MPU9250资料_功耗_数据手册
MPU-9250 Product Specification Revision1.1
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CONTENTS
1DOCUMENT INFORMATION (4)
1.1R EVISION H ISTORY (4)
1.2P URPOSE AND S COPE (5)
1.3P RODUCT O VERVIEW (5)
1.4A PPLICATIONS (5)
2FEATURES (6)
2.1G YROSCOPE F EATURES (6)
2.2A CCELEROMETER F EATURES (6)
2.3M AGNETOMETER F EATURES (6)
2.4A DDITIONAL F EATURES (6)
2.5M OTION P ROCESSING (7)
3ELECTRICAL CHARACTERISTICS (8)
3.1G YROSCOPE S PECIFICATIONS (8)
3.2A CCELEROMETER S PECIFICATIONS (9)
3.3M AGNETOMETER S PECIFICATIONS (10)
3.4E LECTRICAL S PECIFICATIONS (11)
3.5I2C T IMING C HARACTERIZATION (15)
3.6SPI T IMING C HARACTERIZATION (16)
3.7A BSOLUTE M AXIMUM R ATINGS (18)
4APPLICATIONS INFORMATION (19)
4.1P IN O UT AND S IGNAL D ESCRIPTION (19)
4.2T YPICAL O PERATING C IRCUIT (20)
4.3B ILL OF M ATERIALS FOR E XTERNAL C OMPONENTS (20)
4.4B LOCK D IAGRAM (21)
4.5O VERVIEW (22)
4.6T HREE-A XIS MEMS G YROSCOPE WITH16-BIT ADC S AND S IGNAL C ONDITIONING (22)
4.7T HREE-A XIS MEMS A CCELEROMETER WITH16-BIT ADC S AND S IGNAL C ONDITIONING (22)
4.8T HREE-A XIS MEMS M AGNETOMETER WITH16-BIT ADC S AND S IGNAL C ONDITIONING (22)
4.9D IGITAL M OTION P ROCESSOR (22)
4.10P RIMARY I2C AND SPI S ERIAL C OMMUNICATIONS I NTERFACES (23)
4.11A UXILIARY I2C S ERIAL I NTERFACE (23)
4.12S ELF-T EST (24)
4.13MPU-9250S OLUTION U SING I2C I NTERFACE (25)
4.14MPU-9250S OLUTION U SING SPI I NTERFACE (26)
4.15C LOCKING (26)
4.16S ENSOR D ATA R EGISTERS (27)
4.17FIFO (27)
4.18I NTERRUPTS (27)
4.19D IGITAL-O UTPUT T EMPERATURE S ENSOR (27)
4.20B IAS AND LDO (28)
4.21C HARGE P UMP (28)
4.22S TANDARD P OWER M ODE (28)
4.23P OWER S EQUENCING R EQUIREMENTS AND P OWER ON R ESET (28)
5ADVANCED HARDWARE FEATURES (29)
6PROGRAMMABLE INTERRUPTS (30)
6.1W AKE-ON-M OTION I NTERRUPT (30)
7DIGITAL INTERFACE (32)
7.1I2C AND SPI S ERIAL I NTERFACES (32)
7.2I2C I NTERFACE (32)
7.3I2C C OMMUNICATIONS P ROTOCOL (32)
7.4I2C T ERMS (35)
7.5SPI I NTERFACE (36)
8SERIAL INTERFACE CONSIDERATIONS (37)
8.1MPU-9250S UPPORTED I NTERFACES (37)
9ASSEMBLY (38)
9.1O RIENTATION OF A XES (38)
9.2P ACKAGE D IMENSIONS (38)
10PART NUMBER PACKAGE MARKING (40)
11RELIABILITY (41)
11.1Q UALIFICATION T EST P OLICY (41)
11.2Q UALIFICATION T EST P LAN (41)
12REFERENCE (42)
1Document Information 1.1Revision History
1.2Purpose and Scope
This document provides a description,specifications,and design related information on the MPU-9250 MotionTracking device.The device is housed in a small3x3x1mm QFN package.
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-9250Register Map and Register Descriptions document.
1.3Product Overview
MPU-9250is a multi-chip module(MCM)consisting of two dies integrated into a single QFN package.One die houses the3-Axis gyroscope and the3-Axis accelerometer.The other die houses the AK89633-Axis magnetometer from Asahi Kasei Microdevices Corporation.Hence,the MPU-9250is a9-axis MotionTracking device that combines a3-axis gyroscope,3-axis accelerometer,3-axis magnetometer and a Digital Motion Processor?(DMP)all in a small3x3x1mm package available as a pin-compatible upgrade from the MPU-6515.With its dedicated I2C sensor bus,the MPU-9250directly provides complete9-axis MotionFusion?output.The MPU-9250MotionTracking device,with its9-axis integration,on-chip MotionFusion?,and run-time calibration firmware,enables manufacturers to eliminate the costly and complex selection,qualification,
and system level integration of discrete devices,guaranteeing optimal motion performance for consumers. MPU-9250is also designed to interface with multiple non-inertial digital sensors,such as pressure sensors,
on its auxiliary I2C port.
