Data Sheet

MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013
28 of 52
7.13 MPU-60X0 Solution for 9-axis Sensor Fusion Using I
2
C Interface
In the figure below, the system processor is an I
2
C master to the MPU-60X0. In addition, the MPU-60X0 is an
I
2
C master to the optional external compass sensor. The MPU-60X0 has limited capabilities as an I
2
C
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 I
2
C bus pins 23
and 24 (SDA and SCL) directly to the auxiliary sensor I
2
C 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 I
2
C master can take control of the sensor I
2
C bus and
gather data from the auxiliary sensors.
For further information regarding I
2
C master control, please refer to Section 10.
MPU-60X0
AD0/SDO
SCL/SCLK
SDA/SDI
Digital
Motion
Processor
(DMP)
9
23
24
Sensor
Master I
2
C
Serial
Interface
7
6
AUX_CL
AUX_DA
Interrupt
Status
Register
INT
12
VDD
Bias & LDO
GND REGOUT
13 18 10
FIFO
Config
Register
Sensor
Register
Factory
Calibration
/CS
8
Slave I
2
C
or SPI
Serial
Interface
Compass
SCL
SDA
System
Processor
Interface
Bypass
Mux
SCL
SDA
VDD
VDD or GND
I
2
C Processor Bus: for reading all
sensor data from MPU and for
configuring external sensors (i.e.
compass in this example)
Interface bypass mux allows
direct configuration of
compass by system processor
Optional
Sensor I
2
C Bus: for
configuring and reading
from external sensors