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MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 1 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com MPU-9150 9-axis evaluation board user guide
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 2 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com table of contents 1. revision history .................................. ................................................... .............................................. 3 2. purpose ........................................... ................................................... ................................................... .. 4 2.1 u sage .................................................. ................................................... ............................................... 4 2.2 r elated d ocuments .................................................. ................................................... ........................ 4 3. MPU-9150 9-axis ev board overview ................. ................................................... .......................... 5 3.1 MPU-9150 k ey f unction and p in - outs .................................................. .............................................. 6 3.2 MPU-9150 b us c onnection .................................................. ................................................... ............ 6 4. schematic ......................................... ................................................... ................................................... . 7 5. bill of materials ................................. ................................................... ............................................. 8 6. power supply connections .......................... ................................................... ............................... 9 6.1 jp4 ? vlogic s election h eader .................................................. ................................................... ... 9 6.2 jp8 ? p ower s election h eader .................................................. ................................................... ..... 9 7. MPU-9150 evb connector signals description ........ ................................................... ........... 10 7.1 jp11 ? e xtended f actory h eader .................................................. .................................................. 10 7.2 jp12 ? c ustomer h eader c onnector .................................................. ............................................ 11 7.3 c onnecting the fsync l ine .................................................. ................................................... ........ 12 7.4 s erial bus l evels , s peeds and t erminations .................................................. ................................. 12 8. data gathering options ............................ ................................................... .................................. 13 8.1 c onnection to the inv-armevb ........................................ ................................................... ........... 13 8.2 u se of MPU-9150 without inv-armevb ........................................ ................................................. 1 3 9. layout ............................................ ................................................... ................................................... .. 14 9.1 c omponent reference names and locations .................................................. ................................. 14 10. special instructions: electrostatic discharge sensi tivity ......................................... 14
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 3 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 1. revision history date revision description 05/11/2011 1.0 initial release
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 4 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 2. purpose this document describes the hardware and circuitry on the MPU-9150? 9-axis evaluation board (evb). this evb is used to evaluate the MPU-9150. t he document covers (1) how to apply the evb to a larger system, (2) understanding key signals and circuit functions, (3) hardware jumper settings, an d (4) port connector descriptions. 2.1 usage this evaluation board is used to demonstrate invens ense?s MPU-9150 for 9-axis motion detection and measurement. these 9 axes are comprised of the foll owing: ? digital-output x-, y-, z-axis angular rate sensors (gyroscopes) with a user-programmable full- scale range of 250, 500, 1000, and 2000/sec ? digital-output x-, y-, z-axis accelerometers with a programmable full scale range of 2 g , 4 g , 8 g and 16 g ? digital-output x-, y-, z-axis magnetometer (compas s) with a full scale range of 1200t nine axis motion is measured using on-chip adcs and transmitted through the MPU-9150?s primary i2c interface. the user can use the primary i2c serial communications interface for standalone testing of the evaluation board. alternatively, by connecting the evb to the invensense arm evaluation board (inv- armevb), the user can connect the evaluation board to a host windows pc via a usb interface. figure 4 shows the MPU-9150 9-axis evaluation board and th e inv-armevb connected together. when this evaluation board is connected to a host w indows pc through the inv-armevb?s usb interface, the MPU-9150?s motion processing capabil ities can