Motion Sensor Demonstration Board User's Guide -...

2013 Microchip Technology Inc. DS52114A

Motion SensorDemonstration Board

User’s Guide

DS52114A-page 2 2013 Microchip Technology Inc.

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ISBN: 978-1-62077-016-0

2013 Microchip Technology Inc. DS52114A-page 3

Motion Sensor Demonstration Board User’s Guide

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MOTION SENSOR DEMONSTRATIONBOARD USER’S GUIDE

Table of Contents

Preface ........................................................................................................................... 7

Chapter 1. Introduction1.1 Introduction ................................................................................................... 131.2 What’s Included ............................................................................................ 131.3 Reference Documents and Software ........................................................... 131.4 Getting Started ............................................................................................. 13

Chapter 2. Hardware Overview2.1 Hardware Overview ...................................................................................... 152.2 Installing the Demo Files .............................................................................. 162.3 Installing and Playing the Spizzle Demo ...................................................... 202.4 Installing Device Drivers for the Motion Sensor Board ................................. 242.5 Installing and Using the Teapot Demo ......................................................... 252.6 Obtaining the C Source Code for the PIC24FJ256GB206 ........................... 262.7 Reprogramming the ZENA Wireless Adapter ............................................... 272.8 Troubleshooting ............................................................................................ 27

Appendix A. Basics of Motion SensingA.1 Overview ...................................................................................................... 29A.2 MEMS Gyroscope Function ......................................................................... 30A.3 MEMS Accelerometer Function ................................................................... 30A.4 MEMS Magnetometer Function ................................................................... 30

Appendix B. Schematic and Layout ........................................................................... 31

Worldwide Sales and Service .................................................................................... 34



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MOTION SENSOR DEMONSTRATIONBOARD USER’S GUIDE

Preface

INTRODUCTION

This chapter contains general information that will be useful to know before using the Product Name. Items discussed in this chapter include:

• Document Layout

• Conventions Used in this Guide

• Warranty Registration

• Recommended Reading

• The Microchip Web Site

• Development Systems Customer Change Notification Service

• Customer Support

• Document Revision History

DOCUMENT LAYOUT

This user’s guide describes how to use the Motion Sensor Demonstration Board. The document is organized as follows:

• Chapter 1. “Introduction” – This chapter introduces the Motion Sensor Demonstration Board and provides an overview of various features.

• Chapter 2. “Hardware Overview” – This chapter describes the hardware components of the Motion Sensor Demonstration Board.

• Appendix A. “Basics of Motion Sensing” – This appendix provides a description of the various functions of the Motion Sensor Demonstration Board.

• Appendix B. “Schematic and Layout” – This appendix provides a detailed circuit schematic of the Motion Sensor Demonstration Board.

NOTICE TO CUSTOMERS

All documentation becomes dated, and this manual is no exception. Microchip tools and documentation are constantly evolving to meet customer needs, so some actual dialogs and/or tool descriptions may differ from those in this document. Please refer to our web site (www.microchip.com) to obtain the latest documentation available.

Documents are identified with a “DS” number. This number is located on the bottom of each page, in front of the page number. The numbering convention for the DS number is “DSXXXXXA”, where “XXXXX” is the document number and “A” is the revision level of the document.

For the most up-to-date information on development tools, see the MPLAB® IDE on-line help. Select the Help menu, and then Topics to open a list of available on-line help files.



CONVENTIONS USED IN THIS GUIDE

This manual uses the following documentation conventions:

DOCUMENTATION CONVENTIONS

Description Represents Examples

Arial font:

Italic characters Referenced books MPLAB® IDE User’s Guide

Emphasized text ...is the only compiler...

Initial caps A window the Output window

A dialog the Settings dialog

A menu selection select Enable Programmer

Quotes A field name in a window or dialog

“Save project before build”

Underlined, italic text with right angle bracket

A menu path File>Save

Bold characters A dialog button Click OK

A tab Click the Power tab

N‘Rnnnn A number in verilog format, where N is the total number of digits, R is the radix and n is a digit

4‘b0010, 2‘hF1

Text in angle brackets < > A key on the keyboard Press <Enter>, <F1>

Courier New font:

Plain Courier New Sample source code #define START

Filenames autoexec.bat

File paths c:\mcc18\h

Keywords _asm, _endasm, static

Command-line options -Opa+, -Opa-

Bit values 0, 1

Constants 0xFF, ‘A’

Italic Courier New A variable argument file.o, where file can be any valid filename

Square brackets [ ] Optional arguments mcc18 [options] file [options]

Curly brackets and pipe character: { | }

Choice of mutually exclusive arguments; an OR selection

errorlevel {0|1}

Ellipses... Replaces repeated text var_name [, var_name...]

