InvenSense MPU-9250 User manual

1197 Borregas, Sunnyvale, CA 94089 U.S.A
Tel: [phone]
CA-
SDK
InvenSene Inc.
1197 Borregas, Sunnyvale, CA 94089 U.S.A
Tel: [phone]
-7339 Fax: [phone]
Website: www.invensense.com
Document Number: AN
Revision: 1.0
Release Date:
09/18/2012
1
MPU-9250™
SDK
™ Reference Board
User Guide
Document Number: AN
-MPU-9250IMF-01
09/18/2012

CA
CONFIDENTIAL & PROPRIETARY
Table of Contents
REVISION HISTORY
................................
1 PURPOSE................................
................................
2 REFERENCE DOCUMENTS
AND SOFTWARE PACKAGE
3 DESCRIPTION
................................
3.1 INVENSENSE NINE-AXIS M
OTION
3.2 EMBEDDED M
ICROCONTROLLER
3.3 BLUETOOTH MODULE (BR-
LE4.0
3.4 SERIAL FLASH
................................
3.5 EXTERNAL SENSORS.
................................
5 BOARD HARDWARE DESIGN
................................
5.1 SCHEMATICS
................................
5.2 PCB LAYOUT:
................................
5.3 POWER SUPPLY:
................................
6 INSTALLATION GUIDE
................................
6.1 HARDWARE AND SOFTWAR
E SETUP
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
2 of 10
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AND SOFTWARE PACKAGE
S................................
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................................
OTION
TRACKING DEVICE (MPU-9250)
................................
ICROCONTROLLER
(MSP430)................................
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LE4.0
-D2) ................................................................
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E SETUP
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Number: AN
-MPU-9250IMF-01
09/18/2012
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CA
CONFIDENTIAL & PROPRIETARY
Revision History
Revision
Date Revision
Description
09/18/12 1.0
Initial Release
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
3 of 10
Description
Initial Release
Number: AN
-MPU-9250IMF-01
09/18/2012

CA
CONFIDENTIAL & PROPRIETARY
1 Purpose
The InvenSense CA-
SDK is designed to enable rapid commercialization of wearable sensor solutions for
fitness, health, and sports applications. It delivers a sensor platform capable of tracking 10
freedom by combining the MPU-
9250
microcontroller, Bluetooth
radio module
for developing wearable sensor applications
2
Reference Documents and software packages
2.1 InvenSense CA-SDK 5.1.1 User
Guide
2.2 Embedded MotionApps v5.1.1
specification and functional modules.
2.3 CA-SDK with eMP 5.1.1
release package
v5.1
3 Description
The CA-
SDK provides a total solution encompassing hardwa
freedom from the InvenSense MotionTrac
I
2
C
serial digital interface to an MSP430 MCU. A Bluetooth radio module that enables wireless connectivity is
interfaced through the UART to the MCU. There is a serial flash that interfaces to the MCU using the SPI
interface. Also included,
is a 110mA
hours of wireless data
streaming. Streaming is supported through the wireless interface, and a micro USB
connector provides a
wired interface to the SDK. The SDK is well
activity detection for fitness, sports performance, and medical applications such as rehab and outpatient
monitoring. The board provides everything you need for sensing and communication
components
are incorporated into this development board, and detailed explanations of their operation can
be obtained from the relevant partner’s component data sheets.
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
4 of 10
SDK is designed to enable rapid commercialization of wearable sensor solutions for
fitness, health, and sports applications. It delivers a sensor platform capable of tracking 10
9250
9-axis MotionTracking device,
a host of external
radio module
, serial flash, a rechargeable battery
, and battery
for developing wearable sensor applications
.
Reference Documents and software packages
Guide
: This document covers details on bringing up
the
APIs Specification
: This document covers the
specification and functional modules.
release package
: This is the firmware which
is running Embedded MotionApps
SDK provides a total solution encompassing hardwa
re and software, with a
full ten degrees
freedom from the InvenSense MotionTrac
king™ device, the MPU-9250. The
sensors are
serial digital interface to an MSP430 MCU. A Bluetooth radio module that enables wireless connectivity is
interfaced through the UART to the MCU. There is a serial flash that interfaces to the MCU using the SPI
is a 110mA
-
hr rechargeable battery and charger circuitry, that can provide up to 4
streaming. Streaming is supported through the wireless interface, and a micro USB
wired interface to the SDK. The SDK is well
suited for embedded applications such as
activity detection for fitness, sports performance, and medical applications such as rehab and outpatient
monitoring. The board provides everything you need for sensing and communication
.
are incorporated into this development board, and detailed explanations of their operation can
be obtained from the relevant partner’s component data sheets.
Number: AN
-MPU-9250IMF-01
09/18/2012
SDK is designed to enable rapid commercialization of wearable sensor solutions for
fitness, health, and sports applications. It delivers a sensor platform capable of tracking 10
-degrees-of-
a host of external
sensors,
, and battery
charger that is ideal
the
A-™ SDK.
: This document covers the
Embedded MotionApps
is running Embedded MotionApps
full ten degrees
of
sensors are
interfaced via the
serial digital interface to an MSP430 MCU. A Bluetooth radio module that enables wireless connectivity is
interfaced through the UART to the MCU. There is a serial flash that interfaces to the MCU using the SPI
hr rechargeable battery and charger circuitry, that can provide up to 4
streaming. Streaming is supported through the wireless interface, and a micro USB
suited for embedded applications such as
activity detection for fitness, sports performance, and medical applications such as rehab and outpatient
.
The following
are incorporated into this development board, and detailed explanations of their operation can

