MPU-6886
High-Performance 6-Axis MEMS MotionTracking™ Device
GENERAL DESCRIPTIONAPPLICATIONSThe MPU-6886 is a 6-axis MotionTracking device thatcombines a 3-axis gyroscope and a 3-axis accelerometer in asmall 3 mm x 3 mm x 0.75 mm 24-pin LGA package.

••High performance specs:
o Gyroscope sensitivity error: ±1%
o Gyroscope noise: ±4 mdps/√Hzo Accelerometer noise: 100 µg/√Hz
Includes 1 kB FIFO to reduce traffic on the serial bus
interface, and reduce power consumption by
allowing the system processor to burst read sensor
data and then go into low-power mode
EIS FSYNC support

MPU-6886 includes on-chip 16-bit ADC’s, programmabledigital filters, an embedded temperature sensor, andprogrammable interrupts. The device features an operating
voltage range down to 1.71V. Communication ports include2
I C and high speed SPI at 10 MHz.

ORDERING INFORMATIONPART
MPU-6886†

Smartphones and Tablets
Wearable sensors
IoT Applications
Motion-based game controllers
3D remote controls for Internet connected DTVs andset top boxes, 3D mice

FEATURES

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TEMP RANGEPACKAGE−40°C to +85°C

24-Pin LGA

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†Denotes RoHS and Green-Compliant Package•

TYPICAL OPERATING CIRCUITAd

BLOCK DIAGRAM

3-Axis gyroscope with programmable FSR of±250 dps, ±500 dps, ±1000 dps, and ±2000 dps
3-Axis accelerometer with programmable FSR of±2g, ±4g, ±8g, and ±16g
User-programmable interrupts
Wake-on-motion interrupt for low power operationof applications processor
1 kB FIFO buffer enables the applications processor
to read the data in bursts
On-Chip 16-bit ADCs and Programmable Filters
2
Host interface: 10 MHz SPI or 400 kHz I C
Digital-output temperature sensor
VDD operating range of 1.71V to 3.45V
MEMS structure hermetically sealed and bonded atwafer level
RoHS and Green compliant

This document contains information on a pre-production
product. InvenSense Inc. reserves the right to change
specifications and information herein without notice..

InvenSense Inc.
1745 Technology Drive, San Jose, CA 95110 U.S.A+1(408) 988–7339
www.invensense.com

Document Number: DS-000193
Revision: 1.1
Release Date: 03/29/2017

MPU-6886
TABLE OF CONTENTS
GENERAL DESCRIPTION .................................................................................................................................................. 1
ORDERING INFORMATION .............................................................................................................................................. 1
APPLICATIONS ................................................................................................................................................................ 1
FEATURES ....................................................................................................................................................................... 1
TYPICAL OPERATING CIRCUIT ......................................................................................................................................... 1
INTRODUCTION.................................................................................................................................................... 7
1.1
1.2
1.3
2

PURPOSE AND SCOPE ............................................................................................................................................... 7
PRODUCT OVERVIEW ............................................................................................................................................... 7
APPLICATIONS ......................................................................................................................................................... 7

FEATURES ............................................................................................................................................................ 8
2.1
2.2
2.3

3

GYROSCOPE FEATURES ............................................................................................................................................. 8
ACCELEROMETER FEATURES....................................................................................................................................... 8
ADDITIONAL FEATURES ............................................................................................................................................. 8

ELECTRICAL CHARACTERISTICS ............................................................................................................................. 9
3.1
3.2
3.3
3.4
3.5
3.6

4

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1

GYROSCOPE SPECIFICATIONS...................................................................................................................................... 9
ACCELEROMETER SPECIFICATIONS ............................................................................................................................. 10
ELECTRICAL SPECIFICATIONS..................................................................................................................................... 112
I C TIMING CHARACTERIZATION ............................................................................................................................... 14
SPI TIMING CHARACTERIZATION ............................................................................................................................... 15
ABSOLUTE MAXIMUM RATINGS ............................................................................................................................... 16

APPLICATIONS INFORMATION ........................................................................................................................... 17
PIN OUT DIAGRAM AND SIGNAL DESCRIPTION ............................................................................................................ 17
TYPICAL OPERATING CIRCUIT ................................................................................................................................... 18
BILL OF MATERIALS FOR EXTERNAL COMPONENTS ....................................................................................................... 18
EXPOSED DIE PAD PRECAUTIONS .............................................................................................................................. 18
BLOCK DIAGRAM ................................................................................................................................................... 19
OVERVIEW ........................................................................................................................................................... 19
THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING ............................................................ 20
THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING...................................................... 20
I2C AND SPI SERIAL COMMUNICATIONS INTERFACES.................................................................................................... 20
SELF-TEST ............................................................................................................................................................ 21
CLOCKING ............................................................................................................................................................ 22
SENSOR DATA REGISTERS ........................................................................................................................................ 22
FIFO ................................................................................................................................................................... 22
INTERRUPTS.......................................................................................................................................................... 22
DIGITAL-OUTPUT TEMPERATURE SENSOR................................................................................................................... 22
BIAS AND LDOS .................................................................................................................................................... 22
CHARGE PUMP...................................................................................................................................................... 22
STANDARD POWER MODES ..................................................................................................................................... 23

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4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.10
4.11
4.12
4.13
4.14
4.15
4.16
4.17
4.18
5

PROGRAMMABLE INTERRUPTS .......................................................................................................................... 24
5.1

6WAKE-ON-MOTION INTERRUPT ............................................................................................................................... 24

DIGITAL INTERFACE ............................................................................................................................................ 25
6.1

2

I C AND SPI SERIAL INTERFACES ............................................................................................................................... 25

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MPU-6886
6.2
6.3
6.4
6.5

2

I C INTERFACE ...................................................................................................................................................... 252
I C COMMUNICATIONS PROTOCOL ........................................................................................................................... 25
2
I C TERMS ........................................................................................................................................................... 27
SPI INTERFACE ...................................................................................................................................................... 28

7

REGISTER MAP ................................................................................................................................................... 29

8

REGISTER DESCRIPTIONS.................................................................................................................................... 32

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8.1
REGISTER 04 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE OFFSET TEMPERATURE COMPENSATION(TC) REGISTER .................................................................................................................................................................. 32
8.2
REGISTER 05 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE OFFSET TEMPERATURE COMPENSATION(TC) REGISTER .................................................................................................................................................................. 32
8.3
REGISTER 07 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE OFFSET TEMPERATURE COMPENSATION(TC) REGISTER .................................................................................................................................................................. 33
8.4
REGISTER 08 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE OFFSET TEMPERATURE COMPENSATION(TC) REGISTER .................................................................................................................................................................. 33
8.5
REGISTER 10 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE OFFSET TEMPERATURE COMPENSATION(TC) REGISTER .................................................................................................................................................................. 33
8.6
REGISTER 11 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE OFFSET TEMPERATURE COMPENSATION(TC) REGISTER .................................................................................................................................................................. 33
8.7
REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS ...................................................................................... 34
8.8
REGISTER 19 – X-GYRO OFFSET ADJUSTMENT REGISTER – HIGH BYTE ............................................................................ 34
8.9
REGISTER 20 – X-GYRO OFFSET ADJUSTMENT REGISTER – LOW BYTE ............................................................................. 34
8.10 REGISTER 21 – Y-GYRO OFFSET ADJUSTMENT REGISTER – HIGH BYTE............................................................................. 35
8.11 REGISTER 22 – Y-GYRO OFFSET ADJUSTMENT REGISTER – LOW BYTE ............................................................................. 35
8.12 REGISTER 23 – Z-GYRO OFFSET ADJUSTMENT REGISTER – HIGH BYTE............................................................................. 35
8.13 REGISTER 24 – Z-GYRO OFFSET ADJUSTMENT REGISTER – LOW BYTE ............................................................................. 35
8.14 REGISTER 25 – SAMPLE RATE DIVIDER....................................................................................................................... 35
8.15 REGISTER 26 – CONFIGURATION .............................................................................................................................. 36
8.16 REGISTER 27 – GYROSCOPE CONFIGURATION ............................................................................................................. 37
8.17 REGISTER 28 – ACCELEROMETER CONFIGURATION....................................................................................................... 37
8.18 REGISTER 29 – ACCELEROMETER CONFIGURATION 2 .................................................................................................... 37
8.19 REGISTER 30 – GYROSCOPE LOW POWER MODE CONFIGURATION ................................................................................. 39
8.20 REGISTER 32 – WAKE-ON MOTION THRESHOLD (X-AXIS ACCELEROMETER) ...................................................................... 39
8.21 REGISTER 33 – WAKE-ON MOTION THRESHOLD (Y-AXIS ACCELEROMETER) ...................................................................... 40
8.22 REGISTER 34 – WAKE-ON MOTION THRESHOLD (Z-AXIS ACCELEROMETER) ...................................................................... 40
8.23 REGISTER 35 – FIFO ENABLE................................................................................................................................... 40
8.24 REGISTER 54 – FSYNC INTERRUPT STATUS ................................................................................................................ 40
8.25 REGISTER 55 – INT/DRDY PIN / BYPASS ENABLE CONFIGURATION ................................................................................ 41
8.26 REGISTER 56 – INTERRUPT ENABLE ........................................................................................................................... 41
8.27 REGISTER 57 – FIFO WATERMARK INTERRUPT STATUS ................................................................................................ 41
8.28 REGISTER 58 – INTERRUPT STATUS ........................................................................................................................... 42
8.29 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS ............................................................................................ 42
8.30 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT .............................................................................................. 43
8.31 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS................................................................................................... 43
8.32 REGISTERS 80 TO 82 – GYROSCOPE SELF-TEST REGISTERS............................................................................................. 44
8.33 REGISTERS 83 TO 90 – ENGINEERING ID REGISTERS ..................................................................................................... 44
8.34 REGISTER 96-97 – FIFO WATERMARK THRESHOLD IN NUMBER OF BYTES ....................................................................... 45
8.35 REGISTER 104 – SIGNAL PATH RESET ........................................................................................................................ 46
8.36 REGISTER 105 – ACCELEROMETER INTELLIGENCE CONTROL ........................................................................................... 46
8.37 REGISTER 106 – USER CONTROL .............................................................................................................................. 46

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MPU-6886
8.38
8.39
8.40
8.41
8.42
8.43
8.44

USE NOTES ......................................................................................................................................................... 51
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11

10

ACCELEROMETER-ONLY LOW-NOISE MODE ............................................................................................................... 51
ACCELEROMETER LOW-POWER MODE ...................................................................................................................... 51
SENSOR MODE CHANGE ......................................................................................................................................... 51
TEMP SENSOR DURING GYROSCOPE STANDBY MODE ................................................................................................... 51
GYROSCOPE MODE CHANGE.................................................................................................................................... 51
POWER MANAGEMENT 1 REGISTER SETTING .............................................................................................................. 51
UNLISTED REGISTER LOCATIONS ............................................................................................................................... 51
CLOCK TRANSITION WHEN GYROSCOPE IS TURNED OFF ................................................................................................ 51
SLEEP MODE ........................................................................................................................................................ 52
NO SPECIAL OPERATION NEEDED FOR FIFO READ IN LOW POWER MODE ........................................................................ 52
GYROSCOPE STANDBY PROCEDURE ........................................................................................................................... 52

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REGISTER 107 – POWER MANAGEMENT 1 ................................................................................................................. 47
REGISTER 108 – POWER MANAGEMENT 2 ................................................................................................................. 47
2
REGISTER 112 – I C INTERFACE ............................................................................................................................... 48
REGISTER 114 AND 115 – FIFO COUNT REGISTERS ..................................................................................................... 48
REGISTER 116 – FIFO READ WRITE.......................................................................................................................... 48
REGISTER 117 – WHO AM I .................................................................................................................................... 49
REGISTERS 119, 120, 122, 123, 125, 126 ACCELEROMETER OFFSET REGISTERS ............................................................. 49

ASSEMBLY ...................................................................................................................................................... 53

10.1
10.2

ORIENTATION OF AXES ........................................................................................................................................... 53
PACKAGE DIMENSIONS ........................................................................................................................................... 54

11

PART NUMBER PACKAGE MARKING ............................................................................................................... 55

12

REFERENCE ..................................................................................................................................................... 56

13

DOCUMENT INFORMATION ........................................................................................................................... 57
REVISION HISTORY ................................................................................................................................................. 57

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MPU-6886
Table of Figures
2

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Figure 1. I C Bus Timing Diagram ....................................................................................................................14
Figure 2. SPI Bus Timing Diagram ...................................................................................................................15
Figure 3. Pin out Diagram for MPU-6886 3.0 mm x 3.0 mm x 0.75 mm LGA ..................................................17
Figure 4. MPU-6886 LGA Example Application Schematic .............................................................................18
Figure 5. MPU-6886 Block Diagram .................................................................................................................192
Figure 6. MPU-6886 Solution Using I C Interface ............................................................................................20
Figure 7. MPU-6886 Solution Using SPI Interface ...........................................................................................21
Figure 8. START and STOP Conditions ...........................................................................................................25
2
Figure 9. Acknowledge on the I C Bus .............................................................................................................26
2
Figure 10. Complete I C Data Transfer ............................................................................................................26
Figure 11. Typical SPI Master/Slave Configuration ..........................................................................................28
Figure 12. Orientation of Axes of Sensitivity and Polarity of Rotation ..............................................................53
Figure 13. Package Diagram ............................................................................................................................54
Figure 14. Part Number Package Marking .......................................................................................................55

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MPU-6886
Table of Tables

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Table 1. Gyroscope Specifications ..................................................................................................................... 9
Table 2. Accelerometer Specifications ............................................................................................................10
Table 3. D.C. Electrical Characteristics ............................................................................................................11
Table 4. A.C. Electrical Characteristics ............................................................................................................13
Table 5. Other Electrical Specifications ............................................................................................................13
2
Table 6. I C Timing Characteristics ..................................................................................................................14
Table 7. SPI Timing Characteristics (10 MHz Operation) ................................................................................15
Table 8. Absolute Maximum Ratings ................................................................................................................16
Table 9. Signal Descriptions .............................................................................................................................17
Table 10. Bill of Materials .................................................................................................................................18
Table 11. Standard Power Modes for MPU-6886.............................................................................................23
Table 12. Table of Interrupt Sources ................................................................................................................24
Table 13. Serial Interface..................................................................................................................................25
2
Table 14. I C Terms ..........................................................................................................................................27
Table 15. MPU-6886 Register Map ..................................................................................................................31
Table 16. Configuration ....................................................................................................................................36
Table 17. Accelerometer Data Rates and Bandwidths (Low-Noise Mode) ......................................................38
Table 18. Approximate Accelerometer Filter Bandwidths (Low-Power Mode) .................................................38
Table 19. Example Gyroscope Configurations (Low-Power Mode) .................................................................39
Table 20. Package Dimensions ........................................................................................................................54
Table 21. Part Number Package Marking ........................................................................................................55

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MPU-6886
1 INTRODUCTION
1.1 PURPOSE AND SCOPE
This document is a product specification, providing a description, specifications, and design related information on the
MPU-6886™ MotionTracking device. The device is housed in a small 3x3x0.75mm 24-pin LGA package.

