Data Sheet

MPU-6000/MPU-6050 Product Specification

Document Number: PS-MPU-6000A-00

Revision: 3.4

Release Date: 08/19/2013

30 of 52

7.15 Internal Clock Generation

The MPU-60X0 has a flexible clocking scheme, allowing a variety of internal or external clock sources to be

used for the internal synchronous circuitry. This synchronous circuitry includes the signal conditioning and

ADCs, the DMP, and various control circuits and registers. An on-chip PLL provides flexibility in the

allowable inputs for generating this clock.

Allowable internal sources for generating the internal clock are:

 An internal relaxation oscillator

 Any of the X, Y, or Z gyros (MEMS oscillators with a variation of ±1% over temperature)

Allowable external clocking sources are:

 32.768kHz square wave

 19.2MHz square wave

Selection of the source for generating the internal synchronous clock depends on the availability of external

sources and the requirements for power consumption and clock accuracy. These requirements will most

likely vary by mode of operation. For example, in one mode, where the biggest concern is power

consumption, the user may wish to operate the Digital Motion Processor of the MPU-60X0 to process

accelerometer data, while keeping the gyros off. In this case, the internal relaxation oscillator is a good clock

choice. However, in another mode, where the gyros are active, selecting the gyros as the clock source

provides for a more accurate clock source.

Clock accuracy is important, since timing errors directly affect the distance and angle calculations performed

by the Digital Motion Processor (and by extension, by any processor).

There are also start-up conditions to consider. When the MPU-60X0 first starts up, the device uses its

internal clock until programmed to operate from another source. This allows the user, for example, to wait

for the MEMS oscillators to stabilize before they are selected as the clock source.

7.16 Sensor Data Registers

The sensor data registers contain the latest gyro, accelerometer, auxiliary sensor, and temperature

measurement data. They are read-only registers, and are accessed via the serial interface. Data from these

registers may be read anytime. However, the interrupt function may be used to determine when new data is

available.

For a table of interrupt sources please refer to Section 8.

7.17 FIFO

The MPU-60X0 contains a 1024-byte FIFO register that is accessible via the Serial Interface. The FIFO

configuration register determines which data is written into the FIFO. Possible choices include gyro data,

accelerometer data, temperature readings, auxiliary sensor readings, and FSYNC input. A FIFO counter

keeps track of how many bytes of valid data are contained in the FIFO. The FIFO register supports burst

reads. The interrupt function may be used to determine when new data is available.

For further information regarding the FIFO, please refer to the MPU-6000/MPU-6050 Register Map and

7.18 Interrupts

Interrupt functionality is configured via the Interrupt Configuration register. Items that are configurable include

the INT pin configuration, the interrupt latching and clearing method, and triggers for the interrupt. Items that

can trigger an interrupt are (1) Clock generator locked to new reference oscillator (used when switching clock