MPU6881 资料 MPU6800data sheet数据手册 product specification
MPU-6881 Product Specification Revision 1.0
TABLE OF CONTENTS
TABLE OF FIGURES (4)
TABLE OF TABLES (5)
1DOCUMENT INFORMATION (6)
1.1R EVISION H ISTORY (6)
1.2P URPOSE AND S COPE (7)
1.3P RODUCT O VERVIEW (7)
1.4A PPLICATIONS (7)
2FEATURES (8)
2.1G YROSCOPE F EATURES (8)
2.2A CCELEROMETER F EATURES (8)
2.3A DDITIONAL F EATURES (8)
3ELECTRICAL CHARACTERISTICS (9)
3.1G YROSCOPE S PECIFICATIONS (9)
3.2A CCELEROMETER S PECIFICATIONS (10)
3.3E LECTRICAL S PECIFICATIONS (11)
3.4I2C T IMING C HARACTERIZATION (15)
3.5SPI T IMING C HARACTERIZATION (16)
3.6A BSOLUTE M AXIMUM R ATINGS (18)
4APPLICATIONS INFORMATION (19)
4.1P IN O UT D IAGRAM AND S IGNAL D ESCRIPTION (19)
4.2T YPICAL O PERATING C IRCUIT (20)
4.3B ILL OF M ATERIALS FOR E XTERNAL C OMPONENTS (20)
4.4B LOCK D IAGRAM (21)
4.5O VERVIEW (21)
4.6T HREE-A XIS MEMS G YROSCOPE WITH 16-BIT ADC S AND S IGNAL C ONDITIONING (22)
4.7T HREE-A XIS MEMS A CCELEROMETER WITH 16-BIT ADC S AND S IGNAL C ONDITIONING (22)
4.8I2C AND SPI S ERIAL C OMMUNICATIONS I NTERFACES (22)
4.9S ELF-T EST (24)
4.10C LOCKING (25)
4.11S ENSOR D ATA R EGISTERS (25)
4.12FIFO (25)
4.13I NTERRUPTS (25)
4.14D IGITAL-O UTPUT T EMPERATURE S ENSOR (25)
4.15B IAS AND LDO S (26)
4.16C HARGE P UMP (26)
4.17S TANDARD P OWER M ODES (26)
5PROGRAMMABLE INTERRUPTS (27)
6DIGITAL INTERFACE (28)
6.1I2C AND SPI S ERIAL I NTERFACES (28)
6.2I2C I NTERFACE (28)
6.3I2C C OMMUNICATIONS P ROTOCOL (28)
6.4I2C T ERMS (31)
6.5SPI I NTERFACE (32)
7SERIAL INTERFACE CONSIDERATIONS (32)
7.1MPU-6881S UPPORTED I NTERFACES (33)
8ASSEMBLY (34)
8.1O RIENTATION OF A XES (34)
8.2P ACKAGE D IMENSIONS (35)
9PART NUMBER PACKAGE MARKING (36)
10RELIABILITY (37)
10.1Q UALIFICATION T EST P OLICY (37)
10.2Q UALIFICATION T EST P LAN (37)
11REFERENCE (38)
Table of Figures
Figure 1 I2C Bus Timing Diagram (15)
Figure 2 SPI Bus Timing Diagram (16)
Figure 3 Pin out Diagram for MPU-6881 3.0x3.0x0.9mm QFN (19)
Figure 4 MPU-6881 QFN Application Schematic. (a) I2C operation, (b) SPI operation. (20)
Figure 5 MPU-6881 Block Diagram (21)
Figure 6 MPU-6881 Solution Using I2C Interface (23)
Figure 7 MPU-6881 Solution Using SPI Interface (24)
Figure 8 START and STOP Conditions (29)
Figure 9 Acknowledge on the I2C Bus (29)
Figure 10 Complete I2C Data Transfer (30)
Figure 11 Typical SPI Master / Slave Configuration (32)
Figure 12 I/O Levels and Connections (33)
Figure 13 Orientation of Axes Sensitivity and Polarity of Rotation (34)
Table of Tables
Table 1 Gyroscope Specifications (9)
Table 2 Accelerometer Specifications (10)
Table 3 D.C. Electrical Characteristics (11)
Table 4 A.C. Electrical Characteristics (13)
Table 5 Other Electrical Specifications (14)
Table 6 I2C Timing Characteristics (15)
Table 7 SPI Timing Characteristics (16)
Table 8 fCLK = 20MHz (17)
Table 9 Absolute Maximum Ratings (18)
Table 10 Signal Descriptions (19)
Table 11 Bill of Materials (20)
Table 12 Standard Power Modes for MPU-6881 (26)
Table 13 Table of Interrupt Sources (27)
Table 14 Serial Interface (28)
Table 15 I2C Terms (31)
1 Document Information
1.2 Purpose and Scope
This document is a preliminary product specification, providing a description, specifications, and design related information on the MPU-6881? MotionTracking device. The device is housed in a small 3x3x0.9mm 24-pin QFN package.
Specifications are subject to change without notice. Final specifications will be updated based upon characterization of production silicon. For references to register map and descriptions of individual registers, please refer to the MPU-6881 Register Map and Register Descriptions document.