1.2 PRODUCT OVERVIEW

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The MPU-6886 is a 6-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, in a small
3 mm x 3 mm x 0.75 mm (24-pin LGA) package. It also features a 1 kB FIFO that can lower the traffic on the serial bus
interface, and reduce power consumption by allowing the system processor to burst read sensor data and then go intoa low-power mode. MPU-6886, with its 6-axis integration, enables manufacturers to eliminate the costly and complex
selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for
consumers.
The gyroscope has a programmable full-scale range of ±250 dps, ±500 dps, ±1000 dps, and ±2000 dps. The
accelerometer has a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g. Factory-calibrated
initial sensitivity of both sensors reduces production-line calibration requirements.
Other industry-leading features include on-chip 16-bit ADCs, programmable digital filters, an embedded temperature2
sensor, and programmable interrupts. The device features I C and SPI serial interfaces, a VDD operating range of 1.71V
to 3.45V, and a separate digital IO supply, VDDIO from 1.71V to 3.45V.
2

Communication with all registers of the device is performed using either I C at 400 kHz or SPI at 10M Hz.

By leveraging its patented and volume-proven CMOS-MEMS fabrication platform, which integrates MEMS wafers withcompanion CMOS electronics through wafer-level bonding, InvenSense has driven the package size down to afootprint and thickness of 3 mm x 3 mm x 0.75 mm (24-pin LGA), to provide a very small yet high performance low
cost package. The device provides high robustness by supporting 20,000g shock reliability.

1.3 APPLICATIONS

DronesWearable Sensors

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MPU-6886
2 FEATURES
2.1 GYROSCOPE FEATURES
The triple-axis MEMS gyroscope in the MPU-6886 includes a wide range of features:

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Digital-output X-, Y-, and Z-axis angular rate sensors (gyroscopes) with a user-programmable full-scale rangeof ±250 dps, ±500 dps, ±1000 dps, and ±2000 dps and integrated 16-bit ADCs
Digitally-programmable low-pass filter
Low-power gyroscope operation
Factory calibrated sensitivity scale factor
Self-test

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2.2 ACCELEROMETER FEATURES

The triple-axis MEMS accelerometer in MPU-6886 includes a wide range of features:••••

Digital-output X-, Y-, and Z-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and±16g and integrated 16-bit ADCs
User-programmable interrupts
Wake-on-motion interrupt for low power operation of applications processor
Self-test

2.3 ADDITIONAL FEATURESThe MPU-6886 includes the following additional features:

Smallest and thinnest LGA package: 3 mm x 3 mm x 0.75 mm (24-pin LGA)
Minimal cross-axis sensitivity between the accelerometer and gyroscope axes
1 kB FIFO buffer enables the applications processor to read the data in bursts
Digital-output temperature sensor
User-programmable digital filters for gyroscope, accelerometer, and temp sensor
20,000g shock tolerant
2
400 kHz Fast Mode I C for communicating with all registers
10 MHz SPI serial interface for communicating with all registers
MEMS structure hermetically sealed and bonded at wafer level
RoHS and Green compliant

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MPU-6886
3 ELECTRICAL CHARACTERISTICS
3.1 GYROSCOPE SPECIFICATIONS
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETERCONDITIONS

MIN

TYP

MAX

UNITS

NOTES

+1
+2.5

dps
dps
dps
dps
bits
LSB/(dps)
LSB/(dps)
LSB/(dps)
LSB/(dps)
%
%

3
3
3
3
3
3
3
3
3
1
1

GYROSCOPE SENSITIVITY
FS_SEL=0
FS_SEL=1
FS_SEL=2
FS_SEL=3

±250
±500
±1000
±2000
16
131
65.5
32.8
16.4

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Full-Scale Range

Gyroscope ADC Word Length
Sensitivity Scale Factor

Sensitivity Scale Factor Initial Tolerance
Sensitivity Scale Factor Variation Over
Temperature
Nonlinearity
Cross-Axis Sensitivity

FS_SEL=0
FS_SEL=1
FS_SEL=2
FS_SEL=3
25°C-40°C to +85°C

-1
-2.5

Best fit straight line; 25°C

-0.2
-4.5

±0.1
±1

+0.2
+4.5

%
%

1
1

-10
-0.05

±1
±0.01

+10
+0,05

dps
dps/ºC

1
1

0.004
0.04
27

0.01
0.1
29
250
100
8000
333.33dps/√Hz
dps-rms
KHz
Hz
ms
Hz
Hz

1, 4
1, 4
2
3
1
3
3

ZERO-RATE OUTPUT (ZRO)

Initial ZRO Tolerance
ZRO Variation vs. Temperature

25°C-40°C to +85°C

OTHER PARAMETERS

Rate Noise Spectral Density
Total RMS Noise
Gyroscope Mechanical Frequencies
Low Pass Filter Response
Gyroscope Start-Up Time
Output Data Rate

@ 10 Hz
Bandwidth = 100 Hz

Programmable Range
Time from gyro enable to gyro drive ready
Low-Noise mode
Low Power Mode

25
5

3.91
3.91

35

Table 1. Gyroscope Specifications

NOTES:

Derived from validation or characterization of parts, not guaranteed in production.
Tested in production.
Guaranteed by design.
Noise specifications shown are for low-noise mode.

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MPU-6886
3.2 ACCELEROMETER SPECIFICATIONS
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETER
Full-Scale Range

Sensitivity Scale Factor Initial
Tolerance
Sensitivity Change vs. Temperature
Nonlinearity
Cross-Axis Sensitivity
Initial Tolerance

Zero-G Level Change vs. TemperaturePower Spectral Density
RMS Noise
Low-Pass Filter Response
Accelerometer Startup Time
Output Data Rate

AFS_SEL=0
AFS_SEL=1
AFS_SEL=2
AFS_SEL=3
Output in two’s complement format
AFS_SEL=0
AFS_SEL=1
AFS_SEL=2
AFS_SEL=3
Component-level

TYP

MAX

UNITS

NOTES

g
g
g
g
bits
LSB/g
LSB/g
LSB/g
LSB/g

2
2
2
2
2
2
2
2
2

+1

%

1

±2
±4
±8
±16
16
16,384
8,192
4,096
2,048

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ADC Word Length
Sensitivity Scale Factor

CONDITIONSMINACCELEROMETER SENSITIVITY-1-40°C to +85°C
Best Fit Straight Line

ZERO-G OUTPUT
Component-level, all axes
Board-level, all axes
X and Y axes
-40°C to +85°C
Z axisOTHER PARAMETERS@ 10 Hz
Bandwidth = 100 Hz
Programmable Range
From sleep mode to valid data
Low-Noise mode
Low Power Mode

-2
-1
-4.5

±0.3
±1

+2
+1
+4.5

%
%
%

1
1
1

-65
-100
-0.75
-1.2

±25
±40
±0.5
±1

+65
+100
+0.75
+1.2

mg
mg
mg/ºC
mg/ºC

1
1
1
1

100
1.0

170
1.7
218
20
4000
500

µg/√Hzmg-rms
Hz
ms
Hz
Hz

1, 3
1, 3
2
2

5

10

3.91
3.91

Table 2. Accelerometer Specifications

NOTES:

Derived from validation or characterization of parts, not guaranteed in production.
Guaranteed by design.
Noise specifications shown are for low-noise mode.

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MPU-6886
3.3 ELECTRICAL SPECIFICATIONS
D.C. Electrical Characteristics
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETERCONDITIONSSUPPLY VOLTAGES

MIN

TYP

MAX

UNITS

NOTES

1.71
1.71

1.8
1.8

3.45
3.45

V
V

1
1

2.79
321
2.55

3.0
370
2.8

mA
µA
mA

1
1
1

40

45

µA

1

1.08

1.2

mA

1

100Hz ODR, 1x averaging

1.33

1.45

mA

1

At 25ºC

6

10

µA

1

+85

°C

1

VDD
VDDIO
SUPPLY CURRENTS
6-Axis Gyroscope + Accelerometer
3-Axis Accelerometer
3-Axis Gyroscope

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Low-Noise Mode

Accelerometer Low -Power Mode
(Gyroscope disabled)
Gyroscope Low-Power Mode
(Accelerometer disabled)
6-Axis Low-Power Mode
(Gyroscope Low-Power Mode;
Accelerometer Low-Noise Mode)
Full-Chip Sleep Mode

100Hz ODR, 1x averaging
100Hz ODR, 1x averaging

TEMPERATURE RANGE

Specified Temperature Range

Performance parameters are not applicablebeyond Specified Temperature Range-40

Table 3. D.C. Electrical Characteristics

NOTES:

Target spec. Subject to update.
Derived from validation or characterization of parts, not guaranteed in production.

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MPU-6886
A.C. Electrical Characteristics
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETERCONDITIONSMIN

SUPPLIES
Monotonic ramp. Ramp rate is 10%
to 90% of the final value

Supply Ramp Time

0.01

Power Supply Noise

ODR

MAX

UNITS

3

ms

10
TEMPERATURE SENSOR-40

Ambient

85

NOTES

Room Temperature Offset
Stabilization Time
Sensitivity
Sensitivity Error

Without Filter
With Filter
25°C

3.91
-15

Untrimmed

0
16
8000

326.8

2

-2.5

1000
15
14000
+2.5

1

mV peakpeak

1

°C
LSB
bits
Hz
Hz
°C
µs
LSB/°C
%

1
3
2
2
2
3
2
1
1

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Operating Range
25°C Output
ADC ResolutionTYP

I C ADDRESS

2I C ADDRESS

SA0 = 0SA0 = 11101000
1101001
DIGITAL INPUTS (FSYNC, SA0, SPC, SDI, CS)
0.7*VDDIO

V IH , High Level Input Voltage
V IL , Low Level Input Voltage

0.3*VDDIO

C I , Input Capacitance< 10

R LOAD =1 MΩ;
R LOAD =1 MΩ;

V OL.INT , INT Low-Level Output
Voltage
Output Leakage Current
t INT , INT Pulse Width

OPEN=1, 0.3 mA sink
Current
OPEN=1LATCH_INT_EN=0

V IL , LOW Level Input Voltage

V IH , HIGH-Level Input Voltage
V hys , Hysteresis

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V OL , LOW-Level Output Voltage
I OL , LOW-Level Output Current

Output Leakage Current
t of , Output Fall Time from V IHmax
to V ILmax

Sample Rate

Document Number: DS-000193
Revision: 1.1

0.1*VDDI
O
0.1

100
50

2

I C I/O (SCL, SDA)
-0.5V

0.1*VDDIO

3 mA sink current
V OL =0.4V
V OL =0.6V

C b bus capacitance in pf

0

INTERNAL CLOCK SOURCEFCHOICE_B=1,2,3; SMPLRT_DIV=0FCHOICE_B=0;
DLPFCFG=0 or 7
SMPLRT_DIV=0

InvenSense Confidential & Proprietary

V

1

V
V

V

0.4

V
mA
mA
nA

300

ns

3
6
100

20+0.1C b

V
V

nA
µs

0.3*VDDIO
VDDIO +
0.5V

0.7*VDDIO

1pF

DIGITAL OUTPUT (SDO, INT, DRDY)
0.9*VDDIOV OH , High Level Output Voltage
V OL1 , LOW-Level Output Voltage

V
V

1

32

kHz

2

8

kHz

2

Page 12 of 59

MPU-6886
PARAMETER

Clock Frequency Initial
Tolerance
Frequency Variation over
Temperature

CONDITIONSFCHOICE_B=0;
DLPFCFG=1,2,3,4,5,6;
SMPLRT_DIV=0
CLK_SEL=0, 6 or gyro inactive; 25°C
CLK_SEL=1,2,3,4,5 and gyro active;
25°C
CLK_SEL=0,6 or gyro inactive. (-40°C
to +85°C)
CLK_SEL=1,2,3,4,5 and gyro active

MIN

TYP

MAX

UNITS

NOTES

kHz

2

1
-3

+3

%

1

-1

+1

%

1

±2

%

1

±2

%

1

NOTES:
1.
2.
3.

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Table 4. A.C. Electrical Characteristics

Derived from validation or characterization of parts, not guaranteed in production.
Guaranteed by design.
Production tested.

Other Electrical Specifications

Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETERSPI Operating Frequency, All
Registers Read/Write
SPI Modes
2

I C Operating Frequency

CONDITIONSSERIAL INTERFACE

Low Speed Characterization

MIN

TYP

100

100
±10%
1
0 and 3High Speed Characterization

0.2

All registers, Fast-mode
All registers, Standard-mode

100

MAX

UNITS

NOTES

kHz

1,3

10

MHz

1, 2, 3

400
100

kHz
kHz

1
1

Table 5. Other Electrical Specifications

NOTES:

Derived from validation or characterization of parts, not guaranteed in production.
SPI clock duty cycle between 45% and 55% should be used for 10 MHz operation.
Minimum SPI/I2C clock rate is dependent on ODR. If ODR is below 4 kHz, minimum clock rate is 100 kHz. If ODR is greater than 4 kHz,minimum clock rate is 200 kHz.

