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PDF MPU6050 Data sheet ( Hoja de datos )
| Número de pieza | MPU6050 | |
| Descripción | (MPU-6050/-6000) Register Map and Descriptions | |
| Fabricantes | InvenSense | |
| Logotipo |  |
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 1. MPU6050 - (MPU-6050/-6000) MotionTracking devices  Hay una vista previa y un enlace de descarga de MPU6050 (archivo pdf) en la parte inferior de esta página. Total 47 Páginas | ||
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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
MPU-6000 and MPU-6050
Register Map and Descriptions
Revision 4.0
CONFIDENTIAL & PROPRIETARY
1 of 47
Free Datasheet http://www.datasheet4u.com/
1 page  
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
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”.
CONFIDENTIAL & PROPRIETARY
5 of 47
5 Page 
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
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
∗
0.92(������������_2������5������−������2������−1)
0.34
FT[Xa] = 0
if XA_TEST ≠ 0.
if XA_TEST = 0.
FT[Ya] =
4096
∗
0.34
∗
0.92(������������_2������5������−������2������−1)
0.34
FT[Ya] = 0
if YA_TEST ≠ 0.
if YA_TEST = 0.
FT[Za] =
4096
∗
0.34
∗
0.92(������������_2������5������−������2������−1)
0.34
FT[Za] = 0
if ZA_TEST ≠ 0.
if ZA_TEST = 0.
Parameters:
XA_TEST
XG_TEST
YA_TEST
YG_TEST
ZA_TEST
ZG_TEST
5-bit unsigned value. FT[Xa] is determined by using this value as explained
above.
5-bit unsigned value. FT[Xg] is determined by using this value as explained
above.
5-bit unsigned value. FT[Ya] is determined by using this value as explained
above.
5-bit unsigned value. FT[Yg] is determined by using this value as explained
above.
5-bit unsigned value. FT[Za] is determined by using this value as explained
above.
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:
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| Páginas | Total 47 Páginas | |
| PDF Descargar | [ Datasheet MPU6050.PDF ] | |
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