User Manual

ManualsBrandsUnbranded ManualsAccelerometers, Gyros, GPS, & Compasses6DOF MPU-6050 Gyroscope and Accelerometer Module

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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4.4 Register 27 – Gyroscope Configuration

GYRO_CONFIG

Type: Read/Write

(Hex)

(Decimal)

Bit7

Bit6

Bit5

Bit4

Bit3

Bit2

Bit1

Bit0

XG_ST

YG_ST

ZG_ST

FS_SEL[1:0]

Description:

This register is used to trigger gyroscope self-test and configure the gyroscopes’ full scale range.

Gyroscope self-test permits users to test the mechanical and electrical portions of the

gyroscope. The self-test for each gyroscope axis can be activated by controlling the XG_ST,

YG_ST, and ZG_ST bits of this register. Self-test for each axis may be performed independently

or all at the same time.

When self-test is activated, the on-board electronics will actuate the appropriate sensor. This

actuation will move the sensor’s proof masses over a distance equivalent to a pre-defined

Coriolis force. This proof mass displacement results in a change in the sensor output, which is

reflected in the output signal. The output signal is used to observe the self-test response.

The self-test response is defined as follows:

Self-test response = Sensor output with self-test enabled – Sensor output without self-

test enabled

The self-test limits for each gyroscope axis is provided in the electrical characteristics tables of

the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test

response is within the min/max limits of the product specification, the part has passed self test.

When the self-test response exceeds the min/max values specified in the document, the part is

deemed to have failed self-test.

FS_SEL selects the full scale range of the gyroscope outputs according to the following table.

FS_SEL

Full Scale Range

± 250 °/s

± 500 °/s

± 1000 °/s

± 2000 °/s

Bits 2 through 0 are reserved.

Parameters:

XG_ST Setting this bit causes the X axis gyroscope to perform self test.

YG_ST Setting this bit causes the Y axis gyroscope to perform self test.

ZG_ST Setting this bit causes the Z axis gyroscope to perform self test.

FS_SEL 2-bit unsigned value. Selects the full scale range of gyroscopes.