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    Figure 1 MPU-9250 device package

    Figure 1 MPU-9250 device package

    Figure 2 MPU-9250 schematic symbol

    Figure 2 MPU-9250 schematic symbol

    What is MPU-9250?

    MPU-9250 is a multi-chip module (MCM) consisting of two dies integrated into a single package.

    • First die: 3-Axis gyroscope and the 3-Axis accelerometer.
    • Second die: 3-Axis magnetometer.

    The MPU-9250 directly provides complete 9-axis MotionFusion™ output. MPU-9250 is also designed to interface with multiple digital sensors, such as pressure sensors. MPU-9250 features three 16-bit analog-to-digital converters for digitizing the gyroscope outputs, three 16-bit analog-to-digital converters for digitizing the accelerometer outputs, and three 16-bit analog-to-digital converters for digitizing the magnetometer outputs. Other features include programmable digital filters, a precision clock, an embedded temperature sensor, and programmable interrupts.

    Pin Configuration

    1 RESV Reserved. Connect to VDDIO.
    2-6 NC Not internally connected. May be used for PCB trace routing.
    7 AUX_CL I2C Master serial clock, for connecting to external sensors
    8 VDDIO Digital I/O supply voltage
    9 AD0 / SDO I2C Slave Address LSB (AD0); SPI serial data output (SDO)
    10 REGOUT 10 REGOUT Regulator filter capacitor connection.
    11 FSYNC Frame synchronization digital input. Connect to GND if unused.
    12 INT Interrupt digital output (totem pole or open-drain)
    13 VDD Power supply voltage and Digital I/O supply voltage.
    14-17 NC Not internally connected. May be used for PCB trace routing.
    18 GND Power supply ground
    19 RESV Reserved. Do not connect.
    20 RESV Reserved. Connect to GND
    21 AUX_DA I2C master serial data, for connecting to external sensors.
    22 nCS Chip select (SPI mode only)
    23 SCL / SCLK I2C serial clock (SCL); SPI serial clock (SCLK)
    24 SDA / SDI I2C serial data (SDA); SPI serial data input (SDI)


    • Digital-output X-, Y-, and Z-Axis angular rate sensors
    • Digitally-programmable low-pass filter
    • Sleep mode current: 8µA
    • Gyroscope operating current: 3.2Ma
    • Digital-output triple-axis accelerometer with a programmable full-scale range of ±2g, ±4g, ±8g and ±16g
    • User-programmable interrupts
    • Accelerometer normal operating current: 450µA
    • Wake-on-motion interrupt for low power operation of applications processor
    • 3-axis silicon monolithic Hall-effect magnetic sensor with magnetic concentrator
    • Output data resolution of 14 bit
    • Full scale measurement range is ±4800µT
    • Magnetometer normal operating current: 280µA at 8Hz repetition rate


    • Handset and portable gaming
    • Motion-based game controllers
    • Wearable sensors for health
    • Fitness and sports
    • 3D remote controls for Internet connected DTVs and set top boxes, 3D mice


    • LSM303AGRTR
    • ICM-20602
    • LSM6DS3TR
    • LSM6DS33TR
    • ICM-20948

    WHERE TO USE MPU-9250?

    MPU-9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS Motion Tracking Device. The MPU-9250 is the company’s second generation 9-axis Motion Processing Unit for smartphones, tablets, wearable sensors, and other consumer markets.

    How MPU-9250 work?

    Figure 3 MPU-9250 Connections

    Figure 3 MPU-9250 Connections

    The MPU9250 has an accelerometer, gyroscope, and a magnetometer. Fig.4 shows the connection diagram of the information that we can get from a MPU9250 are: yaw angle, pitch angle, and roll angle. SparkFun IMU board has MPU-9250 as shown in Fig.3. Supply for PMU-9250 can be provided directly from the ARDUINO board. SCL/SCLK (Serial Clock) and SDA/SDI (Serial DATA) pins of MPU-9250 is connected to ANALOG IN pins A4 and A5 respectively. To operate MPU-9250, dedicated library by kriswiner is required. MPU9250/MPU9250BasicAHRS.ino Demonstrate basic MPU-9250 functionality of MPU-9250. Link of the library is provided below.

    kriswiner/MPU9250: https://github.com/kriswiner/MPU9250

    2D-VIEW OF MPU-9250

    Figure 4 2-D View of MPU-9250

    Figure 4 2-D View of MPU-9250

    Mechanical Parameters

    A Package Thickness 0.95 1 1.05
    A1 Lead finger (pad) seating height 0 0.02 0.05
    b Lead finger (pad) width 0.15 0.2 0.25
    c Lead frame (pad) height 0.15REF
    D Package width 2.9 3 3.1
    D2 Exposed pad width 1.65 1.7 1.75
    E Package length 2.9 3 3.1
    E2 Exposed pad length 1.49 1.54 1.59
    e Lead finger-finger (pad-pad) pitch 0.4
    f (e-b) Lead-lead (Pad-Pad) space 0.15 0.2 0.25
    K Lead (pad) to Exposed Pad Space 0.35REF
    L Lead (pad) length 0.25 0.3 0.35
    R Lead (pad) corner radius 0.075 REF
    s Corner lead (pad) outer radius to corner lead outer radius 0.25 REF
    y   0 0.07

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