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 – I
2
C MASTER CONTROL ...........................................................................................17
4.9 REGISTERS 37 TO 39 – I
2
C SLAVE 0 CONTROL ................................................................................20
4.10 REGISTERS 40 TO 42 – I
2
C SLAVE 1 CONTROL ................................................................................23
4.11 REGISTERS 43 TO 45 – I
2
C SLAVE 2 CONTROL ................................................................................23
4.12 REGISTERS 46 TO 48 – I
2
C SLAVE 3 CONTROL ................................................................................23
4.13 REGISTERS 49 TO 53 – I
2
C SLAVE 4 CONTROL ................................................................................24
4.14 REGISTER 54 – I
2
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
4.22 REGISTER 99 – I
2
C SLAVE 0 DATA OUT ..........................................................................................35
4.23 REGISTER 100 – I
2
C SLAVE 1 DATA OUT ........................................................................................35
4.24 REGISTER 101 – I
2
C SLAVE 2 DATA OUT ........................................................................................36
4.25 REGISTER 102 – I
2
C SLAVE 3 DATA OUT ........................................................................................36
4.26 REGISTER 103 – I
2
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
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