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MPU-6000

MPU-6000 and MPU-6050 Product Specification Revision 3.3

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MPU-6000/MPU-6050 Product Specification

Document Number: PS-MPU-6000A-00

Revision: 3.3

Release Date: 5/16/2012

8.1 Motion Interrupt

The MPU-60X0 provides Motion detection capability. Accelerometer measurements are passed through a

configurable digital high pass filter (DHPF) in order to eliminate bias due to gravity. A qualifying motion

sample is one where the high passed sample from any axis has an absolute value exceeding a user-

programmable threshold. A counter increments for each qualifying sample, and decrements for each non-

qualifying sample. Once the counter reaches a user-programmable counter threshold, a motion interrupt is

triggered. The axis and polarity which caused the interrupt to be triggered is flagged in the

MOT_DETECT_STATUS register.

Motion detection has a configurable acceleration threshold MOT_THR specified in 1 mg increments. The

counter threshold MOT_DUR is specified in 1 ms increments. The decrement rate for non-qualifying samples

is also configurable. The MOT_DETECT_CTRL register allows the user to specify whether a non-qualifying

sample makes the counter reset to zero, or decrement in steps of 1, 2, or 4.

The flow chart below explains how the motion interrupt should be used. Please refer to the MPU-6000/MPU-

6050 Register Map and Register Descriptions document for descriptions of the registers referenced in the

flow chart.

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