InvenSense Inc.
1745 Technology Drive, San Jose, CA 95110 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250
Product Specification
Revision 1.1
Page 1 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
CONTENTS
1
2
3
4
DOCUMENT INFORMATION ......................................................................................................................4
1.1
REVISION HISTORY ..............................................................................................................................4
1.2
PURPOSE AND SCOPE ..........................................................................................................................5
1.3
PRODUCT OVERVIEW ...........................................................................................................................5
1.4
APPLICATIONS .....................................................................................................................................5
FEATURES ..................................................................................................................................................6
2.1
GYROSCOPE FEATURES .......................................................................................................................6
2.2
ACCELEROMETER FEATURES ...............................................................................................................6
2.3
MAGNETOMETER FEATURES.................................................................................................................6
2.4
ADDITIONAL FEATURES ........................................................................................................................6
2.5
MOTIONPROCESSING...........................................................................................................................7
ELECTRICAL CHARACTERISTICS ...........................................................................................................8
3.1
GYROSCOPE SPECIFICATIONS ..............................................................................................................8
3.2
ACCELEROMETER SPECIFICATIONS.......................................................................................................9
3.3
MAGNETOMETER SPECIFICATIONS ......................................................................................................10
3.4
ELECTRICAL SPECIFICATIONS .............................................................................................................11
3.5
I2C TIMING CHARACTERIZATION .........................................................................................................15
3.6
SPI TIMING CHARACTERIZATION.........................................................................................................16
3.7
ABSOLUTE MAXIMUM RATINGS ...........................................................................................................18
APPLICATIONS INFORMATION ..............................................................................................................19
4.1
PIN OUT AND SIGNAL DESCRIPTION ....................................................................................................19
4.2
TYPICAL OPERATING CIRCUIT.............................................................................................................20
4.3
BILL OF MATERIALS FOR EXTERNAL COMPONENTS ..............................................................................20
4.4
BLOCK DIAGRAM ...............................................................................................................................21
4.5
OVERVIEW ........................................................................................................................................22
4.6
THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING................................22
4.7
THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ........................22
4.8
THREE-AXIS MEMS MAGNETOMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING .........................22
4.9
DIGITAL MOTION PROCESSOR ............................................................................................................22
4.10
PRIMARY I2C AND SPI SERIAL COMMUNICATIONS INTERFACES............................................................23
4.11
AUXILIARY I2C SERIAL INTERFACE......................................................................................................23
4.12
SELF-TEST ........................................................................................................................................24
4.13
MPU-9250 SOLUTION USING I2C INTERFACE .....................................................................................25
Page 2 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
4.14
MPU-9250 SOLUTION USING SPI INTERFACE.....................................................................................26
4.15
CLOCKING .........................................................................................................................................26
4.16
SENSOR DATA REGISTERS .................................................................................................................27
4.17
FIFO ................................................................................................................................................27
4.18
INTERRUPTS ......................................................................................................................................27
4.19
DIGITAL-OUTPUT TEMPERATURE SENSOR ..........................................................................................27
4.20
BIAS AND LDO ..................................................................................................................................28
4.21
CHARGE PUMP ..................................................................................................................................28
4.22
STANDARD POWER MODE ..................................................................................................................28
4.23
POWER SEQUENCING REQUIREMENTS AND POWER ON RESET ............................................................28
5
ADVANCED HARDWARE FEATURES ....................................................................................................29
6
PROGRAMMABLE INTERRUPTS............................................................................................................30
6.1
7
8
DIGITAL INTERFACE ...............................................................................................................................32
7.1
I2C AND SPI SERIAL INTERFACES ......................................................................................................32
7.2
I2C INTERFACE..................................................................................................................................32
7.3
I2C COMMUNICATIONS PROTOCOL .....................................................................................................32
7.4
I2C TERMS........................................................................................................................................35
7.5
SPI INTERFACE .................................................................................................................................36
SERIAL INTERFACE CONSIDERATIONS ...............................................................................................37
8.1
9
W AKE-ON-MOTION INTERRUPT ...........................................................................................................30
MPU-9250 SUPPORTED INTERFACES.................................................................................................37
ASSEMBLY ...............................................................................................................................................38
9.1
ORIENTATION OF AXES ......................................................................................................................38
9.2
PACKAGE DIMENSIONS ......................................................................................................................38
10 PART NUMBER PACKAGE MARKING ...................................................................................................40
11 RELIABILITY .............................................................................................................................................41
11.1
QUALIFICATION TEST POLICY .............................................................................................................41
11.2
QUALIFICATION TEST PLAN ................................................................................................................41
12 REFERENCE .............................................................................................................................................42
Page 3 of 42
MPU-9250 Product Specification
1 Document Information
1.1
Revision History
Revision
Date
Revision
Description
12/18/13
1.0
Initial Release
06/20/16
1.1
Updated Section 4
Page 4 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
1.2 Purpose and Scope
This document provides a description, specifications, and design related information on the MPU-9250
MotionTracking device. The device is housed in a small 3x3x1mm QFN package.
Specifications are subject to change without notice. Final specifications will be updated based upon
characterization of production silicon. For references to register map and descriptions of individual registers,
please refer to the MPU-9250 Register Map and Register Descriptions document.
1.3 Product Overview
MPU-9250 is a multi-chip module (MCM) consisting of two dies integrated into a single QFN package. One die
houses the 3-Axis gyroscope and the 3-Axis accelerometer. The other die houses the AK8963 3-Axis
magnetometer from Asahi Kasei Microdevices Corporation. Hence, the MPU-9250 is a 9-axis MotionTracking
device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion
Processor™ (DMP) all in a small 3x3x1mm package available as a pin-compatible upgrade from the MPU6515. With its dedicated I2C sensor bus, the MPU-9250 directly provides complete 9-axis MotionFusion™
output. The MPU-9250 MotionTracking device, with its 9-axis integration, on-chip MotionFusion™, and runtime 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.
MPU-9250 is also designed to interface with multiple non-inertial digital sensors, such as pressure sensors,
on its auxiliary I2C port.
MPU-9250 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs, three
16-bit ADCs for digitizing the accelerometer outputs, and three 16-bit ADCs for digitizing the magnetometer
outputs. For precision tracking of both fast and slow motions, the parts feature a user-programmable
gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps), a user-programmable accelerometer
full-scale range of ±2g, ±4g, ±8g, and ±16g, and a magnetometer full-scale range of ±4800µT.
Other industry-leading features include programmable digital filters, a precision clock with 1% drift from -40°C
to 85°C, an embedded temperature sensor, and programmable interrupts. The device features I2C and SPI
serial interfaces, a VDD operating range of 2.4V to 3.6V, and a separate digital IO supply, VDDIO from 1.71V
to VDD.
Communication with all registers of the device is performed using either I 2C at 400kHz or SPI at 1MHz. For
applications requiring faster communications, the sensor and interrupt registers may be read using SPI at
20MHz.
By leveraging its patented and volume-proven CMOS-MEMS fabrication platform, which integrates MEMS
wafers with companion CMOS electronics through wafer-level bonding, InvenSense has driven the package
size down to a footprint and thickness of 3x3x1mm, to provide a very small yet high performance low cost
package. The device provides high robustness by supporting 10,000g shock reliability.
