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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4.5 Register 28 – Accelerometer Configuration

ACCEL_CONFIG

Type: Read/Write

(Hex)

(Decimal)

Bit7

Bit6

Bit5

Bit4

Bit3

Bit2

Bit1

Bit0

XA_ST

YA_ST

ZA_ST

AFS_SEL[1:0]

Description:

This register is used to trigger accelerometer self test and configure the accelerometer full scale

range. This register also configures the Digital High Pass Filter (DHPF).

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

accelerometer. The self-test for each accelerometer axis can be activated by controlling the XA_ST,

YA_ST, and ZA_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 simulates an external force. The actuated sensor, in turn, will produce a corresponding

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 accelerometer 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.

AFS_SEL selects the full scale range of the accelerometer outputs according to the following table.

AFS_SEL

Full Scale Range

± 2g

± 4g

± 8g

± 16g