be demonstrated through motion related application software. invensense provides a software package for evaluati ng the MPU-9150 by using the MPU-9150 ev board. the invensense pc demo software package, alo ng with the installation and user guide for pc demo software for windows can be found in the inven sense developers corner (http://www.invensense.com/developers/). the MPU-9150 evaluation board is designed to give t he user easy access to key signals and configuration pins. 2.2 related documents the following resources are recommended for a more comprehensive understanding of the components and systems described in this user guide. these doc uments and packages can be found in the invensense developers corner within the invensense website. ? MPU-9150 product specification ? MPU-9150 register map and register descriptions ? installation and user guide for pc demo software f or windows ? invensense pc demo software package
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 5 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 3. MPU-9150 9-axis ev board overview the MPU-9150 9-axis ev board is a fully tested eval uation board for the MPU-9150 digital motion processing unit? (mpu?). it contains a number of ?s older-across? jumper points that permit several circuit configurations. for ease of measurement acc ess, the ev board is populated only on its top side . figure 1 shows each of these connectors. the 10x2 customer header connector (jp12) is design ed to connect with the invensense arm evaluation board (inv-armevb). the inv-armevb is a host microcontroller board used to connect the MPU-9150 9-axis ev board to a host windows pc v ia a usb port. the 5x2 extended factory connector (jp11) is used t o connect additional host application devices to the ev board. for instance, a camera image stabiliz ation processor can be connected to the MPU-9150 by using jp11. please note that such devices should act as a master to the MPU-9150. the 3-pin power selection header (jp8) is used to s elect which voltage supply is fed to the MPU-9150. the 3-pin vlogic selection header (jp4) is used to select between 3 v and vin as the logic supply voltage. for further information regarding the power supply connections, please refer to section 6. figure 1: top side of the MPU-9150 9-axis ev board
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 6 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 3.1 MPU-9150 key function and pin-outs invensense?s MPU-9150 is used on the MPU-9150 evb. the MPU-9150 has an embedded 3-axis mems gyroscope, 3-axis mems accelerometer, 3-axis mems magnetometer and digital motion processor? (dmp) ha rdware accelerator engine. 9-axis motionfusion? combines acceleration and rotational motion plus h eading information into a single data stream for an application. the MPU-9150?s primary i 2c interface is used to communicate with the system processor. the MPU-9150?s auxiliary i 2 c port is used to communicate with third party digi tal sensors such as pressure sensors, but is not supported on this usb reference board. the MPU-9150 uses invensense?s proprietary mems tec hnology to produce a functionally complete, low-cost motion processor. all required conditioni ng electronics are integrated into a single package measuring 4mm x 4mm x 0.95mm. it incorporates x-, y-, and z-axis low-pass filters and an eeprom for on-chip factory calibration of the sensors. a built-in proportional-to-absolute-temperature (ptat ) sensor provides temperature compensation informatio n. the product is lead-free and green compliant. figure 2 shows the MPU-9150?s pins as well as its m otion detection directions. note: the orientation and polarity of the magnetome ter detection axes differ from those of the gyroscope and accelerometer. m p u - 9 1 5 0 +z +x +y 7 8 9 10 11 12 es_cl vlogic ad0 regout fsync int 13 18 17 16 15 14 resv gnd resv vdd gnd gnd 6 1 2 3 4 5 vdd resv resv es_da resv clkin 24 23 22 21 20 19 resv cpout resv clkout scl sda MPU-9150 lga package 24-pin, 4mm x 4mm x 0.95mm orientation of axes of sensitivity and polarity of rotation for accel & gyro top view +z +y +x m p u - 9 1 5 0 +z +x +y orientation of axes of sensitivity for magnetometer figure 2: MPU-9150 lga package (top view) & gyro , accel, and magnetometer sense direction 3.2 MPU-9150 bus connection the MPU-9150 evb communicates to a system processor through the jp12 customer header connector using the i 2 c serial communication interface. the device always acts as a slave when communicating to the system processor.
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 7 an-MPU-9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 4. schematic figure 3: schematic diagram of the MPU-9150 ev boar d aux_da r5 2k h4 1 jp3 resv6 r6 2k MPU-9150 vlogic select 3v0 r4 1k ad0 mcu_scl h3 1 r11 0r cp_o vdd c2 0.47uf vin tp1 tp 1 tp2 tp 1 jp11 nm 2 4 6 8 10 1 3 5 7 9 jp8 header 3, 2.54mm, 180d, male 1 2 3 jp1 jp12 header 14x2, male, 90d, 2.54mmx2.54mm 2 4 6 8 10 12 14 16 18 20 22 24 26 28 1 3 5 7 9 11 13 15 17 19 21 23 25 27 int rsv2 mcu_scl tp4 tp 1 reg_o 3v0 jp7 vdd h2 1 fsy nc r7 100k jp5 3v0 jp2 ldo_en resv3 fsy nc_i r2 nm c1 2200pf/50v mcu_scl r9 nm r1 nm jp10 fsync r8 0r rsv1 resv5 bp5 0.1uf mcu_sda jp6 c4 0.033uf 3v0 vin h1 1 u1 MPU-9150 24 20 1 9 8 13 23 18 10 22 12 11 7 6 2 3 4 5 14 15 16 17 19 21 sda/ sdi cp_out clk_i sdo/ addr cs/v_logic vdd scl/ sclk gnd reg_o rsv int fsync aux_scl aux_sda rsv resv-vdd trg rsv drdy rsv rsv rsv resv1 resv2 resv-vdd cp_o u2 sot235 yb1210st25r300 1 5 2 3 4 vin out gnd en nc vin compass_rdy 3v0 vdd 3v0 bp4 0.1uf vlogic vin tp3 tp 1 jp4 header 3, 2.54mm, 180d, male 1 2 3 resv8 aux_cl reg_o r12 2r2 vddio clk_i bp3 0.1uf vin bp1 0.1uf MPU-9150 vdd select mcu_sda ad0 r3 10k jp9 resv4 trg mcu_sdo bp2 0.1uf r10 1m trg vlogic c3 0.47uf mcu_sda fsync resv7
