InvenSense MPU-6000 User manual

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 1AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
MPU-6000/MPU-6050
9-Axis Evaluation Board
User Guide

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 2AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
Table of Contents
1. REVISION HISTORY...................................................................................................................................3
2. PURPOSE ...................................................................................................................................................4
2.1 USAGE................................................................................................................................................4
2.2 RELATED DOCUMENTS ........................................................................................................................4
3. MPU-6000 9-AXIS EV BOARD OVERVIEW ..............................................................................................4
3.1 MPU-6000 KEY FUNCTION AND PIN-OUTS ...........................................................................................5
3.2 MPU-6000 VS.MPU-6050.................................................................................................................5
3.3 MPU-6000 BUS CONNECTION.............................................................................................................5
4. SCHEMATIC................................................................................................................................................7
5. BILL OF MATERIALS.................................................................................................................................8
6. POWER SUPPLY CONNECTIONS............................................................................................................8
7. MPU-6000 EVB CONNECTOR SIGNALS DESCRIPTION........................................................................9
7.1 CONNECTING THE FSYNC LINE.........................................................................................................11
7.2 SERIAL BUS LEVELS,SPEEDS AND TERMINATIONS ..............................................................................11
8. DATA GATHERING OPTIONS.................................................................................................................11
8.1 CONNECTION TO ARM EVB...............................................................................................................11
8.2 USE OF MPU-6000 WITHOUT ARM EVB BOARD ................................................................................12
9. SPECIAL INSTRUCTIONS .......................................................................................................................12
9.1 ELECTROSTATIC DISCHARGE SENSITIVITY ..........................................................................................12
9.2 BOARD LAYOUT.................................................................................................................................12

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 3AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
1. Revision History
Date
Revision
Description
1/12/2011
01
Initial release

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 4AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
2. Purpose
This document describes the hardware and circuitry on the MPU-6000 and MPU-6050 (collectively
called the MPU-60X0) 9-Axis Evaluation (EV) Board. This EVB is used for evaluating the MPU-6000
and MPU-6050. It covers applying the EV board to a larger system, understanding key signals and
circuit functions, hardware jumper settings, and port connectors.
2.1 Usage
This evaluation board provides nine axes of motion sensing, comprised of:
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
Digital-output tri-axis accelerometer with a programmable full scale range of ±2g, ±4g,
±8gand ±16g
Digital-output tri-axis compass with a full scale range of ±1200µT
Data is measured using on-chip ADCs and is transmitted over I²C or SPI interfaces.
The Evaluation board may be used by itself using SPI or I²C serial communications interfaces.
Alternatively, it may be connected to InvenSense‟s ARM Evaluation Board (INVARMEVB) for
connectivity to a host computer using a USB interface.
2.2 Related Documents
The following documents are recommended for more fully understanding the products and
systems described in this documents.
MPU-6000 Product Specification
AK8975/AK8975C Datasheet
3. MPU-6000 9-Axis EV Board Overview
The MPU-6000 9-Axis EV Board contains the MPU-6000 digital Motion Processing Unit and the AKM
compass. Additionally, it contains a number of „solder-across‟ jumper points that permit several circuit
configurations.
Please refer to Figures 1 & 5. The EV Board is populated on its top side only for ease of measurement
access. The 10x2 customer header connector (JP14) is designed to connect with the InvenSense ARM
Evaluation Board (INVARMEVB), which is a host microcontroller board useful for adapting the MPU-
6000 9-Axis EV Board to a personal computer via its USB port.
The 5x2 extension factory header (JP13) is intended for connecting additional devices to the EV Board,
such as a camera image stabilization processor, or a digital-output compass, etc. The 3-pin power
selection header (JP12) is used to select which voltage supply is fed to the MPU-6000. The 3-pin
VLOGIC selection header (JP6) is used to select between 3 V and VDD as the logic supply voltage.

