MPU-6050

Part: MPU-6000 and MPU-6050 Type: MotionTracking Device

Key Specs:

• Operating voltage range: 2.375V-3.46V
• Accelerometer Intelligence Function increment value: 1mg/LSB
• Latch-up rating: Level A and ±100mA

Features:

• MotionInterface™
• Small package size
• Low power consumption
• High accuracy and repeatability
• High shock tolerance
• Application specific performance programmability
• Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning
• Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning
• Digital Motion Processor
• I2C Primary and SPI Serial Communications Interfaces (SPI for MPU-6000 only)
• I2C Auxiliary Serial Interface
• Self-Test
• Internal Clock Generation
• Sensor Data Registers
• FIFO
• Interrupts
• Digital-Output Temperature Sensor
• Bias and LDO
• Charge Pump
• Programmable Interrupts

Applications:

• Gesture commands for applications and phone control
• Enhanced gaming
• Augmented reality
• Panoramic photo capture and viewing
• Pedestrian and vehicle navigation
• Health and fitness monitoring
• Location-based services

Package:

• null

5.1 Gyroscope Features

The triple-axis MEMS gyroscope in the MPU-60X0 includes a wide range of features:

• Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable fullscale range of ±250, ±500, ±1000, and ±2000°/sec
• External sync signal connected to the FSYNC pin supports image, video and GPS synchronization
• Integrated 16-bit ADCs enable simultaneous sampling of gyros
• Enhanced bias and sensitivity temperature stability reduces the need for user calibration
• Improved low-frequency noise performance
• Digitally-programmable low-pass filter
• Gyroscope operating current: 3.6mA
• Standby current: 5μA
• Factory calibrated sensitivity scale factor
• User self-test

5.2 Accelerometer Features

The triple-axis MEMS accelerometer in MPU-60X0 includes a wide range of features:

• Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
• Integrated 16-bit ADCs enable simultaneous sampling of accelerometers while requiring no external multiplexer
• Accelerometer normal operating current: 500μA
• Low power accelerometer mode current: 10μA at 1.25Hz, 20μA at 5Hz, 60μA at 20Hz, 110μA at 40Hz
• Orientation detection and signaling
• Tap detection
• User-programmable interrupts
• High-G interrupt
• User self-test

5.3 Additional Features

The MPU-60X0 includes the following additional features:

• 9-Axis MotionFusion by the on-chip Digital Motion Processor (DMP)
• Auxiliary master I²C bus for reading data from external sensors (e.g., magnetometer)
• 3.9mA operating current when all 6 motion sensing axes and the DMP are enabled
• VDD supply voltage range of 2.375V-3.46V
• Flexible VLOGIC reference voltage supports multiple I ²C interface voltages (MPU-6050 only)
• Smallest and thinnest QFN package for portable devices: 4x4x0.9mm
• Minimal cross-axis sensitivity between the accelerometer and gyroscope axes
• 1024 byte FIFO buffer reduces power consumption by allowing host processor to read the data in bursts and then go into a low-power mode as the MPU collects more data
• Digital-output temperature sensor
• User-programmable digital filters for gyroscope, accelerometer, and temp sensor
• 10,000 g shock tolerant
• 400kHz Fast Mode I²C for communicating with all registers
• 1MHz SPI serial interface for communicating with all registers (MPU-6000 only)
• 20MHz SPI serial interface for reading sensor and interrupt registers (MPU-6000 only)

• MEMS structure hermetically sealed and bonded at wafer level
• RoHS and Green compliant

5.4 MotionProcessing

• Internal Digital Motion Processing™ (DMP™) engine supports 3D MotionProcessing and gesture recognition algorithms
• The MPU-60X0 collects gyroscope and accelerometer data while synchronizing data sampling at a user defined rate. The total dataset obtained by the MPU-60X0 includes 3-Axis gyroscope data, 3- Axis accelerometer data, and temperature data. The MPU's calculated output to the system processor can also include heading data from a digital 3-axis third party magnetometer.
• The FIFO buffers the complete data set, reducing timing requirements on the system processor by allowing the processor burst read the FIFO data. After burst reading the FIFO data, the system processor can save power by entering a low-power sleep mode while the MPU collects more data.
• Programmable interrupt supports features such as gesture recognition, panning, zooming, scrolling, tap detection, and shake detection
• Digitally-programmable low-pass filters
• Low-power pedometer functionality allows the host processor to sleep while the DMP maintains the step count.

