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
Register Map and Descriptions
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
2
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
2
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
2
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
2
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
2
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
2
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
2
C SLAVE 0 DATA OUT .............................................................................................. 37
4.27 REGISTER 100 – I
2
C SLAVE 1 DATA OUT ............................................................................................ 37
4.28 REGISTER 101 – I
2
C SLAVE 2 DATA OUT ............................................................................................ 37
4.29 REGISTER 102 – I
2
C SLAVE 3 DATA OUT ............................................................................................ 37
4.30 REGISTER 103 – I
2
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
MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.6
Release Date: 01/07/2015
CONFIDENTIAL & PROPRIETARY 4 of 55
5.7 ST2: STATUS 2 ................................................................................................................................. 51
5.8 CNTL1: CONTROL 1 .......................................................................................................................... 51
5.9 CNTL2: CONTROL 2 .......................................................................................................................... 52
5.10 ASTC: SELF-TEST CONTROL ............................................................................................................. 52
5.11 TS1, TS2: TEST 1, 2 ......................................................................................................................... 52
5.12 I2CDIS: I
2
C DISABLE ......................................................................................................................... 52
5.13 ASAX, ASAY, ASAZ: SENSITIVITY ADJUSTMENT VALUES ................................................................... 53
6 ADVANCED HARDWARE FEATURES .................................................................................................... 54
MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.6
Release Date: 01/07/2015
CONFIDENTIAL & PROPRIETARY 5 of 55
1 Revision History
Revision
Date
Revision
Description
9/9/2013
1.4
Initial release
11/05/2014
1.5
Updated Section 4
01/07/2015
1.6
Updated Section 2
