InvenSense Inc.
1197 Borregas Ave, Sunnyvale, CA 94089 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
MPU-9150
Product Specification
Revision 4.0
1 of 52
MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
CONTENTS
1
REVISION HISTORY ...................................................................................................................................5
2
PURPOSE AND SCOPE .............................................................................................................................6
3
PRODUCT OVERVIEW ...............................................................................................................................7
3.1
MPU-9150 OVERVIEW ........................................................................................................................7
4
APPLICATIONS...........................................................................................................................................8
5
FEATURES ..................................................................................................................................................9
6
7
5.1
GYROSCOPE FEATURES .......................................................................................................................9
5.2
ACCELEROMETER FEATURES ...............................................................................................................9
5.3
MAGNETOMETER FEATURES.................................................................................................................9
5.4
ADDITIONAL FEATURES ........................................................................................................................9
5.5
MOTIONPROCESSING.........................................................................................................................10
5.6
CLOCKING .........................................................................................................................................10
ELECTRICAL CHARACTERISTICS .........................................................................................................11
6.1
GYROSCOPE SPECIFICATIONS ............................................................................................................11
6.2
ACCELEROMETER SPECIFICATIONS.....................................................................................................12
6.3
MAGNETOMETER SPECIFICATIONS ......................................................................................................13
6.4
ELECTRICAL AND OTHER COMMON SPECIFICATIONS............................................................................14
6.5
ELECTRICAL SPECIFICATIONS, CONTINUED .........................................................................................15
6.6
ELECTRICAL SPECIFICATIONS, CONTINUED .........................................................................................16
6.7
ELECTRICAL SPECIFICATIONS, CONTINUED .........................................................................................17
6.8
I C TIMING CHARACTERIZATION..........................................................................................................18
6.9
ABSOLUTE MAXIMUM RATINGS ...........................................................................................................19
2
APPLICATIONS INFORMATION ..............................................................................................................20
7.1
PIN OUT AND SIGNAL DESCRIPTION ....................................................................................................20
7.2
TYPICAL OPERATING CIRCUIT.............................................................................................................21
7.3
BILL OF MATERIALS FOR EXTERNAL COMPONENTS ..............................................................................21
7.4
RECOMMENDED POWER-ON PROCEDURE ...........................................................................................22
7.5
BLOCK DIAGRAM ...............................................................................................................................23
7.6
OVERVIEW ........................................................................................................................................23
7.7
THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING................................24
7.8
THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ........................24
7.9
THREE-AXIS MEMS MAGNETOMETER WITH 13-BIT ADCS AND SIGNAL CONDITIONING .........................24
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Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
MPU-9150 Product Specification
8
7.10
DIGITAL MOTION PROCESSOR ............................................................................................................24
7.11
PRIMARY I C .....................................................................................................................................24
7.12
AUXILIARY I C SERIAL INTERFACE ......................................................................................................25
7.13
SELF-TEST ........................................................................................................................................25
7.14
MPU-9150 SOLUTION FOR 10-AXIS SENSOR FUSION USING I C INTERFACE ........................................26
7.15
PROCEDURE FOR DIRECTLY ACCESSING THE AK8975 3-AXIS COMPASS .............................................28
7.16
INTERNAL CLOCK GENERATION ..........................................................................................................28
7.17
SENSOR DATA REGISTERS .................................................................................................................29
7.18
FIFO ................................................................................................................................................29
7.19
INTERRUPTS ......................................................................................................................................29
7.20
DIGITAL-OUTPUT TEMPERATURE SENSOR ..........................................................................................29
7.21
BIAS AND LDO ..................................................................................................................................30
7.22
CHARGE PUMP ..................................................................................................................................30
2
2
PROGRAMMABLE INTERRUPTS............................................................................................................31
8.1
9
2
MOTION INTERRUPT ...........................................................................................................................32
DIGITAL INTERFACE ...............................................................................................................................33
2
9.1
I C SERIAL INTERFACE ......................................................................................................................33
9.2
I C INTERFACE ..................................................................................................................................33
9.3
I C COMMUNICATIONS PROTOCOL ......................................................................................................33
