mpu6050和6000数据表中文英文对照Word下载.docx

1、 precision tracking of both fast and slow motions, the MPU-60X0 features a user-programmable gyroscope full-scale range of 250, 500, 1000, and 2000/sec （dps）. The parts also have a user-programmable accelerometer full-scale range of 2g, 4g, 8g, and 16g.精密跟踪的快速和慢速运动,MPU-60X0功能可编程陀螺仪全面范围的2505001000和20

2、00/秒（dps）。的部分也有一个用户可编程的加速度计全面范围2 g, 4 g, 8 g和16 g.The MPU-6000 family is comprised of two parts, the MPU-6000 and MPU-6050. These parts are identical to each other with two exceptions. The MPU-6050 supports I2C communications at up to 400kHz and has a VLOGIC pin that defines its interface voltage le

3、vels; the MPU-6000 supports SPI at up to 20MHz in addition to I2C, and has a single supply pin, VDD, which is both the devices logic reference supply and the analog supply for the part. 控制器- 6000家庭由两部分组成,单片机- 6000和微处理器- 6050。这些部件是相同的两个例外。微控制器- 6050支持I2C通信高达400千赫VLOGIC销,它定义了接口电压水平;微机- 6000支持SPI高达20 m

4、hz除了I2C,和有一个供应销,VDD,供应设备的逻辑引用和模拟部分供应。For more detailed information for the MPU-60X0 devices, please refer to the “MPU-6000 and MPU-6050 Product Specification”.MPU-60X0设备的详细信息,请参阅“微处理器- 6000和微处理器- 6050产品规格”。VDD 供电电压为2.5V5%、3.0V5%、3.3V5%；VDDIO 为1.8V 5%，内建振荡器在工作温度范围内仅有1%频率变化。可选外部时钟输入32.768kHz 或19.2MHzR

5、egister Descriptions 寄存器描述This section describes the function and contents of each register within the MPU-60X0. Note: The device will come up in sleep mode upon power-up.本节描述MPU-60X0中的每个寄存器的功能和内容。注意:该设备会在睡眠模式在升高。Description: 描述:These registers are used for gyroscope and accelerometer self-tests tha

6、t permit the user to test the mechanical and electrical portions of the gyroscope and the accelerometer. The following sections describe the self-test process.这些寄存器用于陀螺仪和加速度计self-tests允许用户测试的机械和电气部分陀螺仪和加速度计。以下部分描述自测过程。1. Gyroscope Hardware Self-Test: Relative Method陀螺仪硬件自检:相对的方法Gyroscope self-test p

7、ermits users to test the mechanical and electrical portions of the gyroscope. Code for operating self-test is included within the MotionApps software provided by InvenSense. Please refer to the next section （Obtaining the Gyroscope Factory Trim （FT） Value） if not using MotionApps software. 陀螺仪自测允许用户

8、测试陀螺的机械和电气部分。内包含的代码操作自测MotionAppsInvenSense提供的软件。请参考下一节（获得陀螺仪工厂削减（英尺）值）如果不是使用MotionApps软件。When self-test is activated, the on-board electronics will actuate the appropriate sensor. This actuation will move the sensors proof masses over a distance equivalent to a pre-defined Coriolis force. This proo

9、f mass displacement results in a change in the sensor output, which is reflected in the output signal. The output signal is used to observe the self-test response.当自测被激活时,车载电子将开动适当的传感器。这个动作将传感器的证据质量的距离相当于一个预定义的科里奥利力。兹证明质量位移导致传感器输出的变化,反映在输出信号。输出信号是用来观察自测的回应。自测响应（STR）定义如下:𝑆𝑒𝑙&#

10、119891;𝑇𝑠𝑡 𝑅𝑝𝑜𝑛=𝐺𝑦𝑟𝑐 𝑂𝑢 𝑤𝑖 𝑆-𝑇 𝐸𝑎𝑏𝑑𝐺 𝐷This self test-response is used to determine whether the part has passed or fa

11、iled self-test by finding the change from factory trim of the self-test response as follows:这个自我test-response用于确定是否已通过或失败部分自测通过寻找自测的变化从芯片削减响应如下:This change from factory trim of the self-test response must be within the limits provided in the MPU-6000/MPU-6050 Product Specification document for the p

12、art to pass self-test. Otherwise, the part is deemed to have failed self-test.这种变化从工厂削减的自测的响应中提供必须的范围内微处理器- 6000 /微处理器- 6050产品规范文档的一部分通过自测。否则,该部分是视为失败的自测。Obtaining the Gyroscope Factory Trim （FT） Value获得陀螺仪工厂削减（英尺）的值If InvenSense MotionApps software is not used, the procedure detailed below should b

