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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

Additionally, the bus remains busy if a repeated START (Sr) is generated instead of a STOP condition.

SDA

SCL

S

START condition

P

STOP condition

START and STOP Conditions

Data Format / Acknowledge

I2C data bytes are defined to be 8-bits long. There is no restriction to the number of bytes transmitted per

data transfer. Each byte transferred must be followed by an acknowledge (ACK) signal. The clock for the

acknowledge signal is generated by the master, while the receiver generates the actual acknowledge signal

by pulling down SDA and holding it low during the HIGH portion of the acknowledge clock pulse.

If a slave is busy and cannot transmit or receive another byte of data until some other task has been

performed, it can hold SCL LOW, thus forcing the master into a wait state. Normal data transfer resumes

when the slave is ready, and releases the clock line (refer to the following figure).

DATA OUTPUT BY

TRANSMITTER (SDA)

DATA OUTPUT BY

RECEIVER (SDA)

SCL FROM

MASTER

not acknowledge

1

2

START

condition

Acknowledge on the I2C Bus

acknowledge

8

9

clock pulse for

acknowledgement

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