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

SDA

SCL

START condition STOP condition

START and STOP Conditions

Data Format / Acknowledge

C 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

START

condition

clock pulse for

acknowledgement

acknowledge

not acknowledge

1 2 8 9

Acknowledge on the I

C Bus