1.4
Applications
Location based services, points of interest, and dead reckoning
Handset and portable gaming
Motion-based game controllers
3D remote controls for Internet connected DTVs and set top boxes, 3D mice
Wearable sensors for health, fitness and sports
Page 5 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
2 Features
2.1 Gyroscope Features
The triple-axis MEMS gyroscope in the MPU-9250 includes a wide range of features:
Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable fullscale range of ±250, ±500, ±1000, and ±2000°/sec and integrated 16-bit ADCs
Digitally-programmable low-pass filter
Gyroscope operating current: 3.2mA
Sleep mode current: 8µA
Factory calibrated sensitivity scale factor
Self-test
2.2 Accelerometer Features
The triple-axis MEMS accelerometer in MPU-9250 includes a wide range of features:
Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and
±16g and integrated 16-bit ADCs
Accelerometer normal operating current: 450µA
Low power accelerometer mode current: 8.4µA at 0.98Hz, 19.8µA at 31.25Hz
Sleep mode current: 8µA
User-programmable interrupts
Wake-on-motion interrupt for low power operation of applications processor
Self-test
2.3 Magnetometer Features
The triple-axis MEMS magnetometer in MPU-9250 includes a wide range of features:
3-axis silicon monolithic Hall-effect magnetic sensor with magnetic concentrator
Wide dynamic measurement range and high resolution with lower current consumption.
Output data resolution of 14 bit (0.6µT/LSB)
Full scale measurement range is ±4800µT
Magnetometer normal operating current: 280µA at 8Hz repetition rate
Self-test function with internal magnetic source to confirm magnetic sensor operation on end products
2.4 Additional Features
The MPU-9250 includes the following additional features:
Auxiliary master I2C bus for reading data from external sensors (e.g. pressure sensor)
3.5mA operating current when all 9 motion sensing axes and the DMP are enabled
VDD supply voltage range of 2.4 – 3.6V
VDDIO reference voltage for auxiliary I2C devices
Smallest and thinnest QFN package for portable devices: 3x3x1mm
Minimal cross-axis sensitivity between the accelerometer, gyroscope and magnetometer axes
512 byte FIFO buffer enables the applications processor to read the data in bursts
Digital-output temperature sensor
User-programmable digital filters for gyroscope, accelerometer, and temp sensor
10,000 g shock tolerant
400kHz Fast Mode I2C for communicating with all registers
1MHz SPI serial interface for communicating with all registers
Page 6 of 42
MPU-9250 Product Specification
2.5
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
20MHz SPI serial interface for reading sensor and interrupt registers
MEMS structure hermetically sealed and bonded at wafer level
RoHS and Green compliant
MotionProcessing
Internal Digital Motion Processing™ (DMP™) engine supports advanced MotionProcessing and low
power functions such as gesture recognition using programmable interrupts
Low-power pedometer functionality allows the host processor to sleep while the DMP maintains the
step count.
Page 7 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
3 Electrical Characteristics
3.1 Gyroscope Specifications
Typical Operating Circuit of section 4.2, VDD = 2.5V, VDDIO = 2.5V, TA=25°C, unless otherwise noted.
PARAMETER
CONDITIONS
Full-Scale Range
FS_SEL=0
FS_SEL=1
FS_SEL=2
FS_SEL=3
Gyroscope ADC Word Length
Sensitivity Scale Factor
Sensitivity Scale Factor Tolerance
Sensitivity Scale Factor Variation Over
Temperature
Nonlinearity
Cross-Axis Sensitivity
Initial ZRO Tolerance
ZRO Variation Over Temperature
Total RMS Noise
Rate Noise Spectral Density
Gyroscope Mechanical Frequencies
Low Pass Filter Response
MIN
FS_SEL=0
FS_SEL=1
FS_SEL=2
FS_SEL=3
25°C
-40°C to +85°C
Best fit straight line; 25°C
25°C
-40°C to +85°C
DLPFCFG=2 (92 Hz)
Programmable Range
Gyroscope Startup Time
From Sleep mode
Output Data Rate
Programmable, Normal mode
Table 1 Gyroscope Specifications
Page 8 of 42
25
5
TYP
MAX
º/s
º/s
º/s
º/s
bits
LSB/(º/s)
LSB/(º/s)
LSB/(º/s)
LSB/(º/s)
%
%
±0.1
±2
±5
±30
0.1
0.01
27
%
%
º/s
º/s
º/s-rms
º/s/√Hz
KHz
Hz
29
250
35
4
UNITS
±250
±500
±1000
±2000
16
131
65.5
32.8
16.4
±3
±4
ms
8000
Hz
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
3.2 Accelerometer Specifications
Typical Operating Circuit of section 4.2, VDD = 2.5V, VDDIO = 2.5V, TA=25°C, unless otherwise noted.
PARAMETER
Full-Scale Range
ADC Word Length
Sensitivity Scale Factor
Initial Tolerance
Sensitivity Change vs. Temperature
Nonlinearity
Cross-Axis Sensitivity
Zero-G Initial Calibration Tolerance
Zero-G Level Change vs. Temperature
Noise Power Spectral Density
Total RMS Noise
Low Pass Filter Response
Intelligence Function Increment
Accelerometer Startup Time
CONDITIONS
MIN
AFS_SEL=0
AFS_SEL=1
AFS_SEL=2
AFS_SEL=3
Output in two’s complement format
AFS_SEL=0
AFS_SEL=1
AFS_SEL=2
AFS_SEL=3
Component-Level
-40°C to +85°C AFS_SEL=0
Component-level
Best Fit Straight Line
Component-level, X,Y
Component-level, Z
-40°C to +85°C
Low noise mode
DLPFCFG=2 (94Hz)
Programmable Range
Output Data Rate
Table 2 Accelerometer Specifications
Page 9 of 42
±0.026
%/°C
%
%
mg
mg
mg/°C
µg/√Hz
8
260
mg-rms
Hz
mg/LSB
ms
ms
500
Hz
4
20
30
0.24
±15
4
UNITS
g
g
g
g
bits
LSB/g
LSB/g
LSB/g
LSB/g
%
5
Duty-cycled, over temp
Low noise (active)
MAX
±2
±4
±8
±16
16
16,384
8,192
4,096
2,048
±3
±0.5
±2
±60
±80
±1.5
300
From Sleep mode
From Cold Start, 1ms VDD ramp
Low power (duty-cycled)
TYP
%
4000
Hz
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
3.3 Magnetometer Specifications
Typical Operating Circuit of section 4.2, VDD = 2.5V, VDDIO = 2.5V, TA=25°C, unless otherwise noted.
PARAMETER
CONDITIONS
MAGNETOMETER SENSITIVITY
Full-Scale Range
ADC Word Length
Sensitivity Scale Factor
ZERO-FIELD OUTPUT
Initial Calibration Tolerance
Page 10 of 42
MIN
TYP
MAX
UNITS
±4800
14
0.6
µT
bits
µT / LSB
±500
LSB
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
3.4
Electrical Specifications
3.4.1
D.C. Electrical Characteristics
Typical Operating Circuit of section 4.2, VDD = 2.5V, VDDIO = 2.5V, TA=25°C, unless otherwise noted.
PARAMETER
CONDITIONS
MIN
TYP
MAX
Units
VDD
2.4
2.5
3.6
V
VDDIO
1.71
1.8
VDD
V
Notes
SUPPLY VOLTAGES
SUPPLY CURRENTS
Normal Mode
Accelerometer Low Power Mode
(DMP, Gyroscope, Magnetometer
disabled)
9-axis (no DMP), 1 kHz gyro ODR, 4 kHz
accel ODR, 8 Hz mag. repetition rate
3.7
mA
6-axis (accel + gyro, no DMP), 1 kHz gyro
ODR, 4 kHz accel ODR
3.4
mA
3-axis Gyroscope only (no DMP), 1 kHz ODR
3.2
mA
6-axis (accel + magnetometer, no DMP), 4
kHz accel ODR, mag. repetition rate = 8 Hz
730
µA
3-Axis Accelerometer, 4kHz ODR (no DMP)
450
µA
3-axis Magnetometer only (no DMP), 8 Hz
repetition rate
280
µA
0.98 Hz update rate
8.4
µA
1
31.25 Hz update rate
19.8
µA
1
8
µA
Full Chip Idle Mode Supply Current
TEMPERATURE RANGE
Specified Temperature Range
Performance parameters are not applicable
beyond Specified Temperature Range
-40
+85
°C
Table 3 D.C. Electrical Characteristics
Notes:
1. Accelerometer Low Power Mode supports the following output data rates (ODRs): 0.24, 0.49, 0.98,
1.95, 3.91, 7.81, 15.63, 31.25, 62.50, 125, 250, 500Hz. Supply current for any update rate can be
calculated as:
Supply Current in µA = Sleep Current + Update Rate * 0.376
Page 11 of 42
MPU-9250 Product Specification
3.4.2
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
A.C. Electrical Characteristics
Typical Operating Circuit of section 4.2, VDD = 2.5V, VDDIO = 2.5V, TA=25°C, unless otherwise noted.
