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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4.28 Register 107 – Power Management 1
PWR_MGMT_1
Type: Read/Write
Register
(Hex)
Register
(Decimal)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
6B
107
DEVICE
_RESET
SLEEP
CYCLE
-
TEMP_DIS
CLKSEL[2:0]
Description:
This register allows the user to configure the power mode and clock source. It also provides a bit for
resetting the entire device, and a bit for disabling the temperature sensor.
By setting SLEEP to 1, the MPU-60X0 can be put into low power sleep mode. When CYCLE is set to
1 while SLEEP is disabled, the MPU-60X0 will be put into Cycle Mode. In Cycle Mode, the device
cycles between sleep mode and waking up to take a single sample of data from accelerometer at a
rate determined by LP_WAKE_CTRL (register 108). To configure the wake frequency, use
LP_WAKE_CTRL within the Power Management 2 register (Register 108).
An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the
MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the
clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled.
Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly
recommended that the device be configured to use one of the gyroscopes (or an external clock
source) as the clock reference for improved stability. The clock source can be selected according to
the following table.
CLKSEL
Clock Source
0
Internal 8MHz oscillator
1
PLL with X axis gyroscope reference
2
PLL with Y axis gyroscope reference
3
PLL with Z axis gyroscope reference
4
PLL with external 32.768kHz reference
5
PLL with external 19.2MHz reference
6
Reserved
7
Stops the clock and keeps the timing generator
in reset
For further information regarding the MPU-60X0 clock source, please refer to the MPU-6000/MPU-
6050 Product Specification document.
Bit 4 is reserved.