Represents code supplied by user

void main (void){ ...}


Preface

WARRANTY REGISTRATION

Please complete the enclosed Warranty Registration Card and mail it promptly.Sending in the Warranty Registration Card entitles users to receive new productupdates. Interim software releases are available at the Microchip web site.

RECOMMENDED READING

This user’s guide describes how to use the Motion Sensor Demonstration Board. The device-specific data sheets contain current information on programming the specific microcontroller or digital signal controller devices. Other useful documents are listed below. The following Microchip documents are available and recommended as supplemental reference resources:

MPLAB® IDE Simulator, Editor User’s Guide (DS51025)

This user’s guide is a comprehensive guide that describes installation and features of Microchip’s MPLAB Integrated Development Environment (IDE), as well as the editor and simulator functions in the MPLAB IDE environment.

Readme Files

For the latest information on using other tools, read the tool-specific Readme files in theReadme subdirectory of the MPLAB IDE installation directory. The Readme files containupdated information and known issues that may not be included in this user’s guide.

MPASM™ Assembler, MPLINK™ Object Linker, MPLIB™ Object Librarian User’s Guide (DS33014)

This user’s guide describes how to use the Microchip MPASM Assembler, the MPLINK Object Linker and the MPLIB Object Librarian.

MRF24J40MA Data Sheet (DS70329)

This data sheet provides information specific to the MRF24J40MA device.

PIC24FJ256GB210 Family Data Sheet (DS39975)

This data sheet provides information specific to the PIC24FJ256GB206 device.



THE MICROCHIP WEB SITE

Microchip provides online support via our web site at www.microchip.com. This web site is used as a means to make files and information easily available to customers. Accessible by using your favorite Internet browser, the web site contains the following information:

• Product Support – Data sheets and errata, application notes and sample programs, design resources, user’s guides and hardware support documents, latest software releases and archived software

• General Technical Support – Frequently Asked Questions (FAQs), technical support requests, online discussion groups, Microchip consultant program member listing

• Business of Microchip – Product selector and ordering guides, latest Microchip press releases, listing of seminars and events, listings of Microchip sales offices, distributors and factory representatives

DEVELOPMENT SYSTEMS CUSTOMER CHANGE NOTIFICATION SERVICE

Microchip’s customer notification service helps keep customers current on Microchip products. Subscribers will receive e-mail notification whenever there are changes, updates, revisions or errata related to a specified product family or development tool of interest.

To register, access the Microchip web site at www.microchip.com, click on Customer Change Notification and follow the registration instructions.

The Development Systems product group categories are:

• Compilers – The latest information on Microchip C compilers and other language tools. These include the MPLAB® C compiler; MPASM™ and MPLAB 16-bit assemblers; MPLINK™ and MPLAB 16-bit object linkers; and MPLIB™ and MPLAB 16-bit object librarians.

• Emulators – The latest information on the Microchip MPLAB REAL ICE™ in-circuit emulator.

• In-Circuit Debuggers – The latest information on the Microchip in-circuit debugger, MPLAB ICD 3.

• MPLAB IDE – The latest information on Microchip MPLAB IDE, the Windows® Integrated Development Environment for development systems tools. This list is focused on the MPLAB IDE, MPLAB SIM simulator, MPLAB IDE Project Manager and general editing and debugging features.

• Programmers – The latest information on Microchip programmers. These include the MPLAB PM3 device programmer and the PICkit™ 3 development programmers.


Preface

CUSTOMER SUPPORT

Users of Microchip products can receive assistance through several channels:

• Distributor or Representative

• Local Sales Office

• Field Application Engineer (FAE)

• Technical Support

Customers should contact their distributor, representative or Field Application Engineer (FAE) for support. Local sales offices are also available to help customers. A listing of sales offices and locations is included in the back of this document.

Technical support is available through the web site at: http://support.microchip.com

DOCUMENT REVISION HISTORY

Revision A (January 2013)

This is the initial released version of this document.



