Motion Driver 6.0 User Guide - Digi-Key
Contents
1. Release Date 06 27 2014 You will need to connect the following pins from the evaluation board to the MCU board VDD and 1 pin 23 Depending on the MPU device this would be a 3V or a 1 8V see device Spec SDAand SCL pins 20 22 12 pins e GND pins 15 or 17 Connect to ground e INT pin 7 Connect to GPIO for interrupts optional but needed if using Invensense software The pin outs of the InvenSense evaluations boards are the same CHI HEADER 10X2 Male 200 2 54mmx2 54mm RO EVE L ja INT TP2 2 7 n ICS x DRDY TPO EVB2 VPP EVEZ 18 REGOUT EVB2 SCL SGLK EVE FSYNC TPI EVB2 18 Ex SDA SD EVES VIN EVB2 23 24 ADO 500 EVB2 ul To confirm your hardware setup and also the basic I2C functionality start by reading the MPU device s whoami register and confirm you are getting the correct device ID For the MPU series the I2C address is 0x68 while the device ID is all different for the different parts so please check the specs After hardware confirmation we can continue with the software integration 7 Motion Driver 6 0 Firmware Package The Motion Driver 6 0 release firmware contains the following folders e This folder contains the InvenSense drivers layer for the MPU devices as well as the MCU specific drivers simple appsmsp430 mllite test c or src main c The main function and main loop for the project application Customers2. Release Date 06 27 2014 11 Interrupts Handling The MPU device has one interrupt output pin The interrupt can be programmed to be generated either at e FIFO output rate e DMP generated Usually we generate an interrupt when there is new sensor data ready available in the FIFO The DMP can also be programmed to generate an interrupt either when a gesture is detected If you are using the MD6 reference example when a sensor data ready interrupt is generated the interrupt routine sets a global flag new gyro to 1 In the main loop it will know that there is a new set of sensor data to process Here is a list of APIs related to interrupts e int dmp set interrupt mode unsigned char mode e Static int set int enable unsigned char enable 12 DMP Digital Motion Processor The MPU 9150 MPU 6050 MPU 9250 and MPU 6500 all features an embedded Digital Motion Processor DMP hardware accelerator engine The DMP together with an embedded FIFO offloads high frequency motion algorithm computation from the host application processor reducing interrupts and host MIPS to improve overall system performance All related DMP APIs and firmware is found in inv mpu dmp motion driver dmpKey h and dmpMap h 12 1 DMP Intialization The DMP firmware code is 3kB image found in the structure static const unsigned char dmp memory DMP CODE SIZE This image needs to be downloaded into the DMP memory banks After downloading a starting address nee
3. INVENSENSE HARDWARE 11 14 CALIBRATION DATA AND 12 14 1 FACTORY LINE 12 14 2 SAVING AND LOADING CALIBRATION DATA 13 15 INTEGRATING THE MPL LIBRARY eene ee enne nnne nnn nn enun n nnn n nnn anna n aan aoa a aa sana a aaa ananas 13 16 LOW POWER ACCEL MODE AND MOTION INTERRUPT MODE FOR MPU6500 MPU9250 14 17 COMPILER SPECIFIC SETTING ee Rexas ext ere ere ca aS pF RS UR SRI SU 14 CONFIDENTIAL amp PROPRIETARY 2 of 14 PRELIMINARY Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 1 Revision History 06 27 2014 Initial Release 07 17 2014 Expanding information for the ARM MPL libaries CONFIDENTIAL amp PROPRIETARY 3 of 14 PRELIMINARY Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 2 Purpose Motion Driver is an embedded software stack of the sensor driver layer that easily configures and leverages many of the features of the InvenSense motion tracking solutions The motion devices supported are MPU6050 MPU6500 MPU9150 MPU9250 Many of the features of the hardware and the on board Digital Motion Processor DMP are encapsulated into modular AP