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MPU-6886
I2C TIMING CHARACTERIZATION

3.4

Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETERS
2
I C TIMING
f SCL , SCL Clock Frequency
t HD.STA , (Repeated) START Condition Hold Time

CONDITIONSI C FAST-MODE

MIN

TYPICAL

MAX

UNITS

NOTES

400

kHz
µs

1
1

µs
µs
µs
µs
ns
ns
ns
µs

1
1
1
1
1
1
1
1

µs

1

pF
µs
µs

1
1
1

2

100
0.6
1.3
0.6
0.6
0
100
20+0.1C b
20+0.1C b
0.6

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t LOW , SCL Low Periodt HIGH , SCL High Periodt SU.STA , Repeated START Condition Setup Timet HD.DAT , SDA Data Hold Timet SU.DAT , SDA Data Setup Timet r , SDA and SCL Rise Timet f , SDA and SCL Fall Timet SU.STO , STOP Condition Setup TimeC b bus cap. from 10 to 400 pF
C b bus cap. from 10 to 400 pF

t BUF , Bus Free Time Between STOP and START
Condition
C b , Capacitive Load for each Bus Linet VD.DAT , Data Valid Timet VD.ACK , Data Valid Acknowledge Time

300
300

1.3

< 400

0.9
0.9

2

Table 6. I C Timing Characteristics

NOTE:
1.

Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets

tf
SDA

70%
30%

tSU.DAT

tr

70%
30%

continued below at

tf

SCL

tr

70%
30%

S

tHD.STA

tVD.DAT

70%
30%

tHD.DAT

1/fSCLtLOW

1st clock cycle

9th clock cycle

tHIGH

tBUF

SDA
A

70%
30%

tSU.STASCL

tHD.STA

70%
30%

Sr

tSU.STO

tVD.ACK

9th clock cycle

P

S

2

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Figure 1. I C Bus Timing Diagram

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AMPU-6886
3.5 SPI TIMING CHARACTERIZATION
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A =25°C, unless otherwise noted.
PARAMETERSPI TIMING

CONDITIONS

MIN

TYP

UNITS

10

NOTES

MHz

1

t LOW , SPC Low Period

45

ns

1

t HIGH , SPC High Period

45

ns

1

t SU.CS , CS Setup Time

2

ns

1

t HD.CS , CS Hold Time

63

ns

1

t SU.SDI , SDI Setup Time

3

ns

1

t HD.SDI , SDI Hold Time

7

ns

1

ns
ns

1
1

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f SPC , SPC Clock Frequency

MAXt VD.SDO , SDO Valid Timet DIS.SDO , SDO Output Disable TimeC load = 20 pF

40
20

Table 7. SPI Timing Characteristics (10 MHz Operation)

Notes:
1.

CS

Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets

70%
30%

tSU;CS

SCLK

tHIGH

70%
30%

tSU;SDI

SDI

tHD;CS

1/fCLK

70%
30%

tLOW

tHD;SDILSB INMSB INtDIS;SDO

tVD;SDOSDOMSB OUT70%30%

LSB OUTAd

Figure 2. SPI Bus Timing Diagram

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MPU-6886
3.6 ABSOLUTE MAXIMUM RATINGS
Stress above those listed as “Absolute Maximum Ratings” may cause permanent damage to the device. These arestress ratings only and functional operation of the device at these conditions is not implied. Exposure to the absolute
maximum ratings conditions for extended periods may affect device reliability.
RATING-0.5V to +4V-0.5V to +4V-0.5V to 2V-0.5V to VDDIO + 0.5V
20,000g for 0.2ms-40°C to +85°C-40°C to +125°C
2kV (HBM);
250V (MM)JEDEC Class II (2),125°C±100mA

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PARAMETER
Supply Voltage, VDD
Supply Voltage, VDDIOREGOUT
Input Voltage Level (SA0, FSYNC, SCL, SDA)
Acceleration (Any Axis, unpowered)
Operating Temperature Range
Storage Temperature Range
Electrostatic Discharge (ESD) Protection
Latch-up

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Table 8. Absolute Maximum Ratings

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MPU-6886
4 APPLICATIONS INFORMATION
4.1 PIN OUT DIAGRAM AND SIGNAL DESCRIPTIONPIN NAME

23

SCL / SCLK24

SDA / SDI

9
11

AD0 / SDOFSYNC / NC

19

RESV (INT/TP0)

8

VDDIO

12

INT1/DRDY/TP2

22

nCS

20

RESV (VPP)

10

REGOUT

13

VDD

18

GND

1,2,3,4,5,6,7,14,15,16,17,21

NC

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PIN NUMBER

Table 9. Signal Descriptions

NOTE: Power up with SCL/SPC and CS pins held low is not a supported use case. In case this power up approach is used, software reset is required
using the PWR_MGMT_1 register, prior to initialization.

SDA/SDI

SCL/SCLK

nCS

NC

NC

NC

24

23

22

21

20

19

+Z

NC

1

18

GND

NC

2

17

NC

NC

3

16

NC

NC

4

15

NC

NC

5

14

NC

NC

6

13

VDD

7

8

9

10

11

12

NC

VDDIO

AD0/SDOREGOUT

FSYNC

INT

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+Y

MP

U-

MPU-6886

Top View – LGA Package
24-pin, 3mm x 3mm x 0.75mm

+Y

+Z

68

86

+X

+X

Orientation of Axes of Sensitivity andPolarity of Rotation

Figure 3. Pin out Diagram for MPU-6886 3.0 mm x 3.0 mm x 0.75 mm LGA

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MPU-6886

Figure 4. MPU-6886 LGA Example Application Schematic

4.2 TYPICAL OPERATING CIRCUIT2

I C lines are open drain and pullup resistors (e.g. 10kΩ) are required.

4.3 BILL OF MATERIALS FOR EXTERNAL COMPONENTSCOMPONENTREGOUT Capacitor

VDD Bypass Capacitors

VDDIO Bypass Capacitor

LABEL

C1
C2
C4
C3

SPECIFICATION

X7R, 0.1 µF ±10%
X7R, 0.1 µF ±10%
X7R, 2.2 µF ±10%
X7R, 10 nF ±10%

QUANTITY

1
1
1
1

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Table 10. Bill of Materials

4.4 EXPOSED DIE PAD PRECAUTIONSInvenSense products have very low active and standby current consumption. The exposed die pad is not required forheat sinking, and should not be soldered to the PCB. Failure to adhere to this rule can induce performance changes
due to package thermo-mechanical stress. There is no electrical connection between the pad and the CMOS.

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MPU-6886
4.5 BLOCK DIAGRAM
MPU-6886
INT
Self
test

X Accel

ADC

Self
test

Y Accel

ADC

Interrupt
StatusRegisterCS
Slave I2C and
SPI SerialInterface

FIFO

SA0 / SDO
SCL / SPC

Z Accel

ADC

Self
test

X Gyro

ADC

Self
test

Y Gyro

ADC

Self
test

Z GyroADC

Temp Sensor

ADC

Signal Conditioning

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SDA / SDI

Self
test

User & Config
Registers

FSYNC

SensorRegisters

Bias & LDOs

Charge
Pump

VDD

GND

REGOUT

Figure 5. MPU-6886 Block Diagram

4.6 OVERVIEW

The MPU-6886 is comprised of the following key blocks and functions:Three-axis MEMS rate gyroscope sensor with 16-bit ADCs and signal conditioning
Three-axis MEMS accelerometer sensor with 16-bit ADCs and signal conditioning
2
I C and SPI serial communications interface
Self-Test
Clocking
Sensor Data Registers
FIFO
Interrupts
Digital-Output Temperature Sensor
Bias and LDOs
Charge Pump
Standard Power Modes

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•
•
•
•
•
•
•
•
•
•
•
•

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MPU-6886
4.7 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING
The MPU-6886 consists of three independent vibratory MEMS rate gyroscopes, which detect rotation about the X-, Y-,
and Z- Axes. When the gyros are rotated about any of the sense axes, the Coriolis Effect causes a vibration that is
detected by a capacitive pickoff. The resulting signal is amplified, demodulated, and filtered to produce a voltage thatis proportional to the angular rate. This voltage is digitized using individual on-chip 16-bit Analog-to-Digital Converters(ADCs) to sample each axis. The full-scale range of the gyro sensors may be digitally programmed to ±250, ±500,±1000, or ±2000 degrees per second (dps). The ADC sample rate is programmable from 8,000 samples per second,
down to 3.9 samples per second, and user-selectable low-pass filters enable a wide range of cut-off frequencies.

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4.8 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING
The MPU-6886’s 3-Axis accelerometer uses separate proof masses for each axis. Acceleration along a particular axis
induces displacement on the corresponding proof mass, and capacitive sensors detect the displacement differentially.
The MPU-6886’s architecture reduces the accelerometers’ susceptibility to fabrication variations as well as to thermal
drift. When the device is placed on a flat surface, it will measure 0g on the X- and Y-axes and +1g on the Z-axis. The
accelerometers’ scale factor is calibrated at the factory and is nominally independent of supply voltage. Each sensor
has a dedicated sigma-delta ADC for providing digital outputs. The full scale range of the digital output can be adjusted
to ±2g, ±4g, ±8g, or ±16g.

4.9 I2C AND SPI SERIAL COMMUNICATIONS INTERFACES

2

The MPU-6886 communicates to a system processor using either a SPI or an I C serial interface. The MPU-6886 always
2
acts as a slave when communicating to the system processor. The LSB of the I C slave address is set by pin 9 (SA0).

MPU-6886 Solution Using I2C Interface
2

In Figure 6, the system processor is an I C master to the MPU-6886.
Interrupt
StatusRegister

MPU-6886

I2C Processor Bus: for reading all
sensor data from MPU

INT

SA0

Slave I2C
or SPI
SerialInterface

VDDIO or GND

SCL

SCL

SDA

SDA

SystemProcessor

FIFO

User & Config
Registers

SensorRegister

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Factory
Calibration

Bias & LDOs

VDD

GND

REGOUT

2

Figure 6. MPU-6886 Solution Using I C Interface

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MPU-6886
MPU-6886 Solution Using SPI Interface
In Figure 7, the system processor is an SPI master to the MPU-6886. Pins 23, 24, 9, and 22 are used to support the SPC,
SDI, SDO, and CS signals for SPI communications.
Processor SPI Bus: for reading alldata from MPU and for configuring
MPU
Interrupt
StatusRegister

INT

CS

MPU-6886
Slave SPI
SerialInterface

nCS

SDO

SDI

SPC

SPC

SDI

SDO

SystemProcessor

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FIFO

ConfigRegister

SensorRegister

Factory
Calibration

Bias & LDOs

VDD

GND

REGOUT

Figure 7. MPU-6886 Solution Using SPI Interface

4.10 SELF-TEST

Self-test allows for the testing of the mechanical and electrical portions of the sensors. The self-test for eachmeasurement axis can be activated by means of the gyroscope and accelerometer self-test registers (registers 27 and28).
When the self-test is activated, the electronics cause the sensors to be actuated and produce an output signal. The
output signal is used to observe the self-test response.
The self-test response is defined as follows:

SELF-TEST RESPONSE = SENSOR OUTPUT WITH SELF-TEST ENABLED – SENSOR OUTPUT WITH SELF-TEST DISABLED

The self-test response for each gyroscope axis is defined in the gyroscope specification table, while that for eachaccelerometer axis is defined in the accelerometer specification table.

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When the value of the self-test response is within the specified min/max limits of the product specification, the parthas passed self-test. When the self-test response exceeds the min/max values, the part is deemed to have failed selftest.

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MPU-6886
4.11 CLOCKING
The MPU-6886 has a flexible clocking scheme, allowing a variety of internal clock sources to be used for the internal
synchronous circuitry. This synchronous circuitry includes the signal conditioning and ADCs, 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:a) An internal relaxation oscillatorb) Auto-select between internal relaxation oscillator and gyroscope MEMS oscillator to use the best available
source

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The only setting supporting specified performance in all modes is option b). It is recommended that option b) be used.

4.12 SENSOR DATA REGISTERS

The sensor data registers contain the latest gyroscope, accelerometer, and temperature measurement data. They are
read-only registers, and are accessed via the serial interface. Data from these registers may be read anytime.

4.13 FIFOThe MPU-6886 contains a 1 kB 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, 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.
The MPU-6886 allows FIFO read in low-power accelerometer mode.

4.14 INTERRUPTS

Interrupt functionality is configured via the Interrupt Configuration register. Items that are configurable include the
INT and DRDY pins 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
sources); (2) new data is available to be read (from the FIFO and Data registers); (3) accelerometer event interrupts;(4) FIFO overflow. The interrupt status can be read from the Interrupt Status register.

4.15 DIGITAL-OUTPUT TEMPERATURE SENSOR

An on-chip temperature sensor and ADC are used to measure the MPU-6886 die temperature. The readings from the
ADC can be read from the FIFO or the Sensor Data registers.

4.16 BIAS AND LDOS

The bias and LDO section generates the internal supply and the reference voltages and currents required by the MPU6886. Its two inputs are an unregulated VDD and a VDDIO logic reference supply voltage. The LDO output is bypassed
by a capacitor at REGOUT. For further details on the capacitor, please refer to the Bill of Materials for External
Components.

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4.17 CHARGE PUMP

An on-chip charge pump generates the high voltage required for the MEMS oscillator.

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MPU-6886
4.18 STANDARD POWER MODES
The following table lists the user-accessible power modes for MPU-6886.
NAME
Sleep Mode
Standby Mode
Accelerometer Low-Power Mode
Accelerometer Low-Noise Mode
Gyroscope Low-Power Mode
Gyroscope Low-Noise Mode
6-Axis Low-Noise Mode
6-Axis Low-Power Mode

GYRO
Off
Drive On
Off
Off
Duty-Cycled
On
On
Duty-Cycled

ACCEL
Off
Off
Duty-Cycled
On
Off
Off
On
On

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MODE
1
2
3
4
5
6
7
8

Table 11. Standard Power Modes for MPU-6886

Power consumption for individual modes can be found in D.C. Electrical Characteristics.

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NOTES:
1.

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MPU-6886
5 PROGRAMMABLE INTERRUPTS
The MPU-6886 has a programmable interrupt system which can generate an interrupt signal on the INT and DRDY
pins. Status flags indicate the source of an interrupt. Interrupt sources may be enabled and disabled individually.
INTERRUPT NAME
Motion Detection
FIFO Overflow
Data Ready

MODULE
Motion
FIFO
Sensor Registers

Table 12. Table of Interrupt Sources

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For information regarding the interrupt enable/disable registers and flag registers, please refer to sections 11 and 12of this document. Some interrupt sources are explained below.

