smartmotion platform hardware user guide - … · smartmotion platform hardware user guide...
TRANSCRIPT
SmartMotion Platform Hardware User Guide
Introduction
The TDK SmartMotion Platform is a comprehensive development system for TDK InvenSense Motion Sensor
devices. The platform designed around Microchip SAMG55 MCU can be used by customers for rapid
evaluation and development of InvenSense sensor based solutions. The platform integrates an on-board
Embedded Debugger so external tools are not required to program or debug the SAMG55 MCU. Each
InvenSense motion sensor has its own unique development kit. Following SmartMotion development kits are
available.
• DK-20602 for ICM-20602 6 Axis Motion Sensor (Ver-B board)
• DK-20648 for ICM-20648 6 Axis Motion Sensor with Digital Media Processor (DMP), (Ver-B board)
• DK-20680A for 6 Axis Automotive Grade Motion Sensor (Ver-B board)
• DK-20789 for ICM-20789 7 Axis Motion Sensor with Integrated Pressure Sensor (Ver-C board)
• DK-20948 for ICM-20948 9 Axis Motion Sensor (Ver-C board)
• DK-101XX for ICP-10111 pressure senor (Ver-C board)
The SmartMotion platform comes with necessary software including InvenSense Motion Link, a GUI based
development tool and embedded Motion Drivers for motion sensor.
Embedded Motion Drivers (eMD) consists of a set of APIs to configure various aspects of the platform
including motion sensor parameters such as full-scale range (FSR), output data rate (ODR), low-power or low-
noise mode, and sensor interface to host (I2C, SPI). All eMDs (except for DK-20680A and DK-101XX) will also
provide the following enhanced motion functions that run on the MCU or DMP (if applicable):
• Sensor Fusion
• Accelerometer and Gyroscope Calibration
• Android Functions: Game Rotation Vector, Gravity, Linear Acceleration
Motion Link is a GUI based development tool included with the platform. It can be used to capture and
visualize the sensor data from the motion sensor.
The platform supports Atmel Studio and is compatible with Microchip Xplaned Pro Extension boards. Xplained Pro extension series evaluation kits offer additional peripherals to extend the features of the board and ease the development of customer designs.
SmartMotion Development Kits
InvenSense Inc. Company Confidential
DK-20602/DK-20648/DK-20680A
DK-20948/DK-20789/DK-101XX
ICM-206XX
ICM-20948/20789/ICP-10100
Rev C
Rev B
Contents 1. Introduction .......................................................................................................................................... 4
1.1. Features ........................................................................................................................................ 4
1.2. Platform Overview ........................................................................................................................ 4
2. Hardware User Guide ............................................................................................................................ 5
2.1. System Block Diagram ................................................................................................................... 5
2.2. Main MCU SAMG55 resource allocation ...................................................................................... 5
2.3. Connectors .................................................................................................................................... 6
2.4. TDK sensor power consumption measurement ........................................................................... 6
2.5. TDK Sensor to SAMG55 MCU connection ..................................................................................... 7
2.6. Other sensors connection ............................................................................................................. 7
2.7. Jumper settings ............................................................................................................................. 7
3. Schematics ............................................................................................................................................ 8
4. Board PCB ............................................................................................................................................ 15
Table 1 SAMG55 Resource Allocation ........................................................................................................... 5
Table 2 Connectors ....................................................................................................................................... 6
Table 3 Jumper setting .................................................................................................................................. 7
Figure 1 Platform Overview .......................................................................................................................... 4
Figure 2 System Block Diagram ..................................................................................................................... 5
1. Introduction
1.1. Features
• Integrated TDK InvenSense motion sensor
• Support for other InveSense sensors with plug in daughter boards (DB) and evaluation boards
(EVB). DBs and EVBs can be obtained separately for other sensors
• Microchip SAMG55 microcontroller with 512KB Flash
• On-board Embedded debugger (EDBG) for Programming and debugging
• Built in FTDI USB to UART interface for fast motion sensor data transfer.
• USB Connectors for host interface to software debug and data logging
• Board Power Supply through USB
• Can be operated by external battery with on board battery charger.
1.2 Platform Overview SmartMotion Platform is a hardware unit for TDK sensor product evaluation and algorithm software development. With many extensions, the platform offers flexibilities for many different applications developments.
Figure 1 Platform Overview
2. Hardware User Guide SmartMotion Platform is compatible with Microchip’s SAM G55 Xplained Pro. The link here is the
Xplained-Pro user guide.
http://www.atmel.com/Images/Atmel-42389-SAM-G55-Xplained-Pro_User-Guide.pdf
2.1. System Block Diagram On board EDBG MCU AT32UC3A4256HHB-C1UR allows user to do main MCU SAMG55 debug, trace and
programming without using external tools. The Figure 2 shows system block diagram.
Figure 2 System Block Diagram
2.2. Main MCU SAMG55 resource allocation
Table 1 SAMG55 Resource Allocation
SAMG55 resource Usage
UART 0 (PA9/10/25/26)
The UART0 is connected to FTDI input by default. In the use case of Extension-1 on J200, the UART0 to FTDI connection can be disconnected through jumper J3.
TW6 (I2C) (PB8/9)
TDK sensor is connected to this master I2C. On board sensor slave address = 0x69. Sensors on DB and EVB have slave address = 0x68.
SPI5 (PA5/11/12/13/14)
The SPI5 master is connected to TDK sensor. On board sensor /CS = PNCS1, sensor on DB and EVB /CS = NPCS0.
GPIO (INTs) PB3/PB15/PA30/PA20/PA15
The GPIOs are used for sensor interrupt input. Referring to the table in Figure 2.
TW4 (I2C) The master I2C communicates with EDBG MCU slave I2C.
UART6 The UART6 is used for EDBG DGI-UART interface.
UART7 The UART7 is used for EDBG CDC-UART interface.
2.3. Connectors Table 2 describes the implementation of the relevant connectors and headers on SmartMotion Platform. Table 2 Connectors
Connector Ref Name Connector Function descriptions
CN1 External TDK sensor EVB connector
CN2/CN3 Daughter board connector for non-TDK sensor. I2C interface only.
CN4/CN5 Daughter board connector for TDK sensor. I2C and SPI interfaces.
CN6 USB connector for FTDI USB to serial UART interface
CN7 (Not loaded) External Battery connector
CN8 MCU SAMG55 JTAG connector for SAM-ICE and SEGGER boxes.
CN9 (Not loaded) Total-Phase SPI master Cheetah box connector
J1 Board power source selection.
J2 Select sensor I2C slave source from sensor primary I2C or AUX I2C
J3 Connect or disconnect MUC SAMG55 UART0 to FTDI.
J4 (Not loaded) Cheetah box power enable
J5 (Not loaded) TDK sensor VDD power consumption measurement point
J6 (Not loaded) TDK sensor VDDIO power consumption measurement point
J7 SPI and I2C selection for DB and EVB.
J200 Extension header 1. Has same function as J200 on Microchip’s Xplained-Pro board.
J201 (Not loaded) High speed I2C interface header
J203 (Not loaded) Extension header 4. Has same function as J203 on Microchip’s Xplained-Pro board.
J204 (Not loaded) SAMG55 Cortex Debug Connector for External programmer/debugger
J300 MCU SAMG55 chip erase jumper
J301 MCU SAMG55 USB connector
J500 EDBG MCU USB connector
SW300 User button
SW301 RESET button.
