User Manual

MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
2 of 46
CONTENTS
1 REVISION HISTORY ................................................................................................................................... 4
2 PURPOSE AND SCOPE ............................................................................................................................. 5
3 REGISTER MAP .......................................................................................................................................... 6
4 REGISTER DESCRIPTIONS ....................................................................................................................... 9
4.1 REGISTERS 13 TO 16 – SELF TEST REGISTERS ..................................................................................... 9
4.2 REGISTER 25 – SAMPLE RATE DIVIDER .............................................................................................. 11
4.3 REGISTER 26 – CONFIGURATION ........................................................................................................ 13
4.4 REGISTER 27 – GYROSCOPE CONFIGURATION .................................................................................... 14
4.5 REGISTER 28 – ACCELEROMETER CONFIGURATION ............................................................................. 15
4.6 REGISTER 35 – FIFO ENABLE ............................................................................................................ 16
4.7 REGISTER 36 – I
2
C MASTER CONTROL ............................................................................................... 17
4.8 REGISTERS 37 TO 39 – I
2
C SLAVE 0 CONTROL ................................................................................... 19
4.9 REGISTERS 40 TO 42 – I
2
C SLAVE 1 CONTROL ................................................................................... 22
4.10 REGISTERS 43 TO 45 – I
2
C SLAVE 2 CONTROL ................................................................................... 22
4.11 REGISTERS 46 TO 48 – I
2
C SLAVE 3 CONTROL ................................................................................... 22
4.12 REGISTERS 49 TO 53 – I
2
C SLAVE 4 CONTROL ................................................................................... 23
4.13 REGISTER 54 – I
2
C MASTER STATUS .................................................................................................. 25
4.14 REGISTER 55 – INT PIN / BYPASS ENABLE CONFIGURATION ................................................................ 26
4.15 REGISTER 56 – INTERRUPT ENABLE ................................................................................................... 27
4.16 REGISTER 58 – INTERRUPT STATUS ................................................................................................... 28
4.17 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS ................................................................. 29
4.18 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT ..................................................................... 30
4.19 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS ........................................................................ 31
4.20 REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA ............................................................................... 32
4.21 REGISTER 99 – I
2
C SLAVE 0 DATA OUT .............................................................................................. 34
4.22 REGISTER 100 – I
2
C SLAVE 1 DATA OUT ............................................................................................ 34
4.23 REGISTER 101 – I
2
C SLAVE 2 DATA OUT ............................................................................................ 35
4.24 REGISTER 102 – I
2
C SLAVE 3 DATA OUT ............................................................................................ 35
4.25 REGISTER 103 – I
2
C MASTER DELAY CONTROL .................................................................................. 36
4.26 REGISTER 104 – SIGNAL PATH RESET ................................................................................................ 37
4.27 REGISTER 106 – USER CONTROL ....................................................................................................... 38
4.28 REGISTER 107 – POWER MANAGEMENT 1 .......................................................................................... 40
4.29 REGISTER 108 – POWER MANAGEMENT 2 .......................................................................................... 42