5.1 WAKE-ON-MOTION INTERRUPTThe MPU-6886 provides motion detection capability. A qualifying motion sample is one where the high passed sample
from any axis has an absolute value exceeding a user-programmable threshold. The following steps explain how to
configure the Wake-on-Motion Interrupt.
Step 1: Ensure that Accelerometer is running••In PWR_MGMT_1 register (0x6B) set CYCLE = 0, SLEEP = 0, and GYRO_STANDBY = 0
In PWR_MGMT_2 register (0x6C) set STBY_XA = STBY_YA = STBY_ZA = 0, and STBY_XG = STBY_YG = STBY_ZG=1

Step 2: Set Accelerometer LPF bandwidth to 218.1 Hz•

In ACEEL_CONFIG2 register (0x1D) set ACCEL_FCHOICE_B = 0 and A_DLPF_CFG[2:0] = 1 (b001)

Step 3: Enable Motion Interrupt•

In INT_ENABLE register (0x38) set WOM_INT_EN = 111 to enable motion interrupt

Step 4: Set Motion Threshold•

Set the motion threshold in ACCEL_WOM_THR register (0x1F)

Step 5: Enable Accelerometer Hardware Intelligence•

In ACCEL_INTEL_CTRL register (0x69) set ACCEL_INTEL_EN = ACCEL_INTEL_MODE = 1; Ensure that bit 0 is set
to 0

Step 7: Set Frequency of Wake-Up•

In SMPLRT_DIV register (0x19) set SMPLRT_DIV[7:0] = 3.9 Hz – 500 Hz

Step 8: Enable Cycle Mode (Accelerometer Low-Power Mode)In PWR_MGMT_1 register (0x6B) set CYCLE = 1

Ad•

Document Number: DS-000193
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MPU-6886
6 DIGITAL INTERFACE
6.1 I2C AND SPI SERIAL INTERFACES
2

The internal registers and memory of the MPU-6886 can be accessed using either I C at 400 kHz or SPI at 10 MHz. SPI
operates in four-wire mode.
PIN NAME
SCL / SPCSDA / SDI
SA0 / SDOCS

PIN DESCRIPTION2
I C serial clock (SCL); SPI serial clock (SPC)
2
I C serial data (SDA); SPI serial data input (SDI)2
I C Slave Address LSB (SA0); SPI serial data output (SDO)
Chip select (0 = SPI mode)

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PIN NUMBER
23
24
9
22

Table 13. Serial Interface2

6.2 I C INTERFACE2

I C is a two-wire interface comprised of the signals serial data (SDA) and serial clock (SCL). In general, the lines are
2
open-drain and bi-directional. In a generalized I C interface implementation, attached devices can be a master or aslave. The master device puts the slave address on the bus, and the slave device with the matching address
acknowledges the master.

The MPU-6886 always operates as a slave device when communicating to the system processor, which thus acts as themaster. SDA and SCL lines typically need pull-up resistors to VDD. The maximum bus speed is 400 kHz.
The slave address of the MPU-6886 is b110100X which is 7 bits long. The LSB bit of the 7-bit address is determined by2
the logic level on pin SA0. This allows two MPU-6886s to be connected to the same I C bus. When used in thisconfiguration, the address of one of the devices should be b1101000 (pin SA0 is logic low) and the address of theother should be b1101001 (pin SA0 is logic high).

6.3 I2C COMMUNICATIONS PROTOCOLSTART (S) and STOP (P) Conditions
2

Communication on the I C bus starts when the master puts the START condition (S) on the bus, which is defined as a
HIGH-to-LOW transition of the SDA line while SCL line is HIGH (see figure below). The bus is considered to be busy until
the master puts a STOP condition (P) on the bus, which is defined as a LOW to HIGH transition on the SDA line while
SCL is HIGH (see figure below).
Additionally, the bus remains busy if a repeated START (Sr) is generated instead of a STOP condition.

SDA

Ad

SCL

S

P

START condition

STOP condition

Figure 8. START and STOP Conditions

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MPU-6886
Data Format / Acknowledge
2

I C data bytes are defined to be 8-bits long. There is no restriction to the number of bytes transmitted per datatransfer. 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 andholding it low during the HIGH portion of the acknowledge clock pulse.

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If a slave is busy and cannot transmit or receive another byte of data until some other task has been performed, it canhold SCL LOW, thus forcing the master into a wait state. Normal data transfer resumes when the slave is ready, andreleases the clock line (refer to the following figure).

DATA OUTPUT BY
TRANSMITTER (SDA)

not acknowledge

DATA OUTPUT BYRECEIVER (SDA)

acknowledge

SCL FROM
MASTER

1

2

8

9

clock pulse for
acknowledgement

START
condition

2

Figure 9. Acknowledge on the I C Bus

Communications

After beginning communications with the START condition (S), the master sends a 7-bit slave address followed by anth
8 bit, the read/write bit. The read/write bit indicates whether the master is receiving data from or is writing to theslave device. Then, the master releases the SDA line and waits for the acknowledge signal (ACK) from the slave device.
Each byte transferred must be followed by an acknowledge bit. To acknowledge, the slave device pulls the SDA line
LOW and keeps it LOW for the high period of the SCL line. Data transmission is always terminated by the master witha STOP condition (P), thus freeing the communications line. However, the master can generate a repeated START
condition (Sr), and address another slave without first generating a STOP condition (P). A LOW to HIGH transition on
the SDA line while SCL is HIGH defines the stop condition. All SDA changes should take place when SCL is low, with the
exception of start and stop conditions.

Ad

SDA

SCL

1–7

8

9

1–7

8

9

1–7

8

9

S
START ADDRESS
condition

P
R/W

ACK

DATA

ACK

DATA

ACK

STOP
condition

2

Figure 10. Complete I C Data Transfer

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MPU-6886
2

To write the internal MPU-6886 registers, the master transmits the start condition (S), followed by the I C address andth
the write bit (0). At the 9 clock cycle (when the clock is high), the MPU-6886 acknowledges the transfer. Then themaster puts the register address (RA) on the bus. After the MPU-6886 acknowledges the reception of the register
address, the master puts the register data onto the bus. This is followed by the ACK signal, and data transfer may beconcluded by the stop condition (P). To write multiple bytes after the last ACK signal, the master can continue
outputting data rather than transmitting a stop signal. In this case, the MPU-6886 automatically increments theregister address and loads the data to the appropriate register. The following figures show single and two-byte write
sequences.

Master

S

Slave

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Single-Byte Write Sequence
AD+W

RA

ACK

DATA

ACK

P

ACK

Burst Write Sequence
Master

S

Slave

AD+W

RA

ACK

DATA

ACK

DATA

ACK

P

ACK

2

To read the internal MPU-6886 registers, the master sends a start condition, followed by the I C address and a write
bit, and then the register address that is going to be read. Upon receiving the ACK signal from the MPU-6886, themaster transmits a start signal followed by the slave address and read bit. As a result, the MPU-6886 sends an ACK
signal and the data. The communication ends with a not acknowledge (NACK) signal and a stop bit from master. Theth
NACK condition is defined such that the SDA line remains high at the 9 clock cycle. The following figures show single
and two-byte read sequences.
Single-Byte Read Sequence
Master

S

Slave

AD+W

RA

ACK

S

AD+R

ACK

NACK

ACK

DATA

ACK

DATA

P

Burst Read Sequence
Master
Slave

S

AD+W

RA

ACK

S

ACK

AD+R

ACK

NACK

P

DATA

6.4 I2C TERMS

Ad

SIGNAL
S
AD
W
R
ACK
NACK
RA
DATA
P

DESCRIPTION
Start Condition: SDA goes from high to low while SCL is high2
Slave I C address
Write bit (0)Read bit (1)thAcknowledge: SDA line is low while the SCL line is high at the 9 clock cycleth
Not-Acknowledge: SDA line stays high at the 9 clock cycle
MPU-6886 internal register address
Transmit or received data
Stop condition: SDA going from low to high while SCL is high2

Table 14. I C Terms

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MPU-6886
6.5 SPI INTERFACESPI is a 4-wire synchronous serial interface that uses two control lines and two data lines. The MPU-6886 always
operates as a Slave device during standard Master-Slave SPI operation.
With respect to the Master, the Serial Clock output (SPC), the Serial Data Output (SDO) and the Serial Data Input (SDI)
are shared among the Slave devices. Each SPI slave device requires its own Chip Select (CS) line from the master.

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CS goes low (active) at the start of transmission and goes back high (inactive) at the end. Only one CS line is active at atime, ensuring that only one slave is selected at any given time. The CS lines of the non-selected slave devices are held
high, causing their SDO lines to remain in a high-impedance (high-z) state so that they do not interfere with any active
devices.
SPI Operational Features
1.
2.
3.
4.
5.

Data is delivered MSB first and LSB last
Data is latched on the rising edge of SPC
Data should be transitioned on the falling edge of SPC
The maximum frequency of SPC is 10MHz
SPI read and write operations are completed in 16 or more clock cycles (two or more bytes). The first byte
contains the SPI Address, and the following byte(s) contain(s) the SPI data. The first bit of the first byte
contains the Read/Write bit and indicates the Read (1) or Write (0) operation. The following 7 bits contain theRegister Address. In cases of multiple-byte Read/Writes, data is two or more bytes:
SPI Address format
MSB
R/W

A6

A5

A4

A3

A2

A1

LSB
A0

D5

D4

D3

D2

D1

LSB
D0

SPI Data format
MSB
D7

6.

D6

Supports Single or Burst Read/Writes.

SPC

SDI
SDO

SPI MasterCS1

SPI Slave 1

CS

CS2

SPC

SDI
SDO

SPI Slave 2AdCS

Figure 11. Typical SPI Master/Slave Configuration

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MPU-6886
7 REGISTER MAP
The following table lists the register map for the MPU-6886. Note that all registers are accessible in all modes ofdevice operation.
ADDR
(HEX)

ADDR
(DEC.)

04

04

XG_OFFS_TC_H

READ/
WRITE

XG_OFFS_LP[5:0]0505

XG_OFFS_TC_L

READ/
WRITE

XG_OFFS_TC_L [7:0]0707

YG_OFFS_TC_H

READ/
WRITE

YG_OFFS_LP[5:0]0808YG_OFFS_TC_L

READ/
WRITE

YG_OFFS_TC_L [7:0]0A

10

ZG_OFFS_TC_H

READ/
WRITE

ZG_OFFS_LP[5:0]0B

11

ZG_OFFS_TC_L

READ/
WRITE

ZG_OFFS_TC_L [7:0]0D

13SELF_TEST_X_ACCEL

READ/
WRITE

XA_ST_DATA[7:0]0E

14

SELF_TEST_Y_ACCEL

READ/
WRITE

YA_ST_DATA[7:0]0F

15

SELF_TEST_Z_ACCEL

READ/
WRITE

ZA_ST_DATA[7:0]13

19

XG_OFFS_USRH

READ/
WRITE

X_OFFS_USR [15:8]

14

20

XG_OFFS_USRL

READ/
WRITE

X_OFFS_USR [7:0]1521

YG_OFFS_USRH

READ/
WRITE

Y_OFFS_USR [15:8]

16

22

YG_OFFS_USRL

READ/
WRITE

Y_OFFS_USR [7:0]1723

ZG_OFFS_USRH

READ/
WRITE

Z_OFFS_USR [15:8]

18

24

ZG_OFFS_USRL

READ/
WRITE

Z_OFFS_USR [7:0]1925

SMPLRT_DIV

READ/
WRITE

SMPLRT_DIV[7:0]

1A

26

CONFIG

READ/
WRITE

-

FIFO_
MODE

EXT_SYNC_SET[2:0]

DLPF_CFG[2:0]1B

27

GYRO_CONFIG

READ/
WRITE

XG_ST

YG_ST

ZG_ST

FS_SEL [1:0]

-

XA_ST

YA_ST

ZA_ST

ACCEL_FS_SEL[1:0]-

SERIAL
I/F

BIT7

BIT6

BIT5

BIT4

BIT3

BIT2

BIT1
XG_OFFS_TC_H [9:8]

YG_OFFS_TC_H [9:8]

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REGISTER NAME

28

ACCEL_CONFIG

1D

29

ACCEL_CONFIG 2

READ/
WRITE

-

1E

30

LP_MODE_CFG

READ/
WRITE

GYRO_CYC
LE

20

32

ACCEL_WOM_X_THR

READ/
WRITE

WOM_X_TH[7:0]21

33

ACCEL_WOM_Y_THR

READ/
WRITE

WOM_Y_TH[7:0]2234

ACCEL_WOM_Z_THR

READ/
WRITE

WOM_Z_TH[7:0]23

35

FIFO_EN

READ/
WRITE

-

36

54

FSYNC_INTREAD to
CLEAR

FSYNC_INT

Ad

1C

READ/
WRITE

Document Number: DS-000193
Revision: 1.1

ZG_OFFS_TC_H [9:8]

ACCEL_FCH
OICE_B

DEC2_CFG

G_AVGCFG[2:0]

FCHOICE_B[1:0]

A_DLPF_CFG-

GYRO_FIFO_EN

ACCEL_FIF
O_EN

-

-

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BIT0

MPU-6886
ADDR
(HEX)

ADDR
(DEC.)SERIAL
I/F

BIT7

37

55

INT_PIN_CFG

READ/
WRITE

38

56

INT_ENABLE

39

57

3A

BIT6

BIT5

INT_LEVEL

INT_OPEN

LATCH_INT_EN

READ/
WRITE

WOM_X_I
NT_EN

WOM_Y_INT_EN

WOM_Z_INT_ENFIFO_WM_INT_STATUS

READ to
CLEAR-

FIFO_WM_IN
T

-

58

INT_STATUS

READ toCLEAR

WOM_X_INT

WOM_Y_INT

WOM_Z_INT

3B

59

ACCEL_XOUT_H

READ

ACCEL_XOUT[15:8]

3C

60

ACCEL_XOUT_LREAD

ACCEL_XOUT[7:0]3D

61

ACCEL_YOUT_H

READ

ACCEL_YOUT[15:8]

3E

62

ACCEL_YOUT_LREAD

ACCEL_YOUT[7:0]3F

63

ACCEL_ZOUT_H

READ

ACCEL_ZOUT[15:8]

40

64

ACCEL_ZOUT_LREAD

ACCEL_ZOUT[7:0]4165TEMP_OUT_H

READ

TEMP_OUT[15:8]

42

66

TEMP_OUT_L

READ

TEMP_OUT[7:0]4367GYRO_XOUT_H

READ

GYRO_XOUT[15:8]

44

68

GYRO_XOUT_L

READ

GYRO_XOUT[7:0]4569

GYRO_YOUT_H

READ

GYRO_YOUT[15:8]

4670

GYRO_YOUT_L

READ

GYRO_YOUT[7:0]4771

GYRO_ZOUT_H

READ

GYRO_ZOUT[15:8]