13、e followed to obtain the Factory trim value of the self test response （FT） mentioned above. For the specific registers mentioned below, please refer to registers 13-15.如果InvenSense MotionApps软件不使用,应遵循以下程序详细获取的工厂削减价值上面提到的自我测试响应（英尺）。下面提到的特殊功能寄存器,请参阅寄存器13 - 15。The Factory trim value of the self test re

14、sponse （FT） is calculated as shown below. FTXg, FTYg, and FTZg refer to the factory trim （FT） values for the gyroscope X, Y, and Z axes, respectively. XG_TEST is the decimal version of XG_TEST4-0, YG_TEST is the decimal version of YG_TEST4-0, and ZG_TEST is the decimal version of ZG_TEST4-0.自我测试的工厂削

15、减价值响应（英尺）计算如下所示FTXg, FTYg, and FTZg refer to the factory trim （FT） values for the gyroscope X, Y, and Z axes, respectively. XG_TEST is the decimal version of XG_TEST4-0, YG_TEST is the decimal version of YG_TEST4-0, and ZG_TEST is the decimal version of ZG_TEST4-0.2.Accelerometer Hardware Self-Test:

16、 Relative Method加速度计硬件自检:Accelerometer self-test permits users to test the mechanical and electrical portions of the accelerometer. Code for operating self-test is included within the MotionApps software provided by InvenSense. Please refer to the next section （titled Obtaining the Accelerometer Fac

17、tory Trim （FT） Value） if not using MotionApps software. 加速度计自测允许用户测试加速度计的机械和电气部分。内包含的代码操作自测MotionApps InvenSense提供的软件。请参考下一节（标题为获得加速度计工厂削减（英尺）值）如果不是使用MotionApps软件。When self-test is activated, the on-board electronics will actuate the appropriate sensor. This actuation simulates an external force. Th

18、e actuated sensor, in turn, will produce a corresponding output signal. The output signal is used to observe the self-test response.这个驱动模拟外部力量。反过来,驱动传感器将产生相应的输出信号。这个自我test-response用于确定是否已通过或失败部分自测通过寻找自测的变化从工厂削减响应如下:Obtaining the Accelerometer Factory Trim （FT） Value If InvenSense MotionApps software

19、 is not used, the procedure detailed below should be followed to obtain the Factory trim value of the self test response （FT） mentioned above. For the specific registers mentioned below, please refer to registers 13-16.下面提到的特殊功能寄存器,请参阅寄存器13 - 16。The Factory trim value of the self test response （FT）

20、is calculated as shown below. FTXa, FTYa, and FTZa refer to the factory trim （FT） values for the accelerometer X, Y, and Z axes, respectively. In the equations below, the factory trim values for the accel should be in decimal format, and they are determined by concatenating the upper accelerometer s

21、elf test bits （bits 4-2） with the lower accelerometer self test bits （bits 1-0）.Parameters: 参数:XA_TEST 5-bit unsigned value. FTXa is determined by using this value as explained above. XG_TEST 5-bit unsigned value. FTXg is determined by using this value as explained above. YA_TEST 5-bit unsigned valu

22、e. FTYa is determined by using this value as explained above. YG_TEST 5-bit unsigned value. FTYg is determined by using this value as explained above. ZA_TEST 5-bit unsigned value. FTZa is determined by using this value as explained above. ZG_TEST 5-bit unsigned value. FTZg is determined by using th

23、is value as explained above.Register 25 Sample Rate Divider SMPRT_DIVThis register specifies the divider from the gyroscope output rate used to generate the Sample Rate for the MPU-60X0. 这个寄存器指定的分配器陀螺仪输出率用于生成MPU-60X0采样率。The sensor register output, FIFO output, DMP sampling and Motion detection are a

24、ll based on the Sample Rate.传感器寄存器输出,输出FIFO、DMP抽样和运动检测都是基于采样率。The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once. 加速度计的输出率是1 khz。这意味着一个采样率大于1 khz,相同的加速度计样本可能输出FI

25、FO,不止一次DMP和传感器寄存器。1）SMPLRT_DIV8位无符号值，通过该值将陀螺仪输出分频，得到采样频率该寄存器指定陀螺仪输出率的分频，用来产生MPU-60X0的采样率。传感器寄存器的输出、FIFO输出、DMP采样和运动检测的都是基于该采样率。采样率的计算公式采样率 =陀螺仪的输出率 / （1 + SMPLRT_DIV）当数字低通滤波器没有使能的时候，陀螺仪的输出平路等于8KHZ，反之等于1KHZ。For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-6000/MPU-6050