User Manual

MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
Addr
(Hex)
Addr
(Dec.)
Register Name
Serial
I/F
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
66
102
I2C_SLV3_DO
R/W
I2C_SLV3_DO[7:0]
67 103 I2C_MST_DELAY_CTRL R/W
DELAY_ES
_SHADOW
- -
I2C_SLV4
_DLY_EN
I2C_SLV3
_DLY_EN
I2C_SLV2
_DLY_EN
I2C_SLV1
_DLY_EN
I2C_SLV0
_DLY_EN
68 104 SIGNAL_PATH_RESET R/W - - - - -
GYRO
_RST
ACCEL
_RST
TEMP
_RST
69 105 MOT_DETECT_CTRL R/W
ACCEL_INT
EL_EN
ACCEL_INT
EL_MODE
- - -
6A 106 USER_CTRL R/W - FIFO_EN
I2C_MST
_EN
I2C_IF
_DIS
-
FIFO
_RST
I2C_MST
_RST
SIG_COND
_RST
6B 107 PWR_MGMT_1 R/W H_RESET SLEEP CYCLE
GYRO_
STANDBY
PD_PTAT CLKSEL[2:0]
6C
108
PWR_MGMT_2
R/W
-
DIS_XA
DIS_YA
DIS_ZA
DIS_XG
DIS_YG
DIS_ZG
72
114
FIFO_COUNTH
R/W
-
FIFO_CNT[12:8]
73
115
FIFO_COUNTL
R/W
FIFO_CNT[7:0]
74
116
FIFO_R_W
R/W
D[7:0]
75
117
WHO_AM_I
R
WHOAMI[7:0]
77
119
XA_OFFSET_H
R/W
XA_OFFS [14:7]
78
120
XA_OFFSET_L
R/W
XA_OFFS [6:0]
-
7A
122
YA_OFFSET_H
R/W
YA_OFFS [14:7]
7B
123
YA_OFFSET_L
R/W
YA_OFFS [6:0]
-
7D
125
ZA_OFFSET_H
R/W
ZA_OFFS [14:7]
7E
126
ZA_OFFSET_L
R/W
ZA_OFFS [6:0]
-
Table 1 MPU-9250 mode register map for Gyroscope and Accelerometer
Note: Register Names ending in _H and _L contain the high and low bytes, respectively, of an internal
register value.
In the detailed register tables that follow, register names are in capital letters, while register values are in
capital letters and italicized. For example, the ACCEL_XOUT_H register (Register 59) contains the 8 most
significant bits, ACCEL_XOUT[15:8], of the 16-bit X-Axis accelerometer measurement, ACCEL_XOUT.
The reset value is 0x00 for all registers other than the registers below.
• Register 107 (0x01) Power Management 1
• Register 117 (0x71) WHO_AM_I
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