1.3 Product Overview
The MPU-6881 is a 6-axis MotionTracking device that combines a 3-axis gyroscope, and a 3-axis accelerometer in a small 3x3x0.9mm (24-pin QFN) 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-6881 directly accepts inputs from external I2C devices. MPU-6881, with its 6-axis integration, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for consumers. MPU-6881 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. 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 3.45V, and a separate digital IO supply, VDDIO from 1.71V to 3.45V.
Communication with all registers of the device is performed using either I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications, the sensor and interrupt registers may be read using SPI at 20MHz.
By leveraging its patented and volume-proven CMOS-MEMS Fabrication platform, which integrates MEMS wafers with companion CMOS electronics through wafer-level bonding, InvenSense has driven the package size down to a footprint and thickness of 3x3x0.9mm (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.
1.4 Applications
?TouchAnywhere? technology (for “no touch” UI Application Control/Navigation)
?MotionCommand? technology (for Gesture S hort-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
2 Features
2.1 Gyroscope Features
The triple-axis MEMS gyroscope in the MPU-6881 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 integrated 16-bit ADCs ?Digitally-programmable low-pass filter
?Gyroscope operating current: 3.2mA
?Factory calibrated sensitivity scale factor
?Self-test
2.2 Accelerometer Features
The triple-axis MEMS accelerometer in MPU-6881 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: 7.27μA at 0.98Hz, 18.65μA at 31.25Hz
?User-programmable interrupts
?Wake-on-motion interrupt for low power operation of applications processor
?Self-test
2.3 Additional Features
The MPU-6881 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 are active
?VDD supply voltage range of 1.8 – 3.3V ± 5%
?VDDIO reference voltage of 1.8 – 3.3V ± 5% for auxiliary I2C devices
?Smallest and thinnest QFN package for portable devices: 3x3x0.9mm (24-pin QFN)
?Minimal cross-axis sensitivity between the accelerometer and 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 communicating with all registers
?20MHz SPI serial interface for reading sensor and interrupt registers
?MEMS structure hermetically sealed and bonded at wafer level
?RoHS and Green compliant
3 Electrical Characteristics
3.1 Gyroscope Specifications
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Please refer to the following document for information on Self-Test: MPU-6500 Accelerometer and Gyroscope Self-Test Implementation; AN-MPU-6500A-02.
Table 1 Gyroscope Specifications
Notes:
1. Derived from validation or characterization of parts, not guaranteed in production.
3.2 Accelerometer Specifications
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Please refer to the following document for information on Self-Test: MPU-6500 Accelerometer and Gyroscope Self-Test Implementation; AN-MPU-6500A-02.
Table 2 Accelerometer Specifications
Notes:
1. Derived from validation or characterization of parts, not guaranteed in production.
3.3 Electrical Specifications
3.3.1 D.C. Electrical Characteristics
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Table 3 D.C. Electrical Characteristics
Notes:
1. Derived from validation or characterization of parts, not guaranteed in production.
2. Accelerometer Low Power Mode supports the following output data rates (ODRs): 0.24, 0.49, 0.98,
1.95, 3.91, 7.81, 15.63, 31.25, 6
2.50, 125, 250, 500Hz. Supply current for any update rate can be
calculated as:
a. Supply Current in μA = 6.9 + Update Rate * 0.376
3.3.2 A.C. Electrical Characteristics
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Table 4 A.C. Electrical Characteristics
Notes:
1. Derived from validation or characterization of parts, not guaranteed in production.
3.3.3 Other Electrical Specifications
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Table 5 Other Electrical Specifications
Notes:
1. Derived from validation or characterization of parts, not guaranteed in production.
3.4 I2C Timing Characterization
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Table 6 I2C Timing Characteristics
Notes:
1.Timing Characteristics apply to both Primary and Auxiliary I2C Bus
2.Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets
Figure 1 I2C Bus Timing Diagram
3.5 SPI Timing Characterization
Typical Operating Circuit of section 4.2, VDD = 1.8V, VDDIO = 1.8V, T A=25°C, unless otherwise noted.
Table 7 SPI Timing Characteristics
Notes:
3.Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets
Figure 2 SPI Bus Timing Diagram
3.5.1 fSCLK = 20MHz
Table 8 fCLK = 20MHz
Notes:
1.Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets
3.6 Absolute Maximum Ratings
Stress above those listed as “Absolute Maximum Ratings” may cause permanent damage to the device. These are stress ratings only and functional operation of the device at these conditions is not implied. Exposure to the absolute maximum ratings conditions for extended periods may affect device reliability.
Table 9 Absolute Maximum Ratings
4 Applications Information
4.1
Pin Out Diagram and Signal Description
Table 10 Signal Descriptions
A U X _C L
V D D I O
S D O / A D 0
R E G O U T
F S Y N C
I N T
S C L / S C L K
n C S
R E S V S D A / S D I
A U X _D A
R E S V
NC NC NC NC NC NC
Figure 3 Pin out Diagram for MPU-6881 3.0x3.0x0.9mm QFN
4.2
Typical Operating Circuit
– 3.3VDC m F
1.8 –AD0
– 3.3VDC m F
1.8 –
SD0
(a)
(b)
Figure 4 MPU-6881 QFN Application Schematic. (a) I2C operation, (b) SPI operation.
4.3
Bill of Materials for External Components Table 11 Bill of Materials