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MPU-6000

MPU-6000 and MPU-6050 Product Specification Revision 3.3

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MPU-6000/MPU-6050 Product Specification

Document Number: PS-MPU-6000A-00

Revision: 3.3

Release Date: 5/16/2012

7.11 Auxiliary I2C Serial Interface

The MPU-60X0 has an auxiliary I2C bus for communicating to an off-chip 3-Axis digital output magnetometer

or other sensors. This bus has two operating modes:

 I2C Master Mode: The MPU-60X0 acts as a master to any external sensors connected to the

auxiliary I2C bus

 Pass-Through Mode: The MPU-60X0 directly connects the primary and auxiliary I2C buses together,

allowing the system processor to directly communicate with any external sensors.

Auxiliary I2C Bus Modes of Operation:

 I2C Master Mode: Allows the MPU-60X0 to directly access the data registers of external digital

sensors, such as a magnetometer. In this mode, the MPU-60X0 directly obtains data from auxiliary

sensors, allowing the on-chip DMP to generate sensor fusion data without intervention from the

system applications processor.

For example, In I2C Master mode, the MPU-60X0 can be configured to perform burst reads,

returning the following data from a magnetometer:

 X magnetometer data (2 bytes)

 Y magnetometer data (2 bytes)

 Z magnetometer data (2 bytes)

The I2C Master can be configured to read up to 24 bytes from up to 4 auxiliary sensors. A fifth sensor

can be configured to work single byte read/write mode.

 Pass-Through Mode: Allows an external system processor to act as master and directly

communicate to the external sensors connected to the auxiliary I2C bus pins (AUX_DA and

AUX_CL). In this mode, the auxiliary I2C bus control logic (3rd party sensor interface block) of the

MPU-60X0 is disabled, and the auxiliary I2C pins AUX_DA and AUX_CL (Pins 6 and 7) are

connected to the main I2C bus (Pins 23 and 24) through analog switches.

Pass-Through Mode is useful for configuring the external sensors, or for keeping the MPU-60X0 in a

low-power mode when only the external sensors are used.

In Pass-Through Mode the system processor can still access MPU-60X0 data through the I2C

interface.

Auxiliary I2C Bus IO Logic Levels

 MPU-6000: The logic level of the auxiliary I2C bus is VDD

 MPU-6050: The logic level of the auxiliary I2C bus can be programmed to be either VDD or VLOGIC

For further information regarding the MPU-6050’s logic levels, please refer to Section 10.2.

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