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MOTION SENSOR DEMONSTRATION
BOARD USER’S GUIDE
Chapter 1. Introduction

1.1 INTRODUCTION

Thank you for purchasing the Motion Sensor Demonstration Board. Microchip’s Motion Sensor Demonstration Board (DM240316) is powered by a PIC24FJ256GB206 microcontroller with on-board USB functionality and includes an MRF24J40MA 2.4 GHz wireless transceiver that sends data to a ZENA™ wireless adapter. The board integrates an InvenSense® MPU-6050 motion sensing chip. The MPU-6050 uses a 3-axis gyroscope and 3-axis accelerometer to create a 3D reference frame. A single AAA battery (not included) powers the board.

Microchip’s Motion Sensor Demonstration Board allows the user to easily add this breakthrough technology to their next gaming accessory, tablet PC, digital camera or other consumer application. This user guide provides an overview of the hardware, features, installation and use of the Motion Sensor Demonstration Board.

1.2 WHAT’S INCLUDED

• Motion Sensor Demonstration Board

• ZENA™ Wireless USB Adapter

• Mini USB Cable

• Printed material that contains the web site link for the manuals and the demo software

1.3 REFERENCE DOCUMENTS AND SOFTWARE

In addition to the content of this User’s Guide, the following documents are also available from Microchip to support the use of the Motion Sensor Demonstration Board:

• Quick Start Guide

• Motion Sensor Demonstration Board Schematics and Layout

• Spizzle Installer

• TeaPot Demonstration Installer

• Demonstration Board Software

You can obtain these reference documents from your nearest Microchip sales office (listed in the back of this document) or by downloading them from the Microchip web site (www.microchip.com/motion).

• PC source code licensing instructions (available from the InvenSense Developers Corner (http://www.invensense.com/developers/). See Section 2.6 “Obtaining the C Source Code for the PIC24FJ256GB206” for more information.

1.4 GETTING STARTED

The Motion Sensor Demonstration Board is preprogrammed with the complete wireless firmware to demonstrate the 3D reference frame. In order to explore this software and the interface between the controller and the target of the ZENA Wireless Adapter, software must be installed on the target PC (Windows® XP or Windows® 7 compatible). If you are using a direct USB cable connection instead of the wireless connection, you will have to reprogram the board with the USB-specific firmware. See Section 2.4 “Installing Device Drivers for the Motion Sensor Board” for details.



NOTES:


Chapter 2. Hardware Overview

2.1 HARDWARE OVERVIEW

The demonstration kit contains the motion sensor PC board (Figure 2-1) and a ZENA™ wireless-to-USB adapter (Figure 2-2).

FIGURE 2-1: MOTION SENSOR PC BOARD

FIGURE 2-2: ZENA WIRELESS ADAPTOR 2.4GHZ MRF24J40MA

2.1.1 Power Sources

The Motion Sensor Demonstration Board can be powered in one of two ways:

• Mini USB cable (power supplied via USB bus).

• 1 x AAA battery. The battery is for use with the wireless firmware only. Remove the battery when using the USB cable connection.

Make sure only one power source is connected to the board at a time.

SST Flash

Programming Port USB ConnectionDigital Compass

MPU-6050

Power/Mode Switch

PIC® MicrocontrollerWireless Transceiver



2.1.2 ZENA 2.4 GHz Wireless USB Adapter

The ZENA wireless adapter is a flexible, multipurpose device. The ZENA wireless adapter is preprogrammed with firmware to function specifically with the demonstration board. If you wish to reprogram the ZENA adapter with other firmware (such as the MiWi™ Protocol Sniffer), this is done using the Wireless Development Studio (http://www.microchip.com/wds).

The “ZENA™ Wireless Adapter User’s Guide” and the “ZENA™ Wireless Adapter Information Sheet” can be downloaded from the Microchip web site (http://www.microchip.com/zena).

In order to install the ZENA drivers, please download the Wireless Development Studio and install the program following the instructions that come with the installer.

2.2 INSTALLING THE DEMO FILES

1. Go to the Microchip Motion Sensor Demo Board page: http://www.microchip.com/motion

2. Scroll to the Downloads section at the bottom of the page (Figure 2-3).

FIGURE 2-3: DOWNLOAD SECTION

3. Click Motion Sensor Demo Package and download the zip file to the desired directory on your computer.

4. From the same Downloads section (Figure 2-3), download and install the 2 demo installers: Spizzle Demo Installer.exe and TeaPot Demo Installer.exe.

