RM-MPU-9255(文件:RM-MPU-9255).pdf

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1 Revision History

2 Purpose and Scope

3 Register Map for Gyroscope and Accelerometer

4 Register Descriptions

4.1 Registers 0 to 2 – Gyroscope Self-Test Registers

4.2 Registers 13 to 15 – Accelerometer Self-Test Registers

4.3 Registers 19 to 24 – Gyro Offset Registers

4.4 Register 25 – Sample Rate Divider

4.5 Register 26 – Configuration

4.6 Register 27 – Gyroscope Configuration

4.7 Register 28 – Accelerometer Configuration

4.8 Register 29 – Accelerometer Configuration 2

4.9 Register 30 – Low Power Accelerometer ODR Control

4.10 Register 31 – Wake-on Motion Threshold

4.11 Register 35 – FIFO Enable

4.12 Register 36 – I2C Master Control

4.13 Registers 37 to 39 – I2C Slave 0 Control

4.14 Registers 40 to 42 – I2C Slave 1 Control

4.15 Registers 43 to 45 – I2C Slave 2 Control

4.16 Registers 46 to 48 – I2C Slave 3 Control

4.17 Registers 49 to 53 – I2C Slave 4 Control

4.18 Register 54 – I2C Master Status

4.19 Register 55 – INT Pin / Bypass Enable Configuration

4.20 Register 56 – Interrupt Enable

4.21 Register 58 – Interrupt Status

4.22 Registers 59 to 64 – Accelerometer Measurements

4.23 Registers 65 and 66 – Temperature Measurement

4.24 Registers 67 to 72 – Gyroscope Measurements

4.25 Registers 73 to 96 – External Sensor Data

4.26 Register 99 – I2C Slave 0 Data Out

4.27 Register 100 – I2C Slave 1 Data Out

4.28 Register 101 – I2C Slave 2 Data Out

4.29 Register 102 – I2C Slave 3 Data Out

4.30 Register 103 – I2C Master Delay Control

4.31 Register 104 – Signal Path Reset

4.32 Register 105 – Accelerometer Interrupt Control

4.33 Register 106 – User Control

4.34 Register 107 – Power Management 1

4.35 Register 108 – Power Management 2

4.36 Register 114 and 115 – FIFO Count Registers

4.37 Register 116 – FIFO Read Write

4.38 Register 117 – Who Am I

4.39 Registers 119, 120, 122, 123, 125, 126 Accelerometer Offset Registers

5 Register Map for Magnetometer

5.1 Register Map Description

5.2 Detailed Descriptions for Magnetometer Registers

5.3 WIA: Device ID

5.4 INFO: Information

5.5 ST1: Status 1

5.6 HXL to HZH: Measurement Data

5.7 ST2: Status 2

5.8 CNTL1: Control 1

5.9 CNTL2: Control 2

5.10 ASTC: Self-Test Control

5.11 TS1, TS2: Test 1, 2

5.12 I2CDIS: I2C Disable

5.13 ASAX, ASAY, ASAZ: Sensitivity Adjustment values

1745 Technology Drive, San Jose, CA 95110 U.S.A InvenSense Inc. +1(408) 988–7339 www.invensense.com Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 Register Map and Descriptions MPU-9255 Revision 1.0 1 of 54 MPU-9255-00

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 CONTENTS 1 REVISION HISTORY ................................................................................................................................... 5 2 PURPOSE AND SCOPE ............................................................................................................................. 6 3 REGISTER MAP FOR GYROSCOPE AND ACCELEROMETER .............................................................. 7 4 REGISTER DESCRIPTIONS ..................................................................................................................... 10 REGISTERS 0 TO 2 – GYROSCOPE SELF-TEST REGISTERS .................................................................. 10 4.1 REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS ....................................................... 10 4.2 REGISTERS 19 TO 24 – GYRO OFFSET REGISTERS ............................................................................. 11 4.3 REGISTER 25 – SAMPLE RATE DIVIDER .............................................................................................. 12 4.4 REGISTER 26 – CONFIGURATION ........................................................................................................ 12 4.5 REGISTER 27 – GYROSCOPE CONFIGURATION .................................................................................... 13 4.6 REGISTER 28 – ACCELEROMETER CONFIGURATION ............................................................................. 14 4.7 REGISTER 29 – ACCELEROMETER CONFIGURATION 2 .......................................................................... 14 4.8 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 REGISTER 36 – I2C MASTER CONTROL .............................................................................................. 18 4.13 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 2 of 54 MPU-9255-00

