1197 Borregas, Sunnyvale, CA 94089 U.S.A
Tel: +1 (408) 988
SDK
InvenSene Inc.
Document Number: AN
09/18/2012
-7339 Fax: +1 (408) 9888104
Website: www.invensense.com
Revision: 1.0
Release Date:
-MPU-9250IMF-01
MPU-9250™
CA-
™ Reference Board
User Guide
1
CA
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AND SOFTWARE PACKAGE
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OTION
ICROCONTROLLER
LE4.0
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E SETUP
Number: AN
09/18/2012
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Table of Contents
MPU-9250™
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
REVISION HISTORY
1 PURPOSE ................................
2 REFERENCE DOCUMENTS
3 DESCRIPTION
3.1
I
NVENSENSE NINE-AXIS
3.2
E
MBEDDED
3.3
B
LUETOOTH MODULE
3.4
S
ERIAL FLASH
3.5
EXTERNAL SENSORS
M
M
(BR-
.
5 BOARD HARDWARE DESIGN
5.1
S
5.2
5.3
PCB L
P
CHEMATICS
OWER SUPPLY
AYOUT
:
:
6 INSTALLATION GUIDE
6.1 HARDWARE AND SOFTWAR
................................................................
................................
S ................................
................................................................
T
RACKING DEVICE
(MPU-9250)
(MSP430) ................................
-D2) ................................................................
................................................................
................................
................................
................................................................
................................................................
................................................................
................................
................................................................
.......... 3
.................... 4
... 4
............. 4
................................. 5
................................. 5
......... 5
............ 5
................................. 5
................... 8
.............. 8
............ 9
......... 9
............................ 10
.. 10
CONFIDENTIAL & PROPRIETARY
2 of 10
CA
Description
Initial Release
Number: AN
09/18/2012
Revision History
Revision
Date Revision
MPU-9250™
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
09/18/12 1.0
CONFIDENTIAL & PROPRIETARY
3 of 10
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
9250
radio module
for developing wearable sensor applications
Reference Documents and software packages
Guide
specification and functional modules.
release package
SDK provides a total solution encompassing hardwa
freedom from the InvenSense MotionTrac
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
streaming. Streaming is supported through the wireless interface, and a micro USB
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
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
09/18/2012
a host of external
, and battery
the
: This document covers the
is running Embedded MotionApps
full ten degrees
sensors are
hr rechargeable battery and charger circuitry, that can provide up to 4
suited for embedded applications such as
.
1 Purpose
The InvenSense CA-
freedom by combining the MPUmicrocontroller, Bluetooth
MPU-9250™
-SDK™ Reference Board
User Guide
9-axis MotionTracking device,
, serial flash, a rechargeable battery
.
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
-degrees-of-
sensors,
charger that is ideal
2
2.1 InvenSense CA-SDK 5.1.1 User
2.2 Embedded MotionApps v5.1.1
2.3 CA-SDK with eMPL 5.1.1
v5.1
3 Description
The CA-
I2C
interface. Also included,
hours of wireless data
connector provides a
components
: This document covers details on bringing up
APIs Specification
: This is the firmware which
re and software, with a
king™ device, the MPU-9250. The
-
CA-™ SDK.
Embedded MotionApps
of
interfaced via the
The following
CONFIDENTIAL & PROPRIETARY
4 of 10
CA
MotionTracking Device
chip, digital
optimized for wearable sensor applic
axis MotionFusion™
MCU
The e
for detecting terrestrial magnetism in the X
and
Embedded Microcontroller (MSP430)
The Texas Instruments MSP430 family of ultra
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
contribute to maximum code efficiency. The digitally co
power modes to active mode in 3.5 µs (typical).
bit timers, a high
iversal serial communication interfaces (USCI), hardware multiplier, DMA, real
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
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 (
Low power consumption:
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:
6Mbit serial flash integrated
MX25L25635E, LLD, v0.3.zip
Datasheets can be found inside the CA
http://www.invensense.com/developers/index.php?_r=default
: 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™
Number: AN
09/18/2012
axis MEMS gyroscope, accelerometer, and compass IC
Digital Motion Processor (DMP™)
The chip supports
MCU
enable
compass sensor die incorporates magnetic sensors
contains a sensor driving
circuit for processing the signal from each
power microcontrollers consists of several devices
bit registers, and constant generators that
ntrolled oscillator (DCO) allows wake
integrated USB and PHY
converter (ADC), two
time clock
devices, but at a much lower maximum data rate.
23dBm to 10.5dBm) for short to long range applications.
40mA 4dB TX, RX 38.5mA, 590uA idle w/ UART active, and 90uA deep
For information on the serial
SDK zip file available for download in the
SDK software provides the
ware provides the driver for
. The light sensor is provided as an interface
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
3.1 InvenSense Nine-Axis
MPU-9250 is a single-
can perform 6interface for connecting to the
compensation for the gyro bias.
circuit, a signal amplifier chain,
3.2
extensive low-
supporting USB 2.0, four 16un
3.3 Bluetooth module (BR-LE4.0-
•
•
• 12-
•
•
sleep.
• 10 meter distance
•
• FHSS
• 24-
• AES-
•
(MPU-9250)
output, nineations. The integrated
and calibration routines inside the MPU.
. The on chip temperature sensor can
mbedded AK8963
-axis, Y-axis, and Z-axis. The MPU-9250
an arithmetic
-low
-bit RISC CPU, 16-
The MSP430F5528IZQE, has an
-performance 12-bit analog-to-digital
)
Bluetooth
-
-40~+85ºC.
inside the chip
software temperature
sensor.
re, combined with
-up from low-
-
module with
support and
an I2C
3.4 Serial Flash
The CA-™ SDK has a 25
flash, please refer to
3.5 External Sensors.
Developers Corner.
• Sensirion SHT21
for storing activity data.
on the Macronix website
-
-
•
CONFIDENTIAL & PROPRIETARY
Light and proximity sensors. CA-SDK soft
5 of 10
CA
: UVI (ultra violet index) sensor. CA
retrieving the UV index from the sensor.
: Pressure sensor. CA
the pressure values.
MPU-9250™
Number: AN
09/18/2012
software provides the driver for
SDK software provides the driver for retrieving
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
• Capella CM3512
• ALSP HSPPA032A
-SDK
-
CONFIDENTIAL & PROPRIETARY
6 of 10
CA
SDK system block diagram.
Texas Instruments
SPI S erial Flash
is a future product
Number: AN
09/18/2012
4. System Block Diagram
Figure 1 displays the CA-
MPU-9250™
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
InvenSense
MPU-6500
MPU-9250
MPU-9350*
Alps
HSPPA D032A
Pressure Sensor
Sensirion
SHT-21
Temperature /
Humidi ty Sensor
Capella
CM3512
UV Sensor
Capella
CM36682
Proximity /ALS
Sensor
4MHz C rystal
* MPU-9350
MSP
430F5528I ZQE
Micro USB
CNN
`
Fuel
Gauge
JTAG
CNN
Battery Charger
LiPo B attery
BR-LE4.0-D2
Figure 1 System Block Diagram
BlueRadio
2.6V DC/D C
Converter
CONFIDENTIAL & PROPRIETARY
7 of 10
CA
I2C addresses for
(Also Located in the
Number: AN
09/18/2012
CA
Sensor
7 bit
I2C Slave A
ddress
with eMPL 5.1 Release Package)
5 Board Hardware Design
5.1 Schematics
MPU-9250™
-SDK™ Reference Board
User Guide
Figure 2 Components on Board
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
Table 1
gives the
Figure 3 Board Schematic.
sensors. Figure 3 shows the schematic for the
MPU-9250 0x68
0x77
Table 1 Sensor I2C Device Address
CA-
- SDK board.
CONFIDENTIAL & PROPRIETARY
8 of 10
CA
and board dimensions
board is powered by
n board 3.0V LDO provides power supply to all ICs.
on and off.
Number: AN
09/18/2012
ion rechargeable battery. The battery is charged through
The slide
5.2 PCB Layout:
MPU-9250™
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
Figure 4
shows
the PCB layout
for the CA-SDK™
board.
5.3 Power supply:
The CA-SDK
micro USB connector. An o
board power to be switched
CONFIDENTIAL & PROPRIETARY
Figure 4 CA-SDK™ board layout
a 3.7V Lithium-
9 of 10
a
switch SW4 allows
CA
Software Setup
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.
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
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
The information in this document is preliminary and subject to change without notice. InvenSense
InvenSense, MotionTracking, MotionProcessing, MotionProcessor, Nasiri
trademarks of InvenSense, Inc. Other company and product names may be trademarks of the respective companies with which they
Number: AN
09/18/2012
SDK User Guide for hardware and software setup instructions.
without notice. InvenSense reserves the
ftware, in order to improve its design and/or performance, without prior notice. InvenSense
or other intellectual property rights.
y implication or otherwise under any
n supersedes and replaces all information previously supplied. Trademarks that are registered trademarks
wer plant equipment, disaster prevention and crime prevention
assumes no liability for infringement of any patent, intellectual property or use of any
-
6 Installation Guide
MPU-9250™
-SDK™ Reference Board
User Guide
Document
Revision: 1.0
Release Date:
-MPU-9250IMF-01
6.1 Hardware and
Please refer to the InvenSense CA-
responsibility fo
conventional or mass-
equipment.
information contained herein.
.1
-Fabrication, MotionFusion, MotionApps, CA
©2012 InvenSense, Inc. All rights reserved.
are associated
venSense for its use, or for any
InvenSense assumes no
d therein. This
oduction or utilization of any
ions such as
, DMP, and the InvenSense logo are
CONFIDENTIAL & PROPRIETARY
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