MPU6050资料.pdf

MPU6050资料.pdf

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DocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20111of57MPU-6000andMPU-6050ProductSpecificationRevision3.1MPU-6000/MPU-6050ProductSpecificationDocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20112of57CONTENTS1REVISIONHISTORY.52PURPOSEANDSCOPE.63PRODUCTOVERVIEW.73.1MPU-60X0OVERVIEW.74APPLICATIONS.95FEATURES.105.1GYROSCOPEFEATURES.105.2ACCELEROMETERFEATURES.105.3ADDITIONALFEATURES.105.4MOTIONPROCESSING.115.5CLOCKING.116ELECTRICALCHARACTERISTICS.126.1GYROSCOPESPECIFICATIONS.126.2ACCELEROMETERSPECIFICATIONS.136.3ELECTRICALANDOTHERCOMMONSPECIFICATIONS.146.4ELECTRICALSPECIFICATIONS,CONTINUED.156.5ELECTRICALSPECIFICATIONS,CONTINUED.166.6ELECTRICALSPECIFICATIONS,CONTINUED.176.7I2CTIMINGCHARACTERIZATION.186.8SPITIMINGCHARACTERIZATION（MPU-6000ONLY）.196.9ABSOLUTEMAXIMUMRATINGS.207APPLICATIONSINFORMATION.217.1PINOUTANDSIGNALDESCRIPTION.217.2TYPICALOPERATINGCIRCUIT.227.3BILLOFMATERIALSFOREXTERNALCOMPONENTS.227.4RECOMMENDEDPOWER-ONPROCEDURE.237.5BLOCKDIAGRAM.247.6OVERVIEW.247.7THREE-AXISMEMSGYROSCOPEWITH16-BITADCSANDSIGNALCONDITIONING.257.8THREE-AXISMEMSACCELEROMETERWITH16-BITADCSANDSIGNALCONDITIONING.257.9DIGITALMOTIONPROCESSOR.257.10PRIMARYI2CANDSPISERIALCOMMUNICATIONSINTERFACES.257.11AUXILIARYI2CSERIALINTERFACE.26MPU-6000/MPU-6050ProductSpecificationDocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20113of577.12SELF-TEST.277.13MPU-60X0SOLUTIONFOR9-AXISSENSORFUSIONUSINGI2CINTERFACE.287.14MPU-6000USINGSPIINTERFACE.297.15INTERNALCLOCKGENERATION.307.16SENSORDATAREGISTERS.307.17FIFO.307.18INTERRUPTS.317.19DIGITAL-OUTPUTTEMPERATURESENSOR.317.20BIASANDLDO.317.21CHARGEPUMP.318PROGRAMMABLEINTERRUPTS.328.1FREEFALL,MOTION,ANDZEROMOTIONSIGNALPATHS.338.2FREEFALLINTERRUPT.348.3MOTIONINTERRUPT.348.4ZEROMOTIONINTERRUPT.359DIGITALINTERFACE.369.1I2CANDSPI（MPU-6000ONLY）SERIALINTERFACES.369.2I2CINTERFACE.369.3I2CCOMMUNICATIONSPROTOCOL.369.4I2CTERMS.399.5SPIINTERFACE（MPU-6000ONLY）.4010SERIALINTERFACECONSIDERATIONS（MPU-6050）.4110.1MPU-6050SUPPORTEDINTERFACES.4110.2LOGICLEVELS.4110.3LOGICLEVELSDIAGRAMFORAUX_VDDIO=0.4210.4LOGICLEVELSDIAGRAMFORAUX_VDDIO=1.4311ASSEMBLY.4411.1ORIENTATIONOFAXES.4411.2PACKAGEDIMENSIONS.4511.3PCBDESIGNGUIDELINES.4611.4ASSEMBLYPRECAUTIONS.4711.5STORAGESPECIFICATIONS.5111.6PACKAGEMARKINGSPECIFICATION.5111.7TAPE&REELSPECIFICATION.52MPU-6000/MPU-6050ProductSpecificationDocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20114of5711.8LABEL.5311.9PACKAGING.5412RELIABILITY.5512.1QUALIFICATIONTESTPOLICY.5512.2QUALIFICATIONTESTPLAN.5513ENVIRONMENTALCOMPLIANCE.56MPU-6000/MPU-6050ProductSpecificationDocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20115of571RevisionHistoryRevisionDateRevisionDescription11/24/20101.0InitialRelease05/19/20112.0ForRevCparts.Clarifiedwordinginsections（3.2,5.1,5.2,6.1-6.4,6.6,6.9,7,7.1-7.6,7.11,7.12,7.14,8,8.2-8.4,10.3,10.4,11,12.2）07/28/20112.1Editedsupplycurrentnumbersfordifferentmodes（section6.4）08/05/20112.2UnitofmeasureforaccelerometersensitivitychangedfromLSB/mgtoLSB/g10/12/20112.3UpdatedaccelerometerselftestspecificationsinTable6.2.Updatedpackagedimensions（section11.2）.UpdatedPCBdesignguidelines（section11.3）10/18/20113.0ForRevDparts.UpdatedaccelerometerspecificationsinTable6.2.Updatedaccelerometerspecificationnote（sections8.2,8.3,&8.4）.Updatedqualificationtestplan（section12.2）.10/24/20113.1EditsforclarityChangedoperatingvoltagerangeto2.375V-3.46VAddedaccelerometerIntelligenceFunctionincrementvalueof1mg/LSB（Section6.2）Updatedabsolutemaximumratingforacceleration（anyaxis,unpowered）from0.3msto0.2ms（Section6.9）ModifiedabsolutemaximumratingforLatch-uptoLevelAand100mA（Section6.9,12.2）MPU-6000/MPU-6050ProductSpecificationDocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20116of572PurposeandScopeThisproductspecificationprovidesadvancedinformationregardingtheelectricalspecificationanddesignrelatedinformationfortheMPU-6000andMPU-6050MotionProcessingUnit,collectivelycalledtheMPU-60X0orMPU.Electricalcharacteristicsarebasedupondesignanalysisandsimulationresultsonly.Specificationsaresubjecttochangewithoutnotice.Finalspecificationswillbeupdatedbaseduponcharacterizationofproductionsilicon.Forreferencestoregistermapanddescriptionsofindividualregisters,pleaserefertotheMPU-6000/MPU-6050RegisterMapandRegisterDescriptionsdocument.MPU-6000/MPU-6050ProductSpecificationDocumentNumber:

PS-MPU-6000A-00Revision:

3.1ReleaseDate:

10/24/20117of573ProductOverview3.1MPU-60X0OverviewTheMPU-60X0MotionProcessingUnitistheworldsfirstmotionprocessin