InvenSense Inc.
1745 Technology Dr., San Jose, CA 95110 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com
Document Number: AN-EMAPPS-0.0.6
Revision: 1.2
Release Date: 05/15/2015
CONFIDENTIAL & PROPRIETARY PRELIMINARY
Motion Driver 6.12 – Getting Started
Guide
Motion Driver 6.12 – Getting Started Guide
Document Number: AN-EMAPPS-0.0.6
Revision: 1.2
Release Date: 05/15/2015
CONFIDENTIAL & PROPRIETARY 2 of 15 PRELIMINARY
Table of Contents
1 REVISION HISTORY ................................................................................................................................... 3
2 PURPOSE .................................................................................................................................................... 4
3 RELEASE PACKAGE ................................................................................................................................. 4
4 STARTING WITH THE TI-MSP430 PROJECT ........................................................................................... 5
4.1 REQUIREMENTS ................................................................................................................................... 5
4.2 CONNECTING THE HARDWARE .............................................................................................................. 5
4.3 OPENING AND COMPILING THE MSP430 PROJECT ................................................................................ 6
5 STM32F4 (CORTEX-M4) DISCOVERY BOARD PROJECT ...................................................................... 8
5.1 REQUIREMENTS ................................................................................................................................... 8
5.2 CONNECTING THE HARDWARE .............................................................................................................. 9
5.3 OPENING AND COMPILING THE IAR PROJECT ...................................................................................... 10
6 PYTHON CLIENT ...................................................................................................................................... 12
Motion Driver 6.12 – Getting Started Guide
Document Number: AN-EMAPPS-0.0.6
Revision: 1.2
Release Date: 05/15/2015
CONFIDENTIAL & PROPRIETARY 3 of 15 PRELIMINARY
1 Revision History
Revision Date
Revision
Description
06/27/2014
1.0
Initial Release
07/17/2014
1.1
Added STM32F4 information
05/05/2015
1.2
Updated for MD 6.12 release
Motion Driver 6.12 – Getting Started Guide
Document Number: AN-EMAPPS-0.0.6
Revision: 1.2
Release Date: 05/15/2015
CONFIDENTIAL & PROPRIETARY 4 of 15 PRELIMINARY
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 APIs 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 details how to set up the hardware and get the default projects up and running. It is
recommended as a good way to understand the Motion Driver algorithms, DMP, and MPU HW features.
3 Release Package
MD6.0 release package contains example projects of the TI-MSP430 using Code Composer as well as
STM32F4 and STM32L using IAR. It also contains binary MPL libraries for 9-axis fusion precompiled for
ARM processors and TI-MSP430 processors. MPL libraries for arm uses gcc 4.7.2 compiler.
…\arm\STM32F4_MD6 : Directory which contains the IAR project for STM32F4 Discovery
Evaluation Board and the InvenSense motion solution. The STM32F4 is a Cortex-M4 MCU core. The
IAR project file is located under .\STM3F4L_MD6\Projects\eMD6\EWARM\STM32F4_MD6.eww
...\documentation : All relevant documentations regarding MD6.12 is under this directory
…\eMPL-pythonclient : Python client used to test and demonstrate the motion device performance
as well as display log information
…\mpl libraries : Directory which contains the InvenSense Proprietary binary MPL (Motion
Processing Library) used in the MD6.0. ARM libraries are compiled using GCC 4.9.3 while the TI
libraries are using Code Composer 5.5
…\msp430\eMD-6.0 : Contains the Code Composer project for MD6.12.
Motion Driver 6.12 – Getting Started Guide
Document Number: AN-EMAPPS-0.0.6
Revision: 1.2
Release Date: 05/15/2015
CONFIDENTIAL & PROPRIETARY 5 of 15 PRELIMINARY
4 Starting with the TI-MSP430 Project
4.1 Requirements
o Code Composer Studio to compile MSP430 example
o TI-MSP430 JTAG for downloading and debugging
o Motion Driver 6.12 source files
o InvenSense CA-SDK evaluation board (can be purchased through invensense.com)
4.2 Connecting the Hardware
InvenSense CA-SDK
evaluation board
Micro-USB – Connect to PC
for power and CA-SDK
output
TI-MSP430 JTAG – connect to PC
with Code Composer Software and
also to the CA-SDK.
