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MPU-6000andMPU-6050RegisterMapandDescriptionsRevision4.0PurposeandScope目的和范围ThisdocumentprovidespreliminaryinformationregardingtheregistermapanddescriptionsfortheMotionProcessingUnits™MPU-6000™andMPU-6050™,collectivelycalledtheMPU-60X0™orMPU™.本文档提供了初步的信息有关的寄存器映射和描述运动处理单元™微处理器-6000™和微处理器-6050™,统称为MPU-60X0™或微控制器™。TheMPUdevicesprovidetheworld’sfirstintegrated6-axismotionprocessorsolutionthateliminatesthepackage-levelgyroscopeandaccelerometercross-axismisalignmentassociatedwithdiscretesolutions.Thedevicescombinea3-axisgyroscopeanda3-axisaccelerometeronthesamesilicondietogetherwithanonboardDigitalMotionProcessor™(DMP™)capableofprocessingcomplex9-axissensorfusionalgorithmsusingthefield-provenandproprietaryMotionFusion™engine.微机设备提供了世界上第一个集成六轴运动处理器解决方案,消除了包访问的陀螺仪和加速度计横轴失调与离散的解决方案。设备结合使用硬件陀螺仪和使用硬件加速器在同一硅片与机载数字移动处理器™(DMP™)能够处理复杂的9-axis传感器融合算法使用会和专有MotionFusion™引擎。TheMPU-6000andMPU-6050’sintegrated9-axisMotionFusionalgorithmsaccessexternalmagnetometersorothersensorsthroughanauxiliarymasterI2Cbus,allowingthedevicestogatherafullsetofsensordatawithoutinterventionfromthesystemprocessor.Thedevicesareofferedinthesame4x4x0.9mmQFNfootprintandpinoutasthecurrentMPU-3000™familyofintegrated3-axisgyroscopes,providingasimpleupgradepathandfacilitatingplacementonalreadyspaceconstrainedcircuitboards.微控制器-6000和微处理器-6000的综合9-axisMotionFusion算法访问外部磁力检测装置或其他传感器通过一个辅助主I2C总线,允许设备收集一套完整的传感器数据系统处理器不加干预。提供的设备在同一4x4x0.9mmQFN足迹和引出线与当前微处理器-3000™家庭集成硬件陀螺仪,已经提供了一个简单的升级路径,便于放置空间受限的电路板。precisiontrackingofbothfastandslowmotions,theMPU-60X0featuresauser-programmablegyroscopefull-scalerangeof±250,±500,±1000,and±2000°/sec(dps).Thepartsalsohaveauser-programmableaccelerometerfull-scalerangeof±2g,±4g,±8g,and±16g.精密跟踪的快速和慢速运动,MPU-60X0功能可编程陀螺仪全面范围的±250±500±1000和2000°±/秒(dps)。的部分也有一个用户可编程的加速度计全面范围±2g,±4g,±8g和±16g.TheMPU-6000familyiscomprisedoftwoparts,theMPU-6000andMPU-6050.Thesepartsareidenticaltoeachotherwithtwoexceptions.TheMPU-6050supportsI2Ccommunicationsatupto400kHzandhasaVLOGICpinthatdefinesitsinterfacevoltagelevels;theMPU-6000supportsSPIatupto20MHzinadditiontoI2C,andhasasinglesupplypin,VDD,whichisboththedevice’slogicreferencesupplyandtheanalogsupplyforthepart.控制器-6000家庭由两部分组成,单片机-6000和微处理器-6050。这些部件是相同的两个例外。微控制器-6050支持I2C通信高达400千赫VLOGIC销,它定义了接口电压水平;微机-6000支持SPI高达20mhz除了I2C,和有一个供应销,VDD,供应设备的逻辑引用和模拟部分供应。FormoredetailedinformationfortheMPU-60X0devices,pleaserefertothe“MPU-6000andMPU-6050ProductSpecification”.MPU-60X0设备的详细信息,请参阅“微处理器-6000和微处理器-6050产品规格”。