MPU-6000 Ver la hoja de datos (PDF) - Unspecified

Número de pieza

componentes Descripción

Fabricante

MPU-6000

MPU-6000 and MPU-6050 Product Specification Revision 3.3

Unspecified 

MPU-6000/MPU-6050 Product Specification

Document Number: PS-MPU-6000A-00

Revision: 3.3

Release Date: 5/16/2012

7.14 MPU-6000 Using SPI Interface

In the figure below, the system processor is an SPI master to the MPU-6000. Pins 8, 9, 23, and 24 are used

to support the /CS, SDO, SCLK, and SDI signals for SPI communications. Because these SPI pins are

shared with the I2C slave pins (9, 23 and 24), the system processor cannot access the auxiliary I2C bus

through the interface bypass multiplexer, which connects the processor I2C interface pins to the sensor I2C

interface pins.

Since the MPU-6000 has limited capabilities as an I2C Master, and depends on the system processor to

manage the initial configuration of any auxiliary sensors, another method must be used for programming the

sensors on the auxiliary sensor I2C bus pins 6 and 7 (AUX_DA and AUX_CL).

When using SPI communications between the MPU-6000 and the system processor, configuration of

devices on the auxiliary I2C sensor bus can be achieved by using I2C Slaves 0-4 to perform read and write

transactions on any device and register on the auxiliary I2C bus. The I2C Slave 4 interface can be used to

perform only single byte read and write transactions.

Once the external sensors have been configured, the MPU-6000 can perform single or multi-byte reads

using the sensor I2C bus. The read results from the Slave 0-3 controllers can be written to the FIFO buffer as

well as to the external sensor registers.

For further information regarding the control of the MPU-60X0’s auxiliary I2C interface, please refer to the

MPU-6000/MPU-6050 Register Map and Register Descriptions document.

Interrupt

Status

Register

Processor SPI Bus: for reading all

data from MPU and for configuring

MPU and external sensors

12

INT

MPU-6000

FIFO

Config

Register

Sensor

Register

Factory

Calibration

Slave I2C

or SPI

Serial

Interface

Sensor

Master I2C

Serial

Interface

8 /CS

9 AD0/SDO

23 SCL/SCLK

24 SDA/SDI

/CS

SDI

SCLK

SDO

Interface

Bypass

Mux

Sensor I2C Bus: for

configuring and

reading data from

external sensors

Optional

7 AUX_CL

SCL

6 AUX_DA

Compass

SDA

System

Processor

Digital

Motion

Processor

(DMP)

I2C Master performs

read and write

transactions on

Sensor I2C bus.

Bias & LDO

13

VDD

18

10

GND REGOUT

29 of 54

Share Link: