MPU-6000 INVENSENSE, MPU-6000 Datasheet - Page 26

• 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

In the figure below, the system processor is an SPI master to the MPU-6000. Pins 8, 9, 23, and 24 are used
to support the /CS, SDO, SCLK, and SDI signals for SPI communications. Because these SPI pins are
shared with the I
through the interface bypass multiplexer, which connects the processor I
interface pins.
Since the MPU-6000 has limited capabilities as an I
manage the initial configuration of any auxiliary sensors, another method must be used for programming the
sensors on the auxiliary sensor I
When using SPI communications between the MPU-6000 and the system processor, configuration of
devices on the I
device and register on the auxiliary I
external sensors are configured, the MPU-6000 has the capability to perform single or multi-byte reads using
the sensor I
well as to the sensor registers.
CONFIDENTIAL & PROPRIETARY
7.14 MPU-6000 Using SPI Interface
MPU-6000
2
C bus. The Slave 0 to Slave 3 controllers may have the read result written to the FIFO buffer as
2
2
C sensor bus can be achieved by performing single byte read and write transactions on any
C slave pins (9, 23 and 24), the system processor cannot access the auxiliary I
Calibration
Register
Register
Factory
Sensor
Config
FIFO
MPU-6000/MPU-6050 Product Specification
VDD
13
2
Bias & LDO
C bus pins 6 and 7 (AUX_DA and AUX_CL).
Master I
Processor
GND
Interrupt
Slave I
Interface
Interface
Register
2
Sensor
Status
Motion
or SPI
Digital
Serial
Serial
(DMP)
C bus by using I2C Slave 4 Control (see Registers 49 to 53). Once the
18
2
2
C
C
REGOUT
10
Interface
Bypass
26 of 53
Mux
2
C Master, and depends on the system processor to
12
23
24
7
6
8
9
INT
/CS
AD0/SDO
SCL/SCLK
SDA/SDI
AUX_CL
AUX_DA
I
read and write
transactions on
Sensor I
2
C Master performs
Processor SPI Bus: for reading all
data from MPU and for configuring
MPU and external sensors
Sensor I
configuring and
reading data from
external sensors
2
C bus.
2
2
C interface pins to the sensor I
C Bus: for
Document Number: PS-MPU-6000A-00
Revision: 1.0
Release Date: 11/24/2010
SCL
SDA
Compass
Optional
SCLK
SDO
/CS
SDI
2
C bus
Processor
System
2
C