5.5 Clocking

• On-chip timing generator ±1% frequency variation over full temperature range
• Optional external clock inputs of 32.768kHz or 19.2MHz

• BlurFree™ technology (for Video/Still Image Stabilization)
• AirSign™ technology (for Security/Authentication)
• TouchAnywhere™ technology (for "no touch" UI Application Control/Navigation)
• MotionCommand™ technology (for Gesture Short-cuts)
• Motion-enabled game and application framework
• InstantGesture™ iG™ gesture recognition
• Location based services, points of interest, and dead reckoning
• Handset and portable gaming
• Motion-based game controllers
• 3D remote controls for Internet connected DTVs and set top boxes, 3D mice
• Wearable sensors for health, fitness and sports
• Toys

6.1 Gyroscope Specifications

VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

PARAMETER	CONDITIONS	MIN	TYP	MAX	UNITS	NOTES
GYROSCOPE SENSITIVITY
Full-Scale Range	FS_SEL=0 FS_SEL=1 FS_SEL=2 FS_SEL=3		±250 ±500 ±1000 ±2000		º/s º/s º/s º/s
Gyroscope ADC Word Length			16		bits
Sensitivity Scale Factor	FS_SEL=0 FS_SEL=1 FS_SEL=2 FS_SEL=3		131 65.5 32.8 16.4		LSB/(º/s) LSB/(º/s) LSB/(º/s) LSB/(º/s)
Sensitivity Scale Factor Tolerance	25°C	-3		+3	%
Sensitivity Scale Factor Variation Over			±2		%
Temperature
Nonlinearity	Best fit straight line; 25°C		0.2		%
Cross-Axis Sensitivity			±2		%
GYROSCOPE ZERO-RATE OUTPUT (ZRO)
Initial ZRO Tolerance	25°C		±20		º/s
ZRO Variation Over Temperature	-40°C to +85°C		±20		º/s
Power-Supply Sensitivity (1-10Hz)	Sine wave, 100mVpp; VDD=2.5V		0.2		º/s
Power-Supply Sensitivity (10 - 250Hz)	Sine wave, 100mVpp; VDD=2.5V		0.2		º/s
Power-Supply Sensitivity (250Hz - 100kHz)	Sine wave, 100mVpp; VDD=2.5V		4		º/s
Linear Acceleration Sensitivity	Static		0.1		º/s/g
SELF-TEST RESPONSE
Relative	Change from factory trim	-14		14	%	1
GYROSCOPE NOISE PERFORMANCE	FS_SEL=0
Total RMS Noise	DLPFCFG=2 (100Hz)		0.05		º/s-rms
Low-frequency RMS noise	Bandwidth 1Hz to10Hz		0.033		º/s-rms
Rate Noise Spectral Density	At 10Hz		0.005		º/s/√Hz
GYROSCOPE MECHANICAL
FREQUENCIES
X-Axis		30	33	36	kHz
Y-Axis		27	30	33	kHz
Z-Axis		24	27	30	kHz
LOW PASS FILTER RESPONSE
	Programmable Range	5		256	Hz
OUTPUT DATA RATE
	Programmable	4		8,000	Hz
GYROSCOPE START-UP TIME	DLPFCFG=0
ZRO Settling (from power-on)	to ±1º/s of Final		30		ms

6.2 Accelerometer Specifications

VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

PARAMETER	CONDITIONS	MIN	TYP	MAX	UNITS	NOTES
ACCELEROMETER SENSITIVITY
Full-Scale Range	AFS_SEL=0 AFS_SEL=1 AFS_SEL=2 AFS_SEL=3		±2 ±4 ±8 ±16		g g g g
ADC Word Length	Output in two's complement format		16		bits
Sensitivity Scale Factor	AFS_SEL=0 AFS_SEL=1 AFS_SEL=2 AFS_SEL=3		16,384 8,192 4,096 2,048		LSB/g LSB/g LSB/g LSB/g
Initial Calibration Tolerance			±3		%
Sensitivity Change vs. Temperature	AFS_SEL=0, -40°C to +85°C		±0.02		%