2.4. TDK sensor power consumption measurement
To measure sensor VDD power consumption, remove R10 and inject 3V (or 3.3V) power from J5-pin2. To measure sensor VDDIO power consumption, remove R11 and inject 3V (or 3,3V) from J6-pin1. Note, the power consumption measured from J5 and J6 are the total power for on board sensor, DB sensor and EVB sensor.
2.5. TDK Sensor to SAMG55 MCU connection
TDK sensor can be connected to SAMG55 MCU I2C or SPI through 3 different hardware connections.
• On board sensor On-board sensor I2C slave address is 0x69. Its SPI /CS = NPCS1.
• Sensor from daughter board (DB) TDK sensor on DB I2C slave address is 0x68 and SPI /CS = NPCS0. User can plug in their sensor DB on CN4/5 without removing on board sensor.
• Sensor from TDK evaluation board (EVB) TDK provides EVB for each of their sensors. TDK sensor on EVB I2C slave address is 0x68 and SPI /CS = NPCS0. User can plug in EVB without removing on board sensor.
2.6. Other sensors connection
3rd party sensors, such like pressure sensor and magnetic sensor, can be connected to the same SAMG55 MCU I2C bus with TDK sensor through DB, assuming they have different slave address. If use plans to use TDK sensor build in DMP function, the 3rd party sensor can be connected to TDK sensor auxiliary I2C bus. CN2/3 are designed for the other sensor DB plug in. It supports I2C only, not SPI.
2.7. Jumper settings Table 3 Jumper setting
Jumper Description
J1 The J1 is for board power source selection. Only one jumper shunt is allowed. Jumper shunt on pin-1/2: board power is from external batter on CN7. Jumper shunt on pin-3/4: board power is from EDBG USB on J500. Jumper shunt on pin-5/6: board power is from FTDI USB on CN6 Jumper shunt on pin-7/8: board power is from SAMG55 USB on J301
J2 J2 is used to select input source for SAMG55 master I2C. Only two jumper shunts are allowed. Jumper shunts on pin-1/2 and 3/4: Sensor primary I2C is connected to SAMG55 I2C master Jumper shunts on pin-5/6 and 7/8: Sensor auxiliary I2C is connected to SAMG55 I2C master
J3 J3 is for SAMG55 UART0 target selection. Shunt pin-1/2, 3/4, 5/6 and 7/8: SAMG55 UART0 is connected to FTDI USB/UART Open pin-1/2, 3/4, 5/6 and 7/8: SAMG55 UART0 can be used for externtion-1 board on J200.
J7 Short: DB/EVB=SPI Open: DB/DVB=I2C
J300 Shunt: AM G55 performs a chip erase after the next power toggle of the board.
3. Schematics There are two version schematics, Ver-B and Ver-C. Both them have same function and I2C/SPI assignment
for DB (CN4/CN5), EVB (CN1) and other sensor daughter board (CN2/CN3). Jumpers name, function and
setting are identical for the Ver-B and C.
The only difference between the Ver-B and C is on board sensor power supply voltage level. The table
below shows the difference between Ver-B and C.
Board Version Support on board sensor On board sensor supply voltage
B ICM-20602 ICM-20648
3.0V
C ICM-20789 ICM-20948 ICP-10100
1.8V
Ver-B schematics:
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Block Diagram B
SmartMotion Platform
TDK (Invensense)1745 Technology Dr.
Custom
1 6Wednesday , October 11, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
EDBG MCU
2. EDBG MCU
TARGET_RESET_SENSE
SWDIOSWCLK
TARGET_RESETTRACESWO
EDBG_DGI_GPIO0EDBG_DGI_GPIO1EDBG_DGI_GPIO2
EDBG_DGI_USART_RXEDBG_DGI_USART_TX_
EDBG_DGI_USART_CLK_
EDBG_CDC_UART_TX_EDBG_CDC_UART_RX
ID1ID4
EDBG_ADC0
EDBG_DGI_SDAEDBG_DGI_SCL
EDBG_DGI_GPIO3
INVN Sensor
4. INVN Sensor
SN_CSSN_SCLK/SCLSN_MOSI/SDASN_MISO/AD0
INT1INT2DB_INT1
INT_DB
AUXDAAUXCL
FTDI_RXDFTDI_TXD
FTDI_CTSFTDI_RTS
DB_CS
DB_INT2
Main MCU
1. Main MCU
TRACESWO
SWDIOSWCLK
TARGET_RESET
DGI_GPIO0
TARGET_RESET_SENSE
DGI_GPIO1DGI_GPIO2
DGI_CLK
SDASCL
PA28_UART7_TXDPA27_UART7_RXD
TARGET_USB_ID
ID1ID4
PA12_SPI5_MISO
PA05_SPI5_NPCS1
PB08_TWD6
PA14_SPI5_CLKPA13_SPI5_MOSI
PB09_TWCK6
PB03_WKUP13PB15_GPIOPA30_GPIO
PA26_GPIO_RTS0DGI_TXDPA25_GPIO_CTS0
PA15_GPIO
PA09_UART_RXD0PA10_UART_TXD0DGI_RXD
DGI_GPIO3
PA11_SPI5_NPCS0
PA20_AD3
Power Supply
3. Power Supply
TARGET_VOLTAGE VBUS_HOST_EN
ED
BG
_A
DC
0
PA24_WKUP11PA06_GPIO
TARGET_RESET
PA02_WKUP2
TARGET_RESET
PB07_SWCLKPB06_SWDIO
PB05_TRACESWO
PA27_UART7_RXDEDBG_CDC_UART_RX
EDBG_DGI_SCLEDBG_DGI_SDA
ID4ID1
TA
RG
ET
_U
SB
_ID
PB03_WKUP13PB15_GPIO
PA14_SPI5_CLK R16 0RPA13_SPI5_MOSIPA12_SPI5_MISO
R17 0R
PA30_GPIO
SN_MISO/AD0
PA15_GPIO
SN_SCLK/SCLSN_MOSI/SDA
PB13_USART6_CLKEDBG_DGI_USART_RX
VCC_MCU_P3V3
SN_CS
J2HEADER 4X2, Male, 180D
2 4 6 8
1 3 5 7
PB14_GPIO
R15 0RPA11_SPI5_NPCS0
R18100K
PA20_AD3
R2110K
DB_CS
GND
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Top B
SmartMotion Platform
TDK (Invensense)1745 Technology Dr.
