MotionTracking device. MPU-9250 Datasheet

MPU-9250 device. Datasheet pdf. Equivalent


InvenSense MPU-9250
InvenSense Inc.
1745 Technology Drive, San Jose, CA 95110 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
MPU-9250
Register Map and Descriptions
Revision 1.4
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MPU-9250 Datasheet
Recommendation MPU-9250 Datasheet
Part MPU-9250
Description MotionTracking device
Feature MPU-9250; InvenSense Inc. 1745 Technology Drive, San Jose, CA 95110 U.S.A. Tel: +1 (408) 988-7339 Fax: +1 (408.
Manufacture InvenSense
Datasheet
Download MPU-9250 Datasheet




InvenSense MPU-9250
MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
CONTENTS
1 REVISION HISTORY ...................................................................................................................................5
2 PURPOSE AND SCOPE .............................................................................................................................6
3 REGISTER MAP FOR GYROSCOPE AND ACCELEROMETER ..............................................................7
4 REGISTER DESCRIPTIONS.....................................................................................................................10
4.1 REGISTERS 0 TO 2 – GYROSCOPE SELF-TEST REGISTERS ..................................................................10
4.2 REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS .......................................................10
4.3 REGISTERS 19 TO 24 – GYRO OFFSET REGISTERS .............................................................................11
4.4 REGISTER 25 – SAMPLE RATE DIVIDER ..............................................................................................12
4.5 REGISTER 26 – CONFIGURATION ........................................................................................................12
4.6 REGISTER 27 – GYROSCOPE CONFIGURATION ....................................................................................13
4.7 REGISTER 28 – ACCELEROMETER CONFIGURATION.............................................................................14
4.8 REGISTER 29 – ACCELEROMETER CONFIGURATION 2..........................................................................14
4.9 REGISTER 30 – LOW POWER ACCELEROMETER ODR CONTROL..........................................................16
4.10 REGISTER 31 – WAKE-ON MOTION THRESHOLD ..................................................................................17
4.11 REGISTER 35 – FIFO ENABLE............................................................................................................17
4.12
4.13
REGISTER 36 – I2C MASTER CONTROL ..............................................................................................18
REGISTERS 37 TO 39 – I2C SLAVE 0 CONTROL ...................................................................................20
REGISTER 37 - I2C_SLV0_ADDR ..................................................................................................................20
REGISTER 38 - I2C_SLV0_REG ....................................................................................................................20
REGISTER 39 - I2C_SLV0_CTRL...................................................................................................................20
4.14 REGISTERS 40 TO 42 – I2C SLAVE 1 CONTROL ...................................................................................21
REGISTER 40 - I2C_SLV1_ADDR ..................................................................................................................21
REGISTER 41 - I2C_SLV1_REG ....................................................................................................................22
REGISTER 42 - I2C_SLV1_CTRL...................................................................................................................22
4.15 REGISTERS 43 TO 45 – I2C SLAVE 2 CONTROL ...................................................................................23
REGISTER 43 - I2C_SLV2_ADDR ..................................................................................................................23
REGISTER 44 - I2C_SLV2_REG ....................................................................................................................24
REGISTER 45 - I2C_SLV2_CTRL...................................................................................................................24
4.16 REGISTERS 46 TO 48 – I2C SLAVE 3 CONTROL ...................................................................................25
REGISTER 46 - I2C_SLV3_ADDR ..................................................................................................................25
REGISTER 47 - I2C_SLV3_REG ....................................................................................................................25
REGISTER 48 - I2C_SLV3_CTRL...................................................................................................................25
4.17 REGISTERS 49 TO 53 – I2C SLAVE 4 CONTROL ...................................................................................26
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InvenSense MPU-9250
MPU-9250 Register Map and Descriptions
Document Number: RM-MPU-9250A-00
Revision: 1.4
Release Date: 9/9/2013
REGISTER 49 - I2C_SLV4_ADDR ..................................................................................................................26
REGISTER 50 - I2C_SLV4_REG ....................................................................................................................26
REGISTER 51 - I2C_SLV4_DO.......................................................................................................................27
REGISTER 52 - I2C_SLV4_CTRL...................................................................................................................27
REGISTER 53 - I2C_SLV4_DI.........................................................................................................................27
4.18 REGISTER 54 – I2C MASTER STATUS..................................................................................................28
4.19 REGISTER 55 – INT PIN / BYPASS ENABLE CONFIGURATION................................................................29
4.20 REGISTER 56 – INTERRUPT ENABLE ...................................................................................................29
4.21 REGISTER 58 – INTERRUPT STATUS ...................................................................................................30
4.22 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS.................................................................31
4.23 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT.....................................................................33
4.24 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS ........................................................................33
4.25
4.26
4.27
4.28
4.29
4.30
REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA...............................................................................35
REGISTER 99 – I2C SLAVE 0 DATA OUT..............................................................................................37
REGISTER 100 – I2C SLAVE 1 DATA OUT............................................................................................37
REGISTER 101 – I2C SLAVE 2 DATA OUT............................................................................................37
REGISTER 102 – I2C SLAVE 3 DATA OUT............................................................................................37
REGISTER 103 – I2C MASTER DELAY CONTROL ..................................................................................38
4.31 REGISTER 104 – SIGNAL PATH RESET................................................................................................39
4.32 REGISTER 105 – ACCELEROMETER INTERRUPT CONTROL ...................................................................39
4.33 REGISTER 106 – USER CONTROL.......................................................................................................39
4.34 REGISTER 107 – POWER MANAGEMENT 1 ..........................................................................................40
4.35 REGISTER 108 – POWER MANAGEMENT 2 ..........................................................................................41
4.36 REGISTER 114 AND 115 – FIFO COUNT REGISTERS ...........................................................................42
4.37 REGISTER 116 – FIFO READ WRITE ..................................................................................................43
4.38 REGISTER 117 – WHO AM I................................................................................................................44
4.39 REGISTERS 119, 120, 122, 123, 125, 126 ACCELEROMETER OFFSET REGISTERS ...............................44
5 REGISTER MAP FOR MAGNETOMETER ...............................................................................................47
5.1 REGISTER MAP DESCRIPTION ............................................................................................................48
5.2 DETAILED DESCRIPTIONS FOR MAGNETOMETER REGISTERS................................................................49
5.3 WIA: DEVICE ID ................................................................................................................................49
5.4 INFO: INFORMATION..........................................................................................................................49
5.5 ST1: STATUS 1 .................................................................................................................................49
5.6 HXL TO HZH: MEASUREMENT DATA...................................................................................................50
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