5. Open the Motion Sensor Demo package.zip file. The Hex folder in the zip file should contain two Hex files, as shown in Figure 2-4.

FIGURE 2-4: HEX FILES

The demo board is preprogrammed at the factory with the wireless demo file, motion_wireless_gold.hex, for use with the battery power and the ZENA wire-less adapter. If you want to use the demo in the Wireless mode, go to Section 2.3 “Installing and Playing the Spizzle Demo”.

However, if you want to use the direct USB cable power/connection instead, the file, motion_hardwired_gold.hex, must be programmed into the demo board (see Section 2.2.1 “Programming for USB Connection Demo Mode”).


Hardware Overview

2.2.1 Programming for USB Connection Demo Mode

Programming is done through the 6-pin header (J2) and an external Microchip programmer. If you do not have a PIC® microcontroller programmer, we suggest the low-cost PICkit™ 3, as it connects directly to the demo board without the use of an adapter.

The following PIC MCU programmers are supported, but require an adapter (#AC164110) from the 6-pin phone jack to the 100 mil in-line header connection:

• MPLAB® ICD 2

• MPLAB ICD 3

• REAL ICE™

• MPLAB PM3

MPLAB X, available from www.microchip.com, is used with the programmer to load the Hex file. In this example, a PICkit 3 is the programmer.

1. From MPLAB X, select File, and click New Project.

2. In the Projects box, select Prebuilt (Hex, Loadable Image) Project and then click Next (Figure 2-5).

FIGURE 2-5: NEW PROJECT WINDOW

3. On the next screen, click Browse and navigate to the Hex files for the demo. Click the motion_hardwired_gold.hex file and click Open to add it to the Prebuilt Filename selection.



4. In the Device dropdown, select PIC24FJ256GB206 and in the Family dropdown, select 16-bit MCU (PIC24). Select the programmer you are using (this example uses a PICkit 3) and click Next (Figure 2-6).

FIGURE 2-6: CREATE PREBUILT PROJECT WINDOW

5. MPLAB X will show the last setup screen. If necessary, change the default project name here (Figure 2-7).

FIGURE 2-7: SELECT PROJECT NAME AND FOLDER WINDOW


Hardware Overview

6. Click Next and then click Finish.

MPLAB X will now show the main screen and the new project is added to the list on the left edge of the window (Figure 2-8).

FIGURE 2-8: HOME SCREEN

7. Make sure there is a battery installed in the demo board to allow the board to power up and be programmed. Then click the Program icon to program the Hex file (this takes approximately 30-45 seconds).

8. The Output window will open at the bottom of the screen. When the part is finished, the Programming/Verify complete message appears (Figure 2-9).

FIGURE 2-9: OUTPUT WINDOW

9. Remove the programmer and the battery. The demo board may now be used with a USB cable to power the board and send/receive data.

10. If you ever wish to program the wireless demo back into the board, follow Section 2.2 “Installing the Demo Files” above, but use the motion_wireless_gold.hex file instead.



2.3 INSTALLING AND PLAYING THE SPIZZLE DEMO

Spizzle is a graphics puzzle game for Microsoft® Windows® Vista® and Windows® 7 PCs (see Figure 2-10). Spizzle requires the installation of Direct 3D 10 (included in the setup) and can use either wireless or USB modes. The object is to rotate the demo board so the puzzle pieces align with holes in a spherical ball. Rotating the demo board rotates the ball, and if properly aligned, the puzzle pieces drop into place.

FIGURE 2-10: SPIZZLE


Hardware Overview

2.3.1 Installing Spizzle

1. Locate the Spizzle zip archive in your Motion Sensor install directory and unzip it into another folder. In this example, the archive files are now located in: C:/spizzle

2. Double-click Spizzleinstall.exe3. Select the installation directory for the application. In this case, we have changed

the default to c:\spizzle app (Figure 2-11).

FIGURE 2-11: SPIZZLE INSTALLER SETUP

4. Click Install to continue.



5. Spizzle will install and the DirectX® Setup window will appear (Figure 2-12).

FIGURE 2-12: DirectX® SETUP WINDOW

Even if DirectX is already installed, you must click I accept the agreement and click Next. The installer will only add the DirectX files if they are not present. If you have the correct version, you will see the window, as shown in Figure 2-13.


