MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013
3 of 52
7.12 SELF-TEST ........................................................................................................................................ 27
7.13 MPU-60X0 SOLUTION FOR 9-AXIS SENSOR FUSION USING I
2
C INTERFACE .......................................... 28
7.14 MPU-6000 USING SPI INTERFACE ..................................................................................................... 29
7.15 INTERNAL CLOCK GENERATION .......................................................................................................... 30
7.16 SENSOR DATA REGISTERS ................................................................................................................. 30
7.17 FIFO ................................................................................................................................................ 30
7.18 INTERRUPTS ...................................................................................................................................... 30
7.19 DIGITAL-OUTPUT TEMPERATURE SENSOR .......................................................................................... 31
7.20 BIAS AND LDO .................................................................................................................................. 31
7.21 CHARGE PUMP .................................................................................................................................. 31
8 PROGRAMMABLE INTERRUPTS ............................................................................................................ 32
9 DIGITAL INTERFACE ............................................................................................................................... 33
9.1 I
2
C AND SPI (MPU-6000 ONLY) SERIAL INTERFACES .......................................................................... 33
9.2 I
2
C INTERFACE .................................................................................................................................. 33
9.3 I
2
C COMMUNICATIONS PROTOCOL ...................................................................................................... 33
9.4 I
2
C TERMS ........................................................................................................................................ 36
9.5 SPI INTERFACE (MPU-6000 ONLY) .................................................................................................... 37
10 SERIAL INTERFACE CONSIDERATIONS (MPU-6050) .......................................................................... 38
10.1 MPU-6050 SUPPORTED INTERFACES ................................................................................................. 38
10.2 LOGIC LEVELS ................................................................................................................................... 38
10.3 LOGIC LEVELS DIAGRAM FOR AUX_VDDIO = 0 .................................................................................. 39
11 ASSEMBLY ............................................................................................................................................... 40
11.1 ORIENTATION OF AXES ...................................................................................................................... 40
11.2 PACKAGE DIMENSIONS ...................................................................................................................... 41
11.3 PCB DESIGN GUIDELINES .................................................................................................................. 42
11.4 ASSEMBLY PRECAUTIONS .................................................................................................................. 43
11.5 STORAGE SPECIFICATIONS ................................................................................................................. 46
11.6 PACKAGE MARKING SPECIFICATION .................................................................................................... 46
11.7 TAPE & REEL SPECIFICATION ............................................................................................................. 47
11.8 LABEL ............................................................................................................................................... 48
11.9 PACKAGING ....................................................................................................................................... 49
11.10 REPRESENTATIVE SHIPPING CARTON LABEL ................................................................................... 50
12 RELIABILITY ............................................................................................................................................. 51
12.1 QUALIFICATION TEST POLICY ............................................................................................................. 51
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