What is MPU9250?

A MPU9250 module is a multi-chip module with a 9-axis motion tracking device that combines a three-axis gyroscope, three-axis accelerometer, three-axis magnetometer and a digital motion processor all in small 3*3*1mm package available as a pin compatible upgrade from MPU6515. With a standard I²C sensor bus, the MPU9250 directly provides complete 9-axis Motion-Fusion output. The MPU9250 Motion-Tracking device with its 9-axis integration, on-chip Motion-Fusion, 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. MPU9250 is also designed to interface with multiple non-inertial digital sensors such as pressure sensors on its auxiliary I²C port.

MPU9250 Key Features

Three 16-bit Analog-Digital converters (ADCs) for digitizing the gyroscope outputs,
Three 16-bit ADCs for digitizing accelerometer outputs,
Three 16-bit ADCs for digitizing the magnetometer outputs
A magnetometer full-scale range of
I²C and SPI serial interfaces
Power supply 3-5 V

Pinout Configuration

MPU9250 Pinout Configuration

Pin	Part	Pinout description
1	RESV	Reserved connect to VDDIO
7	AUX_CLVDDIO	I²C master serial clock for connecting to external sensorsDigital I/O supply voltage
8	AUX_CLVDDIO
9	AD0/SDO	I²C slave address LSB (AD0); SPI serial data output (SDO)
10	REGOUT	Regulator filter capacitor connection
11	FSYNGINT VDD	Frame synchronization digital, connect to GND if unused
12		Interrupt digital output (totem pole or open-drain)
13		Power supply voltage and digital I/O supply voltage
18	GNDRESV	Power supply ground
19	GNDRESV	Reserved, do not connect
20	RESVAUX_DA	Reserved, connect to GND
21	RESVAUX_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)
2-6, 14-17	NC	Not internally connected, may be used for PCB trace routing

MPU9250 Schematic

MPU9250 Schematic

Table of Contents

MPU9250 Board Overview

The MPU9250 is latest 9-axis microelectromechanical systems sensor which replaces the famous EOL’d MPU9150. MPU9250 has lowered power consumption and decreased size by 44% compared than MPU9150. The Gyro noise performance is 3 times better and compass full scale range is over 4 times better than competitive offerings. The MPU9250 uses 16-bit analog-to-digital converters (ADCs) for digitizing all 9 axes.

MPU9250 Board

Block Diagram of MPU9250

Block Diagram of MPU9250

The board is designed to be smaller size than other types like MPU9150 so as to fit in smaller projects. To achieve this, the plate through hole (PTH) connections (J1, J2, J3) are wrapped around the border of the PCB in three rows of three or four each. The top row (J1) is all one need to get most of functionality of the IMU. These include an I²C and power interface. If the space were really tight, one could take a saw and carefully remove all the other PTHs. The bottom (J3) and includes address pin, the interrupt pin and IO voltage supply for easy interface with a more modern 1.8V processor. The other is non-breadboard compatible row (J2) is used for features like running other I²C devices as slaves to this one. For prototyping with these connections, throw your connections on top like you would do with an Arduino Pro Mini or similar product.

The top row J1 of the PTH connections

PTH Connections

The table below summarizes all plated through hole (PTH) connections on the breakout board in order found on the board stating in the upper left corner and wrapping clockwise.

Pin Label	Pin Function	Description
VDD	Power supply	+2.4V to +3.6V
VDDIO	Power supply for I/O pins	+1.71V up to VDD
INT	Interrupt signal	Interrupt digital output (totem pole or open-drain)
FSYNC	Ground reference	Frame synchronization digital input. Connect to GND if unused
GND	Ground reference	+0V
AD0/SDO	Address selection	I²C slave address LSB (AD0):Low: 0b1101000-> 0x68, High: 0b1101001->0x69 SPI serial data output (SDO)
SDA	I²C serial data	Can be used for SPI serial data input (SDI)
CS	Chip select	Chip select (SPI mode only)
AUXDA	Ground reference	I²C master serial data for connecting to external sensors
AUXCL	Ground reference	I²C master serial clock for connecting to external sensors
SCL	I²C serial clockSPI serial port clock	100 or 400 kHz I²CUp to 1 MHz SPI (20 MHz in certain cases)

Jumpers

MPU9250 breakout has two solder jumpers SJ1 and SJ2. SJ1 comes pre-soldered to short V_DD and V_DDIO. It reduces number of power supply to one without requiring an external jumper. If the core and IO need to be supplied different voltages, remove solder from SJ1. SJ2 is two way jumpers that come pre-soldered to connect AD0 to ground. This sets the I²C address to 0×68. It leaves the PTH for AD0 disconnecting and floating. If the solder is moved to connect the center pad with the pad on the left then AD0 PTH needs be connected high or low to choose the I²C address.

HOW MPU9250 WORK?

The MPU9250 is a system in package (SiP) that combines two chips; the MPU6500 which contains a 3-axis gyroscope, a 3-axis accelerometer and onboard digital motion processor capable of processing complex motion-fusion algorithms; and the AK8963, the market leading 3-axis digital compass. MPU9250 is designed to get real-time motion data hence it is a motion tracking device. The information that we get from MPU9250 is; yaw angle, pitch angle and roll angle. The MPU has a 16-bit register each of its three sensors, they temporarily store data from sensor before it is relayed via I²C.

MPU9250 Applications

Motion command technology (for gesture short-cuts)
Location based services, points of interest and dead reckoning
Handset and portable gaming
Motion enabled game and application framework
Touch anywhere technology (for no touch UI application control/navigation)
Motion based game controllers
3D remote controls for internet connected DTVs and
Wearable sensors for health, fitness and sports

Alternatives

ICM-20948;

Typical operating circuit

The application schematic of MPU9250 for I2C operation and SPI operation respectively

For the INT pin, it should be connected to a GPIO pin on the system processor that is capable of walking the system processor from suspended mode.

Buy MPU9250 Online

Parts	Mfr.	Description	Stock	Prices	Buy Now
MPU9250	TDK	MotionTracking Device 24-Pin QFN	18000	$2.789 Lowest

MPU9250 DATASHEET PDF