Parameter
Supply Ramp Time
Conditions
Monotonic ramp. Ramp rate
is 10% to 90% of the final
value
Operating Range
Ambient
Sensitivity
Untrimmed
Room Temp Offset
21°C
Supply Ramp Time (TRAMP)
Valid power-on RESET
Start-up time for register read/write
From power-up
I2C ADDRESS
AD0 = 0
AD0 = 1
VIH, High Level Input Voltage
VIL, Low Level Input Voltage
CI, Input Capacitance
VOH, High Level Output Voltage
VOL1, LOW-Level Output Voltage
VOL.INT1, INT Low-Level Output Voltage
Output Leakage Current
tINT, INT Pulse Width
VIL, LOW Level Input Voltage
VIH, HIGH-Level Input Voltage
Vhys, Hysteresis
VOL, LOW-Level Output Voltage
IOL, LOW-Level Output Current
Output Leakage Current
tof, Output Fall Time from VIHmax to VILmax
VIL, LOW-Level Input Voltage
VIH, HIGH-Level Input Voltage
Vhys, Hysteresis
VOL1, LOW-Level Output Voltage
VOL3, LOW-Level Output Voltage
IOL, LOW-Level Output Current
Output Leakage Current
tof, Output Fall Time from VIHmax to VILmax
Sample Rate
Clock Frequency Initial Tolerance
MIN
TYP
MAX
Units
0.1
100
ms
-40
85
°C
333.87
LSB/°C
0
0.01
LSB
20
100
ms
11
100
ms
1101000
1101001
0.7*VDDIO
0.3*VDDIO
< 10
RLOAD=1MΩ;
RLOAD=1MΩ;
0.9*VDDIO
0.1*VDDIO
0.1
OPEN=1, 0.3mA sink
Current
OPEN=1
LATCH_INT_EN=0
100
50
-0.5V
0.7*VDDIO
0.3*VDDIO
VDDIO +
0.5V
0.1*VDDIO
0
3mA sink current
VOL=0.4V
VOL=0.6V
Cb bus capacitance in pf
0.4
3
6
100
20+0.1Cb
-0.5V
0.7* VDDIO
250
0.3*VDDIO
VDDIO +
0.5V
0.1* VDDIO
VDDIO > 2V; 1mA sink
current
VDDIO < 2V; 1mA sink
current
VOL
=
0.4V
VOL = 0.6V
Cb bus capacitance in pF
Fchoice=0,1,2
SMPLRT_DIV=0
Fchoice=3;
DLPFCFG=0 or 7
SMPLRT_DIV=0
Fchoice=3;
DLPFCFG=1,2,3,4,5,6;
SMPLRT_DIV=0
CLK_SEL=0, 6; 25°C
Page 12 of 42
V
V
pF
V
V
V
nA
µs
V
V
V
V
mA
mA
nA
ns
V
V
0
0.4
V
V
0
0.2* VDDIO
V
250
mA
mA
nA
ns
3
6
100
20+0.1Cb
-2
32
kHz
8
kHz
1
kHz
+2
%
MPU-9250 Product Specification
Frequency Variation over Temperature
CLK_SEL=1,2,3,4,5; 25°C
CLK_SEL=0,6
CLK_SEL=1,2,3,4,5
-1
-10
Table 4 A.C. Electrical Characteristics
Page 13 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
+1
+10
±1
%
%
%
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
3.4.3
Other Electrical Specifications
Typical Operating Circuit of section 4.2, VDD = 2.5V, VDDIO = 2.5V, TA=25°C, unless otherwise noted.
PARAMETER
CONDITIONS
SPI Operating Frequency, All
Registers Read/Write
Low Speed Characterization
MIN
High Speed Characterization
SPI Operating Frequency, Sensor
and Interrupt Registers Read Only
I2C Operating Frequency
TYP
100
±10%
1 ±10%
MAX
kHz
MHz
20 ±10%
All registers, Fast-mode
All registers, Standard-mode
Table 5 Other Electrical Specifications
Page 14 of 42
Units
MHz
400
100
kHz
kHz
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
3.5 I2C Timing Characterization
Typical Operating Circuit of section 4.2, VDD = 2.4V to 3.6V, VDDIO = 1.71 to VDD, TA=25°C, unless otherwise
noted.
Parameters
I2C TIMING
fSCL, SCL Clock Frequency
tHD.STA, (Repeated) START Condition Hold
Time
tLOW, SCL Low Period
tHIGH, SCL High Period
tSU.STA, Repeated START Condition Setup
Time
tHD.DAT, SDA Data Hold Time
tSU.DAT, SDA Data Setup Time
tr, SDA and SCL Rise Time
tf, SDA and SCL Fall Time
tSU.STO, STOP Condition Setup Time
Conditions
I2C FAST-MODE
Cb bus cap. from 10 to 400pF
Cb bus cap. from 10 to 400pF
tBUF, Bus Free Time Between STOP and
START Condition
Cb, Capacitive Load for each Bus Line
tVD.DAT, Data Valid Time
tVD.ACK, Data Valid Acknowledge Time
Min
Typical
Max
Units
400
0.6
kHz
µs
1.3
0.6
0.6
µs
µs
µs
0
100
20+0.1Cb
20+0.1Cb
0.6
µs
ns
ns
ns
µs
300
300
1.3
Notes
µs
< 400
0.9
0.9
pF
µs
µs
Table 6 I2C Timing Characteristics
Notes:
Timing Characteristics apply to both Primary and Auxiliary I2C Bus
Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in
sockets
I2C Bus Timing Diagram
Page 15 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
3.6 SPI Timing Characterization
Typical Operating Circuit of section 4.2, VDD = 2.4V to 3.6V, VDDIO = 1.71V to VDD, TA=25°C, unless
otherwise noted.
Parameters
Conditions
Min
Typical
Max
Units
1
MHz
Notes
SPI TIMING
fSCLK, SCLK Clock Frequency
tLOW, SCLK Low Period
400
ns
tHIGH, SCLK High Period
400
ns
tSU.CS, CS Setup Time
8
ns
tHD.CS, CS Hold Time
500
ns
tSU.SDI, SDI Setup Time
11
ns
tHD.SDI, SDI Hold Time
7
tVD.SDO, SDO Valid Time
Cload = 20pF
tHD.SDO, SDO Hold Time
Cload = 20pF
ns
100
4
ns
ns
tDIS.SDO, SDO Output Disable Time
50
ns
Table 7 SPI Timing Characteristics
Notes:
1.
Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets
SPI Bus Timing Diagram
3.6.1
fSCLK = 20MHz
Parameters
Conditions
Min
Typical
Max
Units
0.9
20
MHz
tLOW, SCLK Low Period
-
-
ns
tHIGH, SCLK High Period
-
-
ns
tSU.CS, CS Setup Time
1
ns
tHD.CS, CS Hold Time
1
ns
SPI TIMING
fSCLK, SCLK Clock Frequency
Page 16 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
tSU.SDI, SDI Setup Time
0
ns
tHD.SDI, SDI Hold Time
1
ns
tVD.SDO, SDO Valid Time
Cload = 20pF
25
tDIS.SDO, SDO Output Disable Time
ns
25
ns
Table 8 fCLK = 20MHz
Note:
1.
