MPU-6000 INVENSENSE, MPU-6000 Datasheet - Page 29

• 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

counter threshold, a motion interrupt is triggered. The axis and polarity which caused the interrupt to be
triggered is flagged in the MOT_DETECT_STATUS register.
Like with Free Fall detection, Motion detection has a configurable acceleration threshold MOT_THR specified
in steps of 1 mg. The counter threshold MOT_DUR is specified in steps of 1 ms. The decrement rate has the
same options as Free Fall detection, and is specified in the MOT_DETECT_CTRL register.
Zero Motion detection capability uses the digital high pass filter (DHPF) and a similar threshold scheme to
Free Fall detection. Each axis of the high passed accelerometer measurement must have an absolute value
less than a threshold specified in the ZRMOT_THR register. This increments a counter, which generates an
interrupt when reaching the threshold specified in ZRMOT_DUR.
Unlike Free Fall or Motion detection, Zero Motion detection triggers an interrupt both when Zero Motion is
first detected and when Zero Motion is no longer detected. While Free Fall and Motion are indicated with a
flag which clears after being read, reading the state of the Zero Motion detected from the
MOT_DETECT_STATUS register does not clear its status.
CONFIDENTIAL & PROPRIETARY
8.4
Zero Motion Interrupt
MPU-6000/MPU-6050 Product Specification
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Document Number: PS-MPU-6000A-00
Revision: 1.0
Release Date: 11/24/2010