MPU-9150 ev board application note document number: an-mpu9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas, ave. sunnyvale, ca 94089, usa 8 an-mpu9150evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2011 invensense, inc. all rights reserved. website: http//www.invensense.com 5. bill of materials this section describes the bill of materials includ ed in the MPU-9150 ev board. table 1: bill of materials item quantity reference part pcb footprint 1 5 bp1,bp2,bp3,bp4,bp5 0.1uf c0402 2 1 c1 2200pf/50v c0402 3 2 c3,c2 0.47uf c0603 4 1 c4 0.033uf c0402 7 2 jp4,jp8 header 3, 2.54mm, 180d, male sip-3p 9 1 jp12 header 14x2, male, 90d, 2.54mmx2.54mm hdb2x14nra 11 1 r3 10k r0402 12 1 r4 1k r0402 13 2 r6,r5 2k r0402 14 1 r7 100k r0402 15 2 r8,r11 0r r0402 16 1 r10 1m r0402 17 1 r12 2r2 r0603 19 1 u1 MPU-9150 lga24_4x4(0.5pitch) 20 1 u2 yb1210st25r300 sot235 table 2: bill of materials - not mounted item quantity reference part pcb footprint 10 4 r1,r2,r9, jp11 nm varies
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 9 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 6. power supply connections the jp4 vlogic selection header and jp8 power selec tion header are 3 header-pin plug-in jumpers which allow users to select between the on-board ld o (low-dropout voltage regulator) and an external dc supply for powering the MPU-9150. please refer t o sections 6.1 and 6.2 for further information. the on-board 3.0v ldo is a low-noise ldo. its outpu t is labeled as 3v0 in the schematic diagram in section 4. using this on-board ldo will assure that the gyroscope, accelerometer, and magnetometer performance will meet intended specifications. the raw vin line is generally selected to power the chip when designing and evaluating an embedded platform, where the host processor and related elec tronics need full control over the motion processin g chipset?s power supply. when the on board ldo 3v0 power source is used, the external vin must be provided with at least 3.7v in order to ensure that the ldo works properly . if the user provides the vin with 5v, jp4 and jp8 m ust be set as ?1-2 short?. this is because the mpu- 9150?s vdd and vlogic operation range is 2.1v to 3. 6v. 6.1 jp4 ? vlogic selection header the 3-pin vlogic selection header (jp4) is used to select between 3 v and vin as the logic supply voltage. table 3 below describes the details of vol tage selection for jp4. table 3: jp4 - vlogic selection header jp4 pin number signal description 1-2 short MPU-9150 vlogic = 3v (taken from ldo. vin must be greater than 3.7 v) 2-3 short MPU-9150 vlogic = vin (taken from externa l source) 6.2 jp8 ? power selection header the 3-pin power selection header (jp8) is used to s elect which voltage supply is fed to the MPU-9150. table 4 below describes the details of voltage sele ction for jp8. table 4: power selection header jp8 pin number signal description 1-2 short MPU-9150 vdd = 3v (taken from ldo. vin mu st be greater than 3.7 v) 2-3 short MPU-9150 vdd = vin (taken from external s ource)
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 10 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 7. MPU-9150 evb connector signals descript ion 7.1 jp11 ? extended factory header the 5x2 extended factory connector (jp11) is used t o connect additional host application devices to the ev board. for instance, a camera image stabiliz ation processor can be connected to the MPU-9150 by using jp11. please note that such devices should act as a master to the MPU-9150. table 5 below shows the pin descriptions for jp11. table 5: jp11 - extended factory connector signals jp11 pin number signal description 1 vin. power is received from arm-7 controller board or an external source. vin value can be 5v with current greater than 50ma or 3v with current greater than 50ma. 3 gnd 5 nc 7 nc 9 nc 2 3v 4 MPU-9150 i2c scl 6 MPU-9150 i2c sda 8 MPU-9150 i2c device address selection pin ad0. when the pin value is low, the device address is 0x 68. when the pin value is high, the device address is 0 x69. the address value is 7bits. 10 MPU-9150 fsync input
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 11 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 7.2 jp12 ? customer header connector the 10x2 customer header connector (jp12) is design ed to connect with the invensense arm evaluation board (inv-armevb). the inv-armevb is a host microcontroller board used to connect the MPU-9150 9-axis ev board to a host windows pc v ia a usb port. table 6 below shows the pin descriptions for jp12. table 6: jp12 - customer header connector signals jp12 pin number signal description 1 aux_da 3 aux_cl 5 reserved 7 int, MPU-9150 interrupt output 9 reserved 11 MPU-9150 clk_in, external clock input 13 MPU-9150 cpout, charge pump output 15 gnd 17 gnd 19 3v (optional) 21 MPU-9150 fsync input 23 vin. power is received from arm-7 controller board or an external source. vin value can be 5v with current greater than 50ma or 3v with current greater than 50ma. 25 reserved 27 reserved 2 trg. compass trigger input 4 reserved 6 reserved. connected to vdd on evb. 8 MPU-9150 vlogic 10 reserved 12 compass drdy output 14 MPU-9150 evb on board ldo enable pin. h=enable; l=disable. 16 reserved 18 MPU-9150 regout 20 MPU-9150 i2c scl 22 MPU-9150 i2c sda 24 MPU-9150 i2c device address selection pin ad0. when the pin value is low, the device address is 0x 68. when the pin value is high, the device address is 0 x69. the address value is 7bits. 26 reserved 28 reserved