Based on characterization of 5 parts over temperature and voltage as mounted on evaluation board or in sockets
Page 17 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
3.7 Absolute Maximum Ratings
Stress above those listed as “Absolute Maximum Ratings” may cause permanent damage to the device. These
are stress ratings only and functional operation of the device at these conditions is not implied. Exposure to
the absolute maximum ratings conditions for extended periods may affect device reliability.
Specification
Symbol
Supply Voltage
Acceleration
Conditions
MIN
MAX
Units
VDD
-0.5
4.0
V
VDDIO
-0.5
4.0
V
10,000
g
Any axis, unpowered,
0.2ms duration
Temperature
ESD Tolerance
Operating
-40
105
°C
Storage
-40
125
°C
HBM
2
KV
MM
250
V
Page 18 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
4 Applications Information
Pin Out and Signal Description
Pin Number
Pin Name
1
RESV
7
AUX_CL
Pin Description
Reserved. Connect to VDDIO.
I2C Master serial clock, for connecting to external sensors
8
VDDIO
9
AD0 / SDO
Digital I/O supply voltage
10
REGOUT
11
FSYNC
12
INT
Interrupt digital output (totem pole or open-drain)
13
VDD
Power supply voltage and Digital I/O supply voltage
18
GND
Power supply ground
19
RESV
Reserved. Do not connect.
20
RESV
Reserved. Connect to GND.
21
AUX_DA
I2C Slave Address LSB (AD0); SPI serial data output (SDO)
Regulator filter capacitor connection
Frame synchronization digital input. Connect to GND if unused.
I2C master serial data, for connecting to external sensors
22
nCS
23
SCL / SCLK
Chip select (SPI mode only)
24
SDA / SDI
2 – 6, 14 - 17
NC
I2C serial clock (SCL); SPI serial clock (SCLK)
I2C serial data (SDA); SPI serial data input (SDI)
Not internally connected. May be used for PCB trace routing.
SDA / SDI
SCL / SCLK
nCS
AUX_DA
RESV
RESV
24
23
22
21
20
19
Table 9 Signal Descriptions
RESV
1
18 GND
NC
2
17 NC
NC
3
NC
4
15 NC
NC
5
14 NC
NC
6
13 VDD
16 NC
8
9
10
11
12
VDDIO
AD0/SDO
REGOUT
FSYNC
INT
7
MPU-9250
AUX_CL
4.1
Figure 1 Pin Out Diagram for MPU-9250 3.0x3.0x1.0mm QFN
Page 19 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
Typical Operating Circuit
RESV
18
RESV
RESV
20
21
19
AUX_DA
nCS
22
SDA / SDI
24
RESV
GND
23
RESV
19
RESV
20
nCS
SCL / SCLK
AUX_DA
21
22
VDDIO
1
GND
1
18
17 NC
NC
2
17 NC
NC
2
NC
3
16 NC
NC
3
NC
4
15 NC
NC
4
15 NC
NC
5
14 NC
NC
5
14 NC
NC
6
13 VDD
NC
6
13 VDD
C3, 10 nF
AD0
2.4 – 3.3VDC
12
C2, 0.1 mF
INT
11
FSYNC
REGOUT 10
9
AD0/SDO
1.8 – 3.3VDC
8
7
C2, 0.1 mF
C1, 0.1 mF
C3, 10 nF
16 NC
MPU-9250
VDDIO
12
11
2.4 – 3.3VDC
INT
FSYNC
9
8
REGOUT 10
AD0/SDO
VDDIO
7
MPU-9250
AUX_CL
1.8 – 3.3VDC
23
SDA / SDI
24
VDDIO
SCLK
SDI
SCL / SCLK
nCS
VDDIO
SCL
SDA
AUX_CL
4.2
C1, 0.1 mF
SDO
(a)
(b)
Figure 2 MPU-9250 QFN Application Schematic: (a) I2C operation, (b) SPI operation
Note that the INT pin should be connected to a GPIO pin on the system processor that is capable of waking
the system processor from suspend mode.
4.3
Bill of Materials for External Components
Component
Label
Specification
Quantity
Regulator Filter Capacitor
C1
Ceramic, X7R, 0.1µF ±10%, 2V
1
VDD Bypass Capacitor
C2
Ceramic, X7R, 0.1µF ±10%, 4V
1
VDDIO Bypass Capacitor
C3
Ceramic, X7R, 10nF ±10%, 4V
1
Table 10 Bill of Materials
Page 20 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
4.4
Block Diagram
MPU-9250
Self
test
X Accel
ADC
Self
test
Y Accel
ADC
INT
Interrupt
Status
Register
nCS
Slave I2C and
SPI Serial
Interface
FIFO
AD0 / SDO
SCL / SCLK
SDA / SDI
Z Accel
Self
test
X Gyro
Self
test
Y Gyro
Self
test
Z Gyro
ADC
ADC
Signal Conditioning
Self
test
User & Config
Registers
Serial
Interface
Bypass
Mux
Master I2C
Serial
Interface
Sensor
Registers
AUX_DA
FSYNC
ADC
Digital Motion
Processor
(DMP)
ADC
Signal Conditioning
Temp Sensor
AUX_CL
ADC
ADC
ADC
ADC
X
Compass
Y
Compass
Z
Compass
Bias & LDOs
Charge
Pump
VDD
Page 21 of 42
GND
REGOUT
VDDIO
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
4.5 Overview
The MPU-9250 is comprised of the following key blocks and functions:
4.6
Three-axis MEMS rate gyroscope sensor with 16-bit ADCs and signal conditioning
Three-axis MEMS accelerometer sensor with 16-bit ADCs and signal conditioning
Three-axis MEMS magnetometer sensor with 16-bit ADCs and signal conditioning
Digital Motion Processor (DMP) engine
Primary I2C and SPI serial communications interfaces
Auxiliary I2C serial interface for 3rd party sensors
Clocking
Sensor Data Registers
FIFO
Interrupts
Digital-Output Temperature Sensor
Gyroscope, Accelerometer and Magnetometer Self-test
Bias and LDO
Charge Pump
Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning
The MPU-9250 consists of three independent vibratory MEMS rate gyroscopes, which detect rotation about
the X-, Y-, and Z- Axes. When the gyros 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 sensors 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 lowpass filters enable a wide range of cut-off frequencies.
4.7
Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning
The MPU-9250’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-9250’s architecture reduces the accelerometers’ 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 accelerometers’ 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.
4.8
Three-Axis MEMS Magnetometer with 16-bit ADCs and Signal Conditioning
The 3-axis magnetometer uses highly sensitive Hall sensor technology. The magnetometer 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 16-bit resolution and a full scale range of ±4800 µT.
4.9
Digital Motion Processor
The embedded Digital Motion Processor (DMP) is located within the MPU-9250 and offloads computation of
motion processing algorithms from the host processor. The DMP acquires data from accelerometers,
Page 22 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
gyroscopes, magnetometers and additional 3rd party 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. This pin (pin 12) should be connected to a pin on
the host processor that can wake the host from suspend mode.
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.
4.10 Primary I2C and SPI Serial Communications Interfaces
The MPU-9250 communicates to a system processor using either a SPI or an I2C serial interface. The MPU9250 always acts as a slave when communicating to the system processor. The LSB of the of the I2C slave
address is set by pin 9 (AD0).
4.11 Auxiliary I2C Serial Interface
The MPU-9250 has an auxiliary I2C bus for communicating to off-chip sensors. This bus has two operating
modes:
I2C Master Mode: The MPU-9250 acts as a master to any external sensors connected to the auxiliary
I2C bus
Pass-Through Mode: The MPU-9250 directly connects the primary and auxiliary I2C buses together,
allowing the system processor to directly communicate with any external sensors.