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 5AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
3.1 MPU-6000 Key Function and Pin-outs
The MPU-60X0 EVB is a fully-tested evaluation board, providing for quick evaluation of the MPU-
60X0‟s X- , Y- , and Z- axis angular rate gyroscope + X- , Y- , and Z- axis accelerometer . MPU-
60X0 has a primary interface to talk to the application processor and a secondary interface to
communicate to an external sensor. MPU-60X0 EVB comes preloaded with a AKM 3-axis
compass to let the user experience a 9-axis sensor fusion output from MPU-60X0‟s Motion
Processing Unit. The MPU-60X0 uses InvenSense‟s proprietary MEMS technology with driven
vibrating masses to produce a functionally complete, low-cost motion sensor. All required
conditioning electronics are integrated into a single chip measuring 4 x 4 x 0.9mm. It
incorporates X- , Y- and Z-axis low-pass filters and an EEPROM for on-chip factory calibration of
the sensor. Factory trimmed scale factors eliminate the need for external active components and
end-user calibration. A built-in Proportional-To-Absolute-Temperature (PTAT) sensor provides
temperature compensation information. The product is lead-free and Green Compliant.
3.2 MPU-6000 vs. MPU-6050
The MPU-6000 and MPU-6050 are identical, except that the MPU-6050 supports the I2C serial
interface only, and has a separate VLOGIC reference pin. The MPU-6000 supports both I2C and
SPI interfaces and has a single supply pin, VDD, which is both the device‟s logic reference supply
and the analog supply for the part. The table below outlines these differences:
Table 1. Primary Differences between MPU-6000 and MPU-6050
Part / Item
MPU-6000
MPU-6050
VDD
2.5V±5%, 3.0V±5%, or
3.3V±5%.
2.5V±5%, 3.0V±5%, or
3.3V±5%.
VLOGIC
n/a
1.71V to VDD
Serial Interfaces Supported
I2C, SPI
I2C
Pin 8
/CS
VLOGIC
Pin 9
AD0/SDO
AD0
Pin 23
SCL/SCLK
SCL
Pin 24
SDA/SDI
SDA
3.3 MPU-6000 Bus Connection
The MPU-60X0 EVB communicates to a system processor through the customer header using
the I2C serial interface. The device always acts as a slave when communicating to the system
processor.

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 6AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
Figure 1. Top side of the MPU-60X0 9-Axis EV Board
MPU-6000
MPU-6050
+Z
+X
+Y
7 8 9 10 11 12
AUX_CL VLOGIC AD0 REGOUT FSYNC INT
13
18
17
16
15
14
NC
NC
NC
VDD
NC
GND
6
1
2
3
4
5
NC
NC
NC
AUX_DA
NC
CLKIN
24 23 22 21 20 19
RESV
CPOUT
RESV
CLKOUT
SCL
SDA
MPU-6050
QFN Package
24-pin, 4mm x 4mm x 0.9mm Orientation of Axes of Sensitivity and Polarity of Rotation
Top View
+Z
+Y
+X
7 8 9 10 11 12
AUX_CL /CS AD0/SDO REGOUT FSYNC INT
13
18
17
16
15
14
NC
NC
NC
VDD
NC
GND
6
1
2
3
4
5
NC
NC
NC
AUX_DA
NC
CLKIN
24 23 22 21 20 19
RESV
CPOUT
RESV
CLKOUT
SCL/SCLK
SDA/SDI
MPU-6000
QFN Package
24-pin, 4mm x 4mm x 0.9mm
Top View
Figure 2. MPU-6000 QFN Package (Top View) 24-pin 4mm x 4mm x 0.9mm & Axis Orientation

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 7AN-MPU-6000EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
4. Schematic

MPU-6000 EV Board Application Note
Document Number: AN-MPU6000EVB-01
Revision: 01
Release Date: 12/17/10
InvenSense, Inc., 1197 Borregas, Ave. Sunnyvale, CA 94089, USA 8AN-MPU6000EVB-01
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
5. Bill of Materials
Table 2. Bill of Material
Item
Quantity
Reference
Part
PCB Footprint
1
7
BP13,BP14,BP15,BP16,BP17,
BP18,BP19
0.1uF
C0402
2
1
C11
2200pF/50V/0402
C0402
3
2
C13,C12
0.47uF/0603
C0603
4
1
C14
0.033uF/0402
C0402
7
2
JP6,JP12
HEADER 3, 80mil, 180D, Male
J79\3S
8
1
JP13
HEADER 5X2, Male, 180D,
2.0mmx2.0mm
SIP2X5N2
9
1
JP14
HEADER 14X2, Male, 90D,
2.54mmx2.54mm
HDB2X14NRA
10
1
R28
1K/0402
R0402
11
2
R30,R29
2K/0402
R0402
12
3
R31,R32,R40
0/0402
R0402
14
4
R34,R35,R37,R38
0R
R0402
15
1
R36
100K/0402
R0402
16
1
R39
1M
R0402
18
2
R44,R42
10K/0402
R0402
19
1
R43
2R2/0603
R0603
22
1
U5
MPU, 24-Lead QFN (4mm x 4mm
x 0.9mm)
qfn24_4x4(0.5pitch
)
23
1
U6
AK8975
QFN16_4X4(0.65PI
TCH)
24
1
U7
YB1210ST25R300
SOT235
6. Power Supply Connections
JP6 and JP12 are 3 header-pin plug-in jumpers which allow users to select between on-board
LDO and external DC supply for powering the MPU-60X0. For details, please refer Table 3.
Power Selection Jumpers.
The on-board 3.0V LDO (Low-dropout voltage regulator) is a low-noise version. Its output is
called 3V0 on the schematic, and using it will assure that the gyroscope and accelerometer
performance will meet intended specifications.

