MPU6050寄存器英文版本.pdf

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

4.8 REGISTERS 37 TO 39 – I

C SLAVE 0 CONTROL ................................................................................... 19

4.9 REGISTERS 40 TO 42 – I

C SLAVE 1 CONTROL ................................................................................... 22

4.10 REGISTERS 43 TO 45 – I

C SLAVE 2 CONTROL ................................................................................... 22

4.11 REGISTERS 46 TO 48 – I

C SLAVE 3 CONTROL ................................................................................... 22

4.12 REGISTERS 49 TO 53 – I

C SLAVE 4 CONTROL ................................................................................... 23

4.17 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS ................................................................. 29

4.18 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT ..................................................................... 30

4.19 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS ........................................................................ 31

4.20 REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA ............................................................................... 32

4.21 REGISTER 99 – I

C SLAVE 0 DATA OUT .............................................................................................. 34

4.22 REGISTER 100 – I

C SLAVE 1 DATA OUT ............................................................................................ 34

4.23 REGISTER 101 – I

C SLAVE 2 DATA OUT ............................................................................................ 35

4.28 REGISTER 107 – POWER MANAGEMENT 1 .......................................................................................... 40

4.29 REGISTER 108 – POWER MANAGEMENT 2 .......................................................................................... 42

4.30 REGISTER 114 AND 115 – FIFO COUNT REGISTERS ........................................................................... 43

4.31 REGISTER 116 – FIFO READ WRITE .................................................................................................. 44

4.32 REGISTER 117 – WHO AM I ................................................................................................................ 45

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

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 I

VLOGIC pin that defines its interface voltage levels; the MPU-6000 supports SPI at up to 20MHz in addition

to I