Note: AUX_DA and AUX_CL should be left unconnected if the Auxiliary I 2C mode is not used.
Auxiliary I2C Bus Modes of Operation:
I2C Master Mode: Allows the MPU-9250 to directly access the data registers of external digital
sensors, such as a magnetometer. In this mode, the MPU-9250 directly obtains data from auxiliary
sensors without intervention from the system applications processor.
For example, In I2C Master mode, the MPU-9250 can be configured to perform burst reads, returning
the following data from a magnetometer:
X magnetometer data (2 bytes)
Y magnetometer data (2 bytes)
Z magnetometer data (2 bytes)
The I2C Master can be configured to read up to 24 bytes from up to 4 auxiliary sensors. A fifth sensor
can be configured to work single byte read/write mode.
Pass-Through Mode: Allows an external system processor to act as master and directly communicate
to the external sensors connected to the auxiliary I2C bus pins (AUX_DA and AUX_CL). In this mode,
the auxiliary I2C bus control logic (3rd party sensor interface block) of the MPU-9250 is disabled, and
the auxiliary I2C pins AUX_DA and AUX_CL are connected to the main I2C bus through analog
switches internally.
Page 23 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
Pass-Through mode is useful for configuring the external sensors, or for keeping the MPU-9250 in a
low-power mode when only the external sensors are used. In this mode, the system processor can
still access MPU-9250 data through the I2C interface.
Pass-Through mode is also used to access the AK8963 magnetometer directly from the host. In this
configuration the slave address for the AK8963 is 0X0C or 12 decimal.
Auxiliary I2C Bus IO Logic Levels
For MPU-9250, the logic level of the auxiliary I2C bus is VDDIO. For further information regarding the MPU9250 logic levels, please refer to Section 10.2.
4.12 Self-Test
Please refer to the register map document for more details on self-test.
Self-test allows for the testing of the mechanical and electrical portions of the sensors. The self-test for each
measurement axis can be activated by means of the gyroscope and accelerometer self-test registers (registers
13 to 16).
When the self-test is activated, the electronics cause the sensors to be actuated and produce an output signal.
The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
When the value of the self-test response is within the appropriate limits, the part has passed self-test. When
the self-test response exceeds the appropriate values, the part is deemed to have failed self-test. It is
recommended to use InvenSense MotionApps software for executing self-test. Further details, including the
self-test limits are included in the MPU-9250 Self-Test applications note available from InvenSense.
Page 24 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
4.13 MPU-9250 Solution Using I2C Interface
In the figure below, the system processor is an I2C master to the MPU-9250. In addition, the MPU-9250 is an
I2C master to the optional external 3rd party sensor. The MPU-9250 has limited capabilities as an I2C Master,
and depends on the system processor to manage the initial configuration of any auxiliary sensors. The MPU9250 has an interface bypass multiplexer, which connects the system processor I2C bus (SDA and SCL)
directly to the auxiliary sensor I2C bus (AUX_DA and AUX_CL).
Once the auxiliary sensors have been configured by the system processor, the interface bypass multiplexer
should be disabled so that the MPU-9250 auxiliary I2C master can take control of the sensor I2C bus and gather
data from the auxiliary sensors. The INT pin should be connected to a GPIO on the system processor that
can wake the system from suspend mode.
Interrupt
Status
Register
INT
I2C Processor Bus: for reading all
sensor data from MPU and for
configuring external sensors (i.e.
compass in this example)
MPU-9250
AD0
Slave I2C
or SPI
Serial
Interface
VDD or GND
SCL
SCL
SDA/SDI
SDA
FIFO
Sensor I2C Bus: for
configuring and reading
from external sensors
User & Config
Registers
Optional
Sensor
Master I2C
Serial
Interface
Sensor
Register
Interface
Bypass
Mux
AUX_CL
SCL
AUX_DA
SDA
3rd party
sensor
Factory
Calibration
Digital
Motion
Processor
(DMP)
Interface bypass mux allows
direct configuration of
compass by system processor
Bias & LDOs
VDD
GND
REGOUT
VDDIO
Page 25 of 42
System
Processor
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
4.14 MPU-9250 Solution Using SPI Interface
In the figure below, the system processor is a SPI master to the MPU-9250. The CS, SDO, SCLK, and SDI
signals are used for SPI communications. Because these SPI pins are shared with the I2C slave pins, the
system processor cannot access the auxiliary I2C bus through the interface bypass multiplexer, which connects
the processor I2C interface pins to the sensor I2C interface pins.
Since the MPU-9250 has limited capabilities as an I2C Master, and depends on the system processor to
manage the initial configuration of any auxiliary sensors, another method must be used for programming the
sensors on the auxiliary sensor I2C bus (AUX_DA and AUX_CL).
When using SPI communications between the MPU-9250 and the system processor, configuration of devices
on the auxiliary I2C sensor bus can be achieved by using I2C Slaves 0-4 to perform read and write transactions
on any device and register on the auxiliary I2C bus. The I2C Slave 4 interface can be used to perform only
single byte read and write transactions.
Once the external sensors have been configured, the MPU-9250 can perform single or multi-byte reads using
the sensor I2C bus. The read results from the Slave 0-3 controllers can be written to the FIFO buffer as well as
to the external sensor registers.
The INT pin should be connected to a GPIO on the system processor capable of waking the processor from
suspend
For further information regarding the control of the MPU-9250’s auxiliary I2C interface, please refer to the MPU9250 Register Map and Register Descriptions document.
Interrupt
Status
Register
Processor SPI Bus: for reading all
data from MPU and for configuring
MPU and external sensors
INT
nCS
nCS
MPU-9250
SDO
Slave I2C
or SPI
Serial
Interface
SDI
SCLK
SCLK
SDI
System
Processor
SDO
FIFO
2
Sensor I C Bus: for
configuring and
reading data from
external sensors
Config
Register
Optional
Sensor
Master I2C
Serial
Interface
Sensor
Register
Interface
Bypass
Mux
AUX_CL
SCL
AUX_DA
SDA
3rd party
sensor
Factory
Calibration
Digital
Motion
Processor
(DMP)
I2C Master performs
read and write
transactions on
Sensor I2C bus.
Bias & LDOs
VDD
GND
REGOUT
VDDIO
4.15 Clocking
The MPU-9250 has a flexible clocking scheme, allowing a variety of internal clock sources to be used for the
internal synchronous circuitry. This synchronous circuitry includes the signal conditioning and ADCs, the DMP,
and various control circuits and registers. An on-chip PLL provides flexibility in the allowable inputs for
generating this clock.
Page 26 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
Allowable internal sources for generating the internal clock are:
An internal relaxation oscillator
Any of the X, Y, or Z gyros (MEMS oscillators with a variation of ±1% over temperature)
Selection of the source for generating the internal synchronous clock depends on the requirements for power
consumption and clock accuracy. These requirements will most likely vary by mode of operation. For example,
in one mode, where the biggest concern is power consumption, the user may wish to operate the Digital Motion
Processor of the MPU-9250 to process accelerometer data, while keeping the gyros off. In this case, the
internal relaxation oscillator is a good clock choice. However, in another mode, where the gyros are active,
selecting the gyros as the clock source provides for a more accurate clock source.
Clock accuracy is important, since timing errors directly affect the distance and angle calculations performed
by the Digital Motion Processor (and by extension, by any processor).
There are also start-up conditions to consider. When the MPU-9250 first starts up, the device uses its internal
clock until programmed to operate from another source. This allows the user, for example, to wait for the
MEMS oscillators to stabilize before they are selected as the clock source.
4.16 Sensor Data Registers
The sensor data registers contain the latest gyroscope, accelerometer, magnetometer, auxiliary sensor, and
temperature measurement data. They are read-only registers, and are accessed via the serial interface. Data
from these registers may be read anytime.
