9Dof Razor Imu M0 User Manual

The SparkFun 9DoF Razor IMU M0 combines a SAMD21 microprocessor with an MPU-9250 9DoF (nine degrees of freedom) sensor to create a tiny, re-programmable, multi-purpose inertial measurement unit (IMU). It can be programmed to monitor and log motion, transmit Euler angles over a serial port, or to even act as a step-counting pedometer.

The 9DoF Razor’s MPU-9250 cosist of three,three axis sensors an accelerometer, gyroscope, and magnetometer which gives the ability to sense linear acceleration, angular rotation velocity, and magnetic field vector’s.The on-board microprocessor – Atmel’s SAMD21G18A – is an Arduino-compatible, 32-bit ARM Cortex-M0+ microcontroller also featured on the Arduino Zero and SAMD21 Mini Breakout boards.

The 9DoF Razor IMU also includes  a µSD card socketLiPo battery charger.r, power-control switch, and a host of I/O break-outs for project expansion. It comes pre-programmed with example firmware and an Arduino-compatible bootloader, so you can customize the firmware and flash new code over a USB connection.

Hardware Overview

The 9DoF Razor IMU M0is a double sided.Here’s an overview of what we’ll call the “top” of the board.

The bottom of the board includes the various connectors, power control switch, and LEDs.



Installing the Firmware

When you connect the 9DoF IMU with a USB , you may need to install  driver otherwise it will not be detected as com port.Download the driver from the below link.

9DoF Razor MO Driver

Installing 9DoF Arduino Core

First, you’ll need to install a variety of tools, including low-level ARM Cortex libraries full of generic code, arm-gcc to compile your code, and to upload code via the bootloader. These tools come packaged along with Arduino’s SAMD board definitions for the Arduino Zero.

Steps to install the arduino SAMD board definition.

  • Select tools.
  • In that Select ‘Boards’.
  • Then select  ‘Boards manager’.

A window will open like this.

Installing Sparkfun Board Definition

After ARM tools are installed, one last  setup is required to add support for the SparkFun SAMD boards. First, open your Arduino preference (File>Preference) . Then paste the link given below in ‘Additional Board Manager Urls’  text box.


Then click OK and go back to board managers and select ‘Sparkfun SMD Board‘.

Then install the ‘Sparkfun SMD Board‘.

Select the Board and Port

 Once the board is installed ,you can see a few new entries in Tools>boards list including SparkFun 9DoF Razor IMU M0, under the “SparkFun 9DoF Razour IMU M0 Boards” menu.


Finally, select your 9DoF Razor’s port, by navigating back up to the Tools > Port menu.

Updating an Arduino library

Download the 9DoF  Razour IMU arduino library from the below link.

9DoF Razour IMU library

After downloading, unzip the file. Then paste the folder into the  arduino libraries (ArduinoV1.6.11).

Note: We have tested it on  ArduinoV1.6.11 and we would recommend that version of the IDE.

Uploading  a Sample code to 9DoF Razour IMU

  • Select File> Examples.
  • In examples Select Sparkfun ‘MPU-9250-DMP_Arduino_Library-Master’.
  • In that Select MPU9520_Basics.

And upload the program.

 And the output is shown below.


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