4. fusion engine When porting MD6 0 the library needs to be compatible with integrators system The MD6 0 comes with 2 libraries I MSP430 compiled using Code Composer Should be compatible with all MSP430 product line ARM compiled using the GNU non eabi arm 4 7 2 compiler Generic library is compatible with all ARM Cortex MO M3 and M4 s There is also a specific M8 and M4 compiled version for better optimizations After the library is linked the code will need to enabled the library and it s features The library initialization can be found in the main function before the main loop The features are described in the Feature Guide Here are the associated APIs e inv error t inv init mpl void inv error t inv enable quaternion void enable 6 axis inv error t inv enable 9x sensor fusion void enable 9 axis fusion inv error t inv enable fast nomot void gyro in use calibration inv error t inv enable gyro tc void gyro temperature compensation e inv error t inv enable vector compass cal void compass calibration e inv error t inv enable magnetic disturbance void magnetic disturbance inv error t inv enable eMPL outputs void inv error t inv start mpl void CONFIDENTIAL amp PROPRIETARY 13 of 14 PRELIMINARY P Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 P d Release Date 06 27 2014 16 Low Power Accel Mode and Motion Interrupt Mode for MPU6500
5. script python eMPL client py 79 8 0194 08121 6 8152 gyro 3 2084 8 786 H 4681 If the self test fails the sensor which failed shall be displayed on the python script window if the self test command is initiated from the python script 14 Calibration Data and Storage Calibration data contains information describing the inherent biases and temperature dependent behavior of the MPU gyro accelerometer and compass This data is used during MPL execution to improve the accuracy of the results returned by the MPL Calibration data may change slowly over time temperature and environment so Invensense provides several in use sensor calibration algorithms which will constantly calibrate the sensors throughout its lifetime Details are described in the Features Guide It is recommended that the MPU sensor accel and gyro be calibrated at the factory line and if using the MPL library to turn on the in use algorithms 14 1 Factory Line calibration The accel and gyro biases returned by the self test function can be used for factory calibration and can be saved by the HAL and used to calibrate the performance of the sensors The biases can either be pushed to the HW Offset registers or into the MPL library The MD6 0 by default pushed the biases into the MPL library and lets the fusion engine apply the bias data However customers can use the Hardware Offset Register by defining e USE CAL HW REGISTERS CONFIDENTIAL amp PROPRIETARY 12 of
6. 14 PRELIMINARY Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 in the main c The difference is that if using the HW offset registers the MEMS data will automatically be adjusted before it is pushed into the sensor data registers To understand the HW Offset Registers better please see the app note MPU HW Offset Registers It is important that when you are doing factory line calibration the device needs to be in a stable and vibration free environment with the physical Accel Z facing up or down this will be the face of the MPU IC needs to be pointing up or down 14 2 Saving and Loading Calibration Data Calibration data is not generated loaded or stored automatically by the MPL After biases are calculated and applied it will be lost once the device is powered off Therefore InvenSense provides API examples on how to save and load the calibration data from a memory location Please look into functions e inv error t inv save mpl states unsigned char data size t sz inv error t inv load mpl states const unsigned char size t length Customers can use these functions as an example of how to save into their devices memory The calibration should be saved after factory calibration and before power off On power on it will need to be loaded back in 15 Integrating the MPL Library The MPL library is a precompiled library containing the sensor
7. Is which can be used and referenced Motion Driver is designed as a solution which can be easily ported to most MCUs With the release of the Motion Driver 6 0 it includes a 9 axis solution for ARM MCUs and the TI MSP430 6 axis only solutions should continue to reference the Motion Driver 5 1 2 for easier understanding of the software This document highlights the fundamental procedure and choices you will encounter when starting to develop an embedded project using the Motion Driver 6 0 as reference We will go into some of the more details topics like programming the DMP calibration and self test 3 Before you start Please read the Motion Driver 6 0 Getting Started Guide and the Motion Driver 6 0 Features