MPU-6050 INVENSENSE, MPU-6050 Datasheet - Page 23

• Manufacturer Part Number: MPU-6050
• Description: GYRO/ACCEL, 9-AXIS FUSION, PROG, I2C
• Manufacturer: INVENSENSE

Specifications of MPU-6050

• 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
• Acceleration Range: ± 2g, ± 4g, ± 8g, ± 16g
• Interface Type: I2C, SPI
• Rohs Compliant: Yes
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

7.7
The MPU-60X0 consists of three independent vibratory MEMS rate gyroscopes, which detect rotation about
the X, Y, and Z axes. When the gyros are rotated about any of the sense axes, the Coriolis Effect causes a
vibration that is detected by a capacitive pickoff. The resulting signal is amplified, demodulated, and filtered
to produce a voltage that is proportional to the angular rate. This voltage is digitized using individual on-chip
16-bit Analog-to-Digital Converters (ADCs) to sample each axis. The full-scale range of the gyro sensors
may be digitally programmed to ±250, ±500, ±1000, or ±2000 degrees per second (dps). The ADC sample
rate is programmable from 8,000 samples per second, down to 3.9 samples per second, and user-selectable
low-pass filters enable a wide range of cut-off frequencies.
7.8
The tri-axis accelerometer uses separate proof masses for each axis. Acceleration along a particular axis
induces displacement on the respective proof mass, and capacitive sensors detect the displacement
differentially. The architecture reduces the susceptibility to fabrication variations as well as to thermal drift.
When the device sits on a flat surface, it will measure 0g on the X- and Y-axes and +1g on the Z-axis.
Accelerometer scale factor is calibrated at the factory and is nominally independent of supply voltage. Each
sensor has a dedicated sigma-delta ADC for providing digital outputs. The full scale range of the digital
output can be adjusted to ±2g, ±4g, ±8g, or ±16g.
7.9
The embedded Digital Motion Processor (DMP) is located within the MPU-60X0 and offloads computation of
motion processing algorithms from the host processor. The DMP acquires data from accelerometers,
gyroscopes, and additional sensors such as magnetometers, and processes the data. The resulting data can
be read from the DMP’s registers, or can be buffered in a FIFO. The DMP has access to one of the MPU’s
external pins, which can be used for generating interrupts.
The purpose of the DMP is to offload both timing requirements and processing power from the host
processor. Typically, motion processing algorithms should be run at a high rate, often around 200Hz, in order
to provide accurate results with low latency. This is required even if the application updates at a much lower
rate; for example, a low power user interface may update as slowly as 5Hz, but the motion processing should
still run at 200Hz. The DMP can be used as a tool in order to minimize power, simplify timing and the
software architecture, and save valuable MIPS on the host processor for use in the application.
7.10
The MPU-60X0 communicates to a system processor using either SPI (MPU-6000 only) or I
interfaces, and the device always acts as a slave when communicating to the system processor. The logic
level for communications to the master is set by the voltage on the VLOGIC pin – (MPU-6050) or by VDD
(MPU-6000). The LSB of the of the I
Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning
Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning
Digital Motion Processor
Primary I
2
C and SPI Serial Communications Interfaces
MPU-6000/MPU-6050 Product Specification
2
C slave address is set by pin 9 (AD0).
23 of 53
Document Number: PS-MPU-6000A-00
Revision: 1.0
Release Date: 11/24/2010
2
C serial