Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking Device

MPU-9250 is a multi-chip module (MCM) consisting of two dies integrated into a single QFN package. One die houses the 3-Axis gyroscope and the 3-Axis accelerometer. The other die houses the AK8963 3-Axis magnetometer from Asahi Kasei Microdevices Corporation. Hence, the MPU-9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP) all in a small 3x3x1mm package available as a pin-compatible upgrade from the MPU-6515. With its dedicated I2 C sensor bus, the MPU-9250 directly provides complete 9-axis MotionFusion™ output.The MPU-9250 MotionTracking device, with its 9-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-9250 is also designed to interface with multiple non-inertial digital sensors, such as pressure sensors, on its auxiliary I2 C port. MPU-9250 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 16-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 ±4800µT.Other industry-leading features include programmable digital filters, a precision clock with 1% drift from - 40°C to 85°C, an embedded temperature sensor, and programmable interrupts. The device features I 2 C and SPI serial interfaces, a VDD operating range of 2.4V to 3.6V, and a separate digital IO supply, VDDIO from 1.71V to VDD.Communication with all registers of the device is performed using either I2 C at 400kHz or SPI at 1MHz. 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 of 3x3x1mm, to provide a very small yet high performance low cost package. The device provides high robustness by supporting 10,000g shock reliability. Gyroscope Features

• The triple-axis MEMS gyroscope in the MPU-9250 includes a wide range of features: Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable fullscale range of ±250, ±500, ±1000, and ±2000°/sec and integrated 16-bit ADCs
• Digitally-programmable low-pass filter
• Gyroscope operating current: 3.2mA
• Sleep mode current: 8µA
• Factory calibrated sensitivity scale factor
• Self-test

Accelerometer Features
The triple-axis MEMS accelerometer in MPU-9250 includes a wide range of features:

• Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g and integrated 16-bit ADCs
• Accelerometer normal operating current: 450µA
• Low power accelerometer mode current: 8.4µA at 0.98Hz, 19.8µA at 31.25Hz
• Sleep mode current: 8µA
• User-programmable interrupts
• Wake-on-motion interrupt for low power operation of applications processor
• Self-test

Magnetometer Features The triple-axis MEMS magnetometer in MPU-9250 includes 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 of 14 bit (0.6µT/LSB) or 16 bit (15µT/LSB)
• Full scale measurement range is ±4800µT
• Magnetometer normal operating current: 280µA at 8Hz repetition rate
• Self-test function with internal magnetic source to confirm magnetic sensor operation on end products

Additional Features
The MPU-9250 includes the following additional features:

• Auxiliary master I2 C bus for reading data from external sensors (e.g. pressure sensor)
• 3.5mA operating current when all 9 motion sensing axes and the DMP are enabled
• VDD supply voltage range of 2.4 – 3.6V
• VDDIO reference voltage for auxiliary I 2 C devices
• Smallest and thinnest QFN package for portable devices: 3x3x1mm
• Minimal cross-axis sensitivity between the accelerometer, gyroscope and magnetometer axes
• 512 byte 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
• 10,000 g shock tolerant
• 400kHz Fast Mode I2 C 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