EV_MPU-9250

MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 MPU-9150 9-Axis Evaluation Board User Guide InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 1 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 Table of Contents 1. REVISION HISTORY ................................................................................................................................... 3 2. PURPOSE ................................................................................................................................................... 4 2.1 USAGE .................................................................................................................................................... 4 2.2 RELATED DOCUMENTS ............................................................................................................................. 4 3. MPU-9150 9-AXIS EV BOARD OVERVIEW .............................................................................................. 5 3.1 MPU-9150 KEY FUNCTION AND PIN-OUTS................................................................................................ 6 3.2 MPU-9150 BUS CONNECTION ................................................................................................................. 6 4. SCHEMATIC................................................................................................................................................ 7 5. BILL OF MATERIALS ................................................................................................................................. 8 6. POWER SUPPLY CONNECTIONS ............................................................................................................ 9 6.1 JP4 – VLOGIC SELECTION HEADER ........................................................................................................ 9 6.2 JP8 – POWER SELECTION HEADER .......................................................................................................... 9 7. MPU-9150 EVB CONNECTOR SIGNALS DESCRIPTION ...................................................................... 10 7.1 JP11 – EXTENDED FACTORY HEADER .................................................................................................... 10 7.2 JP12 – CUSTOMER HEADER CONNECTOR .............................................................................................. 11 7.3 CONNECTING THE FSYNC LINE ............................................................................................................. 12 7.4 SERIAL BUS LEVELS, SPEEDS AND TERMINATIONS ................................................................................... 12 8. DATA GATHERING OPTIONS ................................................................................................................. 13 8.1 CONNECTION TO THE INV-ARMEVB ...................................................................................................... 13 8.2 USE OF MPU-9150 WITHOUT INV-ARMEVB ......................................................................................... 13 9. LAYOUT .................................................................................................................................................... 14 9.1 COMPONENT REFERENCE NAMES AND LOCATIONS ................................................................................... 14 10. SPECIAL INSTRUCTIONS: ELECTROSTATIC DISCHARGE SENSITIVITY ......................................... 14 InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 2 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 1. Revision History Date Revision Description 05/11/2011 1.0 Initial release InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 3 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 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. The document covers (1) how to apply the EVB to a larger system, (2) understanding key signals and circuit functions, (3) hardware jumper settings, and (4) port connector descriptions. 2.1 Usage This evaluation board is used to demonstrate InvenSense’s MPU-9150 for 9-Axis motion detection and measurement. These 9 axes are comprised of the following: • • • Digital-output X-, Y-, Z-Axis angular rate sensors (gyroscopes) with a user-programmable fullscale range of ±250, ±500, ±1000, and ±2000°/sec Digital-output X-, Y-, Z-Axis accelerometers with a programmable full scale range of ±2g, ±4g, ±8g and ±16g Digital-output X-, Y-, Z-Axis magnetometer (compass) with a full scale range of ±1200µT 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 (INVARMEVB), 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 the INV-ARMEVB connected together. When this evaluation board is connected to a host Windows PC through the INV-ARMEVB’s USB interface, the MPU-9150’s motion processing capabilities can be demonstrated through motion related application software. InvenSense provides a software package for evaluating the MPU-9150 by using the MPU-9150 EV Board. The InvenSense PC Demo Software Package, along with the Installation and User Guide for PC Demo Software for Windows can be found in the InvenSense Developers Corner (http://www.invensense.com/developers/). The MPU-9150 Evaluation Board is designed to give the 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 documents 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 for Windows • InvenSense PC Demo Software Package InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 4 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 3. MPU-9150 9-Axis EV Board Overview The MPU-9150 9-Axis EV Board is a fully tested evaluation board for the MPU-9150 digital Motion Processing Unit™ (MPU™). It contains a number of ‘solder-across’ jumper points that permit several circuit configurations. For ease of measurement access, the EV Board is populated only on its top side. Figure 1 shows each of these connectors. The 10x2 Customer Header Connector (JP12) is designed 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 via a USB port. The 5x2 Extended Factory Connector (JP11) is used to connect additional host application devices to the EV Board. For instance, a camera image stabilization 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 select 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 InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 5 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 MPU-9150 EV Board User Guide 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) hardware accelerator engine. 9-axis MotionFusion™ combines acceleration and rotational motion plus heading information into a single data stream for an application. The MPU-9150’s primary I²C interface is used to communicate with the system processor. 2 The MPU-9150’s auxiliary I C port is used to communicate with third party digital sensors such as pressure sensors, but is not supported on this USB Reference Board. The MPU-9150 uses InvenSense’s proprietary MEMS technology to produce a functionally complete, low-cost motion processor. All required conditioning 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 information. The product is lead-free and Green Compliant. Figure 2 shows the MPU-9150’s pins as well as its motion detection directions. Note: The orientation and polarity of the magnetometer detection axes differ from those of the gyroscope and accelerometer. Top View SDA SCL CLKOUT RESV CPOUT RESV 24 23 22 21 20 19 +Z CLKIN 1 18 GND RESV 2 17 GND VDD 3 16 RESV MPU-9150 RESV 4 15 GND RESV 5 14 RESV ES_DA 6 13 VDD 7 8 9 10 11 12 ES_CL VLOGIC AD0 REGOUT FSYNC INT LGA Package 24-pin, 4mm x 4mm x 0.95mm +X +Y +Z MP U- 9 15 0 +Y +X MP U-9 15 0 +Y +X +Z Orientation of Axes of Sensitivity and Polarity of Rotation for Accel& Gyro 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 2 Connector using the I C serial communication interface. The device always acts as a slave when communicating to the system processor. InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 6 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 MPU-9150 EV Board User Guide 4. Schematic VDDIO VDD VDD JP1 6 7 13 18 VIN 3V0 FSY NC_I 11 CP_O 20 JP6 JP7 R8 0R 1 21 12 19 CS/V_LOGIC SDO/ ADDR SDA/ SDI SCL/ SCLK VDD GND REG_O FSYNC RSV CP_OUT CLK_I RESV2 INT RESV1 17 15 3 2 1 BP3 0.1uF C1 2200pF/50V JP5 AUX_SDA AUX_SCL RSV RSV VDD JP8 R3 10K MPU-9150 DRDY RSV RESV-VDD TRG 8 9 24 23 VLOGIC AD0 MCU_SDA MCU_SCL 10 REG_O R4 1K BP1 0.1uF VIN JP3 R6 2K R7 100K 2 BP2 0.1uF 14 22 3 4 3V0 JP2 R5 2K 3 2 1 U1 JP4 HEADER 3, 2.54mm, 180D, Male MPU-9150 VLOGIC Select TRG RSV RSV R2 NM TP TP2 16 5 R1 NM 1 HEADER 3, 2.54mm, 180D, Male MPU-9150 VDD Select JP9 JP10 1 TP1 TP 1 TP3 TP MCU_SCL MCU_SDA MCU_SDO FSYNC FSY NC JP12 HEADER 14X2, Male, 90D, 2.54mmx2.54mm AUX_DA AUX_CL RSV1 INT RSV2 CLK_I CP_O 3V0 NM R9 FSYNC H1 1 H2 TP4 TP 1 H3 1 VIN 1 1 H4 RESV8 RESV6 VIN 1 3 5 7 9 11 13 15 17 19 21 23 25 27 2 4 6 8 10 12 14 16 18 20 22 24 26 28 R10 1M TRG RESV-VDD VLOGIC RESV4 COMPASS_RDY LDO_EN RESV3 REG_O MCU_SCL MCU_SDA AD0 RESV7 RESV5 R11 0R 2R2 R12 BP4 0.1uF C2 0.47uF 1 2 3 U2 YB1210ST25R300 SOT235 5 Vin OUT GND 4 EN NC 3V0 3V0 C3 0.47uF 0.1uF BP5 C4 0.033uF Figure 3: Schematic Diagram of the MPU-9150 EV Board InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 3V0 7 AN-MPU-9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. VIN 2 4 6 8 10 JP11 NM 1 3 5 7 9 MPU-9150 EV Board Application Note 5. Document Number: AN-MPU9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 Bill of Materials This section describes the Bill of Materials included 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 9 1 JP12 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 HEADER 3, 2.54mm, 180D, Male HEADER 14X2, Male, 90D, 2.54mmx2.54mm SIP-3P HDB2X14NRA Table 2: Bill of Materials - Not Mounted Item Quantity Reference Part PCB Footprint 10 4 R1,R2,R9, JP11 NM varies InvenSense, Inc., 1197 Borregas, Ave. Sunnyvale, CA 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 8 AN-MPU9150EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 6. Power Supply Connections The JP4 VLOGIC Selection Header and JP8 Power Selection Header are 3 header-pin plug-in jumpers which allow users to select between the on-board LDO (Low-dropout voltage regulator) and an external DC supply for powering the MPU-9150. Please refer to Sections 6.1 and 6.2 for further information. The on-board 3.0V LDO is a low-noise LDO. Its output 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 electronics need full control over the motion processing 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 must be set as “1-2 short”. This is because the MPU9150’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 voltage selection for JP4. Table 3: JP4 - VLOGIC Selection Header 6.2 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 external source) JP8 – Power Selection Header The 3-pin Power Selection Header (JP8) is used to select which voltage supply is fed to the MPU-9150. Table 4 below describes the details of voltage selection for JP8. Table 4: Power Selection Header JP8 Pin Number Signal description 1-2 short MPU-9150 VDD = 3V (Taken from LDO. VIN must be greater than 3.7 V) 2-3 short MPU-9150 VDD = VIN (Taken from external source) InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 9 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide 7. 