MPU-60X0寄存器中文版V4.0

CONTENTSCONTENTSCONTENTSCONTENTS目录DocumentDocumentDocumentDocumentNumber:Number:Number:Number:RM-MPU-6000A-00RM-MPU-6000A-00RM-MPU-6000A-00RM-MPU-6000A-00Revision:Revision:Revision:Revision:4.04.04.04.0ReleaseReleaseReleaseReleaseDate:Date:Date:Date:03/09/201203/09/201203/09/201203/09/2012TranslationTranslationTranslationTranslation：TanTanTanTan说明：能力有限，个别地方采用原文没进行翻译，翻译有很过错误与不通顺，建议查看英语原文对于翻译错误或者有好的修改意见欢迎发送电子邮件到[e-mail][e-mail][e-mail][e-mail]，持续更新中。在这里我要感谢我亲爱的老猪猪！1111REVISIONREVISIONREVISIONREVISIONHISTORYHISTORYHISTORYHISTORY修订历史2222PURPOSEPURPOSEPURPOSEPURPOSEANDANDANDANDSCOPESCOPESCOPESCOPE3333REGISTERREGISTERREGISTERREGISTERMAPMAPMAPMAP寄存器列表4444REGISTERREGISTERREGISTERREGISTERDESCRIPTIONSDESCRIPTIONSDESCRIPTIONSDESCRIPTIONS寄存器描述4.14.14.14.1REGISTERSREGISTERSREGISTERSREGISTERS13131313TOTOTOTO16161616–SELFSELFSELFSELFTESTTESTTESTTESTREGISTERSREGISTERSREGISTERSREGISTERS自检寄存器4.24.24.24.2REGISTERREGISTERREGISTERREGISTER25252525–SAMPLESAMPLESAMPLESAMPLERATERATERATERATEDIVIDERDIVIDERDIVIDERDIVIDER采样频率分频器4.34.34.34.3REGISTERREGISTERREGISTERREGISTER26262626–CONFIGURATIONCONFIGURATIONCONFIGURATIONCONFIGURATION配置4.44.44.44.4REGISTERREGISTERREGISTERREGISTER27272727–GYROSCOPEGYROSCOPEGYROSCOPEGYROSCOPECONFIGURATIONCONFIGURATIONCONFIGURATIONCONFIGURATION陀螺仪配置4.54.54.54.5REGISTERREGISTERREGISTERREGISTER28282828–ACCELEROMETERACCELEROMETERACCELEROMETERACCELEROMETERCONFIGURATIONCONFIGURATIONCONFIGURATIONCONFIGURATION加速度计配置4.64.64.64.6REGISTERREGISTERREGISTERREGISTER31313131–MOTIONMOTIONMOTIONMOTIONDETECTIONDETECTIONDETECTIONDETECTIONTHRESHOLDTHRESHOLDTHRESHOLDTHRESHOLD运动检测阀值4.74.74.74.7REGISTERREGISTERREGISTERREGISTER35353535–FIFOFIFOFIFOFIFOENABLEENABLEENABLEENABLEFIFOFIFOFIFOFIFO使能4.84.84.84.8REGISTERREGISTERREGISTERREGISTER36363636–I2CI2CI2CI2CMASTERMASTERMASTERMASTERCONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C主机控制4.94.94.94.9REGISTERSREGISTERSREGISTERSREGISTERS37373737TOTOTOTO39393939–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE0000CONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C从机0000控制4.104.104.104.10REGISTERSREGISTERSREGISTERSREGISTERS40404040TOTOTOTO42424242–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE1111CONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C从机1111控制4.114.114.114.11REGISTERSREGISTERSREGISTERSREGISTERS43434343TOTOTOTO45454545–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE2222CONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C从机2222控制4.124.124.124.12REGISTERSREGISTERSREGISTERSREGISTERS46464646TOTOTOTO48484848–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE3333CONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