Data Sheet

MPU-6000/MPU-6050 Product Specification
Document Number: PS-MPU-6000A-00
Revision: 3.4
Release Date: 08/19/2013
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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 I
2
C slave pins (9, 23 and 24), the system processor cannot access the auxiliary I
2
C bus
through the interface bypass multiplexer, which connects the processor I
2
C interface pins to the sensor I
2
C
interface pins.
Since the MPU-6000 has limited capabilities as an I
2
C 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 I
2
C 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 I
2
C sensor bus can be achieved by using I
2
C Slaves 0-4 to perform read and write
transactions on any device and register on the auxiliary I
2
C bus. The I
2
C 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 I
2
C 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 I
2
C interface, please refer to the
MPU-6000/MPU-6050 Register Map and Register Descriptions document.
MPU-6000
AD0/SDO
SCL/SCLK
SDA/SDI
Digital
Motion
Processor
(DMP)
9
23
24
Sensor
Master I
2
C
Serial
Interface
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
System
Processor
Interface
Bypass
Mux
SDI
SCLK
SDO
/CS
Processor SPI Bus: for reading all
data from MPU and for configuring
MPU and external sensors
7
6
AUX_CL
AUX_DA
Compass
SCL
SDA
Optional
I
2
C Master performs
read and write
transactions on
Sensor I
2
C bus.
Sensor I
2
C Bus: for
configuring and
reading data from
external sensors