CA
CONFIDENTIAL & PROPRIETARY
3.1 InvenSense Nine-Axis
MotionTracking Device
MPU-9250 is a single-
chip, digital
optimized for wearable sensor applic
can perform 6-
axis MotionFusion™
interface for connecting to the
MCU
compensation for the gyro bias.
The e
for detecting terrestrial magnetism in the X
circuit, a signal amplifier chain,
and
3.2
Embedded Microcontroller (MSP430)
The Texas Instruments MSP430 family of ultra
featuring different sets of peripherals targeted for various applications. The architectu
extensive low-
power modes, is optimized to achieve extended battery life in portable measurement
applications. The device features a powerful 16
contribute to maximum code efficiency. The digitally co
power modes to active mode in 3.5 µs (typical).
supporting USB 2.0, four 16-
bit timers, a high
un
iversal serial communication interfaces (USCI), hardware multiplier, DMA, real
alarm capabilities, and 63 I/O pins.
3.3 Bluetooth module (BR-LE4.0-
D2
•
Integrated AT.s command stack for external control via UART or RF, with master/slave
serial (BRSP) and battery (BAS) profiles. BRSP allows the user to stream data over LE similar to the
way SPP works on Classic
•
UART (2 or 4 wire with CTS/RTS, 9600 to 460.8K baud), SPI, and I2C data interfaces.
•12-
Bit ADC with 8 channels, RTC, battery monitor, temperature sensor, watchdog timer.
•
Software adjustable transmitter power (
•
Low power consumption:
sleep.
•10 meter distance
•
Secure and robust communication link:
• FHSS
(Frequency Hopping Spread Spectrum)
• 24-
bit CRC Error correction for guaranteed packet delivery
• AES-
128 bit encryption using CCM for encryption and authentication of packets.
•
Operating temperature range:
3.4 Serial Flash
The CA-™ SDK has a 25
6Mbit serial flash integrated
flash, please refer to
MX25L25635E, LLD, v0.3.zip
3.5 External Sensors.
Datasheets can be found inside the CA
Developers Corner.
http://www.invensense.com/developers/index.php?_r=default
•Sensirion SHT21
: Temperature and humidity sensors. CA
driver for retrieving the raw sensor data from the sensor.
•
Capella CM36682:
retrieving the raw sensor data from the sensors
example and the proximity sensor is disabled by default for power concerns.
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
5 of 10
MotionTracking Device
(MPU-9250)
chip, digital
output, nine-
axis MEMS gyroscope, accelerometer, and compass IC
optimized for wearable sensor applic
ations. The integrated
Digital Motion Processor (DMP™)
axis MotionFusion™
and calibration routines inside the MPU.
The chip supports
MCU
. The on chip temperature sensor can
enable
The e
mbedded AK8963
compass sensor die incorporates magnetic sensors
for detecting terrestrial magnetism in the X
-axis, Y-axis, and Z-axis. The MPU-9250
contains a sensor driving
and
an arithmetic
circuit for processing the signal from each
Embedded Microcontroller (MSP430)
The Texas Instruments MSP430 family of ultra
-low
power microcontrollers consists of several devices
featuring different sets of peripherals targeted for various applications. The architectu
power modes, is optimized to achieve extended battery life in portable measurement
applications. The device features a powerful 16
-bit RISC CPU, 16-
bit registers, and constant generators that
contribute to maximum code efficiency. The digitally co
ntrolled oscillator (DCO) allows wake
power modes to active mode in 3.5 µs (typical).
The MSP430F5528IZQE, has an
integrated USB and PHY
bit timers, a high
-performance 12-bit analog-to-digital
converter (ADC), two
iversal serial communication interfaces (USCI), hardware multiplier, DMA, real
-
time clock
alarm capabilities, and 63 I/O pins.
D2
)
Integrated AT.s command stack for external control via UART or RF, with master/slave
serial (BRSP) and battery (BAS) profiles. BRSP allows the user to stream data over LE similar to the
way SPP works on Classic
Bluetooth
devices, but at a much lower maximum data rate.
UART (2 or 4 wire with CTS/RTS, 9600 to 460.8K baud), SPI, and I2C data interfaces.
Bit ADC with 8 channels, RTC, battery monitor, temperature sensor, watchdog timer.
Software adjustable transmitter power (
-
23dBm to 10.5dBm) for short to long range applications.
Low power consumption:
40mA 4dB TX, RX 38.5mA, 590uA idle w/ UART active, and 90uA deep
Secure and robust communication link:
(Frequency Hopping Spread Spectrum)
bit CRC Error correction for guaranteed packet delivery
128 bit encryption using CCM for encryption and authentication of packets.
Operating temperature range:
-40~+85ºC.
6Mbit serial flash integrated
for storing activity data.
For information on the serial
MX25L25635E, LLD, v0.3.zip
on the Macronix website
Datasheets can be found inside the CA
-
SDK zip file available for download in the
http://www.invensense.com/developers/index.php?_r=default
: Temperature and humidity sensors. CA
-
SD software provides the
driver for retrieving the raw sensor data from the sensor.
Capella CM36682:
Light and proximity sensors. CA-SD soft
ware provides the driver for
retrieving the raw sensor data from the sensors
. The light sensor is provided as an interface
example and the proximity sensor is disabled by default for power concerns.
Number: AN
-MPU-9250IMF-01
09/18/2012
axis MEMS gyroscope, accelerometer, and compass IC
Digital Motion Processor (DMP™)
inside the chip
The chip supports
an I
2
C
enable
software temperature
compass sensor die incorporates magnetic sensors
contains a sensor driving
circuit for processing the signal from each
sensor.
power microcontrollers consists of several devices
featuring different sets of peripherals targeted for various applications. The architectu
re, combined with
power modes, is optimized to achieve extended battery life in portable measurement
bit registers, and constant generators that
ntrolled oscillator (DCO) allows wake
-up from low-
integrated USB and PHY
converter (ADC), two
time clock
module with
Integrated AT.s command stack for external control via UART or RF, with master/slave
support and
serial (BRSP) and battery (BAS) profiles. BRSP allows the user to stream data over LE similar to the
devices, but at a much lower maximum data rate.
UART (2 or 4 wire with CTS/RTS, 9600 to 460.8K baud), SPI, and I2C data interfaces.
Bit ADC with 8 channels, RTC, battery monitor, temperature sensor, watchdog timer.
23dBm to 10.5dBm) for short to long range applications.
40mA 4dB TX, RX 38.5mA, 590uA idle w/ UART active, and 90uA deep
128 bit encryption using CCM for encryption and authentication of packets.
For information on the serial
SDK zip file available for download in the
SD software provides the
ware provides the driver for
. The light sensor is provided as an interface
example and the proximity sensor is disabled by default for power concerns.

