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MPU-9250 Register Map and Descriptions

Document Number: RM-MPU-9250A-00

Revision: 1.6

Release Date: 01/07/2015

CONFIDENTIAL & PROPRIETARY 1 of 55

MPU-9250

Revision 1.6

MPU-9250 Register Map and Descriptions

Document Number: RM-MPU-9250A-00

Revision: 1.6

Release Date: 01/07/2015

CONFIDENTIAL & PROPRIETARY 2 of 55

CONTENTS

1 REVISION HISTORY ................................................................................................................................... 5

2 PURPOSE AND SCOPE ............................................................................................................................. 6

3 REGISTER MAP FOR GYROSCOPE AND ACCELEROMETER .............................................................. 7

4 REGISTER DESCRIPTIONS ..................................................................................................................... 10

4.1 REGISTERS 0 TO 2 – GYROSCOPE SELF-TEST REGISTERS .................................................................. 10

4.2 REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS ....................................................... 10

4.3 REGISTERS 19 TO 24 – GYRO OFFSET REGISTERS ............................................................................. 11

4.4 REGISTER 25 – SAMPLE RATE DIVIDER .............................................................................................. 12

4.5 REGISTER 26 – CONFIGURATION ........................................................................................................ 12

4.6 REGISTER 27 – GYROSCOPE CONFIGURATION .................................................................................... 13

4.7 REGISTER 28 – ACCELEROMETER CONFIGURATION ............................................................................. 14

4.8 REGISTER 29 – ACCELEROMETER CONFIGURATION 2 .......................................................................... 14

4.9 REGISTER 30 – LOW POWER ACCELEROMETER ODR CONTROL .......................................................... 16

4.10 REGISTER 31 – WAKE-ON MOTION THRESHOLD .................................................................................. 17

4.11 REGISTER 35 – FIFO ENABLE ............................................................................................................ 17

4.12 REGISTER 36 – I2C MASTER CONTROL .............................................................................................. 18

4.13 REGISTERS 37 TO 39 – I

C SLAVE 0 CONTROL ................................................................................... 20

REGISTER 37 - I2C_SLV0_ADDR .................................................................................................................. 20

REGISTER 38 - I2C_SLV0_REG .................................................................................................................... 20

REGISTER 39 - I2C_SLV0_CTRL ................................................................................................................... 20

4.14 REGISTERS 40 TO 42 – I

C SLAVE 1 CONTROL ................................................................................... 21

REGISTER 40 - I2C_SLV1_ADDR .................................................................................................................. 21

REGISTER 41 - I2C_SLV1_REG .................................................................................................................... 22

REGISTER 42 - I2C_SLV1_CTRL ................................................................................................................... 22

4.15 REGISTERS 43 TO 45 – I

C SLAVE 2 CONTROL ................................................................................... 23

REGISTER 43 - I2C_SLV2_ADDR .................................................................................................................. 23

REGISTER 44 - I2C_SLV2_REG .................................................................................................................... 24

REGISTER 45 - I2C_SLV2_CTRL ................................................................................................................... 24

4.16 REGISTERS 46 TO 48 – I

C SLAVE 3 CONTROL ................................................................................... 25

REGISTER 46 - I2C_SLV3_ADDR .................................................................................................................. 25

REGISTER 47 - I2C_SLV3_REG .................................................................................................................... 25

REGISTER 48 - I2C_SLV3_CTRL ................................................................................................................... 25

4.17 REGISTERS 49 TO 53 – I

C SLAVE 4 CONTROL ................................................................................... 26

MPU-9250 Register Map and Descriptions

Document Number: RM-MPU-9250A-00

Revision: 1.6

Release Date: 01/07/2015

CONFIDENTIAL & PROPRIETARY 3 of 55

REGISTER 49 - I2C_SLV4_ADDR .................................................................................................................. 26

REGISTER 50 - I2C_SLV4_REG .................................................................................................................... 26

REGISTER 51 - I2C_SLV4_DO ....................................................................................................................... 27

REGISTER 52 - I2C_SLV4_CTRL ................................................................................................................... 27

REGISTER 53 - I2C_SLV4_DI ......................................................................................................................... 27

4.18 REGISTER 54 – I

C MASTER STATUS .................................................................................................. 28

4.19 REGISTER 55 – INT PIN / BYPASS ENABLE CONFIGURATION ................................................................ 29

4.20 REGISTER 56 – INTERRUPT ENABLE ................................................................................................... 29

4.21 REGISTER 58 – INTERRUPT STATUS ................................................................................................... 30

4.22 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS ................................................................. 31

4.23 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT ..................................................................... 33

4.24 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS ........................................................................ 33

4.25 REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA ............................................................................... 35

4.26 REGISTER 99 – I

C SLAVE 0 DATA OUT .............................................................................................. 37

4.27 REGISTER 100 – I

C SLAVE 1 DATA OUT ............................................................................................ 37

4.28 REGISTER 101 – I

C SLAVE 2 DATA OUT ............................................................................................ 37

4.29 REGISTER 102 – I

C SLAVE 3 DATA OUT ............................................................................................ 37

4.30 REGISTER 103 – I

C MASTER DELAY CONTROL .................................................................................. 38

4.31 REGISTER 104 – SIGNAL PATH RESET ................................................................................................ 39

4.32 REGISTER 105 – ACCELEROMETER INTERRUPT CONTROL ................................................................... 39

4.33 REGISTER 106 – USER CONTROL ....................................................................................................... 39

4.34 REGISTER 107 – POWER MANAGEMENT 1 .......................................................................................... 40

4.35 REGISTER 108 – POWER MANAGEMENT 2 .......................................................................................... 41

4.36 REGISTER 114 AND 115 – FIFO COUNT REGISTERS ........................................................................... 42

4.37 REGISTER 116 – FIFO READ WRITE .................................................................................................. 43

4.38 REGISTER 117 – WHO AM I ................................................................................................................ 44

4.39 REGISTERS 119, 120, 122, 123, 125, 126 ACCELEROMETER OFFSET REGISTERS ............................... 44

5 REGISTER MAP FOR MAGNETOMETER ............................................................................................... 47

5.1 REGISTER MAP DESCRIPTION ............................................................................................................ 48

5.2 DETAILED DESCRIPTIONS FOR MAGNETOMETER REGISTERS ................................................................ 49

5.3 WIA: DEVICE ID ................................................................................................................................ 49

5.4 INFO: INFORMATION .......................................................................................................................... 49

5.5 ST1: STATUS 1 ................................................................................................................................. 49

5.6 HXL TO HZH: MEASUREMENT DATA................................................................................................... 50