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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Addr
(Hex)
Addr
(Dec.)
Register Name
Serial
I/F
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
67
103
I2C_MST_DELAY_CT
RL
R/W
DELAY_ES
_SHADOW
-
-
I2C_SLV4
_DLY_EN
I2C_SLV3
_DLY_EN
I2C_SLV2
_DLY_EN
I2C_SLV1
_DLY_EN
I2C_SLV0
_DLY_EN
68
104
SIGNAL_PATH_RES
ET
R/W
-
-
-
-
-
GYRO
_RESET
ACCEL
_RESET
TEMP
_RESET
6A
106
USER_CTRL
R/W
-
FIFO_EN
I2C_MST
_EN
I2C_IF
_DIS
-
FIFO
_RESET
I2C_MST
_RESET
SIG_COND
_RESET
6B
107
PWR_MGMT_1
R/W
DEVICE
_RESET
SLEEP
CYCLE
-
TEMP_DIS
CLKSEL[2:0]
6C
108
PWR_MGMT_2
R/W
LP_WAKE_CTRL[1:0]
STBY_XA
STBY_YA
STBY_ZA
STBY_XG
STBY_YG
STBY_ZG
72
114
FIFO_COUNTH
R/W
FIFO_COUNT[15:8]
73
115
FIFO_COUNTL
R/W
FIFO_COUNT[7:0]
74
116
FIFO_R_W
R/W
FIFO_DATA[7:0]
75
117
WHO_AM_I
R
-
WHO_AM_I[6:1]
-
Note: Register Names ending in _H and _L contain the high and low bytes, respectively, of an internal
register value.
In the detailed register tables that follow, register names are in capital letters, while register values are in
capital letters and italicized. For example, the ACCEL_XOUT_H register (Register 59) contains the 8 most
significant bits, ACCEL_XOUT[15:8], of the 16-bit X-Axis accelerometer measurement, ACCEL_XOUT.
The reset value is 0x00 for all registers other than the registers below.
 Register 107: 0x40.
 Register 117: 0x68.