2. Please refer to the following document for further information on Self-Test: MPU-6000/MPU-6050 Register Map and Descriptions

6.3 Electrical and Other Common Specifications

VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

PARAMETER	CONDITIONS	MIN	TYP	MAX	Units	Notes
TEMPERATURE SENSOR
Range			-40 to +85		°C
Sensitivity	Untrimmed		340		LSB/ºC
Temperature Offset	35°C		-521		LSB
Linearity	Best fit straight line (-40°C to +85°C)		±1		°C
VDD POWER SUPPLY
Operating Voltages		2.375		3.46	V
Normal Operating Current	Gyroscope + Accelerometer + DMP Gyroscope + Accelerometer (DMP disabled) Gyroscope + DMP (Accelerometer disabled) Gyroscope only (DMP & Accelerometer disabled) Accelerometer only (DMP & Gyroscope disabled)		3.9 3.8 3.7 3.6 500		mA mA mA mA μA
Accelerometer Low Power Mode Current	1.25 Hz update rate 5 Hz update rate 20 Hz update rate 40 Hz update rate		10 20 70 140		μA μA μA μA
Full-Chip Idle Mode Supply Current			5		μA
Power Supply Ramp Rate	Monotonic ramp. Ramp rate is 10% to 90% of the final value			100	ms
VLOGIC REFERENCE VOLTAGE	MPU-6050 only
Voltage Range	VLOGIC must be ≤VDD at all times	1.71		VDD	V
Power Supply Ramp Rate	Monotonic ramp. Ramp rate is 10% to 90% of the final value			3	ms
Normal Operating Current			100		μA
TEMPERATURE RANGE
Specified Temperature Range	Performance parameters are not applicable beyond Specified Temperature Range	-40		+85	°C

6.4 Electrical Specifications, Continued

VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

PARAMETER	CONDITIONS	MIN	TYP	MAX	Units	Notes
SERIAL INTERFACE
SPI Operating Frequency, All Registers Read/Write	MPU-6000 only, Low Speed Characterization MPU-6000 only, High Speed Characterization		100 ±10% 1 ±10%		kHz MHz
SPI Operating Frequency, Sensor and Interrupt Registers Read Only	MPU-6000 only		20 ±10%		MHz
I²C Operating Frequency	All registers, Fast-mode All registers, Standard-mode			400 100	kHz kHz
I²C ADDRESS	AD0 = 0 AD0 = 1		1101000 1101001
DIGITAL INPUTS (SDI/SDA, AD0, SCLK/SCL, FSYNC, /CS, CLKIN)
VIH, High Level Input Voltage	MPU-6000 MPU-6050	0.7VDD 0.7VLOGIC			V V
VIL, Low Level Input Voltage	MPU-6000 MPU-6050			0.3VDD 0.3VLOGIC	V V
CI, Input Capacitance			< 5		pF
DIGITAL OUTPUT (SDO, INT)
VOH, High Level Output Voltage	RLOAD=1MΩ; MPU-6000 RLOAD=1MΩ; MPU-6050	0.9VDD 0.9VLOGIC			V V
VOL1, LOW-Level Output Voltage	RLOAD=1MΩ; MPU-6000 RLOAD=1MΩ; MPU-6050			0.1VDD 0.1VLOGIC	V V
VOL,INT1, INT Low-Level Output Voltage	OPEN=1, 0.3mA sink Current			0.1	V
Output Leakage Current	OPEN=1		100		nA
tINT, INT Pulse Width	LATCH_INT_EN=0		50		μs