Custom
2 6Wednesday , October 11, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
R22 0RPA05_SPI5_NPCS1
R310K
J3
HEADER 4X2, Male, 180D
2468
1357PA25_GPIO_CTS0
PA26_GPIO_RTS0PA10_UART_TXD0PA09_UART_RXD0
PB08_TWD6PB09_TWCK6
R4 NM
PB02_AD6
PB02_AD6
PA15_GPIO
PB04_GPIO_TDI
PB09_XIN
22pF 22pF
PA17_AD0PA26_GPIO_RTS0
PA24_WKUP11PA00_TIOA0
PB10_TWD4
0.1uFC311
PA09_UART_RXD0
PA12_SPI5_MISOPA11_SPI5_NPCS0
R2021K
XC400
32.768kHz
11
22
33
J201
NM_CON8
12345678
PA29_GPIOPA23_TIOA1PA25_GPIO_CTS0PA18_AD1
4.7uFC304
PA14_SPI5_CLKPA13_SPI5_MOSIPA10_UART_TXD0PB11_TWCK4
4.7uFC309
R30810K
PA17_AD0
5.6pFC400
5.6pFC401
PA26_GPIO_RTS0
PA18_AD1
PA00_TIOA0
PA25_GPIO_CTS0
R3
20
47K
PA23_TIOA1PA24_WKUP11
PB10_TWD4
PA29_GPIO
J200
HEADER 10X2
11/2
33/2
55/2
77/2
99/2
1111/2
1313/2
1515/2
1717/2
1919/2
22/2
44/2
66/2
88/2
1010/2
1212/2
1414/2
1616/2
1818/2
2020/2
PB11_TWCK4
PA09_UART_RXD0
PA11_SPI5_NPCS0PA10_UART_TXD0
PA12_SPI5_MISOPA13_SPI5_MOSIPA14_SPI5_CLK
0.1uFC303
SW
30
1
SK
RA
AK
E0
10
1
4
2
3
0.1uFC300
R31710K
R31130K
R305330R
R20310K
0.1uFC310
R314 330R
SW
30
0
SK
RA
AK
E0
10
1
4
2
3
R200100K
J203
NM_HEADER 10X2
11/2
33/2
55/2
77/2
99/2
1111/2
1313/2
1515/2
1717/2
1919/2
22/2
44/2
66/2
88/2
1010/2
1212/2
1414/2
1616/2
1818/2
2020/2
PB07_SWCLK_TCK
PB05_TRACESWO_TDOPB06_SWDIO_TMS
4.7uFC302
12.0MHz
0.1uFC312
NMC402
D301
PRTR5V0U2X
11
22
33
44
D300
LED
J301
Conn. USB Micro AB SMT
GND5ID4DP3
VBUS1
DM2
NC
36
/2
NC
47
/2N
C2
8/2
NC
19
/2
R31039R
XC401
NM
R31247K
PA19_AD2
R1
3100K
0.1uFC314
PA20_AD3
R3024.7K
R3
19
47K
0.1uFC307
PA20_AD3
R3060R
R3004.7K
PA30_GPIO
J300SIP-2 2.54mm
1/2
2/2
R3034.7K
4.7uFC308
R3070R
PA30_GPIO
PB15_GPIO
PA07_XIN32
PA
08_X
OU
T32
PA15_GPIO
U300ATSAMG55J19B-AUT
VD
DIO
1
RESETN2
PB123
PA044 PA035
PA006
PA017
PA058
VD
DC
OR
E9
TEST10
XIN32/PA0711 XOUT32/PA0812
GN
D13
PB1514PB1415
PA3116
PA0617
PA1618
PA3019 PA2920 PA2821
PA1522
PA2323 PA2224 PA2125
VD
DU
SB
26
VD
DIO
27
VR
EF
P28
GN
D29
VD
DO
UT
30
VD
DIO
31
VD
DIO
32
PA1733
PA1834
PA1935
PA2036
PB0037
PB0138
PB0239
PB0340
PA1441 PA1342 PA1243 PA1144
VD
DC
OR
E45
PB1046
PB1147
PA1048 PA0949
TDO/TRACESWO/PB0550
PA2751 PA2652
GN
D53
TMS/SWDIO/PB0654TCK/SWCLK/PB0755
PA2556
PB1357
PA2458
PB0859
PB0960
PA0261
TDI/PB0462
JTAGSEL63
VD
DIO
64
R1
4100K
PA01_TIOB0
0.1uFC301
R3
18
47K
PB13_USART6_CLK
0.1uFC305
NMC403
R3014.7K
PB03_WKUP13
R30439R
R2011K
TP3021
J204
NM_HEADER 5X2
22/2
44/2
66/2
88/2
1010/2
11/2
33/2
55/2
77/2
99/2
R30939R
SWDIOTRACESWO
DGI_GPIO1
TARGET_RESET_SENSE
DGI_GPIO0
TARGET_RESETSWCLK
SDA
DGI_GPIO2
PB15_GPIO
ID1
TARGET_USB_ID
PA27_UART7_RXDPA28_UART7_TXD
SCL
PB08_TWD6
PA05_SPI5_NPCS1PA12_SPI5_MISO
ID4
PA01_TIOB0
PB03_WKUP13
GND
GND
PB09_TWCK6
PA13_SPI5_MOSIPA14_SPI5_CLK
VCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
GND
GND
PA15_GPIO
GND
VDDCORE_P1V2
VDDCORE_P1V2
GND
PB08_TWD6
VCC_MCU_P3V3 VCC_MCU_P3V3
VDDCORE_P1V2
VDDCORE_P1V2
VCC_MCU_P3V3
GND
VCC_MCU_P3V3
GND
VCC_MCU_P3V3
VCC_MCU_P3V3
GND
VCC_MCU_P3V3
GND
VCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
GND
PB09_TWCK6PB09_XIN
GND
GND
GND
VCC_TARGET_P3V3
GND
GND
VCC_TARGET_USB_P5V0
VCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
GND
VCC_MCU_P3V3
GND
GND
GND
GNDGND
GND
GNDVCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
PB08_XOUT PB08_TWD6
PA16_WKUP7
PA03_TWD3TARGET_RESET
PA04_TWCK3
PB09_TWCK6
PB09_XINPB08_XOUT
PB01_UART_RXD6
RESET
IRQ
NCHG
I2C_SCL
I2C_SDA
PA05_SPI5_NPCS1PA05_SPI5_NPCS1
PA13_SPI5_MOSIPA14_SPI5_CLKPA12_SPI5_MISO
PA31_GPIO
PA31_GPIO
PB14_GPIO
PB14_GPIO
PB10_TWD4 PB11_TWCK4
PB05_TRACESWO_TDO
R315 0RDGI_TXD
PB00_UART_TXD6
JTAGSEL
R316 0RDGI_RXD
PB01_UART_RXD6
DGI_CLKPB13_USART6_CLK
PA09_UART_RXD0 PA10_UART_TXD0
PA25_GPIO_CTS0PA26_GPIO_RTS0
CN8
NM D2520-6002-AR
135791113151719
2468
101214161820
PB07_SWCLK_TCK
TARGET_RESETPB05_TRACESWO_TDO
PB06_SWDIO_TMSPB04_GPIO_TDI
PB06_SWDIO_TMSPB05_TRACESWO_TDO
TARGET_RESETPB07_SWCLK_TCK
PB10_TWD4PB11_TWCK4
PA06_GPIOPA24_WKUP11
PA02_WKUP2
PA06_GPIO
PA02_WKUP2
PA27_UART7_RXDPA28_UART7_TXD
GND
PA28_UART7_TXDPA27_UART7_RXD
PB15_GPIO
PB03_WKUP13
VCC_MCU_P3V3
TARGET_USB_NTARGET_USB_P
TA
RG
ET
_R
ES
ET
DGI_GPIO3PB14_GPIO
PB00_UART_TXD6
R1 0RR2 NM PB04_GPIO_TDI
PB06_SWDIO_TMS
PA19_AD2
TARGET_RESET
PB07_SWCLK_TCK
PA06_GPIO
PA04_TWCK3PA03_TWD3
PA16_WKUP7
TARGET_RESETTST
PB12_ERASE
PB12_ERASE
PA02_WKUP2
PB10_TWD4PB11_TWCK4
PA30_GPIO
PA11_SPI5_NPCS0
TARGET_USB_NTARGET_USB_P
PA20_AD3
PA22_USB_P
PA21_USB_N
R7 0R
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Main MCU B
SmartMotion Platform
TDK (Invensense)1745 Technology Dr.