9.4
I C TERMS ........................................................................................................................................36
2
2
2
10 SERIAL INTERFACE CONSIDERATIONS ...............................................................................................37
10.1
MPU-9150 SUPPORTED INTERFACES.................................................................................................37
10.2
LOGIC LEVELS ...................................................................................................................................37
10.3
LOGIC LEVELS DIAGRAM ....................................................................................................................38
11 ASSEMBLY ...............................................................................................................................................39
11.1
ORIENTATION OF AXES ......................................................................................................................39
11.2
PACKAGE DIMENSIONS ......................................................................................................................40
11.3
PCB DESIGN GUIDELINES: .................................................................................................................41
11.4
ASSEMBLY PRECAUTIONS ..................................................................................................................42
11.5
REFLOW SPECIFICATION ....................................................................................................................44
11.6
STORAGE SPECIFICATIONS.................................................................................................................45
11.7
PACKAGE MARKING SPECIFICATION ....................................................................................................45
11.8
TAPE & REEL SPECIFICATION .............................................................................................................46
11.9
LABEL ...............................................................................................................................................48
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MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
11.10
PACKAGING...................................................................................................................................49
11.11
REPRESENTATIVE SHIPPING CARTON LABEL ...................................................................................50
12 RELIABILITY .............................................................................................................................................51
12.1
QUALIFICATION TEST POLICY .............................................................................................................51
12.2
QUALIFICATION TEST PLAN ................................................................................................................51
13 ENVIRONMENTAL COMPLIANCE...........................................................................................................52
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MPU-9150 Product Specification
1
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
Revision History
Revision
Date
5/27/2011
Revision
1.0
06/14/2011
2.0
10/21/2011
2.1
10/24/2011
3.0
12/23/2011
3.1
5/14/2012
4.0
Description
Initial Release of Product Specification
Modified for Rev C Silicon (sections 5.2, 6.2, 6.4, 6.6, 8.2, 8.3, 8.4)
Edits for clarity (several sections)
Updated Supply current vs. operating modes (sections 5.3, 5.4, 6.4)
Modified Self-Test Response of Accelerometers (section 6.2)
Modified absolute maximum rating for acceleration (section 6.9)
Updated latch up current rating (sections 6.9, 12.2)
Modified package dimensions and PCB design guidelines (sections 11.2, 11.3)
Updated assembly precautions (section 11.4)
Updated qualification test plan (section 12.2)
Edits for clarity (several sections)
Modified for Rev D Silicon (sections 6.2, 8.2, 8.3, 8.4)
Edits for Clarity (several sections)
Updated package dimensions (section 11.2)
Added Gyroscope specifications (section 6.1)
Added Accelerometer specifications (section 6.2)
Updated Electrical Other Common Specifications (section 6.3)
Updated latch-up information (section 6.9)
Updated Block Diagram (section 7.5)
Update Self-Test description (section 7.13)
Updated PCB design guidelines (section 11.3)
Updated packing and shipping information (sections 11.8, 11.9, 11.10, 11.11)
Updated reliability references (section 12.2)
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MPU-9150 Product Specification
2
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
Purpose and Scope
This product specification provides preliminary information regarding the electrical specification and design
related information for the MPU-9150™ Motion Processing Unit™ or MPU™.
Electrical characteristics are based upon design analysis and simulation results only. Specifications are
subject to change without notice. Final specifications will be updated based upon characterization of
production silicon. For references to register map and descriptions of individual registers, please refer to the
MPU-9150 Register Map and Register Descriptions document.
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Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
MPU-9150 Product Specification
3
3.1
Product Overview
MPU-9150 Overview
MotionInterface™ is becoming a “must-have” function being adopted by smartphone and tablet
manufacturers due to the enormous value it adds to the end user experience. In smartphones, it finds use in
applications such as gesture commands for applications and phone control, enhanced gaming, augmented
reality, panoramic photo capture and viewing, and pedestrian and vehicle navigation. With its ability to
precisely and accurately track user motions, MotionTracking technology can convert handsets and tablets
into powerful 3D intelligent devices that can be used in applications ranging from health and fitness
monitoring to location-based services. Key requirements for MotionInterface enabled devices are small
package size, low power consumption, high accuracy and repeatability, high shock tolerance, and application
specific performance programmability – all at a low consumer price point.
The MPU-9150 is the world’s first integrated 9-axis MotionTracking device that combines a 3-axis MEMS
gyroscope, a 3-axis MEMS accelerometer, a 3-axis MEMS magnetometer and a Digital Motion Processor™
(DMP™) hardware accelerator engine. The MPU-9150 is an ideal solution for handset and tablet
applications, game controllers, motion pointer remote controls, and other consumer devices. The MPU9150’s 9-axis MotionFusion combines acceleration and rotational motion plus heading information into a
single data stream for the application. This MotionProcessing™ technology integration provides a smaller
footprint and has inherent cost advantages compared to discrete gyroscope, accelerometer, plus
magnetometer solutions. The MPU-9150 is also designed to interface with multiple non-inertial digital
2
sensors, such as pressure sensors, on its auxiliary I C port to produce a 10-Axis sensor fusion output. The
rd
MPU-9150 is a 3 generation motion processor and is footprint compatible with the MPU-60X0 and MPU30X0 families.