6.5 Electrical Specifications, Continued

Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

Parameters	Conditions	Typical	Units	Notes
Primary I²C I/O (SCL, SDA)
VIL, LOW-Level Input Voltage	MPU-6000	-0.5 to 0.3*VDD	V
VIH, HIGH-Level Input Voltage	MPU-6000	0.7*VDD to VDD + 0.5V	V
Vhys, Hysteresis	MPU-6000	0.1*VDD	V
VIL, LOW Level Input Voltage	MPU-6050	-0.5V to 0.3*VLOGIC	V
VIH, HIGH-Level Input Voltage	MPU-6050	0.7*VLOGIC to VLOGIC + 0.5V	V
Vhys, Hysteresis	MPU-6050	0.1*VLOGIC	V
VOL1, LOW-Level Output Voltage	3mA sink current	0 to 0.4	V
IOL, LOW-Level Output Current	VOL = 0.4V	3	mA
	VOL = 0.6V	5	mA
Output Leakage Current		100	nA
t_of, Output Fall Time from V_IHmax to V_ILmax	Cb bus capacitance in pF	20+0.1Cb to 250	ns
C_I, Capacitance for Each I/O pin		< 10	pF
Auxiliary I²C I/O (AUX_CL, AUX_DA)	MPU-6050: AUX_VDDIO=0
VIL, LOW-Level Input Voltage		-0.5V to 0.3*VLOGIC	V
VIH, HIGH-Level Input Voltage		0.7*VLOGIC to VLOGIC + 0.5V	V
Vhys, Hysteresis		0.1*VLOGIC	V
VOL1, LOW-Level Output Voltage	VLOGIC > 2V; 1mA sink current	0 to 0.4	V
VOL3, LOW-Level Output Voltage	VLOGIC < 2V; 1mA sink current	0 to 0.2*VLOGIC	V
IOL, LOW-Level Output Current	VOL = 0.4V	1	mA
	VOL = 0.6V	1	mA
Output Leakage Current		100	nA
t_of, Output Fall Time from V_IHmax to V_ILmax	Cb bus capacitance in pF	20+0.1Cb to 250	ns
C_I, Capacitance for Each I/O pin		< 10	pF

6.6 Electrical Specifications, Continued

Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

Parameters	Conditions	Min	Typical	Max	Units	Notes
INTERNAL CLOCK SOURCE	CLK_SEL=0,1,2,3
Gyroscope Sample Rate, Fast	DLPFCFG=0 SAMPLERATEDIV = 0		8		kHz
Gyroscope Sample Rate, Slow	DLPFCFG=1,2,3,4,5, or 6 SAMPLERATEDIV = 0		1		kHz
Accelerometer Sample Rate			1		kHz
Clock Frequency Initial Tolerance	CLK_SEL=0, 25°C	-5		+5	%
	CLK_SEL=1,2,3; 25°C	-1		+1	%
Frequency Variation over Temperature	CLK_SEL=0 CLK_SEL=1,2,3		-15 to +10 ±1		% %
PLL Settling Time	CLK_SEL=1,2,3		1	10	ms
EXTERNAL 32.768kHz CLOCK	CLK_SEL=4
External Clock Frequency			32.768		kHz
External Clock Allowable Jitter	Cycle-to-cycle rms		1 to 2		μs
Gyroscope Sample Rate, Fast	DLPFCFG=0 SAMPLERATEDIV = 0		8.192		kHz
Gyroscope Sample Rate, Slow	DLPFCFG=1,2,3,4,5, or 6 SAMPLERATEDIV = 0		1.024		kHz
Accelerometer Sample Rate			1.024		kHz
PLL Settling Time			1	10	ms
EXTERNAL 19.2MHz CLOCK	CLK_SEL=5
External Clock Frequency			19.2		MHz
Gyroscope Sample Rate	Full programmable range	3.9		8000	Hz
Gyroscope Sample Rate, Fast Mode	DLPFCFG=0 SAMPLERATEDIV = 0		8		kHz
Gyroscope Sample Rate, Slow Mode	DLPFCFG=1,2,3,4,5, or 6 SAMPLERATEDIV = 0		1		kHz
Accelerometer Sample Rate			1		kHz
PLL Settling Time			1	10	ms

