User Manual

MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
3 Register Map for Gyroscope and Accelerometer
The following table lists the register map for the gyroscope and accelerometer in the MPU-9250
MotionTracking device.
Addr
(Hex)
Addr
(Dec.)
Register Name
Serial
I/F
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
00
0
SELF_TEST_X_GYRO
R/W
xg_st_data [7:0]
01
1
SELF_TEST_Y_GYRO
R/W
yg_st_data [7:0]
02
2
SELF_TEST_Z_GYRO
R/W
zg_st_data [7:0]
0D
13
SELF_TEST_X_ACCEL
R/W
XA_ST_DATA [7:0]
0E
14
SELF_TEST_Y_ACCEL
R/W
YA_ST_DATA [7:0]
0F
15
SELF_TEST_Z_ACCEL
R/W
ZA_ST_DATA [7:0]
13
19
XG_OFFSET_H
R/W
X_OFFS_USR [15:8]
14
20
XG_OFFSET_L
R/W
X_OFFS_USR [7:0]
15
21
YG_OFFSET_H
R/W
Y_OFFS_USR [15:8]
16
22
YG_OFFSET_L
R/W
Y_OFFS_USR [7:0]
17
23
ZG_OFFSET_H
R/W
Z_OFFS_USR [15:8]
18
24
ZG_OFFSET_L
R/W
Z_OFFS_USR [7:0]
19
25
SMPLRT_DIV
R/W
SMPLRT_DIV[7:0]
1A 26 CONFIG R/W -
FIFO_
MODE
EXT_SYNC_SET[2:0] DLPF_CFG[2:0]
1B 27 GYRO_CONFIG R/W
XGYRO_Ct
en
YGYRO_Ct
en
ZGYRO_Ct
en
GYRO_FS_SEL [1:0] - FCHOICE_B[1:0]
1C
28
ACCEL_CONFIG
R/W
ax_st_en
ay_st_en
az_st_en
ACCEL_FS_SEL[1:0]
-
1D
29
ACCEL_CONFIG 2
R/W
-
ACCEL_FCHOICE_B
A_DLPF_CFG
1E
30
LP_ACCEL_ODR
R/W
-
Lposc_clksel [3:0]
1F
31
WOM_THR
R/W
WOM_Threshold [7:0]
23 35 FIFO_EN R/W
TEMP
_FIFO_EN
GYRO_XO
UT
GYRO_YO
UT
GYRO_ZO
UT
ACCEL SLV2 SLV1 SLV0
24 36 I2C_MST_CTRL R/W
MULT
_MST_EN
WAIT
_FOR_ES
SLV_3
_FIFO_EN
I2C_MST
_P_NSR
I2C_MST_CLK[3:0]
25 37 I2C_SLV0_ADDR R/W
I2C_SLV0
_RNW
I2C_ID_0 [6:0]
26
38
I2C_SLV0_REG
R/W
I2C_SLV0_REG[7:0]
27 39 I2C_SLV0_CTRL R/W
I2C_SLV0
_EN
I2C_SLV0
_BYTE_SW
I2C_SLV0
_REG_DIS
I2C_SLV0
_GRP
I2C_SLV0_LENG[3:0]
28 40 I2C_SLV1_ADDR R/W
I2C_SLV1
_RNW
I2C_ID_1 [6:0]
29
41
I2C_SLV1_REG
R/W
I2C_SLV1_REG[7:0]
2A 42 I2C_SLV1_CTRL R/W
I2C_SLV1
_EN
I2C_SLV1
_BYTE_SW
I2C_SLV1
_REG_DIS
I2C_SLV1
_GRP
I2C_SLV1_LENG[3:0]
2B 43 I2C_SLV2_ADDR R/W
I2C_SLV2
_RNW
I2C_ID_2 [6:0]
2C
44
I2C_SLV2_REG
R/W
I2C_SLV2_REG[7:0]
2D 45 I2C_SLV2_CTRL R/W
I2C_SLV2
_EN
I2C_SLV2
_BYTE_SW
I2C_SLV2
_REG_DIS
I2C_SLV2
_GRP
I2C_SLV2_LENG[3:0]
2E 46 I2C_SLV3_ADDR R/W
I2C_SLV3
_RNW
I2C_ID_3 [6:0]
2F
47
I2C_SLV3_REG
R/W
I2C_SLV3_REG[7:0]
30 48 I2C_SLV3_CTRL R/W
I2C_SLV3
_EN
I2C_SLV3
_BYTE_SW
I2C_SLV3
_REG_DIS
I2C_SLV3
_GRP
I2C_SLV3_LENG [3:0]
31 49 I2C_SLV4_ADDR R/W
I2C_SLV4
_RNW
I2C_ID_4 [6:0]
32
50
I2C_SLV4_REG
R/W
I2C_SLV4_REG[7:0]
33
51
I2C_SLV4_DO
R/W
I2C_SLV4_DO[7:0]
34 52 I2C_SLV4_CTRL R/W
I2C_SLV4
_EN
SLV4_DON
E_INT_EN
I2C_SLV4
_REG_DIS
I2C_MST_DLY[4:0]
7 of 55