7.1 Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 MPU-9150 EVB Connector Signals Description JP11 – Extended Factory Header The 5x2 Extended Factory Connector (JP11) is used to connect additional host application devices to the EV Board. For instance, a camera image stabilization 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 VIN. Power is received from ARM-7 Controller Board or an external source. 1 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 0x68. When the pin value is high, the device address is 0x69. The address value is 7bits. 10 MPU-9150 FSYNC Input InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 10 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide 7.2 Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 JP12 – Customer Header Connector The 10x2 Customer Header Connector (JP12) is designed 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 via 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 0x68. When the pin value is high, the device address is 0x69. The address value is 7bits. 26 Reserved 28 Reserved InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 11 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide 7.3 Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 Connecting the FSYNC Line The FSYNC line is used in a camera’s image-stabilization system. It carries the FSYNC signal from the camera platform to the EV Board. The FSYNC signal is used to synchronize the MPU-9150 serial bus transfer with the master timing set by the camera system. The MPU-9150 accepts the FSYNC input from JP11 pin-10 or JP12 pin-21. There is no external pull-up termination for the FSYNC line. For further information regarding MPU-9150’s handing of the FSYNC signal, please refer to the MPU9150 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 clock rate of 400kHz. The I²C bus open drain pull up resistors are connected to VDDIO. InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 12 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 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 MPU9150 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-ARMEVB’s USB interface is used to connect to the Windows PC. Figure 4 demonstrates the connection between the MPU-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 JP11 and JP12 connectors. By utilizing these signals, the user can establish direct communication with the 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. InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 13 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 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 the EVB. Figure 5: MPU-9150 Board Layout: Top View Figure 6: MPU-9150 Board Layout: Bottom View 10. Special Instructions: Electrostatic Discharge Sensitivity The MPU-9150 can be permanently damaged by an electrostatic discharge. ESD precautions for handling and storage are recommended. InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 14 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved. MPU-9150 EV Board User Guide Document Number: AN-MPU-9150EVB-00 Revision: 1.0 Release Date: 05/11/2011 This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense for its use, or for any infringements of patents or other rights of third parties that may result from its use. Specifications are subject to change without notice. InvenSense reserves the right to make changes to this product, including its circuits and software, in order to improve its design and/or performance, without prior notice. InvenSense makes no warranties, neither expressed nor implied, regarding the information and specifications contained in this document. InvenSense assumes no responsibility for any claims or damages arising from information contained in this document, or from the use of products and services detailed therein. This includes, but is not limited to, claims or damages based on the infringement of patents, copyrights, mask work and/or other intellectual property rights. Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by implication or otherwise under any patent or patent rights of InvenSense. This publication supersedes and replaces all information previously supplied. Trademarks that are registered trademarks are the property of their respective companies. InvenSense sensors should not be used or sold in the development, storage, production or utilization of any conventional or mass-destructive weapons or for any other weapons or life threatening applications, as well as in any other life critical applications such as medical equipment, transportation, aerospace and nuclear instruments, undersea equipment, power plant equipment, disaster prevention and crime prevention equipment. 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. InvenSense, Inc., 1197 Borregas Ave., Sunnyvale, Ca 94089, USA Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104 Website: http//www.invensense.com 15 AN-MPU9150-EVB-00 ©2011 InvenSense, Inc. All rights reserved.