MPU9250 9-axis IMU: specs and pinout
A 9-axis motion tracking chip: a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis AK8963 magnetometer in one 3 x 3 x 1 mm QFN package, read over I2C or SPI.
Specs
| Spec | Value | Source |
|---|---|---|
| VDD supply | 2.4 V to 3.6 V | source Features (p.5) |
| VDDIO digital I/O supply | 1.71 V to VDD | source Overview (p.5) |
| Gyroscope full-scale range | +/-250, +/-500, +/-1000 and +/-2000 dps, 16-bit ADC | source Features (p.5-6) |
| Accelerometer full-scale range | +/-2 g, +/-4 g, +/-8 g, +/-16 g, 16-bit ADC | source Features (p.5-6) |
| Accelerometer sensitivity at +/-2 g | 16,384 LSB/g | source Accelerometer Specifications (p.9) |
| Gyroscope sensitivity scale factor | 131 / 65.5 / 32.8 / 16.4 LSB/(deg/s) at FS_SEL = 0 / 1 / 2 / 3 (+/-250 / 500 / 1000 / 2000 deg/s) | source Table 1 Gyroscope Specifications, Section 3.1 (p.8, read from the rendered page) |
| Magnetometer full-scale range | +/-4800 uT | source Features (p.5) |
| Interface | I2C at up to 400 kHz, or SPI at up to 1 MHz | source Overview (p.5) |
| I2C address | 1101000 (AD0 = 0) or 1101001 (AD0 = 1), i.e. 0x68 / 0x69 | source Section 3.4.2 A.C. Electrical Characteristics, "I2C ADDRESS" row (p.12, read from the rendered page) |
| Gyroscope operating current | 3.2 mA | source Features (p.6) |
| Operating current, all 9 axes with DMP enabled | 3.5 mA | source Features (p.6) |
| Specified temperature range | -40 degC to +85 degC (performance parameters do not apply beyond this range) | source Section 3.4.1 D.C. Electrical Characteristics, Temperature Range (p.11) |
Power
| Value | Source | |
|---|---|---|
| Supply | VDD 2.4 V to 3.6 V; VDDIO 1.71 V to VDD | source Features (p.5-6) |
| Current | 3.5 mA with all 9 axes and the DMP enabled; gyroscope alone 3.2 mA | source Features (p.5-6) |
Chip pins
These are the pins of the chip on the module, from the chip datasheet. The module's own header may label or expose them differently.
The pin table is the bare 24-pin QFN chip. The module board (regulator, pull-ups, header order, logic level) is not covered by an official document.
| Pin | Function | Voltage | Notes | Source |
|---|---|---|---|---|
| VDD | Power supply voltage and digital I/O supply voltage | 2.4-3.6 V | source Pin Out and Signal Description, Table 9 (p.19) | |
| VDDIO | Digital I/O supply voltage | 1.71 V to VDD | source Table 9 (p.19); Overview (p.5) | |
| GND | Power supply ground | source Table 9 (p.19) | ||
| SCL / SCLK | I2C serial clock (SCL); SPI serial clock (SCLK) | source Table 9 (p.19) | ||
| SDA / SDI | I2C serial data (SDA); SPI serial data input (SDI) | source Table 9 (p.19) | ||
| AD0 / SDO | I2C slave address LSB (AD0); SPI serial data output (SDO) | source Table 9 (p.19) | ||
| nCS | Chip select (SPI mode only) | source Table 9 (p.19) | ||
| INT | Interrupt digital output (totem pole or open-drain) | source Table 9 (p.19) | ||
| FSYNC | Frame synchronization digital input | Connect to GND if unused | source Table 9 (p.19) | |
| AUX_CL | I2C master serial clock, for connecting to external sensors | source Table 9 (p.19) | ||
| AUX_DA | I2C master serial data, for connecting to external sensors | source Table 9 (p.19) | ||
| REGOUT | Regulator filter capacitor connection | source Table 9 (p.19) |
Build with it
Project ideas for the MPU9250 9-axis IMU. Each link opens Soldr with the prompt filled in; Soldr assigns the pins, checks power and shows how to wire every part.
- Tilt angle display: Both run from 3.3 V, inside the chip's 2.4-3.6 V supply; check the module's own supply label before connecting.
- Self-levelling servo platform: The servo needs its own 5 V supply with the grounds joined; the MPU9250 stays on 3.3 V.
- Heading and motion logger: The Pico's I2C is 3.3 V like the chip; the magnetometer is the AK8963 inside the package.
Common mistakes
- Putting 5 V on the chip: VDD is 2.4-3.6 V; a module may add a regulator but that is not covered by this datasheet (source)
- Using the wrong I2C address: AD0 low gives 1101000 and AD0 high gives 1101001 (source)
- Treating the magnetometer as part of the same die: it is a separate AK8963 die inside the package, reached through the chip (source)
Not covered by the official source
- Module board is not documented officially.
- Revision 1.0 from 2014; a later TDK revision may differ.
Sources
- link (InvenSense MPU-9250 Product Specification, PS-MPU-9250A-01 Rev 1.0, 01/17/2014)