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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This register specifies the divider from the gyroscope output rate used to generate the Sample Rate
for the MPU-60X0.
The sensor register output, FIFO output, and DMP sampling are all based on the Sample Rate.
The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT_DIV:
Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz
when the DLPF is enabled (see Register 26).
Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz,
the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than
once.
For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-
6000/MPU-6050 Product Specification document.
Parameters:
SMPLRT_DIV 8-bit unsigned value. The Sample Rate is determined by dividing the
gyroscope output rate by this value.