETECT_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
69 105 - - ACCEL_ON_DELAY[1:0] - -
This register is used to add delay to the accelerometer power on time. It is also used to configure the
Motion detection decrement rate.
Description:
The accelerometer data path provides samples to the sensor registers and Motion detection
detection modules. The signal path contains filters which must be flushed on wake-up with new
samples before the detection modules begin operations. The default wake-up delay, of 4ms can be
lengthened by up to 3ms. This additional delay is specified in ACCEL_ON_DELAY in units of 1 LSB
= 1 ms. The user may select any value above zero unless instructed otherwise by InvenSense.
Please refer to Section 8 of the MPU-6000/MPU-6050 Product Specification document for further
information regarding the detection modules.
Bits 7 and 6 are reserved.
ACCEL_ON_DELAY 2-bit unsigned value. Specifies the additional power-on delay applied to
accelerometer data path modules.
Parameters:
Unit of 1 LSB = 1 ms.
4.29 Register 106 User Control
USER_CTRL
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
6A 106 - FIFO_EN I2C_MST
_EN I2C_IF
_DIS - FIFO
_RESET I2C_MST
_RESET SIG_COND
_RESET
This register allows the user to enable and disable the FIFO buffer, I2C Master Mode, and primary
I2C interface. The FIFO buffer, I2C Master, sensor signal paths and sensor registers can also be
reset using this register.
Description:
When I2C_MST_EN is set to 1, I2C Master Mode is enabled. In this mode, the MPU-60X0 acts as
the I2C Master to the external sensor slave devices on the auxiliary I2C bus. When this bit is cleared
to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically driven by the primary I2C bus
(SDA and SCL). This is a precondition to enabling Bypass Mode. For further information regarding
Bypass Mode, please refer to Register 55.
MPU-6000: The primary SPI interface will be enabled in place of the disabled primary I2C interface
when I2C_IF_DIS is set to 1.
MPU-6050: Always write 0 to I2C_IF_DIS.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 40 of 47
When the reset bits (FIFO_RESET, I2C_MST_RESET, and SIG_COND_RESET) are set to 1, these
reset bits will trigger a reset and then clear to 0.
Bits 7 and 3 are reserved.
FIFO_EN When set to 1, this bit enables FIFO operations.
Parameters:
When this bit is cleared to 0, the FIFO buffer is disabled. The FIFO buffer
cannot be written to or read from while disabled.
The FIFO buffer’s state does not change unless the MPU-60X0 is power
cycled.
I2C_MST_EN When set to 1, this bit enables I2C Master Mode.
When this bit is cleared to 0, the auxiliary I2C bus lines (AUX_DA and
AUX_CL) are logically driven by the primary I2C bus (SDA and SCL).
I2C_IF_DIS MPU-6000:
When set to 1, this bit disables the primary I2C interface and
enables the SPI interface instead.
MPU-6050
FIFO_RESET This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
bit automatically clears to 0 after the reset has been triggered.
: Always write this bit as zero.
I2C_MST_RESET This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
This bit automatically clears to 0 after the reset has been triggered.
SIG_COND_RESET When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
accelerometers, and temperature sensor). This operation will also clear the
sensor registers. This bit automatically clears to 0 after the reset has been
triggered.
When resetting only the signal path (and not the sensor registers), please
use Register 104, SIGNAL_PATH_RESET.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 41 of 47
4.30 Register 107 Power Management 1
PWR_MGMT_1
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
6B 107 DEVICE
_RESET SLEEP CYCLE - TEMP_DIS CLKSEL[2:0]
This register allows the user to configure the power mode and clock source. It also provides a bit for
resetting the entire device, and a bit for disabling the temperature sensor.
Description:
By setting SLEEP to 1, the MPU-60X0 can be put into low power sleep mode. When CYCLE is set to
1 while SLEEP is disabled, the MPU-60X0 will be put into Cycle Mode. In Cycle Mode, the device
cycles between sleep mode and waking up to take a single sample of data from accelerometer at a
rate determined by LP_WAKE_CTRL (register 108). To configure the wake frequency, use
LP_WAKE_CTRL within the Power Management 2 register (Register 108).
An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the
MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the
clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled.
Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly
recommended that the device be configured to use one of the gyroscopes (or an external clock
source) as the clock reference for improved stability. The clock source can be selected according to
the following table.
CLKSEL Clock Source
0 Internal 8MHz oscillator
1 PLL with X axis gyroscope reference
2 PLL with Y axis gyroscope reference
3 PLL with Z axis gyroscope reference
4 PLL with external 32.768kHz reference
5 PLL with external 19.2MHz reference
6 Reserved
7 Stops the clock and keeps the timing generator
in reset
For further information regarding the MPU-60X0 clock source, please refer to the MPU-6000/MPU-
6050 Product Specification document.
Bit 4 is reserved.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 42 of 47
DEVICE_RESET When set to 1, this bit resets all internal registers to their default values.
Parameters:
The bit automatically clears to 0 once the reset is done.
The default values for each register can be found in Section 3.
SLEEP When set to 1, this bit puts the MPU-60X0 into sleep mode.
CYCLE When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
between sleep mode and waking up to take a single sample of data from
active sensors at a rate determined by LP_WAKE_CTRL (register 108).
TEMP_DIS When set to 1, this bit disables the temperature sensor.
CLKSEL 3-bit unsigned value. Specifies the clock source of the device.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 43 of 47
4.31 Register 108 Power Management 2
PWR_MGMT_2
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
6C 108 LP_WAKE_CTRL[1:0] STBY_XA STBY_YA STBY_ZA STBY_XG STBY_YG STBY_ZG
This register allows the user to configure the frequency of wake-ups in Accelerometer Only Low
Power Mode. This register also allows the user to put individual axes of the accelerometer and
gyroscope into standby mode.