Custom
3 6Wednesday , October 11, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
R8 NM
TA
RG
ET
_U
SB
_ID
EDBG_FORCE_BOOT
ID_1
ID_4
EDBG_ADC0
EDBG_DGI_GPIO3
EDBG_USB_HS_NEDBG_USB_HS_P
EDBG_DGI_USART_RXEDBG_DGI_USART_TXEDBG_DGI_USART_CLK
EDBG_USB_FS_PEDBG_USB_FS_N
PB06_SWDIOPB07_SWCLK
TARGET_RESET
PB05_TRACESWO
TARGET_RESET
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
EDBG (Embedded Debugger) B
SmartMotion Platform
TDK (Invensense)1745 Technology Dr.
Custom
4 6Wednesday , October 11, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
EDBG_DGI_SDA
EDBG_DGI_SCL
DGI_GPIO0
DGI_GPIO3DGI_GPIO2DGI_GPIO1
EDBG_CDC_UART_TXEDBG_CDC_UART_RX
R51339R
TP501
1
TP500
1
R518 330R
TP5051
TP5071
R5156.81k
D501
LED
J500
Conn. USB Micro AB SMT
GND5ID4DP3
VBUS1
DM2
NC
36
/2
NC
47
/2N
C2
8/2
NC
19
/2
D502
PRTR5V0U2X
11
22
33
44
R512 330R
0.1uFC504
R509 330R
22pFC500
2.2uFC514
R51439R
R505330R
L500
BLM18PG471SN1
Q5002N7002DW
G1
5
S1
4D
13
S2
1
G2
2
D2
6
TP5021
R506 1M
10pC502
1nFC507
R507 330R
TP5031
R517 0R
TP5061
U500AT32UC3A4256HHB-C1UR
PA00/PA18G8
PA01/PA17G10
PA02/PX47E1
PA03F9
PA04E9
PA05G9
PA06/PA13E8
PA07/PA19H10
PA08F8
PA09D8
PA10C10
PA11C9
PA12/PA25G7
PA14/PX11K7
PA15/PX45J7
PA16E7
PA20/PX18H9
PA21/PX22K10
PA22/PX20H6
PA23/PX46G6
PA24/PX17J10
PA26/PB05F7
PA27A2
PA28A1
PA29B4
PA30A4
PA31C2
USB_VBUSA10
DMHSA9
DPHSA8
DMFSB9
DPFSB8
USB_VBIASC7
VD
DA
NA
J6
GN
DA
NA
H8
VD
DIN
D9
VD
DC
OR
EE
10
GN
DC
OR
EF
10
VD
DIN
D1
0
GN
DP
LL
B10
VD
DIO
E5
VD
DIO
B5
VD
DIO
J5
VD
DIO
B6
VD
DIO
F2
VD
DIO
F6
GN
DIO
F5
GN
DIO
C3
GN
DIO
H3
GN
DIO
E2
GN
DIO
C8
GN
DIO
E6
RESET_NJ9
TMSH7TDOJ8TDIK8TCKK9
PX00G4
PX01G2
PX02G3
PX03J1
PX04H1
PX05G1
PX06F3
PX07F4
PX08E3
PX09E4
PX10D2
PX15/PX32K4
PX12D1
PX13D3
PX16/PX53D4
PX19/PX59F1
PX21H2
PX23K1
PX24J2
PX25H4
PX26J3
PX27K2
PX28K3
PX29J4
PX30G5
PX31H5
PB
00
B1
PB
01
B2
PB
02
B3
PB
03
C4
PB
04
A3
PB
06
D7
PB
07
D6
PB
08
C6
PB
09
C5
PB
10
D5
PB
11
C1
PC
00
/PX
14
K5
PC
01
K6
PC
02
A5
PC
03
A6
PC
04
B7
PC
05
A7
1nFC508
R510 330R
XC500
12.0 MHzR5031M
0.1uFC511
2.2uFC509
22pFC501
R5021K
EDBG_JTAG_TCK
2.2uFC515
R508 330R
EDBG_JTAG_TDIEDBG_JTAG_TDOEDBG_JTAG_TMS TP504
1
0.1uFC512
0.1uFC510
EDBG_RESET_N
1nFC506
R511 330R
R5001K
0.1uFC513
R504330R
2.2uFC505
D500
LED
L501
BLM18PG471SN1
SWCLKSWDIO
TARGET_RESET_SENSE
EDBG_DGI_GPIO0
TRACESWO
TARGET_RESET
EDBG_DGI_GPIO2EDBG_DGI_GPIO1
EDBG_DGI_USART_TX_EDBG_DGI_USART_RX
EDBG_DGI_SCLEDBG_DGI_SDA
EDBG_DGI_USART_CLK_
EDBG_CDC_UART_RXEDBG_CDC_UART_TX_
ID4
ID1
GND
GND
EDBG_ADC0
GND
GND
VCC_EDBG_P3V3
GND
VCC_EDBG_USB_P5V0
GNDGND
GND
VCC_EDBG_P3V3
GND
VCC_EDBG_P3V3
GND GND
VCC_EDBG_P3V3
GND
GND
GND
VCC_EDBG_P3V3
GND
VCC_EDBG_P3V3GND
VCC_P3V3VCC_EDBG_P3V3
GND
VCC_EDBG_P3V3
VCC_EDBG_P3V3
GND
GND
GNDGND
TARGET_RESET_SENSE
YellowGreen
STATUS_LED_CTRL
POWER_LED_CTRL
XIN
0X
OU
T0
EDBG_FORCE_BOOT
1uFC18
1uFC17
GNDGND
R1140R
U102
NM_STMPS2161STR
OUT1
GND2
FAULT3
EN4
IN5
VCC_P5V0 VCC_TARGET_USB_P5V0
J1
HEADER 4X2, Male, 180D
2468
1357
VCC_P5V0
R11247K
R11347K
GND
TARGET_VOLTAGE
R110NM_100K
VCC_TARGET_P3V3
R109 NM_100K
GND
VCC_TARGET_P3V3
VBUS_HOST_EN
U100 SPX3819R2-L/TR
EN1
NC2
VIN3
NC4
VOUT5
NC6
GND7
ADJ/BYP8
GN
D9
4.7uFC101
GNDGND
VCC_P3V3
C10010uF
GND
R10230K
GND
R10018K
GND
R1110R
VCC_TARGET_P3V3
VCC_MCU_P3V3
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Power B
SmartMotion Platform
TDK (Invensense)1745 Technology Dr.