MPU-9250features three16-bit analog-to-digital converters(ADCs)for digitizing the gyroscope outputs,three 16-bit ADCs for digitizing the accelerometer outputs,and three16-bit ADCs for digitizing the magnetometer outputs.For precision tracking of both fast and slow motions,the parts feature a user-programmable gyroscope full-scale range of±250,±500,±1000,and±2000°/sec(dps),a user-programmable accelerometer full-scale range of±2g,±4g,±8g,and±16g,and a magnetometer full-scale range of±4800μT.
Other industry-leading features include programmable digital filters,a precision clock with1%drift from-40°C
to85°C,an embedded temperature sensor,and programmable interrupts.The device features I2C and SPI serial interfaces,a VDD operating range of2.4V to3.6V,and a separate digital IO supply,VDDIO from1.71V
to VDD.
Communication with all registers of the device is performed using either I2C at400kHz or SPI at1MHz.For applications requiring faster communications,the sensor and interrupt registers may be read using SPI at 20MHz.
By leveraging its patented and volume-proven CMOS-MEMS fabrication platform,which integrates MEMS wafers with companion CMOS electronics through wafer-level bonding,InvenSense has driven the package size down to a footprint and thickness of3x3x1mm,to provide a very small yet high performance low cost package.The device provides high robustness by supporting10,000g shock reliability.
1.4Applications
?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
2Features
2.1Gyroscope Features
The triple-axis MEMS gyroscope in the MPU-9250includes a wide range of features:
?Digital-output X-,Y-,and Z-Axis angular rate sensors(gyroscopes)with a user-programmable full-scale range of±250,±500,±1000,and±2000°/sec and integrated16-bit ADCs
?Digitally-programmable low-pass filter
?Gyroscope operating current:3.2mA
?Sleep mode current:8μA
?Factory calibrated sensitivity scale factor
?Self-test
2.2Accelerometer Features
The triple-axis MEMS accelerometer in MPU-9250includes a wide range of features:
?Digital-output triple-axis accelerometer with a programmable full scale range of±2g,±4g,±8g and ±16g and integrated16-bit ADCs
?Accelerometer normal operating current:450μA
?Low power accelerometer mode current:8.4μA at0.98Hz,19.8μA at31.25Hz
?Sleep mode current:8μA
?User-programmable interrupts
?Wake-on-motion interrupt for low power operation of applications processor
?Self-test
2.3Magnetometer Features
The triple-axis MEMS magnetometer in MPU-9250includes a wide range of features:
?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 of14bit(0.6μT/LSB)
?Full scale measurement range is±4800μT
?Magnetometer normal operating current:280μA at8Hz repetition rate
?Self-test function with internal magnetic source to confirm magnetic sensor operation on end products
2.4Additional Features
The MPU-9250includes the following additional features:
?Auxiliary master I2C bus for reading data from external sensors(e.g.pressure sensor)
? 3.5mA operating current when all9motion sensing axes and the DMP are enabled
?VDD supply voltage range of2.4–3.6V
?VDDIO reference voltage for auxiliary I2C devices
?Smallest and thinnest QFN package for portable devices:3x3x1mm
?Minimal cross-axis sensitivity between the accelerometer,gyroscope and magnetometer axes
?512byte FIFO buffer enables the applications processor to read the data in bursts
?Digital-output temperature sensor
?User-programmable digital filters for gyroscope,accelerometer,and temp sensor
?10,000g shock tolerant
?400kHz Fast Mode I2C for communicating with all registers
?1MHz SPI serial interface for communicating with all registers
?20MHz SPI serial interface for reading sensor and interrupt registers
?MEMS structure hermetically sealed and bonded at wafer level
?RoHS and Green compliant
2.5MotionProcessing
?Internal Digital Motion Processing?(DMP?)engine supports advanced MotionProcessing and low power functions such as gesture recognition using programmable interrupts
?Low-power pedometer functionality allows the host processor to sleep while the DMP maintains the step count.
3Electrical Characteristics
3.1Gyroscope Specifications
Typical Operating Circuit of section4.2,VDD=2.5V,VDDIO=2.5V,T A=25°C,unless otherwise noted.
Table1Gyroscope Specifications
3.2Accelerometer Specifications
Typical Operating Circuit of section4.2,VDD=2.5V,VDDIO=2.5V,T A=25°C,unless otherwise noted.
Table2Accelerometer Specifications
3.3Magnetometer Specifications
Typical Operating Circuit of section4.2,VDD=2.5V,VDDIO=2.5V,T A=25°C,unless otherwise noted.
3.4Electrical Specifications
3.4.1 D.C.Electrical Characteristics
Typical Operating Circuit of section4.2,VDD=2.5V,VDDIO=2.5V,T A=25°C,unless otherwise noted.
Table3D.C.Electrical Characteristics
Notes:
1.Accelerometer Low Power Mode supports the following output data rates(ODRs):0.24,0.49,0.98,
1.95,3.91,7.81,15.63,31.25,6
2.50,125,250,500Hz.Supply current for any update rate can be
calculated as:
Supply Current inμA=Sleep Current+Update Rate*0.376
3.4.2 A.C.Electrical Characteristics
Typical Operating Circuit of section4.2,VDD=2.5V,VDDIO=2.5V,T A=25°C,unless otherwise noted.
Table4A.C.Electrical Characteristics
3.4.3Other Electrical Specifications
Typical Operating Circuit of section4.2,VDD=2.5V,VDDIO=2.5V,T A=25°C,unless otherwise noted.
Table5Other Electrical Specifications
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