Guide It is recommended that customers bring up the Motion Driver 6 0 on one of the ported platforms TI MSP430 or IAR ARM so they better can understand the code and features After understanding the features it will make it much easier to port it to your ecosystem 4 Motion Driver 6 0 Features This is a quick overview on the MD6 features e DMP Features o 3 6 Axis Low Power Quaternions o Orientation and Pedometer Gesture Detections e MPL Algorithms o Run Time Gyro Calibration o Run Time Gyro Temperature Compensation o Run Time Compass Calibration o Run Time Magnetic Disturbance Rejection o 3 6 9 Axis Sensor Fusion e Hardware Features o Factory Calibration o Factory Self Test o Saving and Loading Sensor States o Low Pow
8. MPU9250 LPA mode and motion interrupt mode are similar and can be enabled with the device only needs accel data This feature is not supported in the MPU6050 MPU9150 This feature requires that the DMP FIFO and gyro be disabled It will then sleep cycle the accel waking it up only at the specified rate the user requested The different LPA rates are from 1 25Hz to 640hz The lower the rate the lower power it will consume With the lowest rate the total power will be around 10UA Customers can also put the device into Motion Interrupt Mode In this mode the device will be in LPA mode and if the accel data exceeds a certain threshold it will generate an interrupt This is particularly useful if there is no motion and customers want to sleep the device until a movement is detected The associated APIs are e int mpu lp accel mode unsigned short rate e int mpu lp motion interrupt unsigned short thresh unsigned char time unsigned short lpa freq 17 Compiler Specific Setting To compile for the different parts MPU6050 MPU9150 MPU6500 and MPU9250 you will need to set the compiler flag Properties for eMPL 5 0 type filter text Settings Resource CCS General CCS Build Configuration Debug Active ssi MSP430 Compiler MSP430 Linker C C Build amp Tool Settings Build Steps T Build Artifact Build Variables Binary Parsers 3 Error Parsers Discovery Options 33 Tool chain Sett
9. P InvenSense Inc Document Number AN EMAPPS 0 0 6 InvenSense 1197 Borregas Ave Sunnyvale CA 94089 U S A P d Tel 1 408 988 7339 Fax 1 408 988 8104 Website www invensense com Release Date 06 27 2014 Motion Driver 6 1 User Guide CONFIDENTIAL amp PROPRIETARY PRELIMINARY Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 Table of Contents EE E 2 PURPOSE arise seers einige ae ene ecm piece ee sae ee ne eis ne see SUDDEN MENU I T 4 3 Oe SU a 4 4 MOTION DRIVER 6 0 FEATURE G 0 ccccceseeeceseeceeneeceeseecenseecensencenseseasseneassenoaseecoasesoeasesonasesenseesenseesons 4 ING THE MCU m 5 6 CONNECTING THE HARDWARE 0 cccccssecceeseecensecceneesenseecenseeceaseseeasesensesonseeneaseecoasesenaseseasseseaneesons 5 7 MOTION DRIVER 6 0 FIRMWARE PACKAGE 6 8 INTEGRATING MOTION DRIVER 6 0 6 o aaa 9 10 THE ORIENTATION MATRIX 9 TINGE PT THTANDEING c 10 12 DMP DIGITAL MOTION PROCESSOR 10 DMP UN Rr TON MEE 10 12 2 DMIF F EATON E EE 10 12 DMP FIFO OUTPUT N 11 13
10. accuracy inv time t timestamp e int inv get sensor type compass long data int8 t accuracy inv time t timestamp e int inv get sensor type quat long data int8 t accuracy inv time t timestamp e int inv get sensor type euler long data int8 t accuracy inv time t timestamp e int inv get sensor type rot mat long data int8 t accuracy inv time t timestamp e int inv get sensor type heading long data int8 t accuracy inv time t timestamp e int inv get sensor type linear acceleration float values int8 t accuracy inv time t timestamp 4 The main c or mllite test c contains a very specific application that Handles of sensor data processing from the MPU device Handling input requests from the client Power management Initializing the MPL library DMP and the hardware Handle the interrupts CONFIDENTIAL amp PROPRIETARY 8 of 14 PRELIMINARY Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 p Release Date 06 27 2014 9 Initialization APIs At power on the MPU device will provide sensor data in it default state The inv mpu c provides a reference API on how to initialize the MPU device with some basic configurations such as powering on the sensors and setting the scale range and sampling rate e int mpu init struct int param s int param e int mpu set gyro fsr unsigned short fsr e int mpu set accel fsr unsigned char fsr int set lpf unsign
