MPU6050mpu6000AV32.docx
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MPU6050mpu6000AV32
InvenSenseInc.
1197BorregasAve,Sunnyvale,CA94089U.S.A.
Tel:
+1（408）988-7339Fax:
+1（408）988-8104
Website:
DocumentNumber:
PS-MPU-6000A-00
Revision:
3.2
ReleaseDate:
11/16/2011
MPU-6000andMPU-6050
ProductSpecification
Revision3.2
1of57
DocumentNumber:
PS-MPU-6000A-00
MPU-6000/MPU-6050ProductSpecification
Revision:
3.2
ReleaseDate:
11/16/2011
CONTENTS
1REVISIONHISTORY...................................................................................................................................5
2PURPOSEANDSCOPE.............................................................................................................................5
3PRODUCTOVERVIEW...............................................................................................................................6
3.1
MPU-60X0OVERVIEW........................................................................................................................7
4APPLICATIONS...........................................................................................................................................9
5FEATURES................................................................................................................................................10
5.1
5.2
5.3
5.4
5.5
GYROSCOPEFEATURES.....................................................................................................................10
ACCELEROMETERFEATURES.............................................................................................................10
ADDITIONALFEATURES......................................................................................................................10
MOTIONPROCESSING.........................................................................................................................11
CLOCKING.........................................................................................................................................11
6ELECTRICALCHARACTERISTICS.........................................................................................................12
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
GYROSCOPESPECIFICATIONS............................................................................................................12
ACCELEROMETERSPECIFICATIONS.....................................................................................................13
ELECTRICALANDOTHERCOMMONSPECIFICATIONS............................................................................14
ELECTRICALSPECIFICATIONS,CONTINUED.........................................................................................15
ELECTRICALSPECIFICATIONS,CONTINUED.........................................................................................16
ELECTRICALSPECIFICATIONS,CONTINUED.........................................................................................17
I2CTIMINGCHARACTERIZATION..........................................................................................................18
SPITIMINGCHARACTERIZATION（MPU-6000ONLY）...........................................................................19
ABSOLUTEMAXIMUMRATINGS...........................................................................................................20
7APPLICATIONSINFORMATION..............................................................................................................21
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
PINOUTANDSIGNALDESCRIPTION....................................................................................................21
TYPICALOPERATINGCIRCUIT.............................................................................................................22
BILLOFMATERIALSFOREXTERNALCOMPONENTS..............................................................................22
RECOMMENDEDPOWER-ONPROCEDURE...........................................................................................23
BLOCKDIAGRAM...............................................................................................................................24
OVERVIEW........................................................................................................................................24
THREE-AXISMEMSGYROSCOPEWITH16-BITADCSANDSIGNALCONDITIONING................................25
THREE-AXISMEMSACCELEROMETERWITH16-BITADCSANDSIGNALCONDITIONING........................25
DIGITALMOTIONPROCESSOR............................................................................................................25
PRIMARYI2CANDSPISERIALCOMMUNICATIONSINTERFACES............................................................25
AUXILIARYI2CSERIALINTERFACE......................................................................................................26
2of57
DocumentNumber:
PS-MPU-6000A-00
MPU-6000/MPU-6050ProductSpecification
Revision:
3.2
ReleaseDate:
11/16/2011
7.12
7.13
7.14
7.15
7.16
7.17
7.18
7.19
7.20
7.21
SELF-TEST........................................................................................................................................27
MPU-60X0SOLUTIONFOR9-AXISSENSORFUSIONUSINGI2CINTERFACE..........................................28
MPU-6000USINGSPIINTERFACE.....................................................................................................29
INTERNALCLOCKGENERATION..........................................................................................................30
SENSORDATAREGISTERS.................................................................................................................30
FIFO................................................................................................................................................30
INTERRUPTS......................................................................................................................................31
DIGITAL-OUTPUTTEMPERATURESENSOR..........................................................................................31
BIASANDLDO..................................................................................................................................31
CHARGEPUMP..................................................................................................................................31
8PROGRAMMABLEINTERRUPTS............................................................................................................32
8.1
8.2
8.3
8.4
FREEFALL,MOTION,ANDZEROMOTIONSIGNALPATHS.....................................................................33
FREEFALLINTERRUPT.......................................................................................................................34
MOTIONINTERRUPT...........................................................................................................................34
ZEROMOTIONINTERRUPT..................................................................................................................35
9DIGITALINTERFACE...............................................................................................................................36
9.1
9.2
9.3
9.4
9.5
I2CANDSPI（MPU-6000ONLY）SERIALINTERFACES..........................................................................36
I2CINTERFACE..................................................................................................................................36
I2CCOMMUNICATIONSPROTOCOL......................................................................................................36
I2CTERMS........................................................................................................................................39
SPIINTERFACE（MPU-6000ONLY）....................................................................................................40
10SERIALINTERFACECONSIDERATIONS（MPU-6050）..........................................................................41
10.1
10.2
10.3
10.4
MPU-6050SUPPORTEDINTERFACES.................................................................................................41
LOGICLEVELS...................................................................................................................................41
LOGICLEVELSDIAGRAMFORAUX_VDDIO=0..................................................................................42
LOGICLEVELSDIAGRAMFORAUX_VDDIO=1..................................................................................43
11ASSEMBLY...............................................................................................................................................44
11.1
11.2
11.3
11.4
11.5
11.6
11.7
ORIENTATIONOFAXES......................................................................................................................44
PACKAGEDIMENSIONS......................................................................................................................45
PCBDESIGNGUIDELINES..................................................................................................................46
ASSEMBLYPRECAUTIONS..................................................................................................................47
STORAGESPECIFICATIONS.................................................................................................................51
PACKAGEMARKINGSPECIFICATION............
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