6.7 I ²C Timing Characterization

Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD, T^A = 25°C

Parameters	Conditions	Min	Typical	Max	Units	Notes
I²C TIMING	I²C FAST-MODE
fSCL, SCL Clock Frequency				400	kHz
tHD:STA, (Repeated) START Condition Hold Time		0.6			μs
tLOW, SCL Low Period		1.3			μs
tHIGH, SCL High Period		0.6			μs
tSU:STA, Repeated START Condition Setup Time		0.6			μs
tHD:DAT, SDA Data Hold Time		0			μs
tSU:DAT, SDA Data Setup Time		100			ns
tr, SDA and SCL Rise Time	Cb bus cap. from 10 to 400pF	20+0.1Cb		300	ns
tf, SDA and SCL Fall Time	Cb bus cap. from 10 to 400pF	20+0.1Cb		300	ns
tSU:STO, STOP Condition Setup Time		0.6			μs
tBUF, Bus Free Time Between STOP and START Condition		1.3			μs
Cb, Capacitive Load for each Bus Line			< 400		pF
tVD:DAT, Data Valid Time				0.9	μs
tVD:ACK, Data Valid Acknowledge Time				0.9	μs

I ²C Bus Timing Diagram

6.8 SPI Timing Characterization (MPU-6000 only)

Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, VLOGIC (MPU-6050 only) = 1.8V±5% or VDD,T^A = 25°C, unless otherwise noted.

Parameters	Conditions	Min	Typical	Max	Units	Notes
SPI TIMING
fSCLK, SCLK Clock Frequency				1	MHz
tLOW, SCLK Low Period		400			ns
tHIGH, SCLK High Period		400			ns
tSU.CS, CS Setup Time		8			ns
tHD.CS, CS Hold Time		500			ns
tSU.SDI, SDI Setup Time		11			ns
tHD.SDI, SDI Hold Time		7			ns
tVD.SDO, SDO Valid Time	Cload = 20pF			100	ns
tHD.SDO, SDO Hold Time	Cload = 20pF	4			ns
tDIS.SDO, SDO Output Disable Time				10	ns

SPI Bus Timing Diagram

6.9 Absolute Maximum Ratings

Stress above those listed as "Absolute Maximum Ratings" may cause permanent damage to the device. These are stress ratings only and functional operation of the device at these conditions is not implied. Exposure to the absolute maximum ratings conditions for extended periods may affect device reliability.

Parameter	Rating
Supply Voltage, VDD	-0.5V to +6V
VLOGIC Input Voltage Level (MPU-6050)	-0.5V to VDD + 0.5V
REGOUT	-0.5V to 2V
Input Voltage Level (CLKIN, AUX_DA, AD0, FSYNC, INT, SCL, SDA)	-0.5V to VDD + 0.5V
CPOUT (2.5V ≤ VDD ≤ 3.6V )	-0.5V to 30V
Acceleration (Any Axis, unpowered)	10,000g for 0.2ms
Operating Temperature Range	-40°C to +105°C
Storage Temperature Range	-40°C to +125°C
Electrostatic Discharge (ESD) Protection	2kV (HBM); 250V (MM)
Latch-up	JEDEC Class II (2),125°C ±100mA

Stress above those listed as "Absolute Maximum Ratings" may cause permanent damage to the device. These are stress ratings only and functional operation of the device at these conditions is not implied. Exposure to the absolute maximum ratings conditions for extended periods may affect device reliability.

Parameter	Rating
Supply Voltage, VDD	-0.5V to +6V
VLOGIC Input Voltage Level (MPU-6050)	-0.5V to VDD + 0.5V
REGOUT	-0.5V to 2V
Input Voltage Level (CLKIN, AUX_DA, AD0, FSYNC, INT, SCL, SDA)	-0.5V to VDD + 0.5V
CPOUT (2.5V ≤ VDD ≤ 3.6V )	-0.5V to 30V
Acceleration (Any Axis, unpowered)	10,000g for 0.2ms
Operating Temperature Range	-40°C to +105°C
Storage Temperature Range	-40°C to +125°C
Electrostatic Discharge (ESD) Protection	2kV (HBM); 250V (MM)
Latch-up	JEDEC Class II (2),125°C ±100mA

24 Lead QFN (4x4x0.9) mm NiPdAu Lead-frame finish

SYMBOLS	DIMENSIONS IN MILLIMETERS
	MIN
A	0.85
A1	0.00
b	0.18
c	---
D	3.90
D2	2.65
E	3.90
E2	2.55
e	---
f(e-b)	---
K	0.25
L	0.30
L1	0.35
s	0.05