11. as a delay in milliseconds for the system get ms get ms is mainly used to get the current timestamp Timestamp are usually an unsigned long and in milliseconds This function will mainly be used for the compass scheduler and also additional information for sensor fusion data log i and log MPL messaging system in which it can log informational or error messages Current implementation packets the message and sends it out through the USB or UART for the python client to receive The logging code is located in the file log msp430 c or log stm32l c Customers can change the transport method and packets to their liking 2 MPL Library is the core of the proprietary InvenSense Motion Apps algorithms and consists of Mllite and mpl directory There is no porting required for MPL You may need to include system specific header files to support the memcpy memset etc function calls in the mllite package The MD6 package will include pre compiled MPL libraries one for the MSP430 platform and the other for ARM core platforms The ARM library has a generic library which can be linked to any ARM MCU It also have some pre compiled for M3 and MA for better optimizations 3 he eMPL HAL directory contains the APIs to get various data from the MPL library The data you can obtain are from the following APIs e int inv get sensor type accel long data int8 t accuracy inv time t timestamp e int inv get sensor type gyro long data int8 t
12. can use this code as a reference to integrate the driver functions into their project coremllite This folder contains the MPL data processing functions that store the received sensor data and processes the data corempl Contains the InvenSense Proprietary MPL library a library containing advanced algorithms for sensor fusion and run time calibrations core eMPL hal This folder contains the files that provide same the sensor data conversion such as linear acceleration 8 Integrating Motion Driver 6 0 Embedded MD6 consists of the following components that are required to be integrated on the target hardware platform 1 Driver 2 Motion Processing Libraries 3 Sample HAL CONFIDENTIAL amp PROPRIETARY 6 of 14 PRELIMINARY Document Number AN EMAPPS 0 0 6 7 InvenSense Motion Driver 6 0 User Guide Revision 1 0 pm Release Date 06 27 2014 The diagram below shows the architecture of Motion Driver 6 0 and the tasks to be performed to port the MD6 successfully to the target platform Application specific 1 Data output and i 2 Client handling 3 Power management Driver APIs No porting needed Platform Specific 1 2 read write 2 System clock ms 3 Hardware interrupts 4 Log outputs 1 The Invensense MD6 Driver Layer core driver eMPL consists of these files mpu c the driver which can be easily ported to different embedded platforms inv mpu h contains the struct
13. culations If the tool chain does not support long long math you can still use the DMP to get 6 axis fusion Interrupts The MPU device can provide an interrupt for various functions from low power gesture recognition or data ready interrupts While not required for the system to use the MPU interrupt if you are planning to use it then you must reserve a GPIO pin which has wakeup capabilities Sampling Rate Sensor fusion requires large computational power from the MCU This plays into how much processing is possible per sample and limits your sampling rate For example the 16 bit MSP430 with the Motion Driver should be limited to 100Hz sampling rate if the MCU is doing the full 9 axis fusion Anything over 100Hz sampling rate the MSP430 start missing data Higher end 32 bit MCUS can usually achieve 200Hz sensor fusion if there are no other large computational functionality required in the system This sample rate can be increased if you offload the processing onto the DMP 6 Connecting the Hardware After selecting the MCU most likely you will have a MCU evaluation kit or your own PCB board To connect the MPU device to the MCU board for evaluation you can obtain an InvenSense MPU evaluation board through InvenSense com MPU6050 MPU6500 MPU9150 and MPU9250 are all available Eval Board CONFIDENTIAL amp PROPRIETARY 5 of 14 PRELIMINARY P Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0
