User Manual

MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
If the FIFO buffer is empty, reading this register will return the last byte that was previously read from
the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO
buffer is not read when empty.
4.38 Register 117 – Who Am I
Name: WHOAMI
Serial IF: Read Only
Reset value: 0x68
BIT
NAME
FUNCTION
[7:0]
WHOAMI
Register to indicate to user which device is being accessed.
This register is used to verify the identity of the device. The contents of WHO_AM_I is an 8-bit device
ID. The default value of the register is 0x71.
4.39 Registers 119, 120, 122, 123, 125, 126 Accelerometer Offset Registers
For MPU-9250 mode:
Name: XA_OFFS_H
Address: 119
Serial IF: R/W
Reset value: 0x00
BIT
NAME
FUNCTION
[7:0]
XA_OFFS[14:7]
Upper bits of the X accelerometer offset cancellation. +/- 16g Offset
cancellation in all Full Scale modes, 15 bit 0.98-mg steps
Name: XA_OFFS_L
Address: 120
Serial IF: R/W
Reset value: 0x00
BIT
NAME
FUNCTION
[7:1]
XA_OFFS[6:0]
Lower bits of the X accelerometer offset cancellation. +/- 16g Offset
cancellation in all Full Scale modes, 15 bit 0.98-mg steps
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