VDD供电电压为2.5V±5%、3.0V±5%、3.3V±5%；VDDIO为1.8V±5%，内建振荡器在工作温度范围内仅有±1%频率变化。可选外部时钟输入32.768kHz或19.2MHzRegisterDescriptions寄存器描述ThissectiondescribesthefunctionandcontentsofeachregisterwithintheMPU-60X0.Note:Thedevicewillcomeupinsleepmodeuponpower-up.本节描述MPU-60X0中的每个寄存器的功能和内容。注意:该设备会在睡眠模式在升高。Description:描述:Theseregistersareusedforgyroscopeandaccelerometerself-teststhatpermittheusertotestthemechanicalandelectricalportionsofthegyroscopeandtheaccelerometer.Thefollowingsectionsdescribetheself-testprocess.这些寄存器用于陀螺仪和加速度计self-tests允许用户测试的机械和电气部分陀螺仪和加速度计。以下部分描述自测过程。1.GyroscopeHardwareSelf-Test:RelativeMethod陀螺仪硬件自检:相对的方法Gyroscopeself-testpermitsuserstotestthemechanicalandelectricalportionsofthegyroscope.Codeforoperatingself-testisincludedwithintheMotionApps™softwareprovidedbyInvenSense.Pleaserefertothenextsection(ObtainingtheGyroscopeFactoryTrim(FT)Value)ifnotusingMotionAppssoftware.陀螺仪自测允许用户测试陀螺的机械和电气部分。内包含的代码操作自测MotionApps™InvenSense提供的软件。请参考下一节(获得陀螺仪工厂削减(英尺)值)如果不是使用MotionApps软件。Whenself-testisactivated,theon-boardelectronicswillactuatetheappropriatesensor.Thisactuationwillmovethesensor’sproofmassesoveradistanceequivalenttoapre-definedCoriolisforce.Thisproofmassdisplacementresultsinachangeinthesensoroutput,whichisreflectedintheoutputsignal.Theoutputsignalisusedtoobservetheself-testresponse.当自测被激活时,车载电子将开动适当的传感器。这个动作将传感器的证据质量的距离相当于一个预定义的科里奥利力。兹证明质量位移导致传感器输出的变化,反映在输出信号。输出信号是用来观察自测的回应。自测响应(STR)定义如下:𝑆𝑒𝑙𝑓𝑇𝑒𝑠𝑡𝑅𝑒𝑠𝑝𝑜𝑛𝑠𝑒=𝐺𝑦𝑟𝑜𝑠𝑐𝑜𝑝𝑒𝑂𝑢𝑡𝑝𝑢𝑡𝑤𝑖𝑡ℎ𝑆𝑒𝑙𝑓-𝑇𝑒𝑠𝑡𝐸𝑛𝑎𝑏𝑙𝑒𝑑−𝐺𝑦𝑟𝑜𝑠𝑐𝑜𝑝𝑒𝑂𝑢𝑡𝑝𝑢𝑡𝑤𝑖𝑡ℎ𝑆𝑒𝑙𝑓-𝑇𝑒𝑠𝑡𝐷𝑖𝑠𝑎𝑏𝑙𝑒𝑑Thisselftest-responseisusedtodeterminewhethertheparthaspassedorfailedself-testbyfindingthechangefromfactorytrimoftheself-testresponseasfollows:这个自我test-response用于确定是否已通过或失败部分自测通过寻找自测的变化从芯片削减响应如下:Thischangefromfactorytrimoftheself-testresponsemustbewithinthelimitsprovidedintheMPU-6000/MPU-6050ProductSpecificationdocumentfortheparttopassself-test.Otherwise,thepartisdeemedtohavefailedself-test.这种变化从工厂削减的自测的响应中提供必须的范围内微处理器-6000/微处理器-6050产品规范文档的一部分通过自测。否则,该部分是视为失败的自测。ObtainingtheGyroscopeFactoryTrim(FT)Value获得陀螺仪工厂削减(英尺)的值IfInvenSenseMotionAppssoftwareisnotused,theproceduredetailedbelowshouldbefollowedtoobtaintheFactorytrimvalueoftheselftestresponse(FT)mentionedabove.Forthespecificregistersmentionedbelow,pleaserefertoregisters13-15.如果InvenSenseMotionApps软件不使用,应遵循以下程序详细获取的工厂削减价值上面提到的自我测试响应(英尺)。下面提到的特殊功能寄存器,请参阅寄存器13-15。TheFactorytrimvalueoftheselftestresponse(FT)iscalculatedasshownbelow.FT[Xg],FT[Yg],andFT[Zg]refertothefactorytrim(FT)valuesforthegyroscopeX,Y,andZaxes,