We are planning to develop products using TI's Wireless Power chip sets, will we be required to pay any licensing fees to market Qi compliant devices ?
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This is controlled by the WPC and I would refer you to their Developer Web site, see below.
www.wirelesspowerconsortium.com/developers/
An annual membership fee for WPC is required to have access to the logo in addition to testing for certification.
The WPC maintains its own list of FAQs for members dealing with just WPC issues.