Hardware Overview

FIGURE 2-13: DirectX® SETUP WINDOW

6. Click Finish.

Spizzle is now ready for play. The Spizzle application directory you specified will contain two files, as shown in Figure 2-14.

FIGURE 2-14: SPIZZLE APPLICATION DIRECTORY

Both of these files must be in the same directory in order for Spizzle to run. If you want to place Spizzle on your Desktop, you also must place the file, Spizzle.fx, on the Desktop.



2.4 INSTALLING DEVICE DRIVERS FOR THE MOTION SENSOR BOARD

2.4.1 Installing Device Drivers for USB Mode

The USB mode firmware requires the generic Microsoft WINUSB driver (winusb.dll) to be located in the C:\windows\system32 directory. This should be installed with your PC. When the demo board is attached for the first time, you may see a Notification window that drivers are being installed. When the drivers are properly installed, they will appear in the Device Manager, as shown in Figure 2-15.

FIGURE 2-15: INSTALLED DRIVERS

2.4.2 Installing Device Drivers for Wireless Mode Using the ZENA Adapter

1. Install the Wireless Development Studio from http://www.microchip.com/wds.

2. Insert the ZENA adapter in a USB port.

3. The Windows Hardware Wizard should open and will ask where the drivers are located. Select Install the software automatically and click Next.

The drivers and DLL libraries will install and the ZENA adapter will be ready for use.


Hardware Overview

2.5 INSTALLING AND USING THE TeaPot DEMO

This demo uses an OpenGL driver to 3D render the Utah Teapot (Newell Teapot) wire frame model. Moving the demo board around the 3 axis will rotate the teapot in real-time as the PC host program applies textures and shading. This demo will work in either wireless or USB connection firmware.

2.5.1 Installing the TeaPot Demo

1. Locate the TeaPot Demo installer.exe file in your “Motion Sensor” installation directory and double-click to run the program.

You will see the TeaPot Installer Setup window (Figure 2-16). You can change the name of the installation directory, if necessary.

FIGURE 2-16: TeaPot INSTALLER SETUP

The TeaPot Demo will install the OpenGL drivers as well as Microchip USB drivers into C:\MCHPWinUSB.



2. Run TeaPot.exe from the install directory. Align the demonstration board so that the red RF module end of the board is pointing towards the monitor. You should see the teapot.

FIGURE 2-17: EXAMPLE OF TEAPOT ORIENTATION

3. Rotate the demo board around the 3 axis to rotate the teapot. The PC OpenGL driver will render the teapot to show a fixed light source.

Note: The second raw data screen can be minimized if not needed.

4. If you are using the USB connection, the firmware will record your movements (for up to 15 minutes) and play them back using the on-board Flash memory (SST25VF016B). To start recording, press the power switch. To stop and play back the recorded movements, press the power switch a second time.

2.6 OBTAINING THE C SOURCE CODE FOR THE PIC24FJ256GB206

1. Go to the InvenSense Developers Corner (http://invensense.com/developers/).

2. First time users, complete the InvenSense Developer Registration.

An email will be sent with a temporary password. Login using the credentials in the email.

3. Once logged into the Developers Corner, click the Downloads tab.

4. For downloading, click on the “File” icon, read and accept the License Agreement.

5. Email us at [email protected] confirming that you clicked through the License Agreement and provide details regarding your login email address and name.

Once we verify that you have accepted the License Agreement, we will release the source code via our FTP site.


Hardware Overview

2.7 REPROGRAMMING THE ZENA WIRELESS ADAPTER

The ZENA wireless adapter has been preprogrammed to work with the Motion Sensor Demonstration Board. If desired, the ZENA adapter can be programmed as a wireless sniffer and then reprogrammed with the Motion Sensor Demonstration Board code. In order to reprogram the ZENA adapter, Motion Sensor Demonstration Board, perform the following:

1. Open the WDS (Wireless Development Studio).

2. Select Tools and click ZENA Firmware Upgrade.

3. Select the ZENA Wireless Adapter, select the Hex file (found in the “Motion Sensor Demo Package” download, “Hex files” subdirectory), motionsensor-zena-chksum.hex, and click the Update button.