The MPU-9150 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs
,three 16-bit ADCs for digitizing the accelerometer outputs and three 13-bit ADCs for digitizing the
magnetometer outputs. For precision tracking of both fast and slow motions, the parts feature a userprogrammable gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps), a userprogrammable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g, and a magnetometer full-scale
range of ±1200µT.
The MPU-9150 is a multi-chip module (MCM) consisting of two dies integrated into a single LGA package.
One die houses the 3-Axis gyroscope and the 3-Axis accelerometer. The other die houses the AK8975 3Axis magnetometer from Asahi Kasei Microdevices Corporation.
An on-chip 1024 Byte FIFO buffer helps lower system power consumption by allowing the system processor
to read the sensor data in bursts and then enter a low-power mode as the MPU collects more data. With all
the necessary on-chip processing and sensor components required to support many motion-based use
cases, the MPU-9150 uniquely supports a variety of advanced motion-based applications entirely on-chip.
The MPU-9150 thus enables low-power MotionProcessing in portable applications with reduced processing
requirements for the system processor. By providing an integrated MotionFusion output, the DMP in the
MPU-9150 offloads the intensive MotionProcessing computation requirements from the system processor,
minimizing the need for frequent polling of the motion sensor output.
2
Communication with all registers of the device is performed using I C at 400kHz. Additional features include
an embedded temperature sensor and an on-chip oscillator with ±1% variation over the operating
temperature range.
By leveraging its patented and volume-proven Nasiri-Fabrication platform, which integrates MEMS wafers
with companion CMOS electronics through wafer-level bonding, InvenSense has driven the MPU-9150
package size down to a revolutionary footprint of 4x4x1mm (LGA), while providing the highest performance,
lowest noise, and the lowest cost semiconductor packaging required for handheld consumer electronic
devices. The part features a robust 10,000g shock tolerance, and has programmable low-pass filters for the
gyroscopes, accelerometers, magnetometers, and the on-chip temperature sensor.
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MPU-9150 Product Specification
4
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
Applications
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
BlurFree™ technology (for Video/Still Image Stabilization)
AirSign™ technology (for Security/Authentication)
TouchAnywhere™ technology (for “no touch” UI Application Control/Navigation)
MotionCommand™ technology (for Gesture Short-cuts)
Motion-enabled game and application framework
InstantGesture™ iG™ gesture recognition
Location based services, points of interest, and dead reckoning
Handset and portable gaming
Motion-based game controllers
3D remote controls for Internet connected DTVs and set top boxes, 3D mice
Wearable sensors for health, fitness and sports
Toys
Pedestrian based navigation
Navigation
Electronic Compass
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MPU-9150 Product Specification
5
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
Features
5.1
Gyroscope Features
The triple-axis MEMS gyroscope in the MPU-9150 includes a wide range of features:
•
•
•
•
•
•
•
•
5.2
Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable fullscale range of ±250, ±500, ±1000, and ±2000°/sec
External sync signal connected to the FSYNC pin supports image, video and GPS synchronization
Integrated 16-bit ADCs enable simultaneous sampling of gyros
Enhanced bias and sensitivity temperature stability reduces the need for user calibration
Improved low-frequency noise performance
Digitally-programmable low-pass filter
Factory calibrated sensitivity scale factor
User self-test
Accelerometer Features
The triple-axis MEMS accelerometer in MPU-9150 includes a wide range of features:
•
•
•
•
•
•
•
5.3
Digital-output 3-Axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
Integrated 16-bit ADCs enable simultaneous sampling of accelerometers while requiring no external
multiplexer
Orientation detection and signaling
Tap detection
User-programmable interrupts
High-G interrupt
User self-test
Magnetometer Features
The triple-axis MEMS magnetometer in MPU-9150 includes a wide range of features:
•
•
•
•
•
5.4
3-axis silicon monolithic Hall-effect magnetic sensor with magnetic concentrator
Wide dynamic measurement range and high resolution with lower current consumption.
