MPU-3300

MPU-3300 Product Specification Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 MPU-3300 Product Specification Revision 1.1 1 of 45 MPU-3300 Product Specification Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 CONTENTS 1  REVISION HISTORY ...................................................................................................................................4  2  PURPOSE AND SCOPE .............................................................................................................................4  3  PRODUCT OVERVIEW ...............................................................................................................................6  3.1  MPU-3300 OVERVIEW ........................................................................................................................6  4  APPLICATIONS...........................................................................................................................................7  5  FEATURES ..................................................................................................................................................8  5.1  GYROSCOPE FEATURES .......................................................................................................................8  5.2  ADDITIONAL FEATURES ........................................................................................................................8  5.3  CLOCKING ...........................................................................................................................................8  6  ELECTRICAL CHARACTERISTICS ...........................................................................................................9  6.1  GYROSCOPE SPECIFICATIONS ..............................................................................................................9  6.2  ELECTRICAL AND OTHER COMMON SPECIFICATIONS............................................................................10  6.3  ELECTRICAL SPECIFICATIONS, CONTINUED .........................................................................................11  6.4  ELECTRICAL SPECIFICATIONS, CONTINUED .........................................................................................12  6.5  ELECTRICAL SPECIFICATIONS, CONTINUED .........................................................................................13  6.6  I2C TIMING CHARACTERIZATION..........................................................................................................14  6.7  SPI TIMING CHARACTERIZATION .........................................................................................................15  6.8  ABSOLUTE MAXIMUM RATINGS ...........................................................................................................16  7  APPLICATIONS INFORMATION ..............................................................................................................17  7.1  PIN OUT AND SIGNAL DESCRIPTION ....................................................................................................17  7.2  TYPICAL OPERATING CIRCUIT.............................................................................................................18  7.3  BILL OF MATERIALS FOR EXTERNAL COMPONENTS ..............................................................................18  7.4  BLOCK DIAGRAM ...............................................................................................................................19  7.5  OVERVIEW ........................................................................................................................................19  7.6  THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING ................................19  7.7  PRIMARY I2C AND SPI SERIAL COMMUNICATIONS INTERFACES ............................................................20  7.8  AUXILIARY I2C SERIAL INTERFACE ......................................................................................................21  7.9  SELF-TEST ........................................................................................................................................22  7.10  BIAS INSTABILITY ...............................................................................................................................22  Z-AXIS GYROSCOPE – EXAMPLE ALLAN VARIANCE PLOT ..................................................................................23  7.11  MPU-3300 USING SPI INTERFACE .....................................................................................................23  7.12  INTERNAL CLOCK GENERATION ..........................................................................................................24  7.13  SENSOR DATA REGISTERS .................................................................................................................25  2 of 45 MPU-3300 Product Specification Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 7.14  FIFO ................................................................................................................................................25  7.15  INTERRUPTS ......................................................................................................................................26  7.16  DIGITAL-OUTPUT TEMPERATURE SENSOR ..........................................................................................26  