MPU-6000 INVENSENSE, MPU-6000 Datasheet - Page 24

• Manufacturer Part Number: MPU-6000
• Description: IC, GYRO/ACCEL, 9-AXIS FUSION, PROG
• Manufacturer: INVENSENSE

Specifications of MPU-6000

• Acceleration Range: ± 2g, ± 4g, ± 8g
• No. Of Axes: 9
• Sensor Case Style: QFN
• No. Of Pins: 24
• Supply Voltage Range: 2.5V To 3.6V
• Operating Temperature Range: -40°C To +85°C
• Interface: I2C, SPI
• Interface Type: I2C, SPI
• Rohs Compliant: Yes
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

7.11
The MPU-60X0 has an auxiliary I
or other sensors. This bus has two operating modes: I
master to an external sensor(s) connected to the auxiliary I
MPU-60X0 directly connects the primary and auxiliary I
directly communicate with the external sensor(s).
Auxiliary I
Auxiliary I
The logic level of the auxiliary I
6050 only). See Section 10.2 for a detailed description of this feature.
7.12
Self-test allows for the testing of the mechanical and electrical portions of the sensors. The self-test for each
measurement axis can be activated by controlling the bits of the GYRO_CONFIG and ACCEL_CONFIG
control registers. When self-test is activated, the electronics cause the sensors to be actuated and produce
an output signal. The sensor reading is determined by the sum of the sensor output and the self-test
response. The self-test response for each accelerometer axis is defined in the specification table to be
nominally 0.5g. Similarly, for the gyro axes, self test allows the proof masses to be moved equivalent to a
pre-defined Coriolis force, resulting in a change in sensor output. The self-test response for each gyroscope
axis is defined in the specification table to be nominally 50º/s.
CONFIDENTIAL & PROPRIETARY
•
•
Auxiliary I
Self-Test
I
sensors, such as a magnetometer. In this mode, the MPU-60X0 directly obtains data from auxiliary
sensors, allowing the on-chip DMP to generate sensor fusion data without intervention from the
system applications processor.
For example, In I
returning the following data from a magnetometer:
The I
Pass-Through Mode : allows an external system processor to act as master and directly
communicate to the external sensor connected to the auxiliary I
This is useful for configuring the external sensor, or for keeping the MPU-60X0 in a low-power mode,
when only the external sensor is to be used. In this mode, the auxiliary I
party sensor interface block) of the MPU-60X0 is disabled, and the auxiliary I
AUX_CL (Pins 6 and 7) are connected to the main I
switches.
2
C Master Mode
2
2
C Bus Modes of Operation:
C Bus IO Logic Levels
2
C master can be configured to read up to 24 bytes from up to 5 auxiliary sensors.
2
C Serial Interface



X magnetometer data (2 bytes)
Y magnetometer data (2 bytes)
Z magnetometer data (2 bytes)
: allows the MPU-60X0 to directly access the data registers of external digital
MPU-6000/MPU-6050 Product Specification
2
C master mode, the MPU-60X0 can be configured to perform burst reads,
2
C bus can be programmed to be either VDD or VLOGIC (VLOGIC on MPU-
2
C bus for communicating to an off-chip 3-axis digital output magnetometer
24 of 53
2
C buses together, to allow the system processor to
2
C Master Mode, where the MPU-60X0 acts as a
2
C bus; and Pass-Through Mode, where the
2
C bus (Pins 23 and 24) through analog
2
C bus pins (AUX_DA and AUX_CL).
Document Number: PS-MPU-6000A-00
Revision: 1.0
Release Date: 11/24/2010
2
C bus control logic (third-
2
C pins AUX_DA and