14. ds to be provided then the DMP state needs to be turned on APIs related to DMP initialization are the following e int dmp load motion driver firmware void e int dmp load motion driver firmware void e int dmp set fifo rate unsigned short rate e int mpu set dmp state unsigned char enable The MD6 example on DMP initialization can be found in the main function right before the main loop 12 2 DMP Features The DMP features many functions as detailed in the Features Guide These functions can be dynamically enabled and disabled The main API is e int dmp enable feature unsigned char mask This function takes the mask and indexes into the correct memory address in the DMP firmware to enabled and disable the feature Features are CONFIDENTIAL amp PROPRIETARY 10 of 14 PRELIMINARY Pa Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 define DMP FEATURE 0x001 e define DMP FEATURE ANDROID ORIENT 0x002 define DMP FEATURE LP QUAT 0x004 e define DMP FEATURE PEDOMETER 0x008 e define DMP FEATURE 6X LP QUAT 0x010 e define DMP FEATURE GYRO CAL 0x020 e define DMP FEATURE SEND RAW ACCEL 0x040 e define DMP FEATURE SEND RAW GYRO e define DMP FEATURE SEND CAL GYRO 0x100 For Tap and Orientation data parsing the MD6 drivers define 2 call back functions which will handle the parsing and log it to the python client T
15. ed short e int mpu set sample rate unsigned short rate e int mpu set compass sample rate unsigned short rate e int mpu configure fifo unsigned char sensors e int mpu set sensors unsigned char sensors 10 The Orientation Matrix The application also needs to define the orientation matrix for the MPU device and the 3 party compass if present on the platform The orientation matrix will reconfigure the physical hardware sensor axis to the to the device coordinates A wrong configuration will get you inaccurate results from the sensors data For more information on how the matrix should be defined please reference the Orientation Matrix Transformation chart pdf The matrixes will be pushed into both the MPL library and DMP for fusion calculations struct platform data s signed char orientation 9 The sensors can be mounted onto the board in any orientation The mounting matrix seen below tells the MPL how to rotate the raw data from the driver s Static struct platform_data_s gyro_pdata orientation 1 O 0 0 1 0 0 0 1 static struct platform data s compass pdata ifdef MPU9150 IS ACTUALLY AN MPU6050 WITH AK8975 ON SECONDARY orientation 1 O 0 0 1 0 0 0 1 else orientation 0 1 0 1 0 0 0 0 1 1 endif CONFIDENTIAL amp PROPRIETARY 9 of 14 PRELIMINARY J Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0
16. er Accel Mode o Low Power Motion Interrupt Mode o Register Dump CONFIDENTIAL amp PROPRIETARY 4 of 14 PRELIMINARY J Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 5 Selecting the MCU With every embedded system the functionality and performance is dependent on the MCU selected Cost low power speed tool chains and processing are all factors to consider For the MPU device if you are planning to use the InvenSense Motion Driver 6 0 software here are some things to consider Flash and RAM Size Flash and RAM size is dependent on code optimization compilers what features you want to use and what other components are in your system In general though MD6 0 requires you can need reserve the following amount of Flash and RAM Keep in mind this will only be for the motion driver and not for other possible functionalities o 8 bit MCU 256K and 64K o 16 bit MCU 128K and 32K o 32 bit MCU 68K and 16K No Optimization 64K and 10K with optimization Again since depending size is very dependent on compiler and compiler settings customers should spend time to determine what size flash and RAM is needed for their applications Long long math support The MPL library requires support for long long 64 bit math You will need to make sure if you are using the MPL library your tool chains can support this Usually 8051 MCUS cannot support such mathematical cal