Description:
The MPU-60X0 can be put into Accelerometer Only Low Power Mode using the following steps:
(i) Set CYCLE bit to 1
(ii) Set SLEEP bit to 0
(iii) Set TEMP_DIS bit to 1
(iv) Set STBY_XG, STBY_YG, STBY_ZG bits to 1
All of the above bits can be found in Power Management 1 register (Register 107).
In this mode, the device will power off all devices except for the primary I2C interface, waking only
the accelerometer at fixed intervals to take a single measurement. The frequency of wake-ups can
be configured with LP_WAKE_CTRL as shown below.
LP_WAKE_CTRL Wake-up Frequency
0 1.25 Hz
1 5 Hz
2 20 Hz
3 40 Hz
For further information regarding the MPU-6050’s power modes, please refer to Register 107.
The user can put individual accelerometer and gyroscopes axes into standby mode by using this
register. If the device is using a gyroscope axis as the clock source and this axis is put into standby
mode, the clock source will automatically be changed to the internal 8MHz oscillator.
LP_WAKE_CTRL 2-bit unsigned value.
Parameters:
Specifies the frequency of wake-ups during Accelerometer Only Low Power
Mode.
STBY_XA When set to 1, this bit puts the X axis accelerometer into standby mode.
STBY_YA When set to 1, this bit puts the Y axis accelerometer into standby mode.
STBY_ZA When set to 1, this bit puts the Z axis accelerometer into standby mode.
STBY_XG When set to 1, this bit puts the X axis gyroscope into standby mode.
STBY_YG When set to 1, this bit puts the Y axis gyroscope into standby mode.
STBY_ZG When set to 1, this bit puts the Z axis gyroscope into standby mode.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 44 of 47
4.32 Register 114 and 115 FIFO Count Registers
FIFO_COUNT_H and FIFO_COUNT_L
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
72 114 FIFO_COUNT[15:8]
73 115 FIFO_COUNT[7:0]
These registers keep track of the number of samples currently in the FIFO buffer.
Description:
These registers shadow the FIFO Count value. Both registers are loaded with the current sample
count when FIFO_COUNT_H (Register 72) is read.
Note: Reading only FIFO_COUNT_L will not update the registers to the current sample count.
FIFO_COUNT_H must be accessed first to update the contents of both these registers.
FIFO_COUNT should always be read in high-low order in order to guarantee that the most current
FIFO Count value is read.
FIFO_COUNT 16-bit unsigned value. Indicates the number of bytes stored in the FIFO
buffer. This number is in turn the number of bytes that can be read from the
FIFO buffer and it is directly proportional to the number of samples available
given the set of sensor data bound to be stored in the FIFO (register 35 and
36).
Parameters:
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 45 of 47
4.33 Register 116 FIFO Read Write
FIFO_R_W
Type: Read/Write
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
74 116 FIFO_DATA[7:0]
This register is used to read and write data from the FIFO buffer.
Description:
Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable
flags (see below) are enabled and all External Sensor Data registers (Registers 73 to 96) are
associated with a Slave device, the contents of registers 59 through 96 will be written in order at the
Sample Rate.
The contents of the sensor data registers (Registers 59 to 96) are written into the FIFO buffer when
their corresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35). An additional flag for
the sensor data registers associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit
is located in INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will
be lost and new data will be written to the FIFO.
If the FIFO buffer is empty, reading this register will return the last byte that was previously read from
the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO
buffer is not read when empty.
FIFO_DATA 8-bit data transferred to and from the FIFO buffer.
Parameters:
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 46 of 47
4.34 Register 117 Who Am I
WHO_AM_I
Type: Read Only
Register
(Hex) Register
(Decimal) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
75 117 - WHO_AM_I[6:1] -
This register is used to verify the identity of the device. The contents of WHO_AM_I are the upper 6
bits of the MPU-60X0’s 7-bit I2C address. The least significant bit of the MPU-60X0’s I2C address is
determined by the value of the AD0 pin. The value of the AD0 pin is not reflected in this register.
Description:
The default value of the register is 0x68.
Bits 0 and 7 are reserved. (Hard coded to 0)
WHO_AM_I Contains the 6-bit I2C address of the MPU-60X0.
Parameters:
The Power-On-Reset value of Bit6:Bit1 is 110 100.
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
CONFIDENTIAL & PROPRIETARY 47 of 47
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense
for its use, or for any infringements of patents or other rights of third parties that may result from its use. Specifications are subject to
change without notice. InvenSense reserves the right to make changes to this product, including its circuits and software, in order to
improve its design and/or performance, without prior notice. InvenSense makes no warranties, neither expressed nor implied, regarding
the information and specifications contained in this document. InvenSense assumes no responsibility for any claims or damages arising
from information contained in this document, or from the use of products and services detailed therein. This includes, but is not limited
to, claims or damages based on the infringement of patents, copyrights, mask work and/or other intellectual property rights.
Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by
implication or otherwise under any patent or patent rights of InvenSense. This publication supersedes and replaces all information
previously supplied. Trademarks that are registered trademarks are the property of their respective companies. InvenSense sensors
should not be used or sold in the development, storage, production or utilization of any conventional or mass-destructive weapons or for
any other weapons or life threatening applications, as well as in any other life critical applications such as medical equipment,
transportation, aerospace and nuclear instruments, undersea equipment, power plant equipment, disaster prevention and crime
prevention equipment.
InvenSense® is a registered trademark of InvenSense, Inc. MPUTM, MPU-6000TM, MPU-6050TM, MPU-60X0TM, Digital Motion
Processor, DMP, Motion Processing Unit, MotionFusion™, and MotionApps are trademarks of InvenSense, Inc.
©2011 InvenSense, Inc. All rights reserved.

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