MPU-6000 INVENSENSE, MPU-6000 Datasheet - Page 33

• 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

Additionally, the bus remains busy if a repeated START (Sr) is generated instead of a STOP condition.
Data Format / Acknowledge
I
data transfer. Each byte transferred must be followed by an acknowledge (ACK) signal. The clock for the
acknowledge signal is generated by the master, while the receiver generates the actual acknowledge signal
by pulling down SDA and holding it low during the HIGH portion of the acknowledge clock pulse.
If a slave is busy and cannot transmit or receive another byte of data until some other task has been
performed, it can hold SCL LOW, thus forcing the master into a wait state. Normal data transfer resumes
when the slave is ready, and releases the clock line (refer to the following figure).
CONFIDENTIAL & PROPRIETARY
2
C data bytes are defined to be 8-bits long. There is no restriction to the number of bytes transmitted per
TRANSMITTER (SDA)
DATA OUTPUT BY
DATA OUTPUT BY
RECEIVER (SDA)
SDA
SCL
SCL FROM
MASTER
START condition
MPU-6000/MPU-6050 Product Specification
S
condition
START
START and STOP Conditions
Acknowledge on the I
1
33 of 53
2
2
C Bus
not acknowledge
Document Number: PS-MPU-6000A-00
Revision: 1.0
Release Date: 11/24/2010
acknowledge
8
STOP condition
acknowledgement
P
clock pulse for
9