User Manual

MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
4.3 Registers 19 to 24 – Gyro Offset Registers
Serial IF: R/W
Reset value: 0x00
BIT
NAME
FUNCTION
[7:0] X_OFFS_USR[15:8]
High byte, Low byte in USR register (14h)
OffsetLSB=
X_OFFS_USR * 4 / 2^FS_SEL
OffsetDPS=
X_OFFS_USR * 4 / 2^FS_SEL / Gyro_Sensitivity
Nominal
Conditions
FS_SEL = 0
Gyro_Sensitivity = 2^16 LSB / 500dps
Max
999.969 dps
Min
-1000 dps
Step
0.0305 dps
[7:0]
X_OFFS_USR[7:0]
Low byte, High byte in USR register (13h)
[7:0]
Y_OFFS_USR[15:8]
High byte, Low byte in USR register (16h)
OffsetLSB=
Y_OFFS_USR * 4 / 2^FS_SEL
OffsetDPS=
Y_OFFS_USR * 4 / 2^FS_SEL / Gyro_Sensitivity
Nominal
Conditions
FS_SEL = 0
Gyro_Sensitivity = 2^16 LSB / 500dps
Max
999.969 dps
Min
-1000 dps
Step
0.0305 dps
[7:0]
Y_OFFS_USR[7:0]
Low byte, High byte in USR register (15h)
[7:0] Z_OFFS_USR[15:8]
High byte, Low byte in USR register (18h)
OffsetLSB=
Z_OFFS_USR * 4 / 2^FS_SEL
OffsetDPS=
Z_OFFS_USR * 4 / 2^FS_SEL / Gyro_Sensitivity
Nominal
Conditions
FS_SEL = 0
Gyro_Sensitivity = 2^16 LSB / 500dps
Max
999.969 dps
Min
-1000 dps
Step
0.0305 dps
[7:0]
Z_OFFS_USR[7:0]
Low byte, High byte in USR register (17h)
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