Custom
5 6Wednesday , October 11, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
VCC_EDBG_USB_P5V0
VBAT
VCC_FTDI_USB_P5V0
VCC_TARGET_USB_P5V0
GND
VBAT
CN7
NM_BAT
12
MT11
MT21
MT41
MT31
GNDU6
MAX1555
USB1
GND2
CHG#3
DC4
BAT5
D2
LE
D0
40
2_
RE
D
12
R1
21K
280mA
VCC_P5V0
VCC_P5V0
GND
J6 NM
1 2
J5NM
1 2
J4NM
1 2
C10.1uF
C60.1uF
C20.1uF
R19 0R
C40.1uF
U2
ICM-20648
NC1
NC2
NC3
NC4
NC5
NC6
AU
X_C
L7
VD
DIO
8
SD
O_A
D0
9
RE
GO
UT
10
FS
YN
C11
INT
112
VDD13
NC14
NC15
NC16
NC17
GND18
INT
219
RE
SV
20
AU
X_D
A21
nC
S22
SC
L_S
CLK
23
SD
A_S
DI
24
C50.1uF
C30.1uF
U1
ICM-20602/IAM-20680
QFN16_IT36_3X3(0.5PITCH)A
SD
A/S
DI
3
FSYNC8
VD
DIO
1
VDD16
SC
L/S
PC
2
GN
D13
RESV7
RE
SV
12
nC
S5
AD
0/S
DO
4
INT6
RE
SV
11
REGOUT14RESV15
RE
SV
10
RE
SV
9
VDD_TDK
VDD_TDK
VDDIO_TDK
VDDIO_TDK
GND
GND
GND
GNDGND
J7SIP-2 2.54mm
1 2
INT_DB
VCC_TARGET_P3V3
CN6
Conn. USB Micro AB SMT
GND5ID4DP3
VBUS1
DM2
NC
36/2
NC
47/2
NC
28/2
NC
19/2
SN_MISO/AD0_DBEVB
DB_INT2DB_INT1
SN_MISO/AD0
U3
ICM-40605
AP_AD0/AP_SDO1
RESV2
RESV3
INT14
VD
DIO
5
GN
D6
FS
YN
C7
VDD8INT29RESV10RESV11
AP
_C
S12
AP
_S
CL /
AP
_S
CLK
13
AP
_S
DA
/ A
P_S
DIO
/AP
_S
DI
14
R2310K
GND
Other Sensor DB
VCC_FTDI_USB_P5V0
SN_MOSI/SDASN_SCLK/SCLSN_CS
INT2
C70.1uF
GND
VDD_TDK
INT1
VCC_TARGET_P3V3
FSYNC
SN_MISO/AD0
GND
AUXCLAUXCLAUXDA
SN_MISO/AD0
SN_MISO/AD0
SN_SCLK/SCLSN_CS
SN_MISO/AD0SN_MOSI/SDA
VCC_P5V0
GND
GND
GND
GND
AUXCL
U5
FT232RLTXD
1
DT
R#
2
RTS#3
VCCIO4
RXD5
RI#
6
GND7
NC
8
DS
R#
9
DC
D#
10
CTS#11
CB
US
412
CB
US
213
CB
US
314
USBDP15 USBDM16
3V3OUT17
GND18
RE
SE
T#
19
VCC20
GND21
CBUS122CBUS023
NC
24
AGND25 TEST26
OS
CI
27
OS
CO
28
R6 0R
VDD_TDK
GND
R5 0R
UART to USB
C16
0.1
uF
VDDIO_TDK
GND
D1
LE
D0402_R
ED
12
R9
1K
GND
GND
GND
C14
1uF
GND
C13
0.1
uF
GND
C15
0.1
uF
FTDI_RXD
VCC_CHEETAH_P5V0
SN_MOSI/SDA
NM
CN9
SS21
SS33
MISO5
SCLK7
SS19
GND2
5V4
5V6
MOSI8
GND10
INT1
FSYNC
SN_MISO/AD0
SN_SCLK/SCLSN_MOSI/SDA
INT2
SN_CS
VCC_FTDI_USB_P5V0
INT2
AUXDA
INT1
FSYNC
SN_MOSI/SDASN_SCLK/SCLSN_CS
GND
QFN 3x3
SN_SCLK/SCLDB_CS
DB_CS
SN_MISO/AD0_DBEVB
SN_MISO/AD0_DBEVB DB_CS
GND GND
CN3
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
C90.1uF
GND
VDDIO_TDK
CN2
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
AUXCL SN_SCLK/SCLSN_MOSI/SDAAUXDA
CN5
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
R20 0R
GND
CN4
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
GND GND
SN_SCLK/SCLSN_MOSI/SDAAUXDA
AUXCL
DB_INT2DB_INT1
INT_DB
GND
DB_INT2DB_INT1
CN1
HDR 10X2, Female, RA, 2.54mmx2.54mm
13579
1113151719
2468101214161820
GND
DB_CS
SN_MISO/AD0_DBEVB
SN_SCLK/SCLSN_MOSI/SDA
C8NM_0.1uF
R10 0RR11 0R
FTDI_TXD
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
TDK (InvenSense Sensor) B
SmartMotion Platform
TDK (Invensense)1745 Technology Dr.
Custom
6 6Wednesday , October 11, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
FTDI_RTSFTDI_CTS
INT1INT2
VCC_TARGET_P3V3
Ver-C schematics:
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Block Diagram C
Xpro and TDK-Sensor
TDK (Invensense)1745 Technology Dr.
Custom
1 6Tuesday , September 12, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
EDBG MCU
2. EDBG MCU
TARGET_RESET_SENSE
SWDIOSWCLK
TARGET_RESETTRACESWO
EDBG_DGI_GPIO0EDBG_DGI_GPIO1EDBG_DGI_GPIO2
EDBG_DGI_USART_RXEDBG_DGI_USART_TX_
EDBG_DGI_USART_CLK_
EDBG_CDC_UART_TX_EDBG_CDC_UART_RX
ID1ID4
EDBG_ADC0
EDBG_DGI_SDAEDBG_DGI_SCL
EDBG_DGI_GPIO3
INVN Sensor
4. INVN Sensor
SN_CSSN_SCLK/SCLSN_MOSI/SDASN_MISO/AD0
INT1INT2DB_INT1
INT_DB
AUXDAAUXCL
FTDI_RXDFTDI_TXD
FTDI_CTSFTDI_RTS
DB_CS
DB_INT2
Main MCU
1. Main MCU
TRACESWO
SWDIOSWCLK
TARGET_RESET
DGI_GPIO0
TARGET_RESET_SENSE
DGI_GPIO1DGI_GPIO2
DGI_CLK
SDASCL
PA28_UART7_TXDPA27_UART7_RXD
TARGET_USB_ID
ID1ID4
PA12_SPI5_MISO
PA05_SPI5_NPCS1
PB08_TWD6
PA14_SPI5_CLKPA13_SPI5_MOSI
PB09_TWCK6
PB03_WKUP13PB15_GPIOPA30_GPIO
PA26_GPIO_RTS0DGI_TXDPA25_GPIO_CTS0
PA15_GPIO
PA09_UART_RXD0PA10_UART_TXD0DGI_RXD
DGI_GPIO3
PA11_SPI5_NPCS0
PA20_AD3
Power Supply
3. Power Supply
TARGET_VOLTAGE VBUS_HOST_EN
ED
BG
_A
DC
0
PA24_WKUP11PA06_GPIO
TARGET_RESET
PA02_WKUP2
TARGET_RESET
PB07_SWCLKPB06_SWDIO
PB05_TRACESWO
PA27_UART7_RXDEDBG_CDC_UART_RX
EDBG_DGI_SCLEDBG_DGI_SDA
ID4ID1
TA
RG
ET
_U
SB
_ID
PB03_WKUP13PB15_GPIO
PA14_SPI5_CLK R16 0RPA13_SPI5_MOSIPA12_SPI5_MISO
R17 0R
PA30_GPIO
SN_MISO/AD0
PA15_GPIO
SN_SCLK/SCLSN_MOSI/SDA
PB13_USART6_CLKEDBG_DGI_USART_RX
VCC_MCU_P3V3
SN_CS
J2HEADER 4X2, Male, 180D
2 4 6 8
1 3 5 7
PB14_GPIO
R15 0RPA11_SPI5_NPCS0
R18100K
PA20_AD3
R2110K
DB_CS
GND
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Top C
Xpro and TDK-Sensor
TDK (Invensense)1745 Technology Dr.
