User Manual
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
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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 .
if XA_TEST ≠ 0.
if XA_TEST = 0.
if YA_TEST ≠ 0.
if YA_TEST = 0.
if ZA_TEST ≠ 0.
if ZA_TEST = 0.
Parameters:
XA_TEST 5-bit unsigned value. FT[Xa] is determined by using this value as explained
above.
XG_TEST 5-bit unsigned value. FT[Xg] is determined by using this value as explained
above.
YA_TEST 5-bit unsigned value. FT[Ya] is determined by using this value as explained
above.
YG_TEST 5-bit unsigned value. FT[Yg] is determined by using this value as explained
above.
ZA_TEST 5-bit unsigned value. FT[Za] is determined by using this value as explained
above.
ZG_TEST 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: