MPU-9150 データシートの表示（PDF） - Unspecified
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MPU-9150 Datasheet PDF : 50 Pages
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MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.3
Release Date: 9/18/2013
7.7 Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning
The MPU-9150 includes a 3-Axis vibratory MEMS rate gyroscope, which detect rotations about the X-, Y-,
and Z- Axes. When the gyro is are rotated about any of the sense axes, the Coriolis Effect causes a
vibration that is detected by a capacitive pickoff. The resulting signal is amplified, demodulated, and filtered
to produce a voltage that is proportional to the angular rate. This voltage is digitized using individual on-chip
16-bit Analog-to-Digital Converters (ADCs) to sample each axis. The full-scale range of the gyro sensor may
be digitally programmed to ±250, ±500, ±1000, or ±2000 degrees per second (dps). The ADC sample rate is
programmable from 8,000 samples per second, down to 3.9 samples per second, and user-selectable low-
pass filters enable a wide range of cut-off frequencies.
7.8 Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning
The MPU-9150’s 3-axis accelerometer uses separate proof masses for each axis. Acceleration along a
particular axis induces displacement on the corresponding proof mass, and capacitive sensors detect the
displacement differentially. The MPU-9150’s architecture reduces the accelerometer’s susceptibility to
fabrication variations as well as to thermal drift. When the device is placed on a flat surface, it will measure
0g on the X- and Y-axes and +1g on the Z-axis. The accelerometer’s scale factor is calibrated at the factory
and is nominally independent of supply voltage. Each sensor has a dedicated sigma-delta ADC for providing
digital outputs. The full scale range of the digital output can be adjusted to ±2g, ±4g, ±8g, or ±16g.
7.9 Three-Axis MEMS Magnetometer with 13-bit ADCs and Signal Conditioning
The 3-axis magnetometer uses highly sensitive Hall sensor technology. The compass portion of the IC
incorporates magnetic sensors for detecting terrestrial magnetism in the X-, Y-, and Z- Axes, a sensor driving
circuit, a signal amplifier chain, and an arithmetic circuit for processing the signal from each sensor. Each
ADC has a 13-bit resolution and a full scale range of ±1200 µT.
7.10 Digital Motion Processor
The embedded Digital Motion Processor (DMP) is located within the MPU-9150 and offloads computation of
motion processing algorithms from the host processor. The DMP acquires data from accelerometers,
gyroscopes, magnetometers and additional 3rd party sensors such as pressure sensors, and processes the
data. The resulting data can be read from the DMP’s registers, or can be buffered in a FIFO. The DMP has
access to one of the MPU’s external pins, which can be used for generating interrupts.
The purpose of the DMP is to offload both timing requirements and processing power from the host
processor. Typically, motion processing algorithms should be run at a high rate, often around 200Hz, in order
to provide accurate results with low latency. This is required even if the application updates at a much lower
rate; for example, a low power user interface may update as slowly as 5Hz, but the motion processing should
still run at 200Hz. The DMP can be used as a tool in order to minimize power, simplify timing, simplify the
software architecture, and save valuable MIPS on the host processor for use in the application.
7.11 Primary I2C
The MPU-9150 communicates to a system processor using an I2C serial interface. The MPU-9150 always
acts as a slave when communicating to the system processor. The logic level for communications to the
master is set by the voltage on the VLOGIC pin. The LSB of the of the I2C slave address is set by pin 9
(AD0).
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