Custom
2 6Tuesday , September 12, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
R22 0RPA05_SPI5_NPCS1
R310K
J3
HEADER 4X2, Male, 180D
2468
1357PA25_GPIO_CTS0
PA26_GPIO_RTS0PA10_UART_TXD0PA09_UART_RXD0
PB08_TWD6PB09_TWCK6
R4 NM
PB02_AD6
PB02_AD6
PA15_GPIO
PB04_GPIO_TDI
PB09_XIN
22pF 22pF
PA17_AD0PA26_GPIO_RTS0
PA24_WKUP11PA00_TIOA0
PB10_TWD4
0.1uFC311
PA09_UART_RXD0
PA12_SPI5_MISOPA11_SPI5_NPCS0
R2021K
XC400
32.768kHz
11
22
33
J201
NM_CON8
12345678
PA29_GPIOPA23_TIOA1PA25_GPIO_CTS0PA18_AD1
4.7uFC304
PA14_SPI5_CLKPA13_SPI5_MOSIPA10_UART_TXD0PB11_TWCK4
4.7uFC309
R30810K
PA17_AD0
5.6pFC400
5.6pFC401
PA26_GPIO_RTS0
PA18_AD1
PA00_TIOA0
PA25_GPIO_CTS0
R3
20
47K
PA23_TIOA1PA24_WKUP11
PB10_TWD4
PA29_GPIO
J200
HEADER 10X2
11/2
33/2
55/2
77/2
99/2
1111/2
1313/2
1515/2
1717/2
1919/2
22/2
44/2
66/2
88/2
1010/2
1212/2
1414/2
1616/2
1818/2
2020/2
PB11_TWCK4
PA09_UART_RXD0
PA11_SPI5_NPCS0PA10_UART_TXD0
PA12_SPI5_MISOPA13_SPI5_MOSIPA14_SPI5_CLK
0.1uFC303
SW
30
1
SK
RA
AK
E0
10
1
4
2
3
0.1uFC300
R31710K
R31130K
R305330R
R20310K
0.1uFC310
R314 330R
SW
30
0
SK
RA
AK
E0
10
1
4
2
3
R200100K
J203
NM_HEADER 10X2
11/2
33/2
55/2
77/2
99/2
1111/2
1313/2
1515/2
1717/2
1919/2
22/2
44/2
66/2
88/2
1010/2
1212/2
1414/2
1616/2
1818/2
2020/2
PB07_SWCLK_TCK
PB05_TRACESWO_TDOPB06_SWDIO_TMS
4.7uFC302
12.0MHz
0.1uFC312
NMC402
D301
PRTR5V0U2X
11
22
33
44
D300
LED
J301
Conn. USB Micro AB SMT
GND5ID4DP3
VBUS1
DM2
NC
36
/2
NC
47
/2N
C2
8/2
NC
19
/2
R31039R
XC401
NM
R31247K
PA19_AD2
Target USB
0.1uFC314
R1
3100K
PA20_AD3
R3024.7K
R3
19
47K
0.1uFC307
PA20_AD3
R3060R
R3004.7K
PA30_GPIO
R3034.7K
J300SIP-2 2.54mm
1/2
2/2
4.7uFC308
R3070R
PA30_GPIO
PB15_GPIO
PA07_XIN32
PA
08_X
OU
T32
PA15_GPIO
U300ATSAMG55J19B-AUT
VD
DIO
1
RESETN2
PB123
PA044 PA035
PA006
PA017
PA058
VD
DC
OR
E9
TEST10
XIN32/PA0711 XOUT32/PA0812
GN
D13
PB1514PB1415
PA3116
PA0617
PA1618
PA3019 PA2920 PA2821
PA1522
PA2323 PA2224 PA2125
VD
DU
SB
26
VD
DIO
27
VR
EF
P28
GN
D29
VD
DO
UT
30
VD
DIO
31
VD
DIO
32
PA1733
PA1834
PA1935
PA2036
PB0037
PB0138
PB0239
PB0340
PA1441 PA1342 PA1243 PA1144
VD
DC
OR
E45
PB1046
PB1147
PA1048 PA0949
TDO/TRACESWO/PB0550
PA2751 PA2652
GN
D53
TMS/SWDIO/PB0654TCK/SWCLK/PB0755
PA2556
PB1357
PA2458
PB0859
PB0960
PA0261
TDI/PB0462
JTAGSEL63
VD
DIO
64
R1
4100K
PA01_TIOB0
0.1uFC301
R3
18
47K
PB13_USART6_CLK
0.1uFC305
NMC403
R3014.7K
PB03_WKUP13
R2011K
R30439R
TP3021
J204
NM_HEADER 5X2
22/2
44/2
66/2
88/2
1010/2
11/2
33/2
55/2
77/2
99/2
R30939R
SWDIOTRACESWO
DGI_GPIO1
TARGET_RESET_SENSE
DGI_GPIO0
TARGET_RESETSWCLK
SDA
DGI_GPIO2
PB15_GPIO
ID1
TARGET_USB_ID
PA27_UART7_RXDPA28_UART7_TXD
SCL
PB08_TWD6
PA05_SPI5_NPCS1PA12_SPI5_MISO
ID4
PA01_TIOB0
PB03_WKUP13
GND
GND
PB09_TWCK6
PA13_SPI5_MOSIPA14_SPI5_CLK
VCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
GND
GND
PA15_GPIO
GND
VDDCORE_P1V2
VDDCORE_P1V2
GND
PB08_TWD6
VCC_MCU_P3V3 VCC_MCU_P3V3
VDDCORE_P1V2
VDDCORE_P1V2
VCC_MCU_P3V3
GND
VCC_MCU_P3V3
GND
VCC_MCU_P3V3
VCC_MCU_P3V3
GND
VCC_MCU_P3V3
GND
VCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
GND
PB09_TWCK6PB09_XIN
GND
GND
GND
VCC_TARGET_P3V3
GND
GND
VCC_TARGET_USB_P5V0
VCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
GND
VCC_MCU_P3V3
GND
GND
GND
GNDGND
GND
GNDVCC_TARGET_P3V3
VCC_TARGET_P3V3
GND
PB08_XOUT PB08_TWD6
PA16_WKUP7
PA03_TWD3TARGET_RESET
PA04_TWCK3
PB09_TWCK6
PB09_XINPB08_XOUT
PB01_UART_RXD6
RESET
IRQ
NCHG
I2C_SCL
I2C_SDA
PA05_SPI5_NPCS1PA05_SPI5_NPCS1
PA13_SPI5_MOSIPA14_SPI5_CLKPA12_SPI5_MISO
PA31_GPIO
PA31_GPIO
PB14_GPIO
PB14_GPIO
PB10_TWD4 PB11_TWCK4
PB05_TRACESWO_TDO
R315 0RDGI_TXD
PB00_UART_TXD6
JTAGSEL
R316 0RDGI_RXD
PB01_UART_RXD6
{
DGI_USART
DGI_CLKPB13_USART6_CLK
PA09_UART_RXD0 PA10_UART_TXD0
PA25_GPIO_CTS0PA26_GPIO_RTS0
CN8
NM D2520-6002-AR
135791113151719
2468
101214161820
PB07_SWCLK_TCK
TARGET_RESETPB05_TRACESWO_TDO
PB06_SWDIO_TMSPB04_GPIO_TDI
PB06_SWDIO_TMSPB05_TRACESWO_TDO
TARGET_RESETPB07_SWCLK_TCK
{
{
SWD
DGI_GPIO
PB10_TWD4PB11_TWCK4
PA06_GPIOPA24_WKUP11
PA02_WKUP2
PA06_GPIO
PA02_WKUP2
DGI_TWI
{
PA27_UART7_RXDPA28_UART7_TXD
GND
PA28_UART7_TXDPA27_UART7_RXD
{
CDC_UART
PB15_GPIO
PB03_WKUP13
VCC_MCU_P3V3
TARGET_USB_NTARGET_USB_P
TA
RG
ET
_R
ES
ET
DGI_GPIO3PB14_GPIO
PB00_UART_TXD6
R1 0RR2 NM PB04_GPIO_TDI
PB06_SWDIO_TMS
PA19_AD2
TARGET_RESET
PB07_SWCLK_TCK
PA06_GPIO
USER_LED
PA04_TWCK3PA03_TWD3
PA16_WKUP7
USER_BUTTON
TARGET_RESETTST
PB12_ERASE
PB12_ERASE
Cortex Debug Connector for
External programmer/debugger
PA02_WKUP2
PB10_TWD4PB11_TWCK4
PA30_GPIO
PA11_SPI5_NPCS0
TARGET_USB_NTARGET_USB_P
PA20_AD3
PA22_USB_P
PA21_USB_N
R7 0R
Title
Size Document Number
RevDate: Sheet of
Main MCU C
Xpro and TDK-Sensor
TDK (Invensense)1745 Technology Dr.
