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ManualsBrandsUnbranded ManualsAccelerometers, Gyros, GPS, & Compasses6DOF MPU-6050 Gyroscope and Accelerometer Module
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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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4.19 Registers 67 to 72 – Gyroscope Measurements
GYRO_XOUT_H, GYRO_XOUT_L, GYRO_YOUT_H, GYRO_YOUT_L, GYRO_ZOUT_H, and
GYRO_ZOUT_L
Type: Read Only
Register
(Hex)
Register
(Decimal)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
43
67
GYRO_XOUT[15:8]
44
68
GYRO_XOUT[7:0]
45
69
GYRO_YOUT[15:8]
46
70
GYRO_YOUT[7:0]
47
71
GYRO_ZOUT[15:8]
48
72
GYRO_ZOUT[7:0]
Description:
These registers store the most recent gyroscope measurements.
Gyroscope measurements are written to these registers at the Sample Rate as defined in Register
25.
These gyroscope measurement registers, along with the accelerometer measurement registers,
temperature measurement registers, and external sensor data registers, are composed of two sets of
registers: an internal register set and a user-facing read register set.
The data within the gyroscope sensors’ internal register set is always updated at the Sample Rate.
Meanwhile, the user-facing read register set duplicates the internal register set’s data values
whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read
measurements from the same sampling instant. Note that if burst reads are not used, the user is
responsible for ensuring a set of single byte reads correspond to a single sampling instant by
checking the Data Ready interrupt.
Each 16-bit gyroscope measurement has a full scale defined in FS_SEL (Register 27). For each full
scale setting, the gyroscopes’ sensitivity per LSB in GYRO_xOUT is shown in the table below:
FS_SEL
Full Scale Range
LSB Sensitivity
0
± 250 °/s
131 LSB/°/s
1
± 500 °/s
65.5 LSB/°/s
2
± 1000 °/s
32.8 LSB/°/s
3
± 2000 °/s
16.4 LSB/°/s
Parameters:
GYRO_XOUT 16-bit 2’s complement value.
Stores the most recent X axis gyroscope measurement.
GYRO_YOUT 16-bit 2’s complement value.
Stores the most recent Y axis gyroscope measurement.
GYRO_ZOUT 16-bit 2’s complement value.
Stores the most recent Z axis gyroscope measurement.