4.17 FIFO
The MPU-9250 contains a 512-byte FIFO register that is accessible via the Serial Interface. The FIFO
configuration register determines which data is written into the FIFO. Possible choices include gyro data,
accelerometer data, temperature readings, auxiliary sensor readings, and FSYNC input. A FIFO counter keeps
track of how many bytes of valid data are contained in the FIFO. The FIFO register supports burst reads. The
interrupt function may be used to determine when new data is available.
For further information regarding the FIFO, please refer to the MPU-9250 Register Map and Register
Descriptions document.
4.18 Interrupts
Interrupt functionality is configured via the Interrupt Configuration register. Items that are configurable include
the INT pin configuration, the interrupt latching and clearing method, and triggers for the interrupt. Items that
can trigger an interrupt are (1) Clock generator locked to new reference oscillator (used when switching clock
sources); (2) new data is available to be read (from the FIFO and Data registers); (3) accelerometer event
interrupts; and (4) the MPU-9250 did not receive an acknowledge from an auxiliary sensor on the secondary
I2C bus. The interrupt status can be read from the Interrupt Status register.
The INT pin should be connected to a pin on the host processor capable of waking that processor from
suspend.
For further information regarding interrupts, please refer to the MPU-9250 Register Map and Register
Descriptions document.
4.19 Digital-Output Temperature Sensor
An on-chip temperature sensor and ADC are used to measure the MPU-9250 die temperature. The readings
from the ADC can be read from the FIFO or the Sensor Data registers.
Page 27 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
4.20 Bias and LDO
The bias and LDO section generates the internal supply and the reference voltages and currents required by
the MPU-9250. Its two inputs are an unregulated VDD and a VDDIO logic reference supply voltage. The LDO
output is bypassed by a capacitor at REGOUT. For further details on the capacitor, please refer to the Bill of
Materials for External Components.
4.21 Charge Pump
An on-chip charge pump generates the high voltage required for the MEMS oscillators.
4.22 Standard Power Mode
The following table lists the user-accessible power modes for MPU-9250.
Mode
Name
Gyro
Accel
Magnetometer
DMP
1
Sleep Mode
Off
Off
Off
Off
2
Standby Mode
Drive On
Off
Off
Off
3
Low-Power Accelerometer Mode
Off
Duty-Cycled
Off
On or Off
4
Low-Noise Accelerometer Mode
Off
On
Off
On or Off
5
Gyroscope Mode
On
Off
Off
On or Off
6
Magnetometer Mode
Off
Off
On
On or Off
7
Accel + Gyro Mode
On
On
Off
On or Off
8
Accel + Magnetometer Mode
Off
On
On
On or Off
9
9-Axis Mode
On
On
On
On or Off
Notes:
1. Power consumption for individual modes can be found in Electrical Characteristics section.
4.23 Power Sequencing Requirements and Power on Reset
During power up and in normal operation, VDDIO must not exceed VDD. During power up, VDD and VDDIO
must be monotonic ramps. As stated in Table 4, the minimum VDD rise time is 0.1ms and the maximum rise
time is 100 ms. Valid gyroscope data is available 35 ms (typical) after VDD has risen to its final voltage from
a cold start and valid accelerometer data is available 30 ms (typical) after VDD has risen to its final voltage
assuming a 1ms VDD ramp from cold start. Magnetometer data is valid 7.3ms (typical) after VDD has risen to
its final voltage value from a cold start.
Page 28 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
5 Advanced Hardware Features
The MPU-9250 includes advanced hardware features that can be enabled and disabled through simple
hardware register settings. The advanced hardware features are not initially enabled after device power up.
These features must be individually enabled and configured. These advanced hardware features enable the
following motion-based functions without using an external microprocessor:
Low Power Quaternion (3-Axis Gyro & 6-Axis Gyro + Accel)
Android Orientation (A low-power implementation of Android’s screen rotation algorithm)
Tap (detects the tap gesture)
Pedometer
Significant Motion Detection
To ensure significant motion detection can operate properly, the INT pin should be connected to a GPIO pin
on the host processor that can wake that processor from suspend mode.
Note: Android Orientation is compliant to the Ice Cream Sandwich definition of the function.
For further details on advanced hardware features please refer to the MPU-9250 Register Map.
Page 29 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
6 Programmable Interrupts
The MPU-9250 has a programmable interrupt system which can generate an interrupt signal on the INT pin.
Status flags indicate the source of an interrupt. Interrupt sources may be enabled and disabled individually.
Table of Interrupt Sources
Interrupt Name
Module
Motion Detection
Motion
FIFO Overflow
FIFO
Data Ready
Sensor Registers
2
I2C Master
2
I2C Master
I C Master errors: Lost Arbitration, NACKs
I C Slave 4
For information regarding the interrupt enable/disable registers and flag registers, please refer to the MPU9250 Register Map and Register Descriptions document. Some interrupt sources are explained below.
6.1 Wake-on-Motion Interrupt
The MPU-9250 provides motion detection capability. A qualifying motion sample is one where the high passed
sample from any axis has an absolute value exceeding a user-programmable threshold. The following
flowchart explains how to configure the Wake-on-Motion Interrupt. For further details on individual registers,
please refer to the MPU-9250 Registers Map and Registers Description document.
In order to properly enable motion interrupts, the INT pin should be connected to a GPIO on the system
processor that is capable of waking up the system processor.
Page 30 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
Configuration Wake-on-Motion Interrupt using low power Accel mode
Make Sure Accel is running:
• In PWR_MGMT_1 (0x6B) make CYCLE =0, SLEEP = 0 and STANDBY = 0
• In PWR_MGMT_2 (0x6C) set DIS_XA, DIS_YA, DIS_ZA = 0 and DIS_XG, DIS_YG, DIS_ZG = 1
Set
AccelLPF
LPF
settingto
to 184
184 Hz
Set
Accel
setting
Hz Bandwidth:
Bandwidth:
• InACCEL_CONFIG
2
(0x1D)
set
ACCEL_FCHOICE_B
=
0 and=A_DLPFCFG[2:0]=1(b001)
In ACCEL_CONFIG 2 (0x1D) set ACCEL_FCHOICE_B
1 and A_DLPFCFG[2:]=1(b001)
Enable Motion Interrupt:
• In INT_ENABLE (0x38), set the whole register to 0x40 to enable motion interrupt only.
Enable Accel Hardware Intelligence:
• In MOT_DETECT_CTRL (0x69), set ACCEL_INTEL_EN = 1 and ACCEL_INTEL_MODE = 1
Set Motion Threshold:
• In WOM_THR (0x1F), set the WOM_Threshold [7:0] to 1~255 LSBs (0~1020mg)
Set Frequency of Wake-up:
• In LP_ACCEL_ODR (0x1E), set Lposc_clksel [3:0] = 0.24Hz ~ 500Hz
Enable Cycle Mode (Accel Low Power Mode):
• In PWR_MGMT_1 (0x6B) make CYCLE =1
Motion Interrupt Configuration Completed
Figure 3. Wake-on-Motion Interrupt Configuration
Page 31 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
7 Digital Interface
7.1 I2C and SPI Serial Interfaces
The internal registers and memory of the MPU-9250 can be accessed using either I2C at 400 kHz or SPI at
1MHz. SPI operates in four-wire mode.
Serial Interface
Pin Number
Pin Name
8
VDDIO
Pin Description
9
AD0 / SDO
I2C Slave Address LSB (AD0); SPI serial data output (SDO)
23
SCL / SCLK
I2C serial clock (SCL); SPI serial clock (SCLK)
24
SDA / SDI
Digital I/O supply voltage.
I2C serial data (SDA); SPI serial data input (SDI)
Note:
To prevent switching into I2C mode when using SPI, the I2C interface should be disabled by setting the
I2C_IF_DIS configuration bit. Setting this bit should be performed immediately after waiting for the time
specified by the “Start-Up Time for Register Read/Write” in Section 6.3.