48

72

GYRO_ZOUT_L

READ

GYRO_ZOUT[7:0]

XG_ST_DATA[7:0]

BIT4

BIT3

BIT2

BIT1

BIT0

INT_RD_CLEARFSYNC_INT_LEVEL

FSYNC_INT_MODE
_EN

-

FIFO
_OFLOW_EN-GDRIVE_INT_EN-

DATA_RDY_IN
T_EN

FIFO
_OFLOW_INT-GDRIVE_INT-

DATA_RDY_INT

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REGISTER NAME

50

80

SELF_TEST_X_GYRO

READ/
WRITE

51

81

SELF_TEST_Y_GYRO

READ/
WRITE

YG_ST_DATA[7:0]
ZG_ST_DATA[7:0]82

SELF_TEST_Z_GYRO

53

83

E_ID0

READ/
WRITE

ENGINEERING_ID0[7:0]

54

84

E_ID1

READ/
WRITE

ENGINEERING_ID1[7:0]

55

85

E_ID2

READ/
WRITE

ENGINEERING_ID2[7:0]

56

86

E_ID3

READ/
WRITE

ENGINEERING_ID3[7:0]

57

87

E_ID4

READ/
WRITE

ENGINEERING_ID4[7:0]

58

88

E_ID5

READ/
WRITE

ENGINEERING_ID5[7:0]
ENGINEERING_ID6[7:0]

59

89

E_ID6

READ/
WRITE

60

96

FIFO_WM_TH1

READ/
WRITE

-

61

97

FIFO_WM_TH2

READ/
WRITE

FIFO_WM_TH[7:0]

68

104

Ad

52

READ/
WRITE

SIGNAL_PATH_RESET

READ/
WRITE

-

69

105

ACCEL_INTEL_CTRL

READ/
WRITE

ACCEL_INT
EL_EN

ACCEL_INTEL
_MODE

-

6A

106

USER_CTRL

READ/
WRITE

-

FIFO_EN

-

6B

107

PWR_MGMT_1

READ/
WRITE

DEVICE_RE
SET

SLEEP

CYCLE

GYRO_
STANDBY

TEMP_DIS

CLKSEL[2:0]

6C

108

PWR_MGMT_2

READ/
WRITE

-

STBY_XASTBY_YASTBY_ZASTBY_XG

Document Number: DS-000193
Revision: 1.1

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InvenSense Confidential & Proprietary

FIFO
_RST

ACCEL
_RST

TEMP
_RST

OUTPUT_LIMI
T

WOM_TH_MO
DE-

SIG_COND_RST

STBY_YG

STBY_ZG

Page 30 of 59

MPU-6886
ADDR
(HEX)

ADDR
(DEC.)

70

112

I2C_IF

READ/
WRITE

-

72

114

FIFO_COUNTHREAD

FIFO_COUNT[15:8]

73

115

FIFO_COUNTLREADFIFO_COUNT[7:0]
FIFO_DATA[7:0]

REGISTER NAMESERIAL
I/F

BIT7

BIT6
I2C_IF_DIS

74

116

FIFO_R_W

READ/
WRITE

75

117

WHO_AM_I

READ

WHOAMI[7:0]
XA_OFFS [14:7]

119

XA_OFFSET_H

78

120

XA_OFFSET_L

READ/
WRITE

XA_OFFS [6:0]

7A

122

YA_OFFSET_H

READ/
WRITE

YA_OFFS [14:7]

7B

123

YA_OFFSET_L

READ/
WRITE

YA_OFFS [6:0]

7D

125

ZA_OFFSET_H

READ/
WRITE

ZA_OFFS [14:7]

ZA_OFFSET_L

READ/
WRITE

ZA_OFFS [6:0]

126

BIT3

BIT2

BIT1

-

-

-

Table 15. MPU-6886 Register Map

NOTE: Register Names ending in _H and _L contain the high and low bytes, respectively, of an internal register value.

The reset value is 0x00 for all registers other than the registers below, also the self-test registers contain preprogrammed values and will not be 0x00 after reset.
•
•
•

BIT0

-

Register 26 (0x80) CONFIG
Register 107 (0x41) Power Management 1
Register 117 (0x19) WHO_AM_I

Ad

7E

BIT4

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77

READ/
WRITE

BIT5

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MPU-6886
8 REGISTER DESCRIPTIONSThis section describes the function and contents of each register within the MPU-6886.
NOTE: The device will come up in sleep mode upon power-up.

8.1 REGISTER 04 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE
OFFSET TEMPERATURE COMPENSATION (TC) REGISTER
Register Name: XG_OFFS_TC_H
Register Type: READ/WRITE
BIT
[7:2]
[1:0]

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Register Address: 04 (Decimal); 04 (Hex)NAME

FUNCTIONStores the offset shift in the gyroscope output from low noise mode to low
power mode to be implemented as a correction in the customer software. 2’scomplement digital code, 0.125 dps/LSB from 3.875 dps to -4 dps.
Bits 9 and 8 of the 10-bit offset of X gyroscope (2’s complement)

XG_OFFS_LP[5:0]

XG_OFFS_TC_H[9:8]

8.2 REGISTER 05 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE
OFFSET TEMPERATURE COMPENSATION (TC) REGISTER
Register Name: XG_OFFS_TC_L
Register Type: READ/WRITE

Register Address: 05 (Decimal); 05 (Hex)
BIT
[7:0]

Description:NAME
XG_OFFS_TC_L[7:0]]

FUNCTION
Bits 7 to 0 of the 10-bit offset of X gyroscope (2’s complement).

The temperature compensation (TC) registers are used to reduce gyro offset variation due to temperature change.
The TC feature is always enabled. However the compensation only happens when a TC coefficient is programed
during factory trim which gets loaded into these registers at power up or after a DEVICE_RESET. If these registers
contain a value of zero, temperature compensation has no effect on the offset of the chip. The TC registers have a
10-bit magnitude and sign adjustment in all full scale modes with a resolution of 2.52 mdps/C steps.
If these registers contain a non-zero value after power up, the user may write zeros to them to see the offset values
without TC with temperature variation. Note that doing so may result in offset values that exceed data sheet “Initial
ZRO Tolerance” in other than normal ambient temperature (~25 °C). The TC coefficients maybe restored by the user
with a power up or a DEVICE_RESET.

Ad

The above description also applies to registers 7-8 and 10-11 in sections 8.3, 8.4, 8.5, and 8.6.

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MPU-6886
8.3 REGISTER 07 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE
OFFSET TEMPERATURE COMPENSATION (TC) REGISTER
Register Name: YG_OFFS_TC_H
Register Type: READ/WRITE
Register Address: 07 (Decimal); 07 (Hex)
NAME

[7:2]

YG_OFFS_LP[5:0][1:0]

YG_OFFS_TC_H[9:8]

FUNCTIONStores the offset shift in the gyroscope output from low noise mode to low
power mode to be implemented as a correction in the customer software. 2’scomplement digital code, 0.125 dps/LSB from 3.875 dps to -4 dps.
Bits 9 and 8 of the 10-bit offset of Y gyroscope (2’s complement).

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BIT

8.4 REGISTER 08 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE
OFFSET TEMPERATURE COMPENSATION (TC) REGISTER
Register Name: YG_OFFS_TC_L
Register Type: READ/WRITE

Register Address: 08 (Decimal); 08 (Hex)
BIT
[7:0]

NAME
YG_OFFS_TC_L[7:0]]

FUNCTION
Bits 7 to 0 of the 10-bit offset of Y gyroscope (2’s complement).

8.5 REGISTER 10 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE
OFFSET TEMPERATURE COMPENSATION (TC) REGISTER
Register Name: ZG_OFFS_TC_H
Register Type: READ/WRITE

Register Address: 10 (Decimal); 0A (Hex)
BIT
[7:2]
[1:0]

NAME

FUNCTIONStores the offset shift in the gyroscope output from low noise mode to low
power mode to be implemented as a correction in the customer software. 2’scomplement digital code, 0.125 dps/LSB from 3.875 dps to -4 dps.
Bits 9 and 8 of the 10-bit offset of Z gyroscope (2’s complement).

ZG_OFFS_LP[5:0]

ZG_OFFS_TC_H[9:8]

8.6 REGISTER 11 – GYROSCOPE LOW NOISE TO LOW POWER OFFSET SHIFT AND GYROSCOPE
OFFSET TEMPERATURE COMPENSATION (TC) REGISTER
Register Name: ZG_OFFS_TC_L
Register Type: READ/WRITE

Register Address: 11 (Decimal); 0B (Hex)NAME
ZG_OFFS_TC_L[7:0]]

FUNCTION
Bits 7 to 0 of the 10-bit offset of Z gyroscope (2’s complement).

Ad

BIT
[7:0]

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MPU-6886
8.7 REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS
Register Name: SELF_TEST_X_ACCEL, SELF_TEST_Y_ACCEL, SELF_TEST_Z_ACCEL
Type: READ/WRITE
Register Address: 13, 14, 15 (Decimal); 0D, 0E, 0F (Hex)
BITS

SELF_TEST_X_ACCEL

[7:0]

NAME
XA_ST_DATA[7:0]

FUNCTION
The value in this register indicates the self-test output
generated during manufacturing tests. This value is to be used
to check against subsequent self-test outputs performed by theend user.
The value in this register indicates the self-test output
generated during manufacturing tests. This value is to be used
to check against subsequent self-test outputs performed by theend user.
The value in this register indicates the self-test output
generated during manufacturing tests. This value is to be used
to check against subsequent self-test outputs performed by theend user.

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REGISTERSELF_TEST_Y_ACCEL[7:0]

YA_ST_DATA[7:0]

SELF_TEST_Z_ACCEL[7:0]

ZA_ST_DATA[7:0]

The equation to convert self-test codes in OTP to factory self-test measurement is:

ST _ OTP = ( 2620 / 2 FS ) * 1.01( ST _ code−1) (lsb)

where ST_OTP is the value that is stored in OTP of the device, FS is the Full Scale value, and ST_code is based on the
Self-Test value (ST_ FAC) determined in InvenSense’s factory final test and calculated based on the following equation:log(ST _ FAC /(2620 / 2 FS ))ST _ code = round () +1
log(1.01)

8.8 REGISTER 19 – X-GYRO OFFSET ADJUSTMENT REGISTER – HIGH BYTE
Register Name: XG_OFFS_USRH
Register Type: READ/WRITE

Register Address: 19 (Decimal); 13 (Hex)
BIT
[7:0]

NAME

FUNCTION
Bits 15 to 8 of the 16-bit offset of X gyroscope (2’s complement). This register isused to remove DC bias from the sensor output. The value in this register isadded to the gyroscope sensor value before going into the sensor register.

X_OFFS_USR[15:8]

8.9 REGISTER 20 – X-GYRO OFFSET ADJUSTMENT REGISTER – LOW BYTE
Register Name: XG_OFFS_USRLRegister Type: READ/WRITE

Register Address: 20 (Decimal); 14 (Hex)

Ad

BIT

[7:0]

NAME

X_OFFS_USR[7:0]

Document Number: DS-000193
Revision: 1.1

FUNCTION
Bits 7 to 0 of the 16-bit offset of X gyroscope (2’s complement). This register isused to remove DC bias from the sensor output. The value in this register isadded to the gyroscope sensor value before going into the sensor register.

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MPU-6886
8.10 REGISTER 21 – Y-GYRO OFFSET ADJUSTMENT REGISTER – HIGH BYTE
Register Name: YG_OFFS_USRH
Register Type: READ/WRITE
Register Address: 21 (Decimal); 15 (Hex)
BIT
[7:0]

NAME

FUNCTION
Bits 15 to 8 of the 16-bit offset of Y gyroscope (2’s complement). This register isused to remove DC bias from the sensor output. The value in this register isadded to the gyroscope sensor value before going into the sensor register.

Y_OFFS_USR[15:8]

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8.11 REGISTER 22 – Y-GYRO OFFSET ADJUSTMENT REGISTER – LOW BYTE
Register Name: YG_OFFS_USRLRegister Type: READ/WRITE

Register Address: 22 (Decimal); 16 (Hex)
BIT
[7:0]

NAME

FUNCTION
Bits 7 to 0 of the 16-bit offset of Y gyroscope (2’s complement). This register isused to remove DC bias from the sensor output. The value in this register isadded to the gyroscope sensor value before going into the sensor register.

Y_OFFS_USR[7:0]

8.12 REGISTER 23 – Z-GYRO OFFSET ADJUSTMENT REGISTER – HIGH BYTE
Register Name: ZG_OFFS_USRH
Register Type: READ/WRITE

Register Address: 23 (Decimal); 17 (Hex)
BIT
[7:0]

NAME

FUNCTION
Bits 15 to 8 of the 16-bit offset of Z gyroscope (2’s complement). This register isused to remove DC bias from the sensor output. The value in this register isadded to the gyroscope sensor value before going into the sensor register.

Z_OFFS_USR[15:8]

8.13 REGISTER 24 – Z-GYRO OFFSET ADJUSTMENT REGISTER – LOW BYTE
Register Name: ZG_OFFS_USRLRegister Type: READ/WRITE

Register Address: 24 (Decimal); 18 (Hex)
BIT
[7:0]

NAME

FUNCTION
Bits 7 to 0 of the 16-bit offset of Z gyroscope (2’s complement). This register isused to remove DC bias from the sensor output. The value in this register isadded to the gyroscope sensor value before going into the sensor register.

Z_OFFS_USR[7:0]8.14 REGISTER 25 – SAMPLE RATE DIVIDER
Register Name: SMPLRT_DIV

Ad

Register Type: READ/WRITE

Register Address: 25 (Decimal); 19 (Hex)
BIT
[7:0]

NAME
SMPLRT_DIV[7:0]

FUNCTION
Divides the internal sample rate (see register CONFIG) to generate the sample rate that
controls sensor data output rate, FIFO sample rate. NOTE: This register is only effective when

FCHOICE_B register bits are 2’b00, and (0 < DLPF_CFG < 7).

This is the update rate of the sensor register:
SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV)
Where INTERNAL_SAMPLE_RATE = 1 kHz

Document Number: DS-000193
Revision: 1.1

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MPU-6886
8.15 REGISTER 26 – CONFIGURATION
Register Name: CONFIG
Register Type: READ/WRITE
Register Address: 26 (Decimal); 1A (Hex)NAME
FIFO_MODE[5:3]

EXT_SYNC_SET[2:0]

FUNCTION
Default configuration value is 1. User should set it to 0.
When set to ‘1’, when the FIFO is full, additional writes will not be written to FIFO.
When set to ‘0’, when the FIFO is full, additional writes will be written to the FIFO, replacing
the oldest data.
Enables the FSYNC pin data to be sampled.

