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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4.25 Register 103 – I
2
C Master Delay Control
I2C_MST_DELAY_CTRL
Type: Read/Write
Register
(Hex)
Register
(Decimal)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
67
103
DELAY
_ES
_SHADOW
-
-
I2C_SLV4
_DLY_EN
I2C_SLV3
_DLY_EN
I2C_SLV2
_DLY_EN
I2C_SLV1
_DLY_EN
I2C_SLV0
_DLY_EN
Description:
This register is used to specify the timing of external sensor data shadowing. The register is also
used to decrease the access rate of slave devices relative to the Sample Rate.
When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data
has been received.
When I2C_SLV4_DLY_EN, I2C_SLV3_DLY_EN, I2C_SLV2_DLY_EN, I2C_SLV1_DLY_EN, and
I2C_SLV0_DLY_EN are enabled, the rate of access for the corresponding slave devices is reduced.
When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every
1 / (1 + I2C_MST_DLY) samples.
This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG
(register 26).
For further information regarding I2C_MST_DLY, please refer to register 52.
For further information regarding the Sample Rate, please refer to register 25.
Bits 6 and 5 are reserved.
Parameters:
DELAY_ES_SHADOW When set, delays shadowing of external sensor data until all data
has been received.
I2C_SLV4_DLY_EN When enabled, slave 4 will only be accessed at a decreased rate.
I2C_SLV3_DLY_EN When enabled, slave 3 will only be accessed at a decreased rate.
I2C_SLV2_DLY_EN When enabled, slave 2 will only be accessed at a decreased rate.
I2C_SLV1_DLY_EN When enabled, slave 1 will only be accessed at a decreased rate.
I2C_SLV0_DLY_EN When enabled, slave 0 will only be accessed at a decreased rate.