17. he callbacks will need to be defined MD6 driver The related APIs are e int dmp register tap cb void func unsigned char unsigned char e int dmp register android orient cb void func unsigned char e static int decode gesture unsigned char gesture e Static void tap cb unsigned char direction unsigned char count e Static void android orient cb unsigned char orientation There are also some configurable settings for Tap such as threshold The APIs are available in the inv mpu dmp motion driver 12 3 DMP FIFO Output DMP only writes to the FIFO when specific features are enabled such as tap or sensor data The MD6 driver will wait for the DMP to generate an interrupt and then read the contents of the FIFO FIFO format is dependent on which DMP features are enabled The DMP FIFO output format can be seen in the API function e int dmp read fifo short gyro short accel long quat unsigned long timestamp short sensors unsigned char more 13 InvenSense Hardware Self test The Hardware Self Test is an optional factory line test customers can use as a go no go test on their production line The HWST algorithm will test the MEMS sensor and confirm working functionality by internally moving and measuring the movement and comparing the output to the Invensense data saved in its registers For more detailed information please look in the product spec The MD6 code provides a sample code on how the HWST can be ran and its outpu
18. ings Pre define NAME define D Environment 3 MSP430 Compil pi NIETO ogqng E CONFIG INTERFACE USB Settings amp Optimization LOG NDEBUG 1 Debug 3 Include Options BO Project Reference 33 Advanced Options EMPL L x E pum EMPL TARGET MSP430 Refactoring History 23 Advanced Options USE DMP Run Debug Settings 33 Language Options m Parser Preprocessing ptions Predefined Symbols 8 Diagnostic Options The default symbols needed are MPL LOG NDEBUG 1 MPU9150 MPU6050 or MPU6500 or MPU9250 EMPL USE DMP EMPL TARGET 5 430 or its equivalent Once the part is set the compiler will compile for that specific part and its features CONFIDENTIAL amp PROPRIETARY 14 of 14 PRELIMINARY
19. t The hardware self test can be run without any interaction with the MPL since it s completely localized in the driver The API which runs the complete self test is e Static inline void run self test void The MD6 bundles the self test and factory calibration together since the sensor offsets are calculated through the normal self test routine However customers can separate calibration and self test if they wish The MPU6050 MPU9150 has a different self test algorithm compared to the MPU6500 MPU9250 The API returns the status of the each axis of the sensor and the accel and gyro bias for calibration CONFIDENTIAL amp PROPRIETARY 11 of 14 PRELIMINARY I Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Release Date 06 27 2014 e int mpu run 6500 self test long gyro long accel unsigned char debug e int mpu run self test long gyro long accel Parameters for the self test function are shown below lili Parameter Name lili output result The function returns the result of the self test as shown in the table below VO Retumstheaccelbias the accel bias C the gyro bias Extra logs for the self test Default is 0 Return value of results is defined as the following with T If the value returned is not a 0x07 this signifies that the particular sensor failed Here is an example of a passing output from the self test initiated from the python
20. ures and prototypes for the InvenSense driver inv motion driver c the driver for containing the image and the APIs to load and configure the DMP motion driver h contains the prototypes and defines for the DMP features dmpKey h Contains the defines for DMP memory locations for DMP features dmpmap h Contains the defines for DMP memory locations The user would need to provide the following APIs to support I2C read write functionality system clock access hardware interrupts callbacks and logging corresponding to the platform on which the MD6 is to be ported These functions need to be defined in inv mpu c and inv mpu dmp motion driver c Below is an example as shown for the MSP430 platform define i2c write msp430 i2c write define 12 read msp430 i2c read define delay ms msp430 delay ms define get ms msp430 get clock ms define log i MPL LOGI define log e MPL LOGE CONFIDENTIAL amp PROPRIETARY 7 of 14 PRELIMINARY Document Number AN EMAPPS 0 0 6 InvenSense Motion Driver 6 0 User Guide Revision 1 0 Pp Release Date 06 27 2014 i2c_write and i2c read this will need to be linked to the i2c drivers This functions will take in 4 parameters then perform the i2c transactions unsigned char slave unsigned char reg addr unsigned char length unsigned char data delay ms this function will take in one unsigned long parameter and it will act
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