Custom
3 6Tuesday , September 12, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
R8 NM
TA
RG
ET
_U
SB
_ID
10mA @ 3.3V
Current limiters
EDBG_FORCE_BOOT
ID_1
ID_4
EDBG_ADC0
PROG USB
EDBG_DGI_GPIO3
EDBG_USB_HS_NEDBG_USB_HS_P
EDBG_DGI_USART_RXEDBG_DGI_USART_TXEDBG_DGI_USART_CLK
EDBG_USB_FS_PEDBG_USB_FS_N
PB06_SWDIOPB07_SWCLK
TARGET_RESET
PB05_TRACESWO
TARGET_RESET
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
EDBG (Embedded Debugger) C
Xpro and TDK-Sensor
TDK (Invensense)1745 Technology Dr.
Custom
4 6Tuesday , September 12, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
EDBG_DGI_SDA
EDBG_DGI_SCL
DGI_GPIO0
DGI_GPIO3DGI_GPIO2DGI_GPIO1
EDBG_CDC_UART_TXEDBG_CDC_UART_RX
R51339R
TP501
1
TP500
1
R518 330R
TP5051
TP5071
R5156.81k
D501
LED
J500
Conn. USB Micro AB SMT
GND5ID4DP3
VBUS1
DM2
NC
36
/2
NC
47
/2N
C2
8/2
NC
19
/2
D502
PRTR5V0U2X
11
22
33
44
R512 330R
0.1uFC504
R509 330R
22pFC500
2.2uFC514
R51439R
R505330R
L500
BLM18PG471SN1
Q5002N7002DW
G1
5
S1
4D
13
S2
1
G2
2
D2
6
TP5021
R506 1M
10pC502
1nFC507
R507 330R
TP5031
R517 0R
TP5061
U500AT32UC3A4256HHB-C1UR
PA00/PA18G8
PA01/PA17G10
PA02/PX47E1
PA03F9
PA04E9
PA05G9
PA06/PA13E8
PA07/PA19H10
PA08F8
PA09D8
PA10C10
PA11C9
PA12/PA25G7
PA14/PX11K7
PA15/PX45J7
PA16E7
PA20/PX18H9
PA21/PX22K10
PA22/PX20H6
PA23/PX46G6
PA24/PX17J10
PA26/PB05F7
PA27A2
PA28A1
PA29B4
PA30A4
PA31C2
USB_VBUSA10
DMHSA9
DPHSA8
DMFSB9
DPFSB8
USB_VBIASC7
VD
DA
NA
J6
GN
DA
NA
H8
VD
DIN
D9
VD
DC
OR
EE
10
GN
DC
OR
EF
10
VD
DIN
D1
0
GN
DP
LL
B10
VD
DIO
E5
VD
DIO
B5
VD
DIO
J5
VD
DIO
B6
VD
DIO
F2
VD
DIO
F6
GN
DIO
F5
GN
DIO
C3
GN
DIO
H3
GN
DIO
E2
GN
DIO
C8
GN
DIO
E6
RESET_NJ9
TMSH7TDOJ8TDIK8TCKK9
PX00G4
PX01G2
PX02G3
PX03J1
PX04H1
PX05G1
PX06F3
PX07F4
PX08E3
PX09E4
PX10D2
PX15/PX32K4
PX12D1
PX13D3
PX16/PX53D4
PX19/PX59F1
PX21H2
PX23K1
PX24J2
PX25H4
PX26J3
PX27K2
PX28K3
PX29J4
PX30G5
PX31H5
PB
00
B1
PB
01
B2
PB
02
B3
PB
03
C4
PB
04
A3
PB
06
D7
PB
07
D6
PB
08
C6
PB
09
C5
PB
10
D5
PB
11
C1
PC
00
/PX
14
K5
PC
01
K6
PC
02
A5
PC
03
A6
PC
04
B7
PC
05
A7
1nFC508
R510 330R
XC500
12.0 MHzR5031M
0.1uFC511
2.2uFC509
22pFC501
R5021K
EDBG_JTAG_TCK
2.2uFC515
R508 330R
EDBG_JTAG_TDIEDBG_JTAG_TDOEDBG_JTAG_TMS TP504
1
0.1uFC512
0.1uFC510
EDBG_RESET_N
1nFC506
R511 330R
R5001K
0.1uFC513
R504330R
2.2uFC505
D500
LED
L501
BLM18PG471SN1
SWCLKSWDIO
TARGET_RESET_SENSE
EDBG_DGI_GPIO0
TRACESWO
TARGET_RESET
EDBG_DGI_GPIO2EDBG_DGI_GPIO1
EDBG_DGI_USART_TX_EDBG_DGI_USART_RX
EDBG_DGI_SCLEDBG_DGI_SDA
EDBG_DGI_USART_CLK_
EDBG_CDC_UART_RXEDBG_CDC_UART_TX_
ID4
ID1
GND
GND
EDBG_ADC0
GND
GND
VCC_EDBG_P3V3
GND
VCC_EDBG_USB_P5V0
GNDGND
GND
VCC_EDBG_P3V3
GND
VCC_EDBG_P3V3
GND GND
VCC_EDBG_P3V3
GND
GND
GND
VCC_EDBG_P3V3
GND
VCC_EDBG_P3V3GND
VCC_P3V3VCC_EDBG_P3V3
GND
VCC_EDBG_P3V3
VCC_EDBG_P3V3
GND
GND
GNDGND
TARGET_RESET_SENSE
YellowGreen
STATUS_LED_CTRL
POWER_LED_CTRL
EDBG Power and Status LEDs
XIN
0X
OU
T0
EDBG_FORCE_BOOT
1uFC18
1uFC17
GNDGND
R1140R
U102
NM_STMPS2161STR
OUT1
GND2
FAULT3
EN4
IN5
VCC_P5V0 VCC_TARGET_USB_P5V0
J1
HEADER 4X2, Male, 180D
2468
1357
VCC_P5V0
R11247K
R11347K
GND
TARGET_VOLTAGE
R110NM_100K
VCC_TARGET_P3V3R109 NM_100K
GND
VCC_TARGET_P3V3
VBUS_HOST_EN
U100 SPX3819R2-L/TR
EN1
NC2
VIN3
NC4
VOUT5
NC6
GND7
ADJ/BYP8
GN
D9
4.7uFC101
GNDGND
VCC_P3V3
C10010uF
GND
R10230K
GND
R10018K
GND
R1110R
VCC_TARGET_P3V3
VCC_MCU_P3V3
OHCI Current
Limitation
3.3V linear regulator
Power
multiplexer
Battery
Charger
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
Power C
Xpro and TDK-Sensor
TDK (Invensense)1745 Technology Dr.
