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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

7.13 MPU-60X0 Solution for 9-axis Sensor Fusion Using I2C Interface

In the figure below, the system processor is an I2C master to the MPU-60X0. In addition, the MPU-60X0 is an

I2C master to the optional external compass sensor. The MPU-60X0 has limited capabilities as an I2C

Master, and depends on the system processor to manage the initial configuration of any auxiliary sensors.

The MPU-60X0 has an interface bypass multiplexer, which connects the system processor I2C bus pins 23

and 24 (SDA and SCL) directly to the auxiliary sensor I2C bus pins 6 and 7 (AUX_DA and AUX_CL).

Once the auxiliary sensors have been configured by the system processor, the interface bypass multiplexer

should be disabled so that the MPU-60X0 auxiliary I2C master can take control of the sensor I2C bus and

gather data from the auxiliary sensors.

For further information regarding I2C master control, please refer to Section 10.

MPU-60X0

FIFO

Config

Register

Sensor

Register

Factory

Calibration

Interrupt

Status

Register

Slave I2C

or SPI

Serial

Interface

Sensor

Master I2C

Serial

Interface

12

INT

I2C Processor Bus: for reading all

sensor data from MPU and for

configuring external sensors (i.e.

compass in this example)

8 /CS

VDD

9 AD0/SDO

VDD or GND

23 SCL/SCLK

24 SDA/SDI

SCL

SDA

System

Processor

Interface

Bypass

Mux

Sensor I2C Bus: for

configuring and reading

from external sensors

7 AUX_CL

6 AUX_DA

Optional

SCL

Compass

SDA

Digital

Motion

Processor

(DMP)

Interface bypass mux allows

direct configuration of

compass by system processor

Bias & LDO

13

VDD

18

10

GND REGOUT

28 of 54

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