2.8 TROUBLESHOOTING

• Light not blinking on ZENA adapter – Wireless packets are not being received. Make sure that the Motion Sensor Demonstration Board is powered up and that the LED has two fast blinks, followed by a delay.

• Light not blinking correctly on Motion Sensor Demonstration Board – Two fast blinks indicate Wireless mode. USB mode is a single blink, once every 1.5 seconds.



NOTES:


Appendix A. Basics of Motion Sensing

A.1 OVERVIEW

For centuries, travelers have asked these two basic questions:

• Where am I?

• Where am I going?

We collectively call the answers to these questions, navigation. In today’s world, this is usually handled by GPS satellites, but in some cases, GPS alone is not reliable or cost effective. The alternative method, developed during the 1950’s, is called inertial measurement and this is what the Motion Sensor Demonstration Board is calculating for the supplied demo programs.

The initial application was for missile guidance systems. In order for a missile to be launched from Point A and travel 3,000 miles to Point B blindly (without receiving any information during the flight or using any sort of terrain mapping), it had to calculate the relative position of the launch point to the target point. Unlike a GPS system that tells you exactly where you are (and how high), an inertial system tells you the direction you are going (up/down/sideways) and how fast; where you are is always relative to where you started.

Recent advancements in MEMS (Micro-Electro-Mechanical Systems) technology have allowed smaller and less expensive sensing parts to fit on a low-cost PC board. The MEMS sensors used have three functions: an accelerometer, a gyroscope and a mag-netometer (compass). Temperature sensing is also used because MEMS devices are temperature-sensitive and compensation is applied in software.

MEMS motion sensors have a wide range of uses, from image stabilization to fitness monitoring, to many other consumer products. Motion sensing has become a “must have” for the tablet PC market. Motion sensing adds a modern, intuitive interface to provide rich user input. The low cost and ease of interfacing allow MEMS motion sensors to compete with mechanical switches in many applications. “Sensor Fusion” technology can be used to supply a 3-D reference frame which can be used directly by many applications.

The collection of sensors and the MPU (a PIC24FJ256BG206) form an IMU (Inertial Measurement Unit). IMUs are grouped by the number of independent sensor measure-ments, called ‘Degrees of Freedom (DOF)’. The DOF is based on 3-dimensional space that we all learned as X, Y and Z axes in geometry class. In general, X can be thought of as moving left/right, Y as moving forwards/backwards and Z as moving up/down. This would be called a 3DOF system.

On the Motion Sensor Demonstration Board, there is one part that has 6DOF (the InvenSense MPU-6050) and a 3DOF magnetometer (AKM8975). This creates a 9DOF IMU board.



A.2 MEMS GYROSCOPE FUNCTION

The Motion Sensor Demonstration Board uses a silicon equivalent of a gyroscope inside the InvenSense MPU-6050. An angular rate gyroscope is a device that produces positive direction digital outputs for counterclockwise rotation around the 3 axis. The MPU-6050 measures the rate of change as the board is rotated. If the board is not moving (sitting on your desk, for example), the outputs would be zero for all 3 axes. If you were to rotate it around one axis, MPU-6050 would produce a digital value propor-tional to the angular acceleration around that axis. If you stop, the reading goes back to zero.

The angular acceleration can be integrated to find angular velocity and integrated again to determine position. Quantization error (from the A/D reading gyroscope), combined with errors from digital integration, will produce “drift” in the measurements.

A.3 MEMS ACCELEROMETER FUNCTION

The MPU-6050 contains a 3-axis accelerometer, which measures acceleration on the X, Y and Z axes. When the object is at rest, gravitational acceleration will be measured. If the object is dropped, measurements will be zero for all axes.

Data read from the accelerometer is not tied to rotational movements (like the gyroscope), but rather to the acceleration along any given axis.

A.4 SENSOR FUSION

The MPU-6050 uses a “Sensor Fusion” algorithm to take the 6-axis data input (3-axis gyroscope and 3-axis accelerometer) to generate a rotational reference frame for the object (as illustrated by the Spizzle and TeaPot demos). The rotational reference frame information is provided in the form of a 4-element Quaternion. The Quaternion data format provides computational and stability advantages over the use of Euler angles. The subject of “Quaternions” being used to represent rotational movements is covered well by Wikipedia.