C从机3333控制4.134.134.134.13REGISTERSREGISTERSREGISTERSREGISTERS49494949TOTOTOTO53535353–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE4444CONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C从机4444控制4.144.144.144.14REGISTERREGISTERREGISTERREGISTER54545454–I2CI2CI2CI2CMASTERMASTERMASTERMASTERSTATUSSTATUSSTATUSSTATUSI2CI2CI2CI2C主机状态4.154.154.154.15REGISTERREGISTERREGISTERREGISTER55555555–INTINTINTINTPINPINPINPIN////BYPASSBYPASSBYPASSBYPASSENABLEENABLEENABLEENABLECONFIGURATIONCONFIGURATIONCONFIGURATIONCONFIGURATIONINTINTINTINT引脚////旁路有效使能配置4.164.164.164.16REGISTERREGISTERREGISTERREGISTER56565656–INTERRUPTINTERRUPTINTERRUPTINTERRUPTENABLEENABLEENABLEENABLE中断使能4.174.174.174.17REGISTERREGISTERREGISTERREGISTER58585858–INTERRUPTINTERRUPTINTERRUPTINTERRUPTSTATUSSTATUSSTATUSSTATUS中断状态4.184.184.184.18REGISTERSREGISTERSREGISTERSREGISTERS59595959TOTOTOTO64646464–ACCELEROMETERACCELEROMETERACCELEROMETERACCELEROMETERMEASUREMENTSMEASUREMENTSMEASUREMENTSMEASUREMENTS加速度计测量值4.194.194.194.19REGISTERSREGISTERSREGISTERSREGISTERS65656565ANDANDANDAND66666666–TEMPERATURETEMPERATURETEMPERATURETEMPERATUREMEASUREMENTMEASUREMENTMEASUREMENTMEASUREMENT温度测量值4.204.204.204.20REGISTERSREGISTERSREGISTERSREGISTERS67676767TOTOTOTO72727272–GYROSCOPEGYROSCOPEGYROSCOPEGYROSCOPEMEASUREMENTSMEASUREMENTSMEASUREMENTSMEASUREMENTS陀螺仪测量值4.214.214.214.21REGISTERSREGISTERSREGISTERSREGISTERS73737373TOTOTOTO96969696–EXTERNALEXTERNALEXTERNALEXTERNALSENSORSENSORSENSORSENSORDATADATADATADATA外部传感器数据4.224.224.224.22REGISTERREGISTERREGISTERREGISTER99999999–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE0000DATADATADATADATAOUTOUTOUTOUTI2CI2CI2CI2C从机0000数据输出4.234.234.234.23REGISTERREGISTERREGISTERREGISTER100100100100–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE1111DATADATADATADATAOUTOUTOUTOUTI2CI2CI2CI2C从机1111数据输出4.244.244.244.24REGISTERREGISTERREGISTERREGISTER101101101101–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE2222DATADATADATADATAOUTOUTOUTOUTI2CI2CI2CI2C从机2222数据输出4.254.254.254.25REGISTERREGISTERREGISTERREGISTER102102102102–I2CI2CI2CI2CSLAVESLAVESLAVESLAVE3333DATADATADATADATAOUTOUTOUTOUTI2CI2CI2CI2C从机3333数据输出4.264.264.264.26REGISTERREGISTERREGISTERREGISTER103103103103–I2CI2CI2CI2CMASTERMASTERMASTERMASTERDELAYDELAYDELAYDELAYCONTROLCONTROLCONTROLCONTROLI2CI2CI2CI2C主机延时管理4.274.274.274.27REGISTERREGISTERREGISTERREGISTER104104104104–SIGNALSIGNALSIGNALSIGNALPATHPATHPATHPATHRESETRESETRESETRESET信号通道复位4.284.284.284.28REGISTERREGISTERREGISTERREGISTER105105105105–MOTIONMOTIONMOTIONMOTIONDETECTIONDETECTIONDETECTIONDETECTIONCONTROLCONTROLCONTROLCONTROL运动检测控制4.294.294.294.29REGISTERREGISTERREGISTERR