Output data resolution is 13 bit (0.3 µT per LSB)
Full scale measurement range is ±1200 µT
Self-test function with internal magnetic source to confirm magnetic sensor operation on end
products
Additional Features
The MPU-9150 includes the following additional features:
•
•
•
•
•
•
•
•
•
9-Axis MotionFusion via on-chip Digital Motion Processor (DMP)
2
Auxiliary master I C bus for reading data from external sensors (e.g., pressure sensor)
2
Flexible VLOGIC reference voltage supports multiple I C interface voltages
Smallest and thinnest package for portable devices: 4x4x1mm LGA
Minimal cross-axis sensitivity between the accelerometer, gyroscope and magnetometer axes
1024 byte FIFO buffer reduces power consumption by allowing host processor to read the data in
bursts and then go into a low-power mode as the MPU collects more data
Digital-output temperature sensor
User-programmable digital filters for gyroscope, accelerometer, and temp sensor
10,000 g shock tolerant
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MPU-9150 Product Specification
•
•
•
5.5
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
2
400kHz Fast Mode I C for communicating with all registers
MEMS structure hermetically sealed and bonded at wafer level
RoHS and Green compliant
MotionProcessing
•
•
•
•
•
•
5.6
Internal Digital Motion Processing™ (DMP™) engine supports 3D MotionProcessing and gesture
recognition algorithms
The MPU-9150 collects gyroscope, accelerometer and magnetometer data while synchronizing data
sampling at a user defined rate. The total dataset obtained by the MPU-9150 includes 3-Axis
gyroscope data, 3-Axis accelerometer data, 3-Axis magnetometer data, and temperature data.
The FIFO buffers the complete data set, reducing timing requirements on the system processor by
allowing the processor burst read the FIFO data. After burst reading the FIFO data, the system
processor can save power by entering a low-power sleep mode while the MPU collects more data.
Programmable interrupt supports features such as gesture recognition, panning, zooming, scrolling,
zero-motion detection, tap detection, and shake detection
Digitally-programmable low-pass filters.
Low-power pedometer functionality allows the host processor to sleep while the DMP maintains the
step count.
Clocking
•
•
On-chip timing generator ±1% frequency variation over full temperature range
Optional external clock inputs of 32.768kHz or 19.2MHz
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Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
MPU-9150 Product Specification
6
6.1
Electrical Characteristics
Gyroscope Specifications
VDD = 2.375V-3.465V, VLOGIC= 1.8V±5% or VDD, TA = 25°C
PARAMETER
GYROSCOPE SENSITIVITY
Full-Scale Range
Gyroscope ADC Word Length
Sensitivity Scale Factor
Sensitivity Scale Factor Tolerance
Sensitivity Scale Factor Variation Over
Temperature
Nonlinearity
Cross-Axis Sensitivity
GYROSCOPE ZERO-RATE OUTPUT (ZRO)
Initial ZRO Tolerance
ZRO Variation Over Temperature
SELF-TEST RESPONSE
GYROSCOPE NOISE PERFORMANCE
Total RMS Noise
Rate Noise Spectral Density
CONDITIONS
MIN
FS_SEL=0
FS_SEL=1
FS_SEL=2
FS_SEL=3
TYP
MAX
±0.04
º/s
º/s
º/s
º/s
bits
LSB/(º/s)
LSB/(º/s)
LSB/(º/s)
LSB/(º/s)
%
%/°C
Best fit straight line; 25°C
0.2
±2
%
%
Component level (25°C)
-40°C to +85°C
Change from factory trim
FS_SEL=0
DLPFCFG=2 (92Hz)
At 10Hz
±20
±20
º/s
º/s
%
FS_SEL=0
FS_SEL=1
FS_SEL=2
FS_SEL=3
25°C
-40°C to +85°C
GYROSCOPE MECHANICAL
FREQUENCIES
X-Axis
Y-Axis
Z-Axis
LOW PASS FILTER RESPONSE
±250
±500
±1000
±2000
16
131
65.5
32.8
16.4
UNITS
-3
+3
-14
14
0.06
0.005
30
27
24
33
30
27
º/s-rms
º/s/ Hz
√
36
33
30
kHz
kHz
kHz
Programmable Range
5
256
Hz
Programmable
DLPFCFG=0
to ±1º/s of Final
4
8,000
Hz
OUTPUT DATA RATE
GYROSCOPE START-UP TIME
ZRO Settling
11 of 52
30
ms
NOTES
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
MPU-9150 Product Specification
6.2
Accelerometer Specifications
VDD = 2.375V-3.465V, VLOGIC= 1.8V±5% or VDD, TA = 25°C
PARAMETER
ACCELEROMETER SENSITIVITY
Full-Scale Range
ADC Word Length
Sensitivity Scale Factor
Initial Calibration Tolerance
Sensitivity Change vs. Temperature
Nonlinearity
ZERO-G OUTPUT
Initial Calibration Tolerance
Change over specified temperature –
Component level -25°C to 85°C
CONDITIONS
MIN
AFS_SEL=0
AFS_SEL=1
AFS_SEL=2
AFS_SEL=3
Output in two’s complement format
AFS_SEL=0
AFS_SEL=1
AFS_SEL=2
AFS_SEL=3
TYP
MAX
±2
±4
±8
±16
16
16,384
8,192
4,096
2,048
±3
±0.02
0.5
AFS_SEL=0, -40°C to +85°C
Best Fit Straight Line
UNITS
g
g
g
g
bits
LSB/g
LSB/g
LSB/g
LSB/g
%
%/°C
%
X and Y axes
Z axis
±80
±150
mg
mg
X & Y Axis
Z Axis
±0.75
mg/°C
mg/°C
±1.50
SELF-TEST RESPONSE
Change from factory trim
NOISE PERFORMANCE
Power Spectral Density
Total RMS Noise
-14
14
X, Y & Z Axes, @10Hz,
AFS_SEL=0 & ODR=1kHz
AFS = 0 @100Hz
400
%
µg/
√Hz
mg-rms
4
LOW PASS FILTER RESPONSE
Programmable Range
5
260
Hz
Programmable Range
4
1,000
Hz
OUTPUT DATA RATE
INTELLIGENCE FUNCTION
INCREMENT
32
12 of 52
mg/LSB
NOTES
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
MPU-9150 Product Specification
6.3
Magnetometer Specifications
VDD = 2.375V-3.465V, VLOGIC= 1.8V±5% or VDD, TA = 25°C
The information in the following table is from the AKM AK8975 datasheet.