Custom
5 6Tuesday , September 12, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
VCC_EDBG_USB_P5V0
VBAT
VCC_FTDI_USB_P5V0
VCC_TARGET_USB_P5V0
GND
VBAT
CN7
NM_BAT
12
MT11
MT21
MT41
MT31
GND
500mA
U6
MAX1555
USB1
GND2
CHG#3
DC4
BAT5
D2
LE
D0
40
2_
RE
D
12
R1
21K
280mA
100mA
VCC_P5V0
VCC_P5V0
GND
J6NM
1 2
J4NM
1 2
J5NM
1 2
GNDGND
1V8
INT2_1V8
INT1_1V8
R2810KR2710K AUXDA_1V8
AUXCL_1V8AUXDA
INT2
INT1
INT2
INT1
AUXCLAUXCL
AUXDA
SCLK/SCL_1V8/CS_1V8
INT2_1V8
C1 0.1uF
MOSI/SDA_1V8
C2 0.1uF
C30.1uF
U1
ICM-20789
BVPP1
NC12
NC23
NC34
NC45
AUX_DA6
AU
X_
CL
7
VD
DIO
8
SD
O/A
D0
9
RE
GO
UT
10
FS
YN
C11
INT
12
VDD13NC514NC615NC716NC817VSS18
DR
DY
19
GV
PP
20
ES
DA
_D
UP
21
nC
S22
SC
L/S
CL
K23
SD
A/S
DI
24
1V8
GND GND
GNDGND
GND
/CS_1V8
MISO/AD0_1V8
FSYNC_1V8
AUXDA_1V8
MOSI/SDA_1V8SCLK/SCL_1V8
QFN24_4x4
VCC_TARGET_P3V3INT1_1V8
AUXCL_1V8
MOSI/SDA_1V8
INT2_1V8
R2410K
/CS_1V8R2310K
GND
1V8
GNDGND
C201uF
GND
C120.1uF
300mA
1V8
1uFC22
0.1uFC21
SOT235TLV70218DBVT
U9
Vin1
OUT5
GND2
EN3
NC4
1V8
1V8
INT_DB
GND
GND
VCC_TARGET_P3V3
GND
/Tri-State
C7 0.1uF C8 0.1uFU7
MAX3378EEUD
VL1
IO-VL12
IO-VL23
IO-VL34
IO-VL45
NC6
GND7
/Tri-State8NC9IO-VCC410IO-VCC311IO-VCC212IO-VCC113VCC14
1V8
SN_SCLK/SCLSN_MOSI/SDA
SN_MISO/AD0
SN_MOSI/SDASN_SCLK/SCL
SN_CS
GND
GND
/Tri-State
GND
CN6
Conn. USB Micro AB SMT
GND5ID4DP3
VBUS1
DM2
NC
36
/2
NC
47
/2N
C2
8/2
NC
19
/2
C9 0.1uF C10 0.1uF
1V8
U8
MAX3378EEUD
VL1
IO-VL12
IO-VL23
IO-VL34
IO-VL45
NC6
GND7
/Tri-State8NC9IO-VCC410IO-VCC311IO-VCC212IO-VCC113VCC14
AUXDA_1V8
QFN 3x3
GND
R19 10K
SCLK/SCL_1V8R2510K
DB_INT2
R2010K
1V8
DB_INT1
U2
ICM-20948
NC1
NC2
NC3
NC4
NC5
NC6
AU
X_
CL
7
VD
DIO
8
SD
O_
AD
09
RE
GO
UT
10
FS
YN
C11
INT
112
VDD13NC14NC15NC16NC17GND18IN
T2
19
RE
SV
20
AU
X_
DA
21
nC
S22
SC
L_
SC
LK
23
SD
A_
SD
I24
C40.1uF
GND
1V8
C5 0.1uF
MISO/AD0_1V8GND
FSYNC_1V8INT1_1V8
AUXCL_1V8
GNDGND
MISO/AD0_1V8
C60.1uF
1V8
SCLK/SCL_1V8MOSI/SDA_1V8
Other Sensor DB
VCC_TARGET_P3V3
VCC_FTDI_USB_P5V0
VCC_TARGET_P3V3
SN_CS
U4
ICP-10100
SCL2
GN
D8
RESV6
RE
SV
5S
DA
4R
ES
V3
RESV1
RESV7G
ND
9V
DD
10
SN_MISO/AD0
VCC_TARGET_P3V3
I2C Slave Address = 0x63
GND
J7SIP-2 2.54mm
1 2
Short:DB/EVB=SPI
Open:DB/DVB=I2C
SN_MISO/AD0SN_MISO/AD0_DBEVB
VCC_P5V0
GND
C11 0.1uF
1V8
U5
FT232RLTXD
1
DT
R#
2
RTS#3
VCCIO4
RXD5
RI#
6
GND7
NC
8
DS
R#
9
DC
D#
10
CTS#11
CB
US
412
CB
US
213
CB
US
314
USBDP15 USBDM16
3V3OUT17
GND18
RE
SE
T#
19
VCC20
GND21
CBUS122CBUS023
NC
24
AGND25 TEST26
OS
CI
27
OS
CO
28
R6 0R
VDD_TDK
GND
R5 0R
UART to USB
1V8
C1
60
.1u
F
VDDIO_TDK
GND
D1
LE
D0
40
2_
RE
D
12
R9
1K
MOSI/SDA_1V8
SCLK/SCL_1V8
GND
GND
GND
C1
41uF
GND
C1
30
.1u
F
GND
C1
50
.1u
F
FTDI_RXD
VCC_CHEETAH_P5V0
SN_MOSI/SDA
NM
CN9
SS21
SS33
MISO5
SCLK7
SS19
GND2
5V4
5V6
MOSI8
GND10
GND
VCC_FTDI_USB_P5V0
GND
SN_SCLK/SCLDB_CS
DB_CS
SN_MISO/AD0_DBEVB
SN_MISO/AD0_DBEVB DB_CS
INV Sensor DB
GND GND
CN3
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
CN2
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
AUXCL SN_SCLK/SCLSN_MOSI/SDAAUXDA
CN5
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
CN4
HDR 5X2, 2.54mmX2.54mm
2468
10
13579
GND GND
SN_SCLK/SCLSN_MOSI/SDAAUXDA
AUXCL
DB_INT2DB_INT1
INT_DB
DB_INT2
Connect to
Sensor EVB
DB_INT1
CN1
HDR 10X2, Female, RA, 2.54mmx2.54mm
13579
1113151719
2468101214161820
GND
DB_CS
SN_MISO/AD0_DBEVB
SN_SCLK/SCLSN_MOSI/SDA
Connect to Cheetah
(when use Cheetah, remove R15/16/17/18)
GND
R10 0RR11 0R
FTDI_TXD
Tit le
Size Docum ent Num ber
Rev
Dat e: Sheet of
TDK (InvenSense Sensor) C
Xpro and TDK-Sensor
TDK (Invensense)1745 Technology Dr.
Custom
6 6Tuesday , September 12, 2017
San Jose, CA 95110 www.inv ensense.com
Phone: 408-988-7339Fax: 408-988-8104
FTDI_RTSFTDI_CTS
I2C Slave Address = 0x63
U3
ICP-10111
RESV2VDD
8
RESV6
RESV5
SCL4SDA3
GND1
GND7
VCC_TARGET_P3V3
4. Board PCB Ver-B PCB
Ver-C PCB