MOD-MPU6050

InvenSense Inc. Document Number: RM-MPU-6000A-00 1197 Borregas Ave, Sunnyvale, CA 94089 U.S.A. Revision: 4.0 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Release Date: 03/09/2012 Website: www.invensense.com MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.0 CONFIDENTIAL & PROPRIETARY 1 of 47 Document Number: RM-MPU-6000A-00 MPU-6000/MPU-6050 Register Map and Revision: 4.0 Descriptions Release Date: 03/09/2012 CONTENTS 1 REVISION HISTORY ............................................................................................................................. 4 2 PURPOSE AND SCOPE ....................................................................................................................... 5 3 REGISTER MAP ................................................................................................................................... 6 4 REGISTER DESCRIPTIONS ................................................................................................................. 9 4.1 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 2 4.8 REGISTER 36 I C MASTER CONTROL ...........................................................................................17 2 4.9 REGISTERS 37 TO 39 I C SLAVE 0 CONTROL ................................................................................20 2 4.10 REGISTERS 40 TO 42 I C SLAVE 1 CONTROL ................................................................................23 2 4.11 REGISTERS 43 TO 45 I C SLAVE 2 CONTROL ................................................................................23 2 4.12 REGISTERS 46 TO 48 I C SLAVE 3 CONTROL ................................................................................23 2 4.13 REGISTERS 49 TO 53 I C SLAVE 4 CONTROL ................................................................................24 2 4.14 REGISTER 54 I C 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 2 4.22 REGISTER 99 I C SLAVE 0 DATA OUT ..........................................................................................35 2 4.23 REGISTER 100 I C SLAVE 1 DATA OUT ........................................................................................35 2 4.24 REGISTER 101 I C SLAVE 2 DATA OUT ........................................................................................36 2 4.25 REGISTER 102 I C SLAVE 3 DATA OUT ........................................................................................36 2 4.26 REGISTER 103 I C 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 CONFIDENTIAL & PROPRIETARY 2 of 47