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 – 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
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 I
2
C bus, allowing the devices to gather a full set of sensor data
without intervention from the system processor. The devices are offered in the same 4x4x0.9 mm QFN
footprint and pinout as the current MPU-3000™ family of integrated 3-axis gyroscopes, providing a simple
upgrade path and facilitating placement on already space constrained circuit boards.
For precision tracking of both fast and slow motions, the MPU-60X0 features a user-programmable
gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps). The parts also have a user-
programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g.
The MPU-6000 family is comprised of two parts, the MPU-6000 and MPU-6050. These parts are identical to
each other with two exceptions. The MPU-6050 supports I
2
C communications at up to 400kHz and has a
VLOGIC pin that defines its interface voltage levels; the MPU-6000 supports SPI at up to 20MHz in addition
to I
2
C, and has a single supply pin, VDD, which is both the device’s logic reference supply and the analog
supply for the part.
For more detailed information for the MPU-60X0 devices, please refer to the “MPU-6000 and MPU-6050
Product Specification”.
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