InvenSense MotionTracking MPU-9150 User manual

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 1AN-MPU-9150EVB-00
Tel: [phone] Fax: [phone] ©2011 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 2AN-MPU-9150EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
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

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 3AN-MPU-9150EVB-00
Tel: [phone] Fax: [phone] ©2011 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 4AN-MPU-9150EVB-00
Tel: [phone] Fax: [phone] ©2011 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. 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 full-
scale range of ±250, ±500, ±1000, and ±2000°/sec
•Digital-output X-, Y-, Z-Axis accelerometers with a programmable full scale range of ±2g, ±4g,
±8gand ±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 (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 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

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 5AN-MPU-9150EVB-00
Tel: [phone] Fax: [phone] ©2011 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 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

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 6AN-MPU-9150EVB-00
Tel: [phone] Fax: [phone] ©2011 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) 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.
The MPU-9150’s auxiliary I
2
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.
MPU
-9150
+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
MPU-9150
+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: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
4. Schematic
Figure 3: Schematic Diagram of the MPU-9150 EV Board
AUX_DA
R5
2K
H41
JP3
RESV6
R6
2K
MPU-9150
VLOGIC
Select
3V0
R4
1K
AD0
MCU_SCL
H31
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
H21
FSY NC
R7
100K
JP5
3V0
JP2
LDO_EN
RESV3
FSY NC _I
R2
NM
C1
2200pF/50V
MCU_SCL
R9NM
R1
NM
JP10
FSY NC
R8
0R
RSV1
RESV5
BP5
0.1uF
MCU_SDA
JP6
C4
0.033uF
3V0
VIN
H11
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/ ADD R
CS/V_LOGIC
VDD SCL/ SCLK
GND
REG_O
RSV
INT
FSY NC
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
R122R2
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_SDAFSY NC
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 8AN-MPU9150EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
5. 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 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 9AN-MPU9150-EVB-00
Tel: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
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 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 voltage 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 external source)
6.2 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)

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: [phone] Fax: [phone] ©2011 InvenSense, Inc. All rights reserved.
Website: http//www.invensense.com
7. MPU-9150 EVB Connector Signals Description
7.1 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
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 0x68.
When the pin value is high, the device address is 0x69.
The address value is 7bits.
10 MPU-9150 FSYNC Input