PARAMETER
MAGNETOMETER SENSITIVITY
Full-Scale Range
ADC Word Length
Sensitivity Scale Factor
ZERO-FIELD OUTPUT
Initial Calibration Tolerance
SELF-TEST RESPONSE
CONDITIONS
MIN
TYP
MAX
UNITS
0.285
±1200
13
0.3
0.315
µT
bits
µT /LSB
-1000
1000
LSB
-100
-100
-1000
100
100
-300
LSB
Output in two’s complement format
X-axis
Y-axis
Z-axis
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NOTES
MPU-9150 Product Specification
6.4
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
Electrical and Other Common Specifications
VDD = 2.375V-3.465V, VLOGIC= 1.8V±5% or VDD, TA = 25°C
PARAMETER
TEMPERATURE SENSOR
Range
CONDITIONS
MIN
Sensitivity
Temperature Offset
Linearity
VDD POWER SUPPLY
Operating Voltages
Power Supply Ramp Rate
OPERATING CURRENT
Untrimmed
35oC
Best fit straight line (-40°C to +85°C)
2.375
Power Supply Ramp Rate
Normal Operating Current
TEMPERATURE RANGE
Specified Temperature
Range
°C
LSB/ºC
LSB
°C
3.465
100
V
ms
Gyro+Accel (Magnetometer and DMP
disabled)
3.9
mA
Accel at 1kHz
sample rate
Accel + Magnetometer
(Gyro and DMP disabled)
900
µA
Magnetometer only (DMP, Gyro, and
Accel disabled)
350
µA
10
20
70
140
µA
µA
µA
µA
6
mA
6
µA
1.25 Hz update rate
5 Hz update rate
20 Hz update rate
40 Hz update rate
100% Duty Cycle
Full-Chip Idle Mode Supply
Current
VLOGIC REFERENCE
VOLTAGE
Voltage Range
Units
Gyro at all rates
Magnetometer at
8Hz repetition rate
Magnetometer Full Power
Mode Current
MAX
-40 to
+85
340
-521
±1
Monotonic ramp. Ramp rate is 10% to 90% of the final value
Normal Operating Current
Accelerometer Low Power
Mode Current
TYP
≤
VLOGIC must be VDD at all times
Monotonic ramp. Ramp rate is 10% to 90% of the final value
1.71
VDD
V
3
ms
100
Performance parameters are not applicable beyond Specified
Temperature Range
14 of 52
-40
µA
+85
°C
Notes
MPU-9150 Product Specification
6.5
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
Electrical Specifications, Continued
VDD = 2.375V-3.465V, VLOGIC= 1.8V±5% or VDD, TA = 25°C
PARAMETER
SERIAL INTERFACE
I2C Operating Frequency
I2C ADDRESS
CONDITIONS
MIN
TYP
All registers, Fast-mode
All registers, Standard-mode
AD0 = 0
AD0 = 1
MAX
Units
400
100
kHz
kHz
0.3*VLOGIC
V
V
1101000
1101001
DIGITAL INPUTS (SDA, AD0,
SCL, FSYNC, CLKIN)
VIH, High Level Input Voltage
VIL, Low Level Input Voltage
0.7*VLOGIC
CI, Input Capacitance
DIGITAL OUTPUT (INT)
VOH, High Level Output Voltage
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