For further information regarding the I2C_IF_DIS bit, please refer to the MPU-9250 Register Map and Register
Descriptions document.
7.2 I2C Interface
I2C is a two-wire interface comprised of the signals serial data (SDA) and serial clock (SCL). In general, the
lines are open-drain and bi-directional. In a generalized I2C interface implementation, attached devices can be
a master or a slave. The master device puts the slave address on the bus, and the slave device with the
matching address acknowledges the master.
The MPU-9250 always operates as a slave device when communicating to the system processor, which thus
acts as the master. SDA and SCL lines typically need pull-up resistors to VDD. The maximum bus speed is
400 kHz.
The slave address of the MPU-9250 is b110100X which is 7 bits long. The LSB bit of the 7 bit address is
determined by the logic level on pin AD0. This allows two MPU-9250s to be connected to the same I2C bus.
When used in this configuration, the address of the one of the devices should be b1101000 (pin AD0 is logic
low) and the address of the other should be b1101001 (pin AD0 is logic high).
7.3 I2C Communications Protocol
START (S) and STOP (P) Conditions
Communication on the I2C bus starts when the master puts the START condition (S) on the bus, which is
defined as a HIGH-to-LOW transition of the SDA line while SCL line is HIGH (see figure below). The bus is
considered to be busy until the master puts a STOP condition (P) on the bus, which is defined as a LOW to
HIGH transition on the SDA line while SCL is HIGH (see figure below).
Additionally, the bus remains busy if a repeated START (Sr) is generated instead of a STOP condition.
Page 32 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
SDA
SCL
S
P
START condition
STOP condition
START and STOP Conditions
Data Format / Acknowledge
I2C data bytes are defined to be 8-bits long. There is no restriction to the number of bytes transmitted per data
transfer. Each byte transferred must be followed by an acknowledge (ACK) signal. The clock for the
acknowledge signal is generated by the master, while the receiver generates the actual acknowledge signal
by pulling down SDA and holding it low during the HIGH portion of the acknowledge clock pulse.
If a slave is busy and cannot transmit or receive another byte of data until some other task has been performed,
it can hold SCL LOW, thus forcing the master into a wait state. Normal data transfer resumes when the slave
is ready, and releases the clock line (refer to the following figure).
DATA OUTPUT BY
TRANSMITTER (SDA)
not acknowledge
DATA OUTPUT BY
RECEIVER (SDA)
acknowledge
SCL FROM
MASTER
1
2
8
9
clock pulse for
acknowledgement
START
condition
Acknowledge on the I2C Bus
Page 33 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
Communications
After beginning communications with the START condition (S), the master sends a 7-bit slave address followed
by an 8th bit, the read/write bit. The read/write bit indicates whether the master is receiving data from or is
writing to the slave device. Then, the master releases the SDA line and waits for the acknowledge signal (ACK)
from the slave device. Each byte transferred must be followed by an acknowledge bit. To acknowledge, the
slave device pulls the SDA line LOW and keeps it LOW for the high period of the SCL line. Data transmission
is always terminated by the master with a STOP condition (P), thus freeing the communications line. However,
the master can generate a repeated START condition (Sr), and address another slave without first generating
a STOP condition (P). A LOW to HIGH transition on the SDA line while SCL is HIGH defines the stop condition.
All SDA changes should take place when SCL is low, with the exception of start and stop conditions.
SDA
SCL
1–7
8
9
1–7
8
9
1–7
8
9
S
P
START ADDRESS
condition
R/W
ACK
DATA
ACK
DATA
ACK
STOP
condition
Complete I2C Data Transfer
To write the internal MPU-9250 registers, the master transmits the start condition (S), followed by the I 2C
address and the write bit (0). At the 9th clock cycle (when the clock is high), the MPU-9250 acknowledges the
transfer. Then the master puts the register address (RA) on the bus. After the MPU-9250 acknowledges the
reception of the register address, the master puts the register data onto the bus. This is followed by the ACK
signal, and data transfer may be concluded by the stop condition (P). To write multiple bytes after the last ACK
signal, the master can continue outputting data rather than transmitting a stop signal. In this case, the MPU9250 automatically increments the register address and loads the data to the appropriate register. The
following figures show single and two-byte write sequences.
Single-Byte Write Sequence
Master
S
AD+W
Slave
RA
ACK
DATA
ACK
P
ACK
Burst Write Sequence
Master
Slave
S
AD+W
RA
ACK
DATA
ACK
DATA
ACK
Page 34 of 42
P
ACK
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
To read the internal MPU-9250 registers, the master sends a start condition, followed by the I 2C address and
a write bit, and then the register address that is going to be read. Upon receiving the ACK signal from the MPU9250, the master transmits a start signal followed by the slave address and read bit. As a result, the MPU9250 sends an ACK signal and the data. The communication ends with a not acknowledge (NACK) signal and
a stop bit from master. The NACK condition is defined such that the SDA line remains high at the 9 th clock
cycle. The following figures show single and two-byte read sequences.
Single-Byte Read Sequence
Master
S
AD+W
Slave
RA
ACK
S
AD+R
ACK
NACK
ACK
P
DATA
Burst Read Sequence
Master
Slave
7.4
S
AD+W
RA
ACK
S
ACK
AD+R
ACK
ACK
DATA
I2C Terms
Signal Description
S
Start Condition: SDA goes from high to low while SCL is high
AD
Slave I2C address
W
Write bit (0)
R
Read bit (1)
ACK
Acknowledge: SDA line is low while the SCL line is high at the 9 th
clock cycle
NACK Not-Acknowledge: SDA line stays high at the 9th clock cycle
RA
MPU-9250 internal register address
DATA
Transmit or received data
P
Stop condition: SDA going from low to high while SCL is high
Page 35 of 42
NACK
DATA
P
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
7.5 SPI Interface
SPI is a 4-wire synchronous serial interface that uses two control lines and two data lines. The MPU-9250
always operates as a Slave device during standard Master-Slave SPI operation.
With respect to the Master, the Serial Clock output (SCLK), the Serial Data Output (SDO) and the Serial Data
Input (SDI) are shared among the Slave devices. Each SPI slave device requires its own Chip Select (CS) line
from the master.
CS goes low (active) at the start of transmission and goes back high (inactive) at the end. Only one CS line is
active at a time, ensuring that only one slave is selected at any given time. The CS lines of the non-selected
slave devices are held high, causing their SDO lines to remain in a high-impedance (high-z) state so that they
do not interfere with any active devices.
SPI Operational Features
1.
2.
3.
4.
5.
Data is delivered MSB first and LSB last
Data is latched on the rising edge of SCLK
Data should be transitioned on the falling edge of SCLK
The maximum frequency of SCLK is 1MHz
SPI read and write operations are completed in 16 or more clock cycles (two or more bytes). The
first byte contains the SPI Address, and the following byte(s) contain(s) the SPI data. The first bit
of the first byte contains the Read/Write bit and indicates the Read (1) or Write (0) operation. The
following 7 bits contain the Register Address. In cases of multiple-byte Read/Writes, data is two
or more bytes:
SPI Address format
MSB
R/W A6 A5 A4
A3
A2
A1
LSB
A0
SPI Data format
MSB
D7
D6 D5
D3
D2
D1
LSB
D0
D4
6. Supports Single or Burst Read/Writes.
SCLK
SDI
SDO
SPI Master
/CS1
SPI Slave 1
/CS
/CS2
SCLK
SDI
SDO
/CS
SPI Slave 2
Typical SPI Master / Slave Configuration
Page 36 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
8 Serial Interface Considerations
8.1 MPU-9250 Supported Interfaces
The MPU-9250 supports I2C communications on both its primary (microprocessor) serial interface and its
auxiliary interface.