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BIT
[7]
[6]

EXT_SYNC_SET

0
1
2
3
4
5
6
7

[2:0]

FSYNC BIT LOCATION
function disabled
TEMP_OUT_L[0]GYRO_XOUT_L[0]GYRO_YOUT_L[0]GYRO_ZOUT_L[0]ACCEL_XOUT_L[0]ACCEL_YOUT_L[0]ACCEL_ZOUT_L[0]FSYNC will be latched to capture short strobes. This will be done such that if FSYNC toggles,
the latched value toggles, but won’t toggle again until the new latched value is captured by
the sample rate strobe.
For the DLPF to be used, FCHOICE_B[1:0] is 2’b00.
See Table 16.

DLPF_CFG[2:0]

The DLPF is configured by DLPF_CFG, when FCHOICE_B [1:0] = 2b’00. The gyroscope and temperature sensor are
filtered according to the value of DLPF_CFG and FCHOICE_B as shown in the table below.
FCHOICE_B

DLPF_CFG

<0>

X
1
0
0
0
0
0
0
0
0

1
0
0
0
0
0
0
0
0
0

Ad

<1>

Document Number: DS-000193
Revision: 1.1

TEMPERATURESENSORGYROSCOPE

X
X
0
1
2
3
4
5
6
7

3-DB BW(HZ)NOISE BW
(HZ)

RATE
(KHZ)

8173
3281
250
176
92
41
20
10
5
3281

8595.132

3451.0
306.6
177.0
108.6
59.0
30.5
15.6
8.0
3451.0

32
8
1
1
1
1
1
1
8

3-DB BW (HZ)
4000
4000
4000
188
98
42
20
10
5
4000

Table 16. Configuration

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MPU-6886
8.16 REGISTER 27 – GYROSCOPE CONFIGURATION
Register Name: GYRO_CONFIG
Register Type: READ/WRITE
Register Address: 27 (Decimal); 1B (Hex)

[4:3]
[2]
[1:0]

NAME

FUNCTIONX Gyro self-test.
Y Gyro self-test.
Z Gyro self-test.
Gyro Full Scale Select:
00 = ±250 dps.
01= ±500 dps.
10 = ±1000 dps.
11 = ±2000 dps.
Reserved.
Used to bypass DLPF as shown in Table 16.

XG_ST
YG_ST
ZG_ST

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BIT
[7]
[6]
[5]

FS_SEL[1:0]

FCHOICE_B[1:0]

8.17 REGISTER 28 – ACCELEROMETER CONFIGURATION
Register Name: ACCEL_CONFIG
Register Type: READ/WRITE

Register Address: 28 (Decimal); 1C (Hex)
BIT
[7]
[6]
[5]

XA_ST
YA_ST
ZA_ST

NAME

[4:3]

ACCEL_FS_SEL[1:0]

[2:0]

-

FUNCTION
X Accel self-test.
Y Accel self-test.
Z Accel self-test.
Accel Full Scale Select:±2g (00), ±4g (01), ±8g (10), ±16g (11)Reserved.

8.18 REGISTER 29 – ACCELEROMETER CONFIGURATION 2
Register Name: ACCEL_CONFIG2
Register Type: READ/WRITE

Register Address: 29 (Decimal); 1D (Hex)
BIT

NAME

DEC2_CFG[1:0]

[3]
[2:0]

ACCEL_FCHOICE_B
A_DLPF_CFG

Ad

[5:4]

Document Number: DS-000193
Revision: 1.1

FUNCTION
Averaging filter settings for Low Power Accelerometer mode:
0 = Average 4 samples.
1 = Average 8 samples.
2 = Average 16 samples.
3 = Average 32 samples.
Used to bypass DLPF as shown in the table below.
Accelerometer low pass filter setting as shown in Table 18.
ACCELEROMETERACCEL_FCHOICE_B

A_DLPF_CFG

3-DB BW(HZ)NOISE BW
(HZ)

RATE
(KHZ)

1
0
0
0

X
0
1
2

1046.0
218.1
218.1
99.0

1100.0
235.0
235.0
121.3

4

InvenSense Confidential & Proprietary111Page 37 of 59

MPU-6886
ACCELEROMETERACCEL_FCHOICE_B

A_DLPF_CFG

3-DB BW(HZ)NOISE BW
(HZ)

RATE
(KHZ)

0
0
0
0
0

3
4
5
6
7

44.8
21.2
10.2
5.1
420.0

61.5
31.0
15.5
7.8
441.6

1
1
1
1
1

Table 17. Accelerometer Data Rates and Bandwidths (Low-Noise Mode)

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The data output rate of the DLPF filter block can be further reduced by a factor of 1/(1+SMPLRT_DIV), where
SMPLRT_DIV is an 8-bit integer. Following is a small subset of ODRs that are configurable for the accelerometer in the
low-noise mode in this manner (Hz):3.91, 7.81, 15.63, 31.25, 62.50, 125, 250, 500, 1K

The following table lists the approximate accelerometer filter bandwidths available in the low-power mode ofoperation for some example ODRs.

In the low-power mode of operation, the accelerometer is duty-cycled. Table 18 shows some example configurations
for accelerometer low power mode.
AVERAGES

1x

4x

8x

16x

32x

ACCEL_FCHOICE_B

1

0

0

0

0

DEC2_CFG

X

0

1

2

3

A_DLPF_CFG

X

7

7

7

7

TON (MS)

1.084

1.84

2.84

4.84

8.84

NBW (HZ)

1100

442

236

122

62

3-DB BW (HZ)

1046

420

219

111

56

NOISE
(MG-RMS)

4.8

3.0

2.2

1.6

1.1

ODR
(HZ)

255

3.91

127

7.81

99

10

63

15.63

31

31.25

19

50

15

62.5

9

100

7

125

4

200

3

250

1

500

Ad

SMPLRT_DIV

LOW-POWER ACCELEROMETER MODE CURRENTCONSUMPTION (µA)

9.4
10.7
11.4
13.3
18.3
24.4
28.4
40.7
48.8
73.4
89.6
171.1

10.2
12.4
13.7
16.7
25.4
35.8
42.7
63.5
77.4
118.8
146.5
284.9

11.5
14.7
16.6
21.5
34.8
50.8
61.5
93.6
114.8
178.9
221.6

13.8
19.6
22.6
30.8
53.6
80.8
99.0
153.7
190.1
299.3

18.5
28.9
34.7
49.7
91.2
141.1
174.3
303.3
N/A

N/A
N/A

Table 18. Approximate Accelerometer Filter Bandwidths (Low-Power Mode)

Document Number: DS-000193
Revision: 1.1

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MPU-6886
8.19 REGISTER 30 – GYROSCOPE LOW POWER MODE CONFIGURATION
Register Name: LP_MODE_CFG
Register Type: READ/WRITE
Register Address: 30 (Decimal); 1E (Hex)
BIT
[7]

NAME
GYRO_CYCLE[6:4]

G_AVGCFG[2:0]

[3:0]

-

FUNCTION
When set to ‘1’ low-power gyroscope mode is enabled. Default setting is ‘0’.
Averaging filter configuration for low-power gyroscope mode. Default settingis ‘000’.
Reserved.

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To operate in gyroscope low-power mode or 6-axis low-power mode, GYRO_CYCLE should be set to ‘1.’ Gyroscope
filter configuration is determined by G_AVGCFG[2:0] that sets the averaging filter configuration. It is not dependent
on DLPF_CFG[2:0].
AVERAGES
G_AVGCFG
NBW (HZ)

1X

2X

4X

8X

16X

32X

64X

128X

0
650.8

1
407.1

2
224.2

3
117.4

4
60.2

5
30.6

6
15.6

7
8.0

3-DB BW (HZ)ODR (HZ)

622

391
211
108
54
27
LOW-POWER GYROSCOPE MODE CURRENT CONSUMPTION (MA)147

SMPLRT_DIV
255
99
65
64
33
32
19
17
16
9
7
6
4
3
2

3.9
10.0
15.2
15.4
29.4
30.3
50.0
55.6
58.8
100.0
125.0
142.9
200.0
250.0
333.3

0.79
0.81
0.83
0.83
0.87
0.87
0.93
0.95
0.96
1.08
1.16
1.21
1.38
1.53
1.78

0.80
0.82
0.84
0.84
0.90
0.90
0.98
1.00
1.01
1.17
1.27
1.34
1.56
1.75
2.07

1.01
1.37
1.67
1.69
2.51
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A

1.23
1.94
2.53
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A

0.80
0.84
0.87
0.87
0.95
0.95
1.06
1.10
1.11
1.35
1.49
1.59
1.91
2.19
N/A

0.82
0.87
0.92
0.92
1.05
1.06
1.24
1.29
1.32
1.70
1.93
2.09
N/A
N/A
N/A

0.85
0.95
1.03
1.03
1.26
1.28
1.60
1.69
1.74
2.41
N/A
N/A
N/A
N/A
N/A

0.90
1.09
1.24
1.25
1.68
1.70
2.30
2.47
N/A
N/A
N/A
N/A
N/A
N/A
N/A

Table 19. Example Gyroscope Configurations (Low-Power Mode)

8.20 REGISTER 32 – WAKE-ON MOTION THRESHOLD (X-AXIS ACCELEROMETER)
Register Name: ACCEL_WOM_X_THR
Register Type: READ/WRITE
BIT
[7:0]

Ad

Register Address: 32 (Decimal); 20 (Hex)NAME

WOM_X_TH[7:0]

Document Number: DS-000193
Revision: 1.1

FUNCTION
This register holds the threshold value for the Wake on Motion Interrupt for X-axis
accelerometer.

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MPU-6886
8.21 REGISTER 33 – WAKE-ON MOTION THRESHOLD (Y-AXIS ACCELEROMETER)
Register Name: ACCEL_WOM_Y_THR
Register Type: READ/WRITE
Register Address: 33 (Decimal); 21 (Hex)
BIT
[7:0]

NAME
WOM_Y_TH[7:0]

FUNCTION
This register holds the threshold value for the Wake on Motion Interrupt for Y-axis
accelerometer.

8.22 REGISTER 34 – WAKE-ON MOTION THRESHOLD (Z-AXIS ACCELEROMETER)

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Register Name: ACCEL_WOM_Z_THR
Register Type: READ/WRITE

Register Address: 34 (Decimal); 22 (Hex)
BIT
[7:0]

NAME

WOM_Z_TH[7:0]

FUNCTION
This register holds the threshold value for the Wake on Motion Interrupt for Z-axis
accelerometer.

8.23 REGISTER 35 – FIFO ENABLE
Register Name: FIFO_EN

Register Type: READ/WRITE

Register Address: 35 (Decimal); 23 (Hex)
BIT
[7:5]

-

NAME

[4]

GYRO_FIFO_EN[3]

ACCEL_FIFO_EN

[2:0]

-

FUNCTION
Reserved.
1 – Write TEMP_OUT_H, TEMP_OUT_L, GYRO_XOUT_H, GYRO_XOUT_L, GYRO_YOUT_H,
GYRO_YOUT_L, GYRO_ZOUT_H, and GYRO_ZOUT_L to the FIFO at the sample rate; If enabled,buffering of data occurs even if data path is in standby.
0 – Function is disabled.
1 – Write ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H,
ACCEL_ZOUT_L, TEMP_OUT_H, and TEMP_OUT_L to the FIFO at the sample rate;
0 – Function is disabled.
Reserved.

NOTE: If both GYRO_FIFO_EN And ACCEL_FIFO_EN are 1, write ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H,
ACCEL_ZOUT_L, TEMP_OUT_H, TEMP_OUT_L, GYRO_XOUT_H, GYRO_XOUT_L, GYRO_YOUT_H, GYRO_YOUT_L, GYRO_ZOUT_H, and GYRO_ZOUT_L
to the FIFO at the sample rate.

8.24 REGISTER 54 – FSYNC INTERRUPT STATUS
Register Name: FSYNC_INTRegister Type: READ to CLEAR

Register Address: 54 (Decimal); 36 (Hex)
[7]

NAME

Ad

BIT

FSYNC_INTDocument Number: DS-000193
Revision: 1.1

FUNCTION
This bit automatically sets to 1 when a FSYNC interrupt has been generated. The bit
clears to 0 after the register has been read.

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MPU-6886
8.25 REGISTER 55 – INT/DRDY PIN / BYPASS ENABLE CONFIGURATION
Register Name: INT_PIN_CFG
Register Type: READ/WRITE
Register Address: 55 (Decimal); 37 (Hex)
BIT

NAME
INT_LEVEL[6]

INT_OPEN[5]LATCH_INT_EN[4]

INT_RD_CLEAR[3]FSYNC_INT_LEVEL[2]

FSYNC_INT_MODE_EN

[1:0]

-

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[7]

FUNCTION
1 – The logic level for INT/DRDY pin is active low.
0 – The logic level for INT/DRDY pin is active high.
1 – INT/DRDY pin is configured as open drain.
0 – INT/DRDY pin is configured as push-pull.
1 – INT/DRDY pin level held until interrupt status is cleared.
0 – INT/DRDY pin indicates interrupt pulse’s width is 50 µs.
1 – Interrupt status is cleared if any read operation is performed.
0 – Interrupt status is cleared only by reading INT_STATUS register.
1 – The logic level for the FSYNC pin as an interrupt is active low.
0 – The logic level for the FSYNC pin as an interrupt is active high.
When this bit is equal to 1, the FSYNC pin will trigger an interrupt when it transitions to
the level specified by FSYNC_INT_LEVEL. When this bit is equal to 0, the FSYNC pin isdisabled from causing an interrupt.
Reserved.

8.26 REGISTER 56 – INTERRUPT ENABLE
Register Name: INT_ENABLE
Register Type: READ/WRITE

Register Address: 56 (Decimal); 38 (Hex)
BIT
[7]
[6]
[5]

NAME
WOM_X_INT_EN
WOM_Y_INT_EN
WOM_Z_INT_EN[4]

FIFO_OFLOW_EN

[3]
[2]
[1]
[0]

GDRIVE_INT_EN
DATA_RDY_INT_EN

FUNCTION
1 – Enable WoM interrupt on X-axis accelerometer. Default setting is 0.
1 – Enable WoM interrupt on Y-axis accelerometer. Default setting is 0.
1 – Enable WoM interrupt on Z-axis accelerometer. Default setting is 0.
1 – Enables a FIFO buffer overflow to generate an interrupt.
0 – Function is disabled.
Reserved.
Gyroscope Drive System Ready interrupt enable.
Reserved.
Data ready interrupt enable.

