MPU-6000 INVENSENSE, MPU-6000 Datasheet - Page 25

• 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

In the figure below, the system processor is an I
I
Master, and depends on the system processor to manage the initial configuration of any auxiliary sensors.
The MPU-6000 has an interface bypass multiplexer, which connects the system processor I
and 24 (SDA and SCL) directly to the auxiliary sensor I
Once the auxiliary sensors have been configured by the system processor, the interface bypass multiplexer
should be disabled so the MPU-6000 auxiliary I
data from the auxiliary sensors.
I
CONFIDENTIAL & PROPRIETARY
2
2
C master to the optional external compass sensor. The MPU-6000 has limited capabilities as an I
C master control is discussed in more detail in Section 10.
7.13 MPU-60X0 Solution for 9-axis Sensor Fusion Using I
MPU-60X0
Calibration
Register
Register
Factory
Sensor
Config
FIFO
MPU-6000/MPU-6050 Product Specification
VDD
13
Bias & LDO
Master I
Interface
Processor
GND
Interrupt
Register
Slave I
Interface
Sensor
Serial
Status
Motion
or SPI
Digital
Serial
(DMP)
18
2
2
C
C
REGOUT
10
2
Interface
2
C master can take control of the sensor I
Bypass
25 of 53
C master to the MPU-60X0. In addition, the MPU-60X0 is an
Mux
2
C bus pins 6 and 7 (AUX_DA and AUX_CL).
12
23
24
8
9
7
6
INT
/CS
AD0/SDO
SCL/SCLK
SDA/SDI
AUX_CL
AUX_DA
Sensor I
configuring and reading
from external sensors
2
C Interface
VDD
VDD or GND
Interface bypass mux allows
direct configuration of
compass by system processor
2
C Bus: for
I
sensor data from MPU and for
configuring external sensors (i.e.
compass in this example)
Document Number: PS-MPU-6000A-00
Revision: 1.0
Release Date: 11/24/2010
2
C Processor Bus: for reading all
SCL
SDA
Compass
Optional
2
C bus and gather
2
SDA
SCL
C bus pins 23
2
Processor
C
System