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详细说明： MPU-6000 and MPU-6050 Product Specification Revision 3.1 CONTENTS 1 REVISION HISTORY ................................................................................................................................... 5 2 PURPOSE AND SCOPE ............................................................................................................................. 6 3 PRODUCT OVERVIEW ............................................................................................................................... 7 3.1 MPU-6 0X0 OVERVIEW ........................................................................................................................ 7 4 APPLICATIONS ........................................................................................................................................... 9 5 FEATURES ................................................................................................................................................ 10 5.1 GYROSCOPE FEATURES ..................................................................................................................... 10 5.2 ACCELEROMETER FEATURES ............................................................................................................. 10 5.3 ADDITIONAL FEATURES ...................................................................................................................... 10 5.4 MOTIONPROCESSING ......................................................................................................................... 11 5.5 CLOCKING ......................................................................................................................................... 11 6 ELECTRICAL CHARACTERISTICS ......................................................................................................... 12 6.1 GYROSCOPE SPECIFICATIONS ............................................................................................................ 12 6.2 ACCELEROMETER SPECIFICATIONS ..................................................................................................... 13 6.3 ELECTRICAL AND OTHER COMMON SPECIFICATIONS ............................................................................ 14 6.4 ELECTRICAL SPECIFICATIONS, CONTINUED ......................................................................................... 15 6.5 ELECTRICAL SPECIFICATIONS, CONTINUED ......................................................................................... 16 6.6 ELECTRICAL SPECIFICATIONS, CONTINUED ......................................................................................... 17 2 6.7 I C TIMING CHARACTERIZATION.......................................................................................................... 18 6.8 SPI TIMING CHARACTERIZATION (MPU-6000 ONLY) ........................................................................... 19 6.9 ABSOLUTE MAXIMUM RATINGS ........................................................................................................... 20 7 APPLICATIONS INFORMATION .............................................................................................................. 21 7.1 PIN OUT AND SIGNAL DESCRIPTION .................................................................................................... 21 7.2 TYPICAL OPERATING CIRCUIT ............................................................................................................. 22 7.3 BILL OF MATERIALS FOR EXTERNAL COMPONENTS .............................................................................. 22 7.4 RECOMMENDED POWER-ON PROCEDURE ........................................................................................... 23 7.5 BLOCK DIAGRAM ............................................................................................................................... 24 7.6 OVERVIEW ........................................................................................................................................ 24 7.7 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING ................................ 25 7.8 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ........................ 25 7.9 DIGITAL MOTION PROCESSOR ............................................................................................................ 25 2 7.10 PRIMARY I C AND SPI SERIAL COMMUNICATIONS INTERFACES ............................................................ 25 2 7.11 AUXILIARY I C SERIAL INTERFACE ...................................................................................................... 26 2 of 57 Document Number: PS-MPU-6000A-00 Revision: 3.1 MPU-6000/MPU-6050 Product Specification Release Date: 10/24/2011 7.12 SELF-TEST ........................................................................................................................................ 27 2 7.13 MPU-60X0 SOLUTION FOR 9-AXIS SENSOR FUSION USING I 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 ...................................................................................................................................... 31 7.19 DIGITAL-OUTPUT TEMPERATURE SENSOR .......................................................................................... 31 7.20 BIAS AND LDO .................................................................................................................................. 31 7.21 CHARGE PUMP .................................................................................................................................. 31 8 PROGRAMMABLE INTERRUPTS ............................................................................................................ 32 8.1 FREE FALL, MOTION, AND ZERO MOTION SIGNAL PATHS ..................................................................... 33 8.2 FREE FALL INTERRUPT ....................................................................................................................... 34 8.3 MOTION INTERRUPT ........................................................................................................................... 34 8.4 ZERO MOTION INTERRUPT .................................................................................................................. 35 9 DIGITAL INTERFACE ............................................................................................................................... 36 2 9.1 I C AND SPI (MPU-6000 ONLY) SERIAL INTERFACES .......................................................................... 36 2 9.2 I C INTERFACE .................................................................................................................................. 36 2 9.3 I C COMMUNICATIONS PROTOCOL ...................................................................................................... 36 2 9.4 I C TERMS ........................................................................................................................................ 39 9.5 SPI INTERFACE (MPU-6000 ONLY) .................................................................................................... 40 10 SERIAL INTERFACE CONSIDERATIONS (MPU-6050) .......................................................................... 41 10.1 MPU-6050 SUPPORTED INTERFACES ................................................................................................. 41 10.2 LOGIC LEVELS ................................................................................................................................... 41 10.3 LOGIC LEVELS DIAGRAM FOR AUX_VDDIO = 0 .................................................................................. 42 10.4 LOGIC LEVELS DIAGRAM FOR AUX_VDDIO = 1 .................................................................................. 43 11 ASSEMBLY ............................................................................................................................................... 44 11.1 ORIENTATION OF AXES ...................................................................................................................... 44 11.2 PACKAGE DIMENSIONS ...................................................................................................................... 45 11.3 PCB DESIGN GUIDELINES .................................................................................................................. 46 11.4 ASSEMBLY PRECAUTIONS .................................................................................................................. 47 11.5 STORAGE SPECIFICATIONS ................................................................................................................. 51 11.6 PACKAGE MARKING SPECIFICATION .................................................................................................... 51 11.7 TAPE & REEL SPECIFICATION ............................................................................................................. 52 3 of 57 Document Number: PS-MPU-6000A-00 Revision: 3.1 MPU-6000/MPU-6050 Product Specification Release Date: 10/24/2011 11.8 LABEL ............................................................................................................................................... 53 11.9 PACKAGING ....................................................................................................................................... 54 12 RELIABILITY ............................................................................................................................................. 55 12.1 QUALIFICATION TEST POLICY ............................................................................................................. 55 12.2 QUALIFICATION TEST PLAN ................................................................................................................ 55 13 ENVIRONMENTAL COMPLIANCE ........................................................................................................... 56 ...展开收缩
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