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 9AN-MPU6000-EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
Selecting the raw Vcc line to power the chip is generally done while designing and evaluating
an embedded platform, where the host processor and related electronics needs full control
over the motion processing chipset‟s power supply.
When the user intends to use the on board LDO 3V0 power, external Vcc must be provided
with atleast 3.7V to ensure the LDO works properly.
If the user provides Vcc with 5V, JP6 and JP12 must be set as “1-2 short” since the MPU-
60X0 VDD and VLOGIC operation range is 2.1V to 3.6V.
7. MPU-60X0 EVB connector signals description
Table 3. Power Selection Jumpers
JP6 Pin Number
Signal description
1-2 short
MPU-6050 VLOGIC = 3V (from LDO, Vcc>3.7 V)
2-3 short
MPU-6050 VLOGIC = Vcc (from external source)
JP12 Pin Number
Signal description
1-2 short
MPU-60X0 VDD = 3V (from LDO, Vcc>3.7V)
2-3 short
MPU-60X0 VDD = Vcc (from external source)
Table 4. User Interface Connector Signals
JP14 Pin Number
Signal description
1
Reserved
3
Reserved
5
Reserved
7
INT, MPU-60X0 INTERRUPT output to controller
9
Reserved
11
MPU-60X0 CLK_I, External Clock Input
13
MPU-60X0 CPOUT, Charge pump Output
15
GND
17
GND
19
3V
21
MPU-60X0 FSYNC
23
Receive power from ARM-7 Controller Board or external. It should be 5V,
with >200mA

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 10 AN-MPU6000-EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
JP14 Pin Number
Signal description
27
NC
2
NC
4
NC
6
NC
8
MPU-60X0 SPI CS
10
Reserved
12
NC
14
MPU-60X0 EVB on board LDO enable
16
NC
18
MPU-60X0 REGOUT
20
MPU-60X0 I²C SCL or MPU-6000 SPI SCLK
22
MPU-60X0 I²C SDA or MPU-6000 SPI SDI
24
MPU-60X0 I²C Addr or MPU-6000 SPI SDO
26
NC
28
NC
25
NC
Table 5. Extended Factory Connector
JP13 Pin Number
Signal description
1
VCC, power from ARM-7 controller board or external power. It should be
5V, with >200mA
3
GND
5
NC
7
NC
9
NC
2
3V
4
MPU-60X0 I²C SCL or MPU-6000 SPI SCLK
6
MPU-60X0 I²C SDA or MPU-6000 SPI SDI
8
MPU-60X0 I²C Addr or MPU-6000 SPI SDO
10
MPU-60X0 FSYNC

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 11 AN-MPU6000-EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
7.1 Connecting the FSYNC Line
The FSYNC line is intended for use in a camera‟s image-stabilization system. It is an input
from the camera platform to the EV Board, and is intended to synchronize the MPU-60X0
serial bus transfer with the master timing set by the camera system. FSYNC can originate
from the host processor via JP14 pin-21, or from JP13 pin-10. There is no external pull-up
termination for the FSYNC line.
7.2 Serial bus Levels, Speeds and Terminations
The MPU-60X0 supports I²C up to 400kHz, and MPU-6000 supports SPI up to 1MHz serial
clock rates. The I²C bus open drain pull up resistors are connected to either 3.0V or an
external provided Vcc (3V or 5V depends on user). The pull up level is selected by JP6.
Please refer to Table 3. Power Selection Jumpers.
8. Data Gathering Options
The MPU-60X0 Digital Sensor Data is available at the User Header. Alternatively, for connectivity
with a host PC, an InvenSense ARM Processor Board may be used.
8.1 Connection to ARM EVB
For communications via USB to a host computer, the MPU-60X0 EVB can be connected to
InvenSense‟s ARM processor board, the INV-ARMEVB.
The photo below shows the connection of MPU-60X0 to INV-ARMEVB. Connection between
the two boards is made via the user header.
Figure 4. MPU-60X0 EVB connected to ARM Board

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 12 AN-MPU6000-EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
8.2 Use of MPU-60X0 without ARM EVB board
I²C and SPI signals are available on JP13 and JP14. User can develop tools to communicate
with MPU-60X0. There is no bus mode selection setting needed.
9. Special Instructions
9.1 Electrostatic Discharge Sensitivity
The MPU-6050 gyro+accel can be permanently damaged by an electrostatic discharge. ESD
precautions for handling and storage are recommended.
9.2 Board Layout
The MPU-60X0 EV board is a 4 layer PCB with 38mm x 32mm dimension.
Figure 5. MPU-60X0 Board Layout: Top View & Bottom View

MPU-6000/MPU-6050 EV Board User Guide
Document Number: AN-MPU-6000EVB-00
Revision: 01
Release Date: 1/12/2011
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 13 AN-MPU6000-EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
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 to
change without notice. InvenSense reserves the right to make changes to this product, including its circuits and software, in order to
improve 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 arising
from 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.
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.
InvenSenseTM is a registered trademark of InvenSense, Inc.; MPU-60X0TM, MPU-6000 TM, and MPU-6050 TM are trademarks of
InvenSense, Inc.
©2010 InvenSense, Inc. All rights reserved.

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