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 12 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 7.3 connecting the fsync line the fsync line is used in a camera?s image-stabiliz ation system. it carries the fsync signal from the camera platform to the ev board. the fsync signal is used to synchronize the mpu-915 0 serial bus transfer with the master timing set by the camera system. the MPU-9150 accepts the fsyn c input from jp11 pin-10 or jp12 pin-21. there is no external pull-up termination for the fs ync line. for further information regarding MPU-9150?s handin g of the fsync signal, please refer to the mpu- 9150 product specification document, as well as the MPU-9150 register map and register descriptions document. 7.4 serial bus levels, speeds and terminations the serial bus level is vddio. the MPU-9150 supports i2c communication up to a clo ck rate of 400khz. the i2c bus open drain pull up resistors are connec ted to vddio.
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 13 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 8. data gathering options the 9-axis motion sensor data from the MPU-9150 can be accessed via the evb?s jp12 customer header connector. alternatively, an invensense arm evaluation board ( inv-armevb) may be used to connect the mpu- 9150 evb to a host windows pc. 8.1 connection to the inv-armevb a host windows pc can communicate with the MPU-9150 through the inv-armevb, which in turn is connected to the MPU-9150 9-axis evb. the inv-armev b?s usb interface is used to connect to the windows pc. figure 4 demonstrates the connection between the mp u-9150 and the inv-armevb. connection between the two boards is established via the jp12 customer header connector. figure 4: MPU-9150 evb connected to arm board 8.2 use of MPU-9150 without inv-armevb the MPU-9150?s i2c signals are available at the jp1 1 and jp12 connectors. by utilizing these signals, the user can establish direct communication with th e MPU-9150 without using the inv-armevb. there is no bus mode selection setting needed. for jp11 and jp12 pin descriptions, please refer to section 7.
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 14 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com 9. layout the MPU-9150 ev board is a 4 layer pcb with 38mm x 32mm dimensions. 9.1 component reference names and locations figures 5 and 6 show the top and bottom sides of th e evb. figure 5: MPU-9150 board layout: top view figure 6: MPU-9150 board layout: bottom view 10. special instructions: electrostatic discharge s ensitivity the MPU-9150 can be permanently damaged by an elect rostatic discharge. esd precautions for handling and storage are recommended.
MPU-9150 ev board user guide document number: an-MPU-9150evb-00 revision: 1.0 release date: 05/11/2011 invensense, inc., 1197 borregas ave., sunnyvale, ca 94089, usa 15 an-mpu9150-evb-00 tel: +1 (408) 988-7339 fax: +1 (408) 988-8104 ?2 011 invensense, inc. all rights reserved. website: http//www.invensense.com this information furnished by invensense is believe d to be accurate and reliable. however, no responsi bility is assumed by invensense for its use, or for any infringements of patents or oth er rights of third parties that may result from its use. specifications are subject to change without notice. invensense reserves the right to ma ke changes to this product, including its circuits and software, in order to improve its design and/or performance, without prior notice. in vensense makes no warranties, neither expressed nor implied, regarding the information and specifications contained in this document. inve nsense assumes no responsibility for any claims or damages arising from information contained in this document, or from the use of prod ucts and services detailed therein. this includes, but is not limited to, claims or damages based on the infringement of patents, copyrights, m ask work and/or other intellectual property rights. certain intellectual property owned by invensense a nd described in this document is patent protected. no license is granted by implication or otherwise under any patent or patent rights of i nvensense. this publication supersedes and replaces all information previously supplied. trademarks that are registered trademarks are the p roperty of their respective companies. invensense s ensors should not be used or sold in the development, storage, production or utilizat ion of any conventional or mass-destructive weapons or for any other weapons or life threatening applications, as well as in any other l ife critical applications such as medical equipment , transportation, aerospace and nuclear instruments, undersea equipment, power plant equipm ent, disaster prevention and crime prevention equip ment. invensense? is a registered trademark of invensense , inc.; MPU-9150? , motion processing unit?, mpu? , digital motion processor?, and motionfusion? are trademarks of invensense, inc. ?2011 invensense, inc. all rights reserved.

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