User Manual

MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
4 Register Descriptions
This section describes the function and contents of each register within the MPU-9250. All the descriptions
relate to the default MPU-9250 mode of operation.
4.1 Registers 0 to 2 – Gyroscope Self-Test Registers
Serial IF: R/W
Reset value: 0x00
REGISTER
BITS
FUNCTION
SELF_TEST_X_GYRO XG_ST_DATA[7:0]
The value in this register indicates the self test output generated
during manufacturing tests. This value is to be used to check
against subsequent self test outputs performed by the end user.
SELF_TEST_Y_GYRO YG_ST_DATA[7:0]
The value in this register indicates the self test output generated
during manufacturing tests. This value is to be used to check
against subsequent self test outputs performed by the end user.
SELF_TEST_Z_GYRO ZG_ST_DATA[7:0]
The value in this register indicates the self test output generated
during manufacturing tests. This value is to be used to check
against subsequent self test outputs performed by the end user.
For details of the MPU-9250 self-test implementation, please refer to the following document: AN-
MPU-9250A-03, MPU-9250 Accelerometer, Gyroscope and Compass Self-Test Implementation.
4.2 Registers 13 to 15 – Accelerometer Self-Test Registers
Serial IF: R/W
Reset value: 0x00
REGISTER
BITS
FUNCTION
SELF_TEST_X_ACCEL XA_ST_DATA[7:0]
The value in this register indicates the self test output generated
during manufacturing tests. This value is to be used to check
against subsequent self test outputs performed by the end user.
SELF_TEST_Y_ACCEL YA_ST_DATA[7:0]
The value in this register indicates the self test output generated
during manufacturing tests. This value is to be used to check
against subsequent self test outputs performed by the end user.
SELF_TEST_Z_ACCEL ZA_ST_DATA[7:0]
The value in this register indicates the self test output generated
during manufacturing tests. This value is to be used to check
against subsequent self test outputs performed by the end user.
For details of the MPU-9250 self-test implementation, please refer to the following document: AN-MPU-
9250A-03, MPU-9250 Accelerometer, Gyroscope and Compass Self-Test Implementation.
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