MPU-6000 and MPU-6050 Product Specification Revision 1.0

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MPU-6000/MPU-6050 Product SpecificationDocument Number: PS-MPU-6000A-00Revision: 1.0Release Date: 11/24/20107.14 MPU-6000 Using SPI InterfaceIn the figure below, the system processor is an SPI master to the MPU-6000. Pins 8, 9, 23, and 24 are usedto support the /CS, SDO, SCLK, and SDI signals for SPI communications. Because these SPI pins areshared with the I 2 C slave pins (9, 23 and 24), the system processor cannot access the auxiliary I 2 C busthrough the interface bypass multiplexer, which connects the processor I 2 C interface pins to the sensor I 2 Cinterface pins.Since the MPU-6000 has limited capabilities as an I 2 C Master, and depends on the system processor tomanage the initial configuration of any auxiliary sensors, another method must be used for programming thesensors on the auxiliary sensor I 2 C bus pins 6 and 7 (AUX_DA and AUX_CL).When using SPI communications between the MPU-6000 and the system processor, configuration ofdevices on the I 2 C sensor bus can be achieved by performing single byte read and write transactions on anydevice and register on the auxiliary I 2 C bus by using I2C Slave 4 Control (see Registers 49 to 53). Once theexternal sensors are configured, the MPU-6000 has the capability to perform single or multi-byte reads usingthe sensor I 2 C bus. The Slave 0 to Slave 3 controllers may have the read result written to the FIFO buffer aswell as to the sensor registers.InterruptStatusRegister12INTProcessor SPI Bus: for reading alldata from MPU and for configuringMPU and external sensorsMPU-6000FIFOConfigRegisterSensorRegisterSlave I 2 Cor SPISerialInterfaceSensorMaster I 2 CSerialInterfaceInterfaceBypassMux89232476/CSAD0/SDOSCL/SCLKSDA/SDIAUX_CLAUX_DASensor I 2 C Bus: forconfiguring andreading data fromexternal sensorsSCLSDA/CSSDISCLKSDOOptionalCompassSystemProcessorFactoryCalibrationDigitalMotionProcessor(DMP)I 2 C Master performsread and writetransactions onSensor I 2 C bus.Bias & LDO13 18 10VDDGNDREGOUTCONFIDENTIAL & PROPRIETARY 26 of 53
MPU-6000/MPU-6050 Product SpecificationDocument Number: PS-MPU-6000A-00Revision: 1.0Release Date: 11/24/20108 Programmable InterruptsThe MPU-60X0 has a programmable interrupt system which can generate an interrupt signal on the INT pin.Status flags indicate the source of an interrupt. Interrupt sources may be enabled and disabled individually.Table of Interrupt SourcesInterrupt NameFree Fall DetectionMotion DetectionZero Motion DetectionFIFO OverflowPLL ReadyDMP InterruptData ReadyI 2 C Master errors: Lost Arbitration, NACKsI 2 C Slave 4ModuleFree FallMotionZero MotionFIFOPLLDMPSensor RegistersI 2 C MasterI 2 C MasterInterrupts are described in the register description (Section 13) which provides more information about theirenable/disable register and flag register. Some interrupt sources are explained in detail below.MPU-60X0SignalConditioningX GyroADCY GyroADCZ GyroX AccelADCADCFilteringSensorRegistersY AccelADCZ AccelADCMotionDetectionCONFIDENTIAL & PROPRIETARY 27 of 53
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MPU-6000 and MPU-6050 Product Specification Revision 1.0

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