A.5 MEMS MAGNETOMETER FUNCTION

The MEMS Magnetometer has not been implemented in software, but is connected via hardware for serial communication and limited development purposes. The MEMS Magnetometer measures the strength of the magnetic field along the X,Y and Z axes. Utilized in conjunction with a 9-axis sensor fusion algorithm, heading information can be computed.


Appendix B. Schematic and Layout

FIGURE B-1: MOTION SENSOR DEMONSTRATION BOARD SCHEMATIC

GN

D1

GN

D12

2

WA

KE3

GN

D11

VIN

10

INT

4

SDI

5

SCK

6

NC

9

CS

8

SDO

7O

GN

DG

ND

WA

KE

GN

D

VIN

INT

SDI

SCK

NCCS

SD

U7

MIW

I_RESET

MIW

I_WA

KE

MIW

I_INT

MIW

I_DI

MIW

I_CLK

MIW

I_CS

MIW

I_DO

10 μF

C8

1 μF

C9

0.1 μF

C15

1 μF

C13

PIN 10

0.1 μF

C24

1 μF

C25

VD

D

PIN 19

MC

LR

10 μF

C14100 O

hm

R11

VBU

S

100K

R12

MIW

I_DO

MIW

I_RESET

CE

MIW

I_CS

DA

TAC

LOC

K

SDA

2SC

L2

12

J44.7K R7

4.7K R6

MIW

I_INT

DRD

Y

MIW

I_WA

KE

1K

R20LED

1Power LED

D+D-

GYRO

_INT

MIW

I_CLK

MIW

I_DI

45

Shield6

Sield

6

VBU

S1

D-

2

D+

3

VBU

S

D-

D+

J1

VBU

SD-

D+

123456

J2

MC

LR

DA

TA

CLO

CK

10K

R3

Programm

ing Header

CE

1

HO

LD7

Vss

4S

I5

SCK

6

SO2

WP

3

VD

D8

U6

SST25VF

016B-50-4C

-S2A

F

CE

MIW

I_DO

MIW

I_CLK

MIW

I_DI

1 μF

C26

GND2

VFB

4

VIN

6V

OU

T5

EN3

SW1

U3

BAT

+

10 μF

C16

10 μF

C17

BAT

+

Battery

953KR9887KR10

5.3 μH

L1

24LC

08BT-

I/OT

SCL

1

Vcc

4

Vss

2

SDA

3

WP

5U

9

SCL2

SDA

2

1 μF

C23

SCL

23

CPO

UT

20

VLO

GIC

8

FSYNC

11

NC16

SDA

24

RESV22

NC15

NC14

GND18

NC17

AU

X_C

L7

AD

O9

NC3

NC4

NC5

CLKIN1

NC2

RESV21

REGO

UT

10

SCL

CPO

UT

VLO

GIC

FSYNC

NC

SDA

RESV

NC

NC

GND

NC

AU

X_C

L

AD

O

NC

NC

NC

CLKIN

NC

RESVREG

OU

T

AUX_DA6

INT

12

VD D13

RESV

19

U1

MPU

-6050

SDA

SCL

10 nF

C22

GYRO

_INT0.1 μF

C21

0.1 μF

C20

10 nF

C19

SCL2

SDA

2

VSS15

SO6

CA

D1

11

VD D16

T ST 214

DRD

Y10

TST

69

NC

212

SDA /SI5

VID7

RSV

3

SCL/SK

4

TST1

1

CSB

2

C A D013

NC I8

VSSSO

CA

D1

VD D

T ST 2

DRD

Y

TST

6

NC

2

SDA /S// I

VID

RSV

SCL/SK

TST1

CSB

C A D0NC I

U8

AK8975P-L-RD

0.1 μF

C1

DRD

Y No Load

R1

0 Ohm R2

0.1 μF

C12

0 Ohm

R14SC

L2

0 Ohm

R16SD

A2

3VSEL

3VS

EL

PWR_

SW

EVQ

-PSL02K

21

S1PW

R_SW

100K

R18

Power Sw

itch

2.74M

R13

No Load

R4

0 Ohm R8

0.1 μF

C110.1 μF C2

VO

UT

5V

IN1

SH

DN

3

VSS

2

NC

4

U2

100K

R1910K

R5 D1

1 μF

C41 μF C3

