MPU-6000/MPU-6050
9-Axis Evaluation Board
User Guide
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 1 AN-MPU-6000EVB-00 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 ©2011 InvenSense, Inc. All rights reserved.
Table of Contents
1.REVISION HISTORY (3)
2.PURPOSE (4)
2.1U SAGE (4)
2.2R ELATED D OCUMENTS (4)
3.MPU-6000 9-AXIS EV BOARD OVERVIEW (4)
3.1MPU-6000K EY F UNCTION AND P IN-OUTS (5)
3.2MPU-6000 VS.MPU-6050 (5)
3.3MPU-6000B US C ONNECTION (5)
4.SCHEMATIC (7)
5.BILL OF MATERIALS (8)
6.POWER SUPPLY CONNECTIONS (8)
7.MPU-6000 EVB CONNECTOR SIGNALS DESCRIPTION (9)
7.1C ONNECTING THE FSYNC L INE (11)
7.2S ERIAL BUS L EVELS,S PEEDS AND T ERMINATIONS (11)
8.DATA GATHERING OPTIONS (11)
8.1C ONNECTION TO ARM EVB (11)
8.2U SE OF MPU-6000 WITHOUT ARM EVB BOARD (12)
9.SPECIAL INSTRUCTIONS (12)
9.1E LECTROSTATIC D ISCHARGE S ENSITIVITY (12)
9.2B OARD L AYOUT (12)
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 2 AN-MPU-6000EVB-00 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 ©2011 InvenSense, Inc. All rights reserved.
1. Revision History
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 3 AN-MPU-6000EVB-00 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 ©2011 InvenSense, Inc. All rights reserved.
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
editor evaluating revision∙Digital-output tri-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±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, i t 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.
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 4 AN-MPU-6000EVB-00 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 ©2011 InvenSense, Inc. All rights reserved.
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
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.
InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA 5 AN-MPU-6000EVB-00 Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 ©2011 InvenSense, Inc. All rights reserved.
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