7.17  BIAS AND LDO ..................................................................................................................................26  7.18  CHARGE PUMP ..................................................................................................................................26  8  PROGRAMMABLE INTERRUPTS............................................................................................................27  9  DIGITAL INTERFACE ...............................................................................................................................28  9.1  I2C AND SPI SERIAL INTERFACES .......................................................................................................28  9.2  I2C INTERFACE ..................................................................................................................................28  9.3  I2C COMMUNICATIONS PROTOCOL ......................................................................................................28  9.4  I2C TERMS ........................................................................................................................................31  9.5  SPI INTERFACE .................................................................................................................................32  10  ASSEMBLY ...............................................................................................................................................33  10.1  ORIENTATION OF AXES ......................................................................................................................33  10.2  PACKAGE DIMENSIONS ......................................................................................................................34  10.3  PCB DESIGN GUIDELINES ..................................................................................................................35  10.4  ASSEMBLY PRECAUTIONS ..................................................................................................................36  10.5  STORAGE SPECIFICATIONS.................................................................................................................39  10.6  PACKAGE MARKING SPECIFICATION ....................................................................................................39  10.7  TAPE & REEL SPECIFICATION .............................................................................................................40  10.8  LABEL ...............................................................................................................................................41  10.9  PACKAGING .......................................................................................................................................42  10.10  REPRESENTATIVE SHIPPING CARTON LABEL ...................................................................................43  11  RELIABILITY .............................................................................................................................................44  11.1  QUALIFICATION TEST POLICY .............................................................................................................44  11.2  QUALIFICATION TEST PLAN ................................................................................................................44  12  ENVIRONMENTAL COMPLIANCE...........................................................................................................45  3 of 45 MPU-3300 Product Specification 1 Revision History Revision Date Revision Description 5/31/2012 1.0 Initial Release 7/23/2012 1.1 Removed watermarks. 4 of 45 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 MPU-3300 Product Specification 2 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 Purpose and Scope This product specification provides advanced information regarding the electrical specification and design related information for the MPU-3300™ MotionTracking™ devices. Electrical characteristics are based upon design analysis and simulation results only. 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-3300 Register Map and Register Descriptions document. 5 of 45 MPU-3300 Product Specification 3 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 Product Overview 3.1 MPU-3300 Overview The MPU-3300 is the world’s first integrated 3-axis gyroscope for Industrial applications. The MPU-3300 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs. For precision tracking of motion, the parts feature a user-programmable gyroscope full-scale range of ±225 and ±450°/sec (dps). An on-chip 1024 Byte FIFO buffer helps lower system power consumption by allowing the system processor to read the sensor data in bursts and then enter a low-power mode as the MPU collects more data. 