8.27 REGISTER 57 – FIFO WATERMARK INTERRUPT STATUS
Register Name: FIFO_WM_INT_STATUS
Register Type: READ to CLEAR

Register Address: 57 (Decimal); 39 (Hex)NAME
FIFO_WM_INT

Ad

BIT
[6]

Document Number: DS-000193
Revision: 1.1

FUNCTIONFIFO Watermark interrupt status. Cleared on Read.

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MPU-6886
8.28 REGISTER 58 – INTERRUPT STATUS
Register Name: INT_STATUS
Register Type: READ to CLEAR
Register Address: 58 (Decimal); 3A (Hex)NAME
WOM_X_INTFUNCTION
X-axis accelerometer WoM interrupt status. Cleared on Read.

[6]

WOM_Y_INT

Y-axis accelerometer WoM interrupt status. Cleared on Read.

[5]

WOM_Z_INT[4]

FIFO_OFLOW_INT

[3]
[2]
[1]

GDRIVE_INT-[0]

DATA_RDY_INT

Z-axis accelerometer WoM interrupt status. Cleared on Read.
This bit automatically sets to 1 when a FIFO buffer overflow has been generated. The bit
clears to 0 after the register has been read.
Reserved.
Gyroscope Drive System Ready interrupt.
Reserved.
This bit automatically sets to 1 when a Data Ready interrupt is generated. The bit clears
to 0 after the register has been read.

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BIT
[7]

8.29 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS
Register Name: ACCEL_XOUT_H
Register Type: READ only

Register Address: 59 (Decimal); 3B (Hex)
BIT
[7:0]

NAME
ACCEL_XOUT[15:8]

FUNCTION
High byte of accelerometer x-axis data.

Register Name: ACCEL_XOUT_L
Register Type: READ only

Register Address: 60 (Decimal); 3C (Hex)
BIT
[7:0]

NAME
ACCEL_XOUT[7:0]

FUNCTION
Low byte of accelerometer x-axis data.

Register Name: ACCEL_YOUT_H
Register Type: READ only

Register Address: 61 (Decimal); 3D (Hex)
BIT
[7:0]

NAME
ACCEL_YOUT[15:8]

FUNCTION
High byte of accelerometer y-axis data.

Register Name: ACCEL_YOUT_L
Register Type: READ only

Register Address: 62 (Decimal); 3E (Hex)NAME
ACCEL_YOUT[7:0]

FUNCTION
Low byte of accelerometer y-axis data.

Ad

BIT
[7:0]

Register Name: ACCEL_ZOUT_H
Register Type: READ only
Register Address: 63 (Decimal); 3F (Hex)
BIT
[7:0]

NAME
ACCEL_ZOUT[15:8]

Document Number: DS-000193
Revision: 1.1

FUNCTION
High byte of accelerometer z-axis data.

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MPU-6886
Register Name: ACCEL_ZOUT_L
Register Type: READ only
Register Address: 64 (Decimal); 40 (Hex)
BIT
[7:0]

NAME
ACCEL_ZOUT[7:0]

FUNCTION
Low byte of accelerometer z-axis data.

8.30 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT
Register Name: TEMP_OUT_H
Register Type: READ only
BIT
[7:0]

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Register Address: 65 (Decimal); 41 (Hex)
NAME
TEMP_OUT[15:8]

FUNCTION
Low byte of the temperature sensor output

Register Name: TEMP_OUT_L
Register Type: READ only

Register Address: 66 (Decimal); 42 (Hex)
BIT
[7:0]

NAME

FUNCTION
High byte of the temperature sensor output
TEMP_degC

TEMP_OUT[7:0]= (TEMP_OUT[15:0]/Temp_Sensitivity) +RoomTemp_Offset
where Temp_Sensitivity = 326.8 LSB/ºC and
RoomTemp_Offset = 25ºC

8.31 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS
Register Name: GYRO_XOUT_H
Register Type: READ only

Register Address: 67 (Decimal); 43 (Hex)
BIT
[7:0]

NAME
GYRO_XOUT[15:8]

FUNCTION
High byte of the X-Axis gyroscope output.

Register Name: GYRO_XOUT_L
Register Type: READ only

Register Address: 68 (Decimal); 44 (Hex)
BIT

NAME

[7:0]

GYRO_XOUT[7:0]

FUNCTION
Low byte of the X-Axis gyroscope output
GYRO_XOUT =NominalConditions

Gyro_Sensitivity * X_angular_rate
FS_SEL = 0
Gyro_Sensitivity = 131 LSB/(dps)Register Name: GYRO_YOUT_H

Ad

Register Type: READ only

Register Address: 69 (Decimal); 45 (Hex)
BIT
[7:0]

NAME
GYRO_YOUT[15:8]

Document Number: DS-000193
Revision: 1.1

FUNCTION
High byte of the Y-Axis gyroscope output.

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MPU-6886
Register Name: GYRO_YOUT_L
Register Type: READ only
Register Address: 70 (Decimal); 46 (Hex)
BIT

NAME

[7:0]

GYRO_YOUT[7:0]

FUNCTION
Low byte of the Y-Axis gyroscope output
GYRO_YOUT =NominalConditions

Gyro_Sensitivity * Y_angular_rate
FS_SEL = 0
Gyro_Sensitivity = 131 LSB/(dps)Register Name: GYRO_ZOUT_H

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Register Type: READ only
Register Address: 71 (Decimal); 47 (Hex)
BIT
[7:0]

NAME
GYRO_ZOUT[15:8]

FUNCTION
High byte of the Z-Axis gyroscope output.

Register Name: GYRO_ZOUT_L
Register Type: READ only

Register Address: 72 (Decimal); 48 (Hex)
BIT
[7:0]

NAME

GYRO_ZOUT[7:0]

FUNCTION
Low byte of the Z-Axis gyroscope output
GYRO_ZOUT =NominalConditions

Gyro_Sensitivity * Z_angular_rate
FS_SEL = 0
Gyro_Sensitivity = 131 LSB/(dps)8.32 REGISTERS 80 TO 82 – GYROSCOPE SELF-TEST REGISTERS

Register Name: SELF_TEST_X_GYRO, SELF_TEST_Y_GYRO, SELF_TEST_Z_GYRO
Type: READ/WRITE

Register Address: 80, 81, 82 (Decimal); 50, 51, 52 (Hex)REGISTER

BIT

NAME

SELF_TEST_X_GYRO[7:0]

XG_ST_DATA[7:0]

SELF_TEST_Y_GYRO[7:0]

YG_ST_DATA[7:0]

SELF_TEST_Z_GYRO[7:0]

ZG_ST_DATA[7:0]

FUNCTION
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to checkagainst subsequent self-test outputs performed by the end user.
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to checkagainst subsequent self-test outputs performed by the end user.
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to checkagainst subsequent self-test outputs performed by the end user.

The equation to convert self-test codes in OTP to factory self-test measurement is:

ST _ OTP = ( 2620 / 2 FS ) * 1.01( ST _ code−1) (lsb)Ad

where ST_OTP is the value that is stored in OTP of the device, FS is the Full Scale value, and ST_code is based on the
Self-Test value (ST_ FAC) determined in InvenSense’s factory final test and calculated based on the following equation:

ST _ code = round (log(ST _ FAC /(2620 / 2 FS ))) +1
log(1.01)

8.33 REGISTERS 83 TO 90 – ENGINEERING ID REGISTERS
Register Name: E_ID0 – E_ID6

Document Number: DS-000193
Revision: 1.1

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MPU-6886
Type: READ/WRITE
Register Address: 83 - 89 (Decimal); 53 – 59 (Hex)REGISTER

BIT
[7:0]
[7:0]
[7:0]
[7:0]
[7:0]
[7:0]
[7:0]

E_ID0
E_ID1
E_ID2
E_ID3
E_ID4
E_ID5
E_ID6

NAME
ENGINEERING_ID0[7:0]
ENGINEERING_ID1[7:0]
ENGINEERING_ID2[7:0]
ENGINEERING_ID3[7:0]
ENGINEERING_ID4[7:0]
ENGINEERING_ID5[7:0]
ENGINEERING_ID6[7:0]

FUNCTION
Engineering ID.
Engineering ID.
Engineering ID.
Engineering ID.
Engineering ID.
Engineering ID.
Engineering ID.

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8.34 REGISTER 96-97 – FIFO WATERMARK THRESHOLD IN NUMBER OF BYTESRegister Name: FIFO_WM_TH1
Register Type: READ/WRITE

Register Address: 96 (Decimal); 60 (Hex)
BIT
[1:0]

NAME

FUNCTIONFIFO watermark threshold in number of bytes. Watermark interrupt isdisabled if the threshold is set to “0”. Default value is 00000000.

FIFO_WM_TH[9:8]Register Name: FIFO_WM_TH2
Register Type: READ/WRITE

Register Address: 97 (Decimal); 61 (Hex)
BIT
[7:0]

NAME

FIFO_WM_TH[7:0]

FUNCTIONFIFO watermark threshold in number of bytes. Watermark interrupt isdisabled if the threshold is set to “0”. Default value is 00000000.

The register FIFO_WM_TH[9:0] sets the FIFO watermark threshold level (0 - 1023). User should ensure that bit 7 ofregister 0x1A is set to 0 before using this feature. When the FIFO count is at or above the watermark level(FIFO_COUNT[15:0] ≥ FIFO_WM_TH[9:0]) and the system is not in the middle of a FIFO read, an interrupt is triggered.
The interrupt will set the FIFO watermark interrupt status register field FIFO_WM_INT = 1, and the INT pin will issue apulse if configured in pulse mode, or set to the active level if configured in latch mode. Register bit FIFO_WM_INT is
not read-to-clear, unlike the other interrupts. Rather, whenever FIFO_R_W register is read, FIFO_WM_INT status bit iscleared automatically. At the same time, the INT pin will be cleared as well if it is configured in latch mode.
The FIFO watermark interrupt and the INT pin are cleared upon the first read (and only the first read) of the FIFO. If, atthe end of the FIFO read, the FIFO count is at or above the watermark level, the interrupt status bit and INT pin willagain be set. If the INT pin is configured for latched operation, it will wait until the host completes the read to set tothe active level.

Ad

When FIFO_WM_TH = 0, the FIFO watermark interrupt is disabled.

Document Number: DS-000193
Revision: 1.1

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MPU-6886
8.35 REGISTER 104 – SIGNAL PATH RESETRegister Name: SIGNAL_PATH_RESETRegister Type: READ/WRITE
Register Address: 104 (Decimal); 68 (Hex)
BIT

NAME

-

[1]

ACCEL_RST[0]

TEMP_RSTFUNCTION
Reserved.
Reset accel digital signal path. NOTE: Sensor registers are not cleared. Use SIG_COND_RST to clear
sensor registers.

Reset temp digital signal path. NOTE: Sensor registers are not cleared. Use SIG_COND_RST to clear
sensor registers.

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[7:2]

8.36 REGISTER 105 – ACCELEROMETER INTELLIGENCE CONTROL
Register Name: ACCEL_INTEL_CTRL
Register Type: READ/WRITE

Register Address: 105 (Decimal); 69 (Hex)
BIT
[7]

NAME
ACCEL_INTEL_EN[6]

ACCEL_INTEL_MODE

[5:2]

-

[1]

OUTPUT_LIMIT[0]

WOM_TH_MODE

FUNCTION
This bit enables the Wake-on-Motion detection logic.
0 – Do not use.
1 – Compare the current sample with the previous sample.
Reserved.
To avoid limiting sensor output to less than 0x7F7F, set this bit to 1. This should be done
every time the MPU-6886 is powered up.
0 – Set WoM interrupt on the OR of all enabled accelerometer thresholds.
1 – Set WoM interrupt on the AND of all enabled accelerometer threshold.
Default setting is 0.

8.37 REGISTER 106 – USER CONTROL
Register Name: USER_CTRL

Register Type: READ/WRITE

Register Address: 106 (Decimal); 6A (Hex)-[6]

FIFO_EN

[5]
[4]
[3]

-

[2]

FIFO_RST

[1]

-

[0]

NAME

Ad

BIT
[7]

SIG_COND_RST

Document Number: DS-000193
Revision: 1.1

FUNCTION
Reserved.
1 – Enable FIFO operation mode.
0 – Disable FIFO access from serial interface.
Reserved.
Reserved.
Reserved.
1 – Reset FIFO module. Reset is asynchronous. This bit auto clears after one clock cycle of theinternal 20 MHz clock.
Reserved.
1 – Reset all gyro digital signal path, accel digital signal path, and temp digital signal path.
This bit also clears all the sensor registers.

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MPU-6886
8.38 REGISTER 107 – POWER MANAGEMENT 1
Register Name: PWR_MGMT_1
Register Type: READ/WRITE
Register Address: 107 (Decimal); 6B (Hex)
BIT

NAME
DEVICE_RESET

[6]

SLEEP

[5]

CYCLE

[4]

GYRO_STANDBY[3]

TEMP_DIS

[2:0]

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[7]

FUNCTION
1 – Reset the internal registers and restores the default settings. The bit automatically clears
to 0 once the reset is done.
When set to 1, the chip is set to sleep mode.
When set to 1, and SLEEP and STANDBY are not set to 1, the chip will cycle between sleep
and taking a single accelerometer sample at a rate determined by SMPLRT_DIV
NOTE: When all accelerometer axes are disabled via PWR_MGMT_2 register bits and cycle is enabled,
the chip will wake up at the rate determined by the respective registers above, but will not take any
samples.

CLKSEL[2:0]

When set, the gyro drive and pll circuitry are enabled, but the sense paths are disabled. Thisis a low power mode that allows quick enabling of the gyros.
When set to 1, this bit disables the temperature sensor.
CODE
0
1
2
3
4
5
6
7

CLOCK SOURCEInternal 20 MHz oscillator
Auto selects the best available clock source – PLL if ready, else use the Internal oscillator
Auto selects the best available clock source – PLL if ready, else use the Internal oscillator
Auto selects the best available clock source – PLL if ready, else use the Internal oscillator
Auto selects the best available clock source – PLL if ready, else use the Internal oscillator
Auto selects the best available clock source – PLL if ready, else use the Internal oscillator
Internal 20MHz oscillator
Stops the clock and keeps timing generator in reset

NOTE: The default value of CLKSEL[2:0] is 001. CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.

