User Manual

MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
4 of 46
1 Revision History
Revision
Date
Revision
Description
11/29/2010
1.0
Initial Release
04/20/2011
1.1
Updated register map and descriptions to reflect enhanced register functionality.
05/19/2011
2.0
Updates for Rev C silicon:
Edits for readability (section 2.1)
Edits for changes in functionality (section 3, 4.4, 4.6, 4.7, 4.8, 4.21, 4.22, 4.23,
4.37)
10/07/2011
3.0
Updates for Rev D silicon:
Updated accelerometer sensitivity specifications (sections 4.6, 4.8, 4.10, 4.23)
10/24/2011
3.1
Edits for clarity
11/14/2011
3.2
Updated reset value for register 107 (section 3)
Updated register 27 with gyro self-test bits (section 4.4)
Provided gyro self-test instructions and register bits (section 4.4)
Provided accel self-test instructions (section 4.5)
3/9/2012
4.0
Updated register map to include Self-Test registers (section 3)
Added description of Self-Test registers (section 4.1)
Revised temperature register section (section 4.19)
Corrections in registers 107 and 108 (section 4.30)
2/11/2013
4.1
Added reset clarification for SPI interface (section 4.3)
8/19/2013
4.2
Updated sections 6, 7, 8, 10