Hara Systems OSTSen-9250 User manual

OSTSen-6500 v1.0 1 of 9 Hara Systems Inc.
OSTSen-6500 User Guide
Ver 1.0
Hara Systems Inc.

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1. OSTSen-6500 Overview
OSTSen-6500 is a high performance motion tracking module, which is based on
InvenSense MPU-6500. The MPU-6500 is the a 6-axis Motion Tracking device that
combines a 3-axis gyroscope, a 3-axis accelerometer, and a Digital Motion
Processor™ (DMP™) all in a small 3x3x0.9mm package. It also features a 4096-byte
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
into a low-power mode. With its dedicated I2C sensor bus, the MPU-6500 directly
accepts inputs form external I2C devices. MPU-6500, with its 6-axis integration, on-
chip DMP, and run-time calibration firmware, enables manufacturers to eliminate the
costly and complex selection, qualification, and system level integration of discrete
devices, guaranteeing optimal motion performance for consumers. MPU-6500 is also
designed to interface with multiple non-inertial digital sensors, such as pressure
sensors, on its auxiliary I2C port.
The Gyroscope has a programmable full-scale range of ±250, ±500, ±1000, and
±2000 degrees/sec and very low rate noise at 0.01dps/√Hz. 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, a precision clock with 1% drift from -40°C to 85°C, an embedded temperature
sensor, and programmable interrupts. The device features I2C and SPI serial
interfaces, a VDD operating range of 1.71 to 3.6V, and a separate digital IO Supply,
VDDIO from 1.7V to 3.6V.
Communication with all registers of the device is performed using either I2C at
400kHz or SPI 1MHz. For applications requiring faster communications, the sensor
and interrupt registers may be read SPI at 20MHz.
By leveraging its patented and volume-proven CMOS-MEMS fabrication platform,
which integrated MEMS wafers with companion CMOS electronics through wafer-
level bonding, InvenSense has driven the package size down to a footprint and
thickness of 3x3x0.90mm (24-pin QFN), to provide a very small yet high performance
low cost package. The device provides high robustness by supporting 10,000g shock
reliability.
2. Applications
· TouchAnywhere™ technology (for “no touch” UI Application Control/Navigation)
· MotionCommand™ technology (for Gesture Short-cuts)
· Motion-enabled game and application framework
· Location based services, points of interest, and dead reckoning
· Handset and portable gaming
· Motion-based game controllers
· 3D remote controls for Internet connected DTVs and set top boxes, 3D mice
· Wearable sensors for health, fitness and sports
3. Features of MPU-6500
3.1 Gyroscope Features
The triple-axis MEMS gyroscope in the MPU-6500 includes a wide range of features:
· Digital-output X-, Y-, and Z-axis angular rate sensors (gyroscopes) with a user-
programmable full-scale range of ±250, ±500, ±1000, and ±2000°/sec and

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integrated 16-bit ADCs
· Digitally-programmable low-pass filter
· Gyroscope operating current: 3.2mA
· Factory calibrated sensitivity scale factor
· Self-test
3.2 Accelerometer Features
The triple-axis MEMS accelerometer in MPU-6500 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
· Accelerometer normal operating current: 450μA
· Low power accelerometer mode current: 6.37μA at 0.98Hz, 17.75μA at 31.25Hz
· User-programmable interrupts
· Wake-on-motion interrupt for low power operation of application processor
· Self-test
3.3 Additional Features
The MPU-6500 includes the following additional features:
· Auxiliary master I2C bus for reading data from external sensors(e.g. magnetometer)
· 3.4mA operating current when all 6 motion sensing axes active
· VDD supply voltage range of 1.8 ~ 3.3V ±5%
· VDDIO reference voltage of 1.8 ~ 3.3V ±5% auxiliary I2C devices
· Smallest and thinnest QFN package for portable devices: 3x3x0.9mm
· Minimal cross-axis sensitivity between the accelerometer, gyroscope axes
· 4096 byte 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
· 10,000 g shock tolerant
· 400kHz Fast Mode I2C for communicating with all registers
· 1MHz SPI serial interface for communication with all registers
· 20MHz SPI serial interface for reading sensors and interrupt registers
· MEMS structure hermetically sealed and bonded at wafer level
· RoHS and Green compliant

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4. Application Information
4.1 Module Pin Out and Signal Description
Pin
Number
Pin Name
Pin Description
1
VCC
Power supply voltage
2
GND
Power supply ground
3
SCL
I2C serial clock (SCL); SPI serial clock(SCLK)
4
SDA
I2C serial data (SDA); SPI serial data input(SDI)
5
AD0
I2C Slave Address LSB (AD0); SPI serial data output(SDO)
6
NCS
Chip select (SPI mode only)
7
INT
Interrupt digital output (totem pole or open-drain)
8
ADA
Auxiliary I2C master serial data
9
ACL
Auxiliary I2C master serial clock
10
FSYNC
Frame synchronization digital input.
Connect to GND if unused
< Top View >
VCC
GND
SCL
SDA
NCS
INT
FSYNC
ADA
1
2
4
6
3
10
8
7
AD0
ACL
5
9
Orientation of Axes of Sensitivity
and Polarity of Rotation
+Z
+Z
+Y
+Y
+X
+X

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4.2 MPU-6500 Pin out and Signal Description
Pin Number
Pin Name
Pin Description
7
AUX_CL
I2C master serial clock for connecting to external sensors
8
VDDIO
Digital I/O supply voltage
9
AD0/SDO
I2C Slave Address LSB (AD0); SPI serial data output(SDO)
10
REGOUT
Regulator filter capacitor connection
11
FSYNC
Frame synchronization digital input.
Connect to GND if unused
12
INT
Interrupt digital output (totem pole or open-drain)
Note: The Interrupt line should be connected to a pin the
Application Processor(AP) that can bring the AP out of
suspend mode.
13
VDD
Power supply voltage and Digital I/O supply voltage
18
GND
Power supply ground
19
RESV
Reserved. Do not connect
20
RESV
Reserved. Connect to GND
21
AUX_DA
I2C master serial data, for connecting to external sensors
22
nCS
Chip Select (SPI mode only)
23
SCL/SCLK
I2C serial clock (SCL); SPI serial clock(SCLK)
24
SDA/SDI
I2C serial data(SDA); SPI serial data input(SDI)
1-6, 14-17
NC
No Connection Pin. Do not connect
l MPU-9250 I2C 7bit device address: 0x69 ( In module : AD0 is HIGH )
0x68 ( In module : AD0 is LOW )
MSB
LSB
1
1
0
1
0
0
X
R/W
< MPU-6500 Pinout ( Top View) > < Orientation of Axes of MPU-6500 >

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5. Module Dimension
< OSTSen-6500 module >
12.065mm
10.16mm
2.54mm
1
2
4
6
3
10
8
7
5
9

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6. I2C Communications

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7. Demo System
OSTSen-6500 Data Display on PC
32 bit
Processor
USB
VCC
GND
SCL
SDA
PC
Demo System
USB

OSTSen-6500 v1.0 9 of 9 Hara Systems Inc.
8. Reference
1) https://www.invensense.com/products/motion-tracking/6-axis/mpu-6500/
2) https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-
Datasheet2.pdf
3) https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Register-
Map2.pdf
4) https://www.invensense.com/wp-content/uploads/2015/02/AN-IVS-0001EVB-00-
v1-3.pdf
5) https://github.com/rpicopter/ArduinoMotionSensorExample
6) https://create.arduino.cc/projecthub/Aritro/getting-started-with-imu-6-dof-motion-
sensor-96e066
l If you need some information or have some questions about OSTSen-6500,
contact [e-mail]