8.39 REGISTER 108 – POWER MANAGEMENT 2
Register Name: PWR_MGMT_2
Register Type: READ/WRITE

Register Address: 108 (Decimal); 6C (Hex)-[5]

STBY_XA[4]

STBY_YA[3]

STBY_ZA[2]

STBY_XG[1]

STBY_YG

[0]

NAME

Ad

BIT
[7]
[6]

STBY_ZG

Document Number: DS-000193
Revision: 1.1

FUNCTION

Reserved.
Reserved.
1 – X-accelerometer is disabled.
0 – X-accelerometer is on.
1 – Y-accelerometer is disabled.
0 – Y-accelerometer is on.
1 – Z-accelerometer is disabled.
0 – Z-accelerometer is on.
1 – X-gyro is disabled.
0 – X-gyro is on.
1 – Y-gyro is disabled.
0 – Y-gyro is on.
1 – Z-gyro is disabled.
0 – Z-gyro is on.

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MPU-6886
8.40 REGISTER 112 – I2C INTERFACE
Register Name: I2C_IF
Register Type: READ/WRITE
Register Address: 112 (Decimal); 70 (Hex)
BIT
[7]
[6]
[5:0]

NAME
I2C_IF_DIS-

FUNCTION
Reserved.
2
1 – Disable I C Slave module and put the serial interface in SPI mode only.
Reserved.

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8.41 REGISTER 114 AND 115 – FIFO COUNT REGISTERS
Register Name: FIFO_COUNTH
Register Type: READ Only

Register Address: 114 (Decimal); 72 (Hex)
BIT

NAME

[7:0]

FIFO_COUNT[15:8]

FUNCTION
High Bits, count indicates the number of written bytes in the FIFO.
Reading this byte latches the data for both FIFO_COUNTH, and FIFO_COUNTL.

Register Name: FIFO_COUNTL
Register Type: READ Only

Register Address: 115 (Decimal); 73 (Hex)
BIT

NAME

[7:0]

FIFO_COUNT[7:0]

FUNCTION
Low Bits, count indicates the number of written bytes in the FIFO. NOTE: Must read
FIFO_COUNTL to latch new data for both FIFO_COUNTH and FIFO_COUNTL.

8.42 REGISTER 116 – FIFO READ WRITE
Register Name: FIFO_R_W

Register Type: READ/WRITE

Register Address: 116 (Decimal); 74 (Hex)
BIT
[7:0]

NAME
FIFO_DATA[7:0]

Description:

FUNCTION
Read/Write command provides Read or Write operation for the FIFO.

This register is used to read and write data from the FIFO buffer.

Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below)
are enabled, the contents of registers 59 through 72 will be written in order at the Sample Rate.
The contents of the sensor data registers (Registers 59 to 72) are written into the FIFO buffer when theircorresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35).

Ad

If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in
INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be
written to the FIFO unless register 26 CONFIG, bit[6] FIFO_MODE = 1.

If the FIFO buffer is empty, reading register FIFO_DATA will return a unique value of 0xFF until new data is available.
Normal data is precluded from ever indicating 0xFF, so 0xFF gives a trustworthy indication of FIFO empty.

Document Number: DS-000193
Revision: 1.1

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MPU-6886
8.43 REGISTER 117 – WHO AM I
Register Name: WHO_AM_I
Register Type: READ only
Register Address: 117 (Decimal); 75 (Hex)
BIT
[7:0]

NAME
WHOAMIFUNCTION
Register to indicate to user which device is being accessed.

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This register is used to verify the identity of the device. The contents of WHOAMI is an 8-bit device ID. The default
22
value of the register is 0x19. This is different from the I C address of the device as seen on the slave I C controller by
2
the applications processor. The I C address of the MPU-6886 is 0x68 or 0x69 depending upon the value driven on AD0
pin.

8.44 REGISTERS 119, 120, 122, 123, 125, 126 ACCELEROMETER OFFSET REGISTERS
Register Name: XA_OFFSET_H
Register Type: READ/WRITE

Register Address: 119 (Decimal); 77 (Hex)
BIT
[7:0]

NAME

XA_OFFS[14:7]

FUNCTION
Upper bits of the X accelerometer offset cancellation. ±16g Offset cancellation in all Full
Scale modes, 15 bit 0.98-mg steps.

Register Name: XA_OFFSET_L
Register Type: READ/WRITE

Register Address: 120 (Decimal); 78 (Hex)
BIT

NAME

[7:1]

XA_OFFS[6:0][0]-

FUNCTION
Lower bits of the X accelerometer offset cancellation. ±16g Offset cancellation in all Full
Scale modes, 15 bit 0.98-mg steps.
Reserved.

Register Name: YA_OFFSET_H
Register Type: READ/WRITE

Register Address: 122 (Decimal); 7A (Hex)
BIT
[7:0]

NAME

YA_OFFS[14:7]

FUNCTION
Upper bits of the Y accelerometer offset cancellation. ±16g Offset cancellation in all Full
Scale modes, 15 bit 0.98-mg steps

Register Name: YA_OFFSET_L
Register Type: READ/WRITE

Register Address: 123 (Decimal); 7B (Hex)
BIT

[0]

YA_OFFS[6:0]

Ad

[7:1]

NAME

-

Document Number: DS-000193
Revision: 1.1

FUNCTION
Lower bits of the Y accelerometer offset cancellation. ±16g Offset cancellation in all Full
Scale modes, 15 bit 0.98-mg steps
Reserved.

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MPU-6886
Register Name: ZA_OFFSET_H
Register Type: READ/WRITE
Register Address: 125 (Decimal); 7D (Hex)
BIT
[7:0]

NAME
ZA_OFFS[14:7]

FUNCTION
Upper bits of the Z accelerometer offset cancellation. ±16g Offset cancellation in all Full
Scale modes, 15 bit 0.98-mg steps

Register Name: ZA_OFFSET_L
Register Type: READ/WRITE
Register Address: 126 (Decimal); 7E (Hex)NAME

FUNCTION
Lower bits of the Z accelerometer offset cancellation. ±16g Offset cancellation in all Full
Scale modes, 15 bit 0.98-mg steps
Reserved.

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BIT

ZA_OFFS[6:0]

[0]

-

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[7:1]

Document Number: DS-000193
Revision: 1.1

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MPU-6886
9 USE NOTES
9.1 ACCELEROMETER-ONLY LOW-NOISE MODE
The first output sample in Accelerometer-Only Low-Noise Mode after wake up from sleep always has 1 ms delay,
independent of ODR.

9.2 ACCELEROMETER LOW-POWER MODE
Changing the value of SMPLRT_DIV register in Accelerometer Low-Power mode will take effect after up to one sample
at the old ODR.

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9.3 SENSOR MODE CHANGE

When switching from low-power modes to low-noise modes, unsettled output samples may be observed at thegyroscope or accelerometer outputs due to filter switching and settling. The number of unsettled output samples
depends on the filter and ODR settings. The number of unsettled output samples is minimized by selecting the widest
low-noise-mode filter bandwidth consistent with the chosen ODR.

9.4 TEMP SENSOR DURING GYROSCOPE STANDBY MODE

During transition from Gyro Low power mode (GYRO_CYCLE=1), to Gyro Standby mode, in addition to the Gyro axis
(axes) being turned off, the Temp Sensor will also be turned off if the Accel is disabled. In order to keep the temp
sensor on during Gyroscope standby mode when Accel is disabled, the following procedure should be followed:•••

Set GYRO_CYCLE = 0 at least one ODR cycle prior to entering Standby mode
At least one of the Gyro axis is ON prior to entering Standby mode
Set GYRO_STANDBY = 1

9.5 GYROSCOPE MODE CHANGE

Gyroscope will take one ODR clock period to switch from Low-Noise to Low-Power mode after GYRO_CYCLE bit is set.
If GYRO_CYCLE is set to 1 prior to turning on the gyroscope, the first sample will be from low-noise mode, which may
not be a settled value. Ignoring the first reading is recommended in this case.

9.6 POWER MANAGEMENT 1 REGISTER SETTING

It is required to set CLKSEL[2:0] to 001 (auto-select) for full performance.

9.7 UNLISTED REGISTER LOCATIONS

Do not read unlisted register locations in Sleep mode as this may cause the device to hang up, requiring power cycle torestore operation.

9.8 CLOCK TRANSITION WHEN GYROSCOPE IS TURNED OFF

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When the gyroscope is on, the on-chip master clock source will be the gyroscope clock (assuming CLKSEL[2:0] = 001
for auto-select mode); otherwise, the master clock source will be the internal oscillator as long as the part is not in
Sleep mode. During a power mode transition, whenever the gyroscope is disabled and the part enters a mode otherthan Sleep, the on-chip master clock source will transition from the gyroscope clock to the internal oscillator. It willtake about 20 µs for this transition to complete.

Document Number: DS-000193
Revision: 1.1

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MPU-6886
9.9 SLEEP MODE
The part will only enter Sleep mode when the SLEEP bit in PWR_MGMT_2 is set to ‘1’. If SLEEP bit is ‘0’ and bit
STBY_[X,Y,Z]A and STBY_[X,Y,Z]G are all set to ‘1’, accelerometer and gyroscope will be turned off, but the on-chipmaster clock will still be running and consuming power.

9.10 NO SPECIAL OPERATION NEEDED FOR FIFO READ IN LOW POWER MODE
The use of FIFO is enabled in all modes including low power mode.

9.11 GYROSCOPE STANDBY PROCEDURE

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The follow precaution and procedure must be followed while using the Gyroscope Standby mode:
Precaution to follow while entering Standby Mode:•

The user will ensure that at least one gyro axis is ON when setting gyro_standby = 1.

Procedure to transition from Gyro Standby to Gyro off:
The user should set gyro_standby = 0 first
Next, turn off gyro x/y/z.

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•
•

Document Number: DS-000193
Revision: 1.1

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MPU-6886
10 ASSEMBLY
This section provides general guidelines for assembling InvenSense Micro Electro-Mechanical Systems (MEMS) gyros
packaged in LGA package.

10.1 ORIENTATION OF AXES
The diagram below shows the orientation of the axes of sensitivity and the polarity of rotation. Note the pin 1
identifier (•) in the figure.

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+Z

+Y

+Z

+Y

Mp

u-6

88

6

+X

+X

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Figure 12. Orientation of Axes of Sensitivity and Polarity of Rotation

Document Number: DS-000193
Revision: 1.1

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MPU-6886
10.2 PACKAGE DIMENSIONS

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24 Lead LGA (3x3x0.75) mm NiAu pad finish

Figure 13. Package Diagram

SYMBOLS
A
A3
b
c

D
E

e
L

L1
L3
y

DIMENSIONS IN MILLIMETERS

MIN
0.70
--0.15--2.902.90--0.32
0.02
0.25
0.00

NOM
0.75
0.65 REF.
0.20
0.10 REF.
3.00
3.00
0.40
0.37
0.07
0.30
---

MAX
0.80
--0.25--3.103.10--0.42
0.12
0.35
0.08

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Table 20. Package Dimensions

Document Number: DS-000193
Revision: 1.1

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MPU-6886
11 PART NUMBER PACKAGE MARKINGThe part number package marking for MPU-6886 devices is summarized below:
PART NUMBER
MPU-6886PART NUMBER PACKAGE MARKING
I66
Table 21. Part Number Package Marking

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TOP VIEW
I66
XXXX
AWW

Part Number

Lot Traceability Code

A = Assembly Sublot Number
WW = Work Week

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Figure 14. Part Number Package Marking

Document Number: DS-000193
Revision: 1.1

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MPU-6886
12 REFERENCE
Please refer to “InvenSense MEMS Handling Application Note (AN-IVS-0002A-00)” for the following information:

Ad•

Manufacturing Recommendationso Assembly Guidelines and Recommendationso PCB Design Guidelines and Recommendationso MEMS Handling Instructionso ESD Considerations
o Reflow Specificationo Storage Specificationso Package Marking Specificationo Tape & Reel Specificationo Reel & Pizza Box Labelo Packaging
o Representative Shipping Carton Label
Complianceo Environmental Complianceo DRC Complianceo Compliance Declaration Disclaimer

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Document Number: DS-000193
Revision: 1.1

InvenSense Confidential & Proprietary

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MPU-6886
13 DOCUMENT INFORMATION
13.1 REVISION HISTORY
Revision

Description

12/20/2016

1.0

Initial Release

03/29/2017

1.1

Updated Sections 1, 2, 4, 8, 10

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Revision Date

Document Number: DS-000193
Revision: 1.1

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MPU-6886

This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense
for its use, or for any infringements of patents or other rights of third parties that may result from its use. Specifications are subject tochange without notice. InvenSense reserves the right to make changes to this product, including its circuits and software, in order toimprove its design and/or performance, without prior notice. InvenSense makes no warranties, neither expressed nor implied, regarding
the information and specifications contained in this document. InvenSense assumes no responsibility for any claims or damages arisingfrom information contained in this document, or from the use of products and services detailed therein. This includes, but is not limited
to, claims or damages based on the infringement of patents, copyrights, mask work and/or other intellectual property rights.

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Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by
implication or otherwise under any patent or patent rights of InvenSense. This publication supersedes and replaces all information
previously supplied. Trademarks that are registered trademarks are the property of their respective companies. InvenSense sensors
should not be used or sold in the development, storage, production or utilization of any conventional or mass-destructive weapons or for
any other weapons or life threatening applications, as well as in any other life critical applications such as medical equipment,
transportation, aerospace and nuclear instruments, undersea equipment, power plant equipment, disaster prevention and crime
prevention equipment.

©2017 InvenSense, Inc. All rights reserved. InvenSense, Sensing Everything, MotionTracking, MotionProcessing, MotionProcessor,
MotionFusion, MotionApps, DMP, and the InvenSense logo are trademarks of InvenSense, Inc. Other company and product names may
be trademarks of the respective companies with which they are associated.

©2017 InvenSense, Inc. All rights reserved.

Document Number: DS-000193
Revision: 1.1

InvenSense Confidential & Proprietary

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MPU-6886

Document Number: DS-000193
Revision: 1.1

InvenSense Confidential & Proprietary

Page 59 of 59