Hello an Welcome to the community,
VMware HCL says it supports your HW with Intel Xeon E5-2600-v2 Series which means all the CPUs (26XX) in this serie including 2690v2...
Your server model is supported with this CPU family and with Nvidia Quadro K4000 GPU...
Please post more details about upgrade failure what errors you get etc.
Before you start double check that you have the latest BIOS/Firmware installed on the server and for upgrade download the latest release of ESXi
which is 6.0 Update 1, here:
https://my.vmware.com/group/vmware/info?slug=datacenter_cloud_infrastructure/vmware_vsphere/6_0
RN:
http://pubs.vmware.com/Release_Notes/en/vsphere/60/vsphere-esxi-60u1-release-notes.html#compatibilit...
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Regards,
P.