CA
CONFIDENTIAL & PROPRIETARY
•Capella CM3512
: UVI (ultra violet index) sensor. CA
retrieving the UV index from the sensor.
•ALSP HSPPA032A
: Pressure sensor. CA
the pressure values.
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
6 of 10
: UVI (ultra violet index) sensor. CA
-SD
software provides the driver for
retrieving the UV index from the sensor.
: Pressure sensor. CA
-
SD software provides the driver for retrieving
the pressure values.
Number: AN
-MPU-9250IMF-01
09/18/2012
software provides the driver for
SD software provides the driver for retrieving

CA
CONFIDENTIAL & PROPRIETARY
4. System Block Diagram
Figure 1 displays the CA-
SDK system block diagram.
Texas Instruments
MSP
InvenSense
MPU-6500
MPU-9250
MPU-9350*
Alps
HSPPAD032A
Pressure Sensor
Sensirion
SHT-21
Temperature /
Humidity Sensor
Capella
CM3512
UV Sensor
Capella
CM36682
Proximity/ALS
Sensor
4MHz Crystal
SPI Serial Flash
* MPU-9350
is a future product
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
7 of 10
SDK system block diagram.
Texas Instruments
430 F5528IZQE
BlueRadio
BR-LE4.0-D2
Micro USB
CNN Battery Charger
LiPo Battery 2.6V DC/DC
Converter
SPI Serial Flash
JTAG
CNN
`
is a future product
Fuel
Gauge
Figure 1 System Block Diagram
Number: AN
-MPU-9250IMF-01
09/18/2012

