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 Register Descriptions
This section describes the function and contents of each register within the MPU-60X0.
Note: The device will come up in sleep mode upon power-up.
4.1 Registers 13 to 16 – Self Test Registers
SELF_TEST_X, SELF_TEST_Y, SELF_TEST_Z, and SELF_TEST_A
Type: Read/Write
Register
(Hex)
Register
(Decimal)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
0D
13
XA_TEST[4-2]
XG_TEST[4-0]
0E
14
YA_TEST[4-2]
YG_TEST[4-0]
0F
15
ZA_TEST[4-2]
ZG_TEST[4-0]
10
16
RESERVED
XA_TEST[1-0]
YA_TEST[1-0]
ZA_TEST[1-0]
Description:
These registers are used for gyroscope and accelerometer self-tests that permit the user to test the
mechanical and electrical portions of the gyroscope and the accelerometer. The following sections
describe the self-test process.
1. Gyroscope Hardware Self-Test: Relative Method
Gyroscope self-test permits users to test the mechanical and electrical portions of the gyroscope.
Code for operating self-test is included within the MotionApps™ software provided by InvenSense.
Please refer to the next section (Obtaining the Gyroscope Factory Trim (FT) Value) if not using
MotionApps software.
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This
actuation will move the sensor’s proof masses over a distance equivalent to a pre-defined Coriolis
force. This proof mass displacement results in a change in the sensor output, which is reflected in
the output signal. The output signal is used to observe the self-test response.
The self-test response (STR) is defined as follows:
 
    
This self test-response is used to determine whether the part has passed or failed self-test by finding
the change from factory trim of the self-test response as follows:
 





  



   
This change from factory trim of the self-test response must be within the limits provided in the MPU-
6000/MPU-6050 Product Specification document for the part to pass self-test. Otherwise, the part is
deemed to have failed self-test.