The MPU-9250’s I/O logic levels are set to be VDDIO.
The figure below depicts a sample circuit of MPU-9250 with a third party sensor attached to the auxiliary I2C
bus. It shows the relevant logic levels and voltage connections.
Note: Actual configuration will depend on the auxiliary sensors used.
VDDIO
(0V - VDDIO)
SYSTEM BUS
System
Processor IO
VDD
VDDIO
VDD
INT
SDA
(0V - VDDIO)
SCL
(0V - VDDIO)
VDDIO
(0V - VDDIO)
(0V - VDDIO)
FSYNC
VDDIO
MPU-9250
VDD_IO
VDDIO
AUX_DA
(0V, VDDIO)
AD0
AUX_CL
(0V - VDDIO)
(0V - VDDIO)
SDA
3rd Party
Sensor
SCL
CS
INT 1
INT 2
SA0
I/O Levels and Connections
Page 37 of 42
VDD_IO
(0V, VDDIO)
(0V - VDDIO)
(0V - VDDIO)
(0V, VDDIO)
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
9 Assembly
This section provides general guidelines for assembling InvenSense Micro Electro-Mechanical Systems
(MEMS) devices packaged in quad flat no-lead package (QFN) surface mount integrated circuits.
9.1 Orientation of Axes
The diagram below shows the orientation of the axes of sensitivity and the polarity of rotation. Note the pin 1
identifier (•) in the figure.
+Z
+Y
+Z
MP
U92
+Y
50
+X
+X
Figure 4. Orientation of Axes of Sensitivity and Polarity of Rotation for Accelerometer and Gyroscope
+X
MP
U92
50
+Y
+Z
Figure 5. Orientation of Axes of Sensitivity for Compass
9.2
Package Dimensions
24 Lead QFN (3x3x1) mm NiPdAu Lead-frame finish
Page 38 of 42
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
MPU-9250 Product Specification
SYMBOLS
A
A1
b
c
D
D2
E
E2
e
f (e-b)
K
L
R
s
y
DIMENSIONS IN
MILLIMETERS
MIN
NOM
MAX
DESCRIPTION
Package thickness
Lead finger (pad) seating height
Lead finger (pad) width
Lead frame (pad) height
Package width
Exposed pad width
Package length
Exposed pad length
Lead finger-finger (pad-pad) pitch
Lead-lead (Pad-Pad) space
Lead (pad) to Exposed Pad Space
Lead (pad) length
Lead (pad) corner radius
Corner lead (pad) outer radius to corner
lead outer radius
Page 39 of 42
0.95
0.00
0.15
--2.90
1.65
2.90
1.49
--0.15
--0.25
0.075
1.00
0.02
0.20
0.15 REF
3.00
1.70
3.00
1.54
0.40
0.20
0.35 REF
0.30
REF
1.05
0.05
0.25
--3.10
1.75
3.10
1.59
--0.25
--0.35
---
--0.00
0.25 REF
---
--0.075
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
10 Part Number Package Marking
The part number package marking for MPU-9250 devices is summarized below:
Part Number
Part Number Package Marking
MPU-9250
MP92
Page 40 of 42
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
11 Reliability
11.1 Qualification Test Policy
InvenSense’s products complete a Qualification Test Plan before being released to production. The
Qualification Test Plan for the MPU-9250 followed the JEDEC JESD 47I Standard, “Stress-Test-Driven
Qualification of Integrated Circuits,” with the individual tests described below.
11.2 Qualification Test Plan
Accelerated Life Tests
TEST
Method/Condition
Lot
Sample
Quantity
/ Lot
Acc /
Reject
Criteria
(HTOL/LFR)
High Temperature Operating Life
JEDEC JESD22-A108D
Dynamic, 3.63V biased, Tj>125°C
[read-points: 168, 500, 1000 hours]
3
77
(0/1)
(HAST)
Highly Accelerated Stress Test (1)
JEDEC JESD22-A118A
Condition A, 130°C, 85%RH, 33.3 psia., unbiased
[read-point: 96 hours]
3
77
(0/1)
(HTS)
High Temperature Storage Life
JEDEC JESD22-A103D
Condition A, 125°C Non-Bias Bake
[read-points: 168, 500, 1000 hours]
3
77
(0/1)
Device Component Level Tests
TEST
Method/Condition
(ESD-HBM)
ESD-Human Body Model
JEDEC JS-001-2012
(2KV)
1
3
(0/1)
(ESD-MM)
ESD-Machine Model
JEDEC JESD22-A115C
(250V)
1
3
(0/1)
(ESD-CDM)
ESD-Charged Device Model
JEDEC JESD22-C101E
(500V)
1
3
(0/1)
(LU)
Latch Up
JEDEC JESD-78D
Class II (2), 125°C; ±100mA
1.5X Vdd Over-voltage
1
6
(0/1)
(MS)
Mechanical Shock
JEDEC JESD22-B104C, Mil-Std-883,
2002.5 Cond. E, 10,000g’s, 0.2ms,
±X, Y, Z – 6 directions, 5 times/direction
3
5
(0/1)
(VIB)
Vibration
JEDEC JESD22-B103B
Variable Frequency (random), Cond. B, 5-500Hz,
X, Y, Z – 4 times/direction
1
5
(0/1)
(TC)
Temperature Cycling (1)
JEDEC JESD22-A104D
Condition G [-40°C to +125°C], Soak Mode 2 [5’]
[read-Point: 1000 cycles]
3
77
(0/1)
(1) Tests are preceded by MSL3 Preconditioning in accordance with JEDEC JESD22-A113F
Page 41 of 42
Lot
Sample
Quantity
/ Lot
Method
Acc /
Reject
Criteria
MPU-9250 Product Specification
Document Number: PS-MPU-9250A-01
Revision: 1.1
Release Date: 06/20/2016
12 Reference
Please refer to “InvenSense MEMS Handling Application Note (AN-IVS-0002A-00)” for the following
information:
Manufacturing Recommendations
o Assembly Guidelines and Recommendations
o PCB Design Guidelines and Recommendations
o MEMS Handling Instructions
o ESD Considerations
o Reflow Specification
o Storage Specifications
o Package Marking Specification
o Tape & Reel Specification
o Reel & Pizza Box Label
o Packaging
o Representative Shipping Carton Label
Compliance
o Environmental Compliance
o DRC Compliance
o Compliance Declaration Disclaimer
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense
for its use, or for any infringements of patents or other rights of third parties that may result from its use. Specifications are subject to
change without notice. InvenSense reserves the right to make changes to this product, including its circuits and software, in order to
improve its design and/or performance, without prior notice. InvenSense makes no warranties, neither expressed nor implied, regarding
the information and specifications contained in this document. InvenSense assumes no responsibility for any claims or damages arising
from information contained in this document, or from the use of products and services detailed therein. This includes, but is not limited to,
claims or damages based on the infringement of patents, copyrights, mask work and/or other intellectual property rights.
Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by implication
or otherwise under any patent or patent rights of InvenSense. This publication supersedes and replaces all information previously supplied.
Trademarks that are registered trademarks are the property of their respective companies. InvenSense sensors should not be used or
sold in the development, storage, production or utilization of any conventional or mass-destructive weapons or for any other weapons or
life threatening applications, as well as in any other life critical applications such as medical equipment, transportation, aerospace and
nuclear instruments, undersea equipment, power plant equipment, disaster prevention and crime prevention equipment.
©2014 InvenSense, Inc. All rights reserved. InvenSense, MotionTracking, MotionProcessing, MotionProcessor, MotionFusion,
MotionApps, DMP, and the InvenSense logo are trademarks of InvenSense, Inc. Other company and product names may be trademarks
of the respective companies with which they are associated.
©2014 InvenSense, Inc. All rights reserved.
Page 42 of 42
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