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
2
3
REVISION HISTORY ...................................................................................................................................5
PURPOSE AND SCOPE .............................................................................................................................6
PRODUCT OVERVIEW ...............................................................................................................................7
3.1
4
5
MPU-9150 O
VERVIEW
........................................................................................................................7
APPLICATIONS...........................................................................................................................................8
FEATURES ..................................................................................................................................................9
5.1
5.2
5.3
5.4
5.5
5.6
G
YROSCOPE
F
EATURES
.......................................................................................................................9
A
CCELEROMETER
F
EATURES
...............................................................................................................9
M
AGNETOMETER
F
EATURES
.................................................................................................................9
A
DDITIONAL
F
EATURES
........................................................................................................................9
M
OTION
P
ROCESSING
.........................................................................................................................10
C
LOCKING
.........................................................................................................................................10
6
ELECTRICAL CHARACTERISTICS .........................................................................................................11
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
G
YROSCOPE
S
PECIFICATIONS
............................................................................................................11
A
CCELEROMETER
S
PECIFICATIONS
.....................................................................................................12
M
AGNETOMETER
S
PECIFICATIONS
......................................................................................................13
E
LECTRICAL AND
O
THER
C
OMMON
S
PECIFICATIONS
............................................................................14
E
LECTRICAL
S
PECIFICATIONS
, C
ONTINUED
.........................................................................................15
E
LECTRICAL
S
PECIFICATIONS
, C
ONTINUED
.........................................................................................16
E
LECTRICAL
S
PECIFICATIONS
, C
ONTINUED
.........................................................................................17
I C T
IMING
C
HARACTERIZATION
..........................................................................................................18
A
BSOLUTE
M
AXIMUM
R
ATINGS
...........................................................................................................19
2
7
APPLICATIONS INFORMATION ..............................................................................................................20
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
P
IN
O
UT AND
S
IGNAL
D
ESCRIPTION
....................................................................................................20
T
YPICAL
O
PERATING
C
IRCUIT
.............................................................................................................21
B
ILL OF
M
ATERIALS FOR
E
XTERNAL
C
OMPONENTS
..............................................................................21
R
ECOMMENDED
P
OWER
-
ON
P
ROCEDURE
...........................................................................................22
B
LOCK
D
IAGRAM
...............................................................................................................................23
O
VERVIEW
........................................................................................................................................23
T
HREE
-A
XIS
MEMS G
YROSCOPE WITH
16-
BIT
ADC
S AND
S
IGNAL
C
ONDITIONING
................................24
T
HREE
-A
XIS
MEMS A
CCELEROMETER WITH
16-
BIT
ADC
S AND
S
IGNAL
C
ONDITIONING
........................24
T
HREE
-A
XIS
MEMS M
AGNETOMETER WITH
13-
BIT
ADC
S AND
S
IGNAL
C
ONDITIONING
.........................24
2 of 52
MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
7.10
7.11
7.12
7.13
7.14
7.15
7.16
7.17
7.18
7.19
7.20
7.21
7.22
8
D
IGITAL
M
OTION
P
ROCESSOR
............................................................................................................24
P
RIMARY
I C .....................................................................................................................................24
A
UXILIARY
I C S
ERIAL
I
NTERFACE
......................................................................................................25
S
ELF
-T
EST
........................................................................................................................................25
MPU-9150 S
OLUTION FOR
10-A
XIS
S
ENSOR
F
USION
U
SING
I C I
NTERFACE
........................................26
P
ROCEDURE FOR
D
IRECTLY
A
CCESSING THE
AK8975 3-A
XIS
C
OMPASS
.............................................28
I
NTERNAL
C
LOCK
G
ENERATION
..........................................................................................................28
S
ENSOR
D
ATA
R
EGISTERS
.................................................................................................................29
FIFO ................................................................................................................................................29
I
NTERRUPTS
......................................................................................................................................29
D
IGITAL
-O
UTPUT
T
EMPERATURE
S
ENSOR
..........................................................................................29
B
IAS AND
LDO ..................................................................................................................................30
C
HARGE
P
UMP
..................................................................................................................................30
2
2
2
PROGRAMMABLE INTERRUPTS............................................................................................................31
8.1
M
OTION
I
NTERRUPT
...........................................................................................................................32
2
2
2
2
9
DIGITAL INTERFACE ...............................................................................................................................33
9.1
9.2
9.3
9.4
I C S
ERIAL
I
NTERFACE
......................................................................................................................33
I C I
NTERFACE
..................................................................................................................................33
I C C
OMMUNICATIONS
P
ROTOCOL
......................................................................................................33
I C T
ERMS
........................................................................................................................................36
10 SERIAL INTERFACE CONSIDERATIONS ...............................................................................................37
10.1
10.2
10.3
MPU-9150 S
UPPORTED
I
NTERFACES
.................................................................................................37
L
OGIC
L
EVELS
...................................................................................................................................37
L
OGIC
L
EVELS
D
IAGRAM
....................................................................................................................38
11 ASSEMBLY ...............................................................................................................................................39
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
O
RIENTATION OF
A
XES
......................................................................................................................39
P
ACKAGE
D
IMENSIONS
......................................................................................................................40
PCB D
ESIGN
G
UIDELINES
: .................................................................................................................41
A
SSEMBLY
P
RECAUTIONS
..................................................................................................................42
R
EFLOW
S
PECIFICATION
....................................................................................................................44
S
TORAGE
S
PECIFICATIONS
.................................................................................................................45
P
ACKAGE
M
ARKING
S
PECIFICATION
....................................................................................................45
T
APE
& R
EEL
S
PECIFICATION
.............................................................................................................46
L
ABEL
...............................................................................................................................................48
3 of 52
MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
11.10
11.11
P
ACKAGING
...................................................................................................................................49
R
EPRESENTATIVE
S
HIPPING
C
ARTON
L
ABEL
...................................................................................50
12 RELIABILITY .............................................................................................................................................51
12.1
12.2
Q
UALIFICATION
T
EST
P
OLICY
.............................................................................................................51
Q
UALIFICATION
T
EST
P
LAN
................................................................................................................51
13 ENVIRONMENTAL COMPLIANCE...........................................................................................................52
4 of 52
MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.0
Release Date: 5/14/2012
1
Revision History
Revision
Date
5/27/2011
Revision
1.0
2.0
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)
06/14/2011
10/21/2011
10/24/2011
12/23/2011
2.1
3.0
3.1
5/14/2012
4.0
5 of 52