0 Ohm

R21

PMD

5/C

N63

/RE51

SCL3/PM

D6/C

N64/RE6

2

SDA

3/PMD

7/CN

65/RE73

PMA

5/RP21/C1

IND

/CN

8/RG

64

RP26/P

MA

4/C1

INC

/CN

9/RG7

5

PMA

3/RP19/C2

IND

/CN

10/RG8

6

MC

LR7

RP27/P

MA

2/C2

INC

/CN

11/RG9

8

VSS

9

VD

D10

PGEC

3/AN

5/C1IN

A/V

BUS

ON/RP18

/CN

7/RB511

PGED

3/AN

4/C1IN

B/USBO

EN/RP28

/CN

6/RB412

AN

3/C

2INA

/VPIO

/CN

5/RB313

AN

2/C

2INB/V

MIO

/RP13/C

N4/RB2

14PG

EC1/A

N1/V

REF-/RP1/CN

3/RB115

PGED

1/AN0/V

REF+/P

MA

6/RP0/CN

2/RB016

PGEC

2/AN

6/RP6/CN

24/RB617

PGED

2/AN

7/RP7/RC

V/C

N25/RB7

18

AV

DD

19

AV

SS20

AN

8/RP8

/CN

26/RB8

21

AN

9/RP9

/PMA

7/CN

27/RB9

22

TM

S/C

VREF/A

N10

/PMA13/C

N28/RB10

23

TD

O/A

N11/PM

A12/C

N29/RB11

24

VSS

25

VD

D26

TCK/A

N12/C

TEDG

2/P

MA

11/CN

30/RB1227

TD

I/AN

13/CTED

G1/PM

A10/CN

31/RB1328

AN

14/CTPLS/RP14

/PMA

1/CN

32/RB1429

AN

15/RP29

/REFO/PM

A0/C

N12/RB15

30

PMA

9/RP10/SDA

2/CN

17/RF431

PMA

8/RP17/SCL

2/CN

18/RF532

RP16/U

SBID/C

N71/RF3

33

VBU

S /RF734

VU

SB

35

D-/RG

336

D+

/RG2

37

VD

D38

OS

CI/C

LKI/CN

23/RC

1239

OSC

O/C

LKO/C

N22

/RC15

40

VSS

41

RTCC

/DM

LN/RP2/C

N53/RD

842

DP

LN/S

DA

1/RP4/PM

A14/PM

CS1/C

N5

4/RD9

43

SCL1/RP3/PM

A15/PM

CS2/C

N55

/RD10

44

RP12/PM

AC

K2/C

N56

/RD11

45

DM

H/RP11/IN

T0/CN

49/RD

046

SOS

CI/C

3IND

/CN

1/RC13

47

SOSC

O/SC

LKI/T1CK/C

3INC

/RPI37/CN

0/RC14

48

VC

PCO

N/RP24/V

BUSC

HG/C

N50

/RD1

49

DP

H/RP23/P

MA

CK1/C

N51/RD

250

RP22/PM

BE0/CN

52/RD3

51

RP25/PM

WR/C

N13/RD

452

RP20/PM

RD/C

N14/RD

553

C3IN

B/CN

15/RD6

54

C3IN

A/SESSEN

D/C

N16

/RD7

55

VC

AP

56

ENV

REG57

VBU

SST/VC

MPS

T1/C

N6

8/RF058

VC

MPST2/C

N6

9/RF159

PMD

0/C

N58

/RE060

PMD

1/C

N59

/RE161

PMD

2/C

N60

/RE262

PMD

3/C

N61

/RE363

PMD

4/C

N62

/RE464

PA D0

U4

KXT

F9_INT

KXT

F9_INT

0.1 μF

C5

0.1 μF

C6

PIN 26

PIN 38

SCL

2K

R17

SDA

2K

R15

0.1 μF C7

1 μF

C10

DN

C2

IO V

DD

1

V DD5

SCL

9

SDA10

DN

C3

GN

D4

DN

C8

INT

7

DN

C6

U5

KXT

F9-106

TP

3T

P4

TP

5 TX

RX

RESET

VD

DV

DD

VD

D

VD

D

VD

DV

DD

VD

D

VD

D

VD

D

VD

D

VD

D

VD

DVD

DV

DD

VD

D

VD

DV

DD

VD

D

VD

DV

DD

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

VD

D

PIC24FJ256G

B206-I/M

R

MRF24J40M

A

MCP1802T-3302I/O

T

MCP1640T-I/C

HY



NOTES:


Schematic and Layout

NOTES:



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