CA
CONFIDENTIAL & PROPRIETARY
5 Board Hardware Design
5.1 Schematics
Table 1 gives the
I2C addresses for
Figure 3 Board Schematic.
(Also ocated in the
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
8 of 10
Figure 2 Components on Board
I2C addresses for
sensors. Figure 3 shows the schematic for the
CA
Sensor
7 bit
I2C Slave A
ddress
MPU-9250 0x68
0x77
Table 1 Sensor I2C Device Address
(Also ocated in the
CA-
with eMP 5.1 Release Package)
Number: AN
-MPU-9250IMF-01
09/18/2012
CA
- SDK board.
with eMP 5.1 Release Package)

CA
CONFIDENTIAL & PROPRIETARY
5.2 PCB Layout:
Figure 4 shows the P B layout
and board dimensions
5.3 Power supply:
The CA-SDK
board is powered by
micro USB connector. An o
n board 3.0V LDO provides power supply to all ICs.
board power to be switched
on and off.
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
9 of 10
and board dimensions
for the CA-SDK™ board.
Figure 4 CA-SDK™ board layout
board is powered by
a 3.7V Lithium-
ion rechargeable battery. The battery is charged through
n board 3.0V LDO provides power supply to all ICs.
The slide
on and off.
Number: AN
-MPU-9250IMF-01
09/18/2012
ion rechargeable battery. The battery is charged through
a
The slide
switch SW4 allows

CA
CONFIDENTIAL & PROPRIETARY
6 Installation Guide
6.1Hardware and
Software Setup
Please refer to the InvenSense CA-
5.1
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by In
infringements of patents or other rights of third parties that may result from its use. Specifications are subject to change
right to make changes to this product, including its circuits and so
makes no warranties, neither expressed nor implied, regarding the information and specifications contained in this document.
responsibility fo
r any claims or damages arising from information contained in this document, or from the use of products and services detaile
includes, but is not limited to, claims or damages based on the infringement of patents, copyrights, mask work and/
Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted b
patent or patent rights of InvenSense. This publicatio
are the property of their respective companies. InvenSense sensors should not be used or sold in the development, storage, pr
conventional or mass-
destructive weapons or for any other weapons or life threatening applications, as well as in any other life critical applicat
medical equipment, transportation, aerospace and nuclear instruments, undersea equipment, po
equipment.
The information in this document is preliminary and subject to change without notice. InvenSense
information contained herein.
InvenSense, MotionTracking, MotionProcessing, MotionProcessor, Nasiri
trademarks of InvenSense, Inc. Other company and product names may be trademarks of the respective companies with which they
MPU-9250™
CA
-SDK™ Reference Board
User Guide
Document
Number: AN
Revision: 1.0
Release Date:
09/18/2012
10 of 10
Software Setup
5.1
.1
SDK User Guide for hardware and software setup instructions.
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by In
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 so
ftware, 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.
r any claims or damages arising from information contained in this document, or from the use of products and services detaile
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 b
y implication or otherwise under any
patent or patent rights of InvenSense. This publicatio
n 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, pr
destructive weapons or for any other weapons or life threatening applications, as well as in any other life critical applicat
medical equipment, transportation, aerospace and nuclear instruments, undersea equipment, po
wer plant equipment, disaster prevention and crime prevention
The information in this document is preliminary and subject to change without notice. InvenSense
assumes no liability for infringement of any patent, intellectual property or use of any
InvenSense, MotionTracking, MotionProcessing, MotionProcessor, Nasiri
-Fabrication, MotionFusion, MotionApps, CA
-
trademarks of InvenSense, Inc. Other company and product names may be trademarks of the respective companies with which they
are associated
©2012 InvenSense, Inc. All rights reserved.
Number: AN
-MPU-9250IMF-01
09/18/2012
SDK User Guide for hardware and software setup instructions.
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by In
venSense for its use, or for any
without notice. InvenSense reserves the
ftware, 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
r any claims or damages arising from information contained in this document, or from the use of products and services detaile
d therein. This
or other intellectual property rights.
y implication or otherwise under any
n 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, pr
oduction or utilization of any
destructive weapons or for any other weapons or life threatening applications, as well as in any other life critical applicat
ions such as
wer plant equipment, disaster prevention and crime prevention
assumes no liability for infringement of any patent, intellectual property or use of any
-
, DMP, and the InvenSense logo are