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. Additional features include an embedded temperature sensor and an on-chip oscillator with ±1% variation over the operating temperature range. By leveraging its patented and volume-proven Nasiri-Fabrication platform, which integrates MEMS wafers with companion CMOS electronics through wafer-level bonding, InvenSense has driven the MPU-3300 package size down to a revolutionary footprint of 4x4x0.9mm (QFN), while providing the highest performance, lowest noise, and the lowest cost semiconductor packaging required for industrial electronic devices. The part features a robust 10,000g shock tolerance, and has programmable low-pass filters for the gyroscopes, and the on-chip temperature sensor. For power supply flexibility, the MPU-3300 operates from VDD power supply voltage range of 2.375V-3.46V. 6 of 45 MPU-3300 Product Specification 4 Applications • Attitude Heading Reference Systems (AHRS) o o • Navigation Systems o o o • • • • • • • • • • Aerospace Robotics Industrial vehicles Aircraft Ships Platform and Antenna Stabilization Precision Robotics Inventory Control Systems Survey Instruments Factory Equipment Industrial Power Tools Unmanned Aerial Vehicles (UAVs) Precision Agriculture Machinery Guidance and Steering Applications Construction Equipment 7 of 45 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 MPU-3300 Product Specification 5 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 Features 5.1 Gyroscope Features The triple-axis MEMS gyroscope in the MPU-3300 includes a wide range of features:           Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable fullscale range of ±225, and ±450°/sec Integrated 16-bit ADCs enable simultaneous sampling of gyros Enhanced bias and sensitivity temperature stability reduces the need for user calibration Improved low-frequency noise performance Digitally-programmable low-pass filter Bias Instability: 15°/hour on each axis Gyroscope operating current: 3.6mA Standby current: 10µA Factory calibrated sensitivity scale factor User self-test 5.2 Additional Features The MPU-3300 includes the following additional features:            5.3   VDD supply voltage range of 2.375V-3.46V Smallest and thinnest QFN package for industrial applications: 4x4x0.9mm 1024 byte FIFO buffer reduces power consumption by allowing host processor to read the data in bursts and then go into a low-power mode as the MPU collects more data Digital-output temperature sensor User-programmable digital filters for gyroscope 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 Clocking On-chip timing generator ±1% frequency variation over full temperature range Optional external clock inputs of 32.768kHz or 19.2MHz 8 of 45 MPU-3300 Product Specification 6 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 Electrical Characteristics 6.1 Gyroscope Specifications Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, TA = 25°C PARAMETER GYROSCOPE SENSITIVITY Full-Scale Range CONDITIONS MIN MAX ±2 Best fit straight line; 25°C 0.2 ±2 % % Initial ZRO Tolerance ZRO Variation Over Temperature Power-Supply Sensitivity (1 – 10Hz) Power-Supply Sensitivity (10 – 250Hz) Power-Supply Sensitivity (250Hz – 100kHz) Linear Acceleration Sensitivity SELF-TEST RESPONSE 25°C -40°C to +105°C Sine wave, 100mVpp; VDD=2.5V Sine wave, 100mVpp; VDD=2.5V Sine wave, 100mVpp; VDD=2.5V Static ±20 ±20 0.2 0.2 4 0.1 º/s º/s º/s º/s º/s º/s/g GYROSCOPE NOISE PERFORMANCE Total RMS Noise Low-frequency RMS noise Rate Noise Spectral Density FS_SEL=0 DLPFCFG=2 (100Hz) Bandwidth 1Hz to10Hz At 10Hz Sensitivity Scale Factor Tolerance Sensitivity Scale Factor Variation Over Temperature Nonlinearity Cross-Axis Sensitivity GYROSCOPE ZERO-RATE OUTPUT (ZRO) FS_SEL=0 FS_SEL=1 25°C -40°C to +105°C Change from factory trim GYROSCOPE MECHANICAL FREQUENCIES X-Axis Y-Axis Z-Axis LOW PASS FILTER RESPONSE ±225 ±450 16 145.6 72.8 UNITS º/s º/s bits LSB/(º/s) LSB/(º/s) % % Gyroscope ADC Word Length Sensitivity Scale Factor FS_SEL=0 FS_SEL=1 TYP -3 -14 14 0.05 0.033 0.005 30 27 24 Programmable Range +3 5 33 30 27 % º/s-rms º/s-rms º/s/√Hz 36 33 30 256 kHz kHz kHz Hz OUTPUT DATA RATE Programmable 4 8,000 GYROSCOPE START-UP TIME DLPFCFG=0 ZRO Settling to ±1º/s of Final 30 1. Please refer to the following document for further information on Self-Test: MPU-3300 Register Map and Descriptions 9 of 45 Hz ms NOTES 1 Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 MPU-3300 Product Specification 6.2 Electrical and Other Common Specifications Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, TA = 25°C PARAMETER TEMPERATURE SENSOR Range Sensitivity Temperature Offset Linearity VDD POWER SUPPLY Operating Voltages Normal Operating Current Full-Chip Idle Mode Supply Current Power Supply Ramp Rate START-UP TIME FOR REGISTER READ/WRITE TEMPERATURE RANGE Specified Temperature Range CONDITIONS MIN Untrimmed 35oC Best fit straight line (-40°C to +105°C) TYP °C LSB/ºC LSB ±1 °C 3.46 V mA µA 100 ms 100 ms +105 °C 3.6 10 Monotonic ramp. Ramp rate is 10% to 90% of the final value 20 Performance parameters are not applicable beyond Specified Temperature Range 10 of 45 -40 Units -40 to +105 340 -521 2.375 Gyroscope MAX Notes MPU-3300 Product Specification Document Number: PS-MPU-3300A-00 Revision: 1.1 Release Date: 7/23/2012 6.3 Electrical Specifications, Continued Typical Operating Circuit of Section 7.2, VDD = 2.375V-3.46V, TA = 25°C PARAMETER SERIAL INTERFACE SPI Operating Frequency, All Registers Read/Write CONDITIONS MIN Low Speed Characterization High Speed Characterization SPI Operating Frequency, Sensor and Interrupt Registers Read Only I2C Operating Frequency I2C ADDRESS All registers, Fast-mode All registers, Standard-mode AD0 = 0 AD0 = 1 TYP MAX Units 100 ±10% kHz 1 ±10% MHz 20 ±10% MHz 400 100 kHz kHz 0.3*VDD V V 1101000 1101001 DIGITAL INPUTS (SDI/SDA, AD0, SCLK/SCL, FSYNC, /CS, CLKIN) VIH, High Level Input Voltage VIL, Low Level Input Voltage 0.7*VDD CI, Input Capacitance