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 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 REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA ............................................................................... 35 4.26 REGISTER 99 – I2C SLAVE 0 DATA OUT .............................................................................................. 37 4.27 REGISTER 100 – I2C SLAVE 1 DATA OUT ............................................................................................ 37 4.28 REGISTER 101 – I2C SLAVE 2 DATA OUT ............................................................................................ 37 4.29 REGISTER 102 – I2C SLAVE 3 DATA OUT ............................................................................................ 37 4.30 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 REGISTER MAP DESCRIPTION ............................................................................................................ 48 DETAILED DESCRIPTIONS FOR MAGNETOMETER REGISTERS ................................................................ 49 WIA: DEVICE ID ................................................................................................................................ 49 INFO: INFORMATION .......................................................................................................................... 49 ST1: STATUS 1 ................................................................................................................................. 49 HXL TO HZH: MEASUREMENT DATA................................................................................................... 50 5.1 5.2 5.3 5.4 5.5 5.6 3 of 54 MPU-9255-00

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 5.7 5.8 5.9 5.10 5.11 5.12 5.13 ST2: STATUS 2 ................................................................................................................................. 51 CNTL1: CONTROL 1 .......................................................................................................................... 51 CNTL2: CONTROL 2 .......................................................................................................................... 52 ASTC: SELF-TEST CONTROL ............................................................................................................. 52 TS1, TS2: TEST 1, 2 ......................................................................................................................... 52 I2CDIS: I2C DISABLE ......................................................................................................................... 52 ASAX, ASAY, ASAZ: SENSITIVITY ADJUSTMENT VALUES ................................................................... 53 4 of 54 MPU-9255-00

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 1 Revision History Revision Date 10/10/2014 1.0 Revision Description Initial release 5 of 54 MPU-9255-00

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 2 Purpose and Scope This document provides preliminary information regarding the register map and descriptions for the Motion Processing Unit™ MPU-9255™. This document should be used in conjunction with the MPU-9255 Product Specification (PS-MPU-9255A-00) for detailed features, specifications, and other product information. 6 of 54 MPU-9255-00

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 3 Register Map for Gyroscope and Accelerometer The following table lists the register map for the gyroscope and accelerometer in the MPU-9255 MotionTracking device. Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Addr (Dec.) Register Name 0 1 2 13 14 15 19 20 21 22 23 24 25 26 27 28 29 30 31 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 SELF_TEST_X_GYRO SELF_TEST_Y_GYRO SELF_TEST_Z_GYRO SELF_TEST_X_ACCEL SELF_TEST_Y_ACCEL SELF_TEST_Z_ACCEL XG_OFFSET_H XG_OFFSET_L YG_OFFSET_H YG_OFFSET_L ZG_OFFSET_H ZG_OFFSET_L SMPLRT_DIV CONFIG GYRO_CONFIG ACCEL_CONFIG ACCEL_CONFIG 2 LP_ACCEL_ODR WOM_THR FIFO_EN I2C_MST_CTRL I2C_SLV0_ADDR I2C_SLV0_REG I2C_SLV0_CTRL I2C_SLV1_ADDR I2C_SLV1_REG I2C_SLV1_CTRL I2C_SLV2_ADDR I2C_SLV2_REG I2C_SLV2_CTRL I2C_SLV3_ADDR I2C_SLV3_REG I2C_SLV3_CTRL I2C_SLV4_ADDR I2C_SLV4_REG I2C_SLV4_DO I2C_SLV4_CTRL Serial I/F R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W Addr (Hex) 00 01 02 0D 0E 0F 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 xg_st_data [7:0] yg_st_data [7:0] zg_st_data [7:0] XA_ST_DATA [7:0] YA_ST_DATA [7:0] ZA_ST_DATA [7:0] X_OFFS_USR [15:8] X_OFFS_USR [7:0] Y_OFFS_USR [15:8] Y_OFFS_USR [7:0] Z_OFFS_USR [15:8] Z_OFFS_USR [7:0] SMPLRT_DIV[7:0] EXT_SYNC_SET[2:0] DLPF_CFG[2:0] ZGYRO_Ct en az_st_en - - GYRO_FS_SEL [1:0] - FCHOICE_B[1:0] ACCEL_FS_SEL[1:0] - ACCEL_FCHOICE_B A_DLPF_CFG Lposc_clksel [3:0] WOM_Threshold [7:0] GYRO_YO UT SLV_3 _FIFO_EN GYRO_ZO UT I2C_MST _P_NSR ACCEL SLV2 SLV1 SLV0 I2C_MST_CLK[3:0] I2C_ID_0 [6:0] I2C_SLV0_REG[7:0] I2C_SLV0 _BYTE_SW I2C_SLV0 _REG_DIS I2C_SLV0 _GRP I2C_SLV0_LENG[3:0] I2C_ID_1 [6:0] I2C_SLV1_REG[7:0] I2C_SLV1 _BYTE_SW I2C_SLV1 _REG_DIS I2C_SLV1 _GRP I2C_SLV1_LENG[3:0] I2C_ID_2 [6:0] I2C_SLV2_REG[7:0] I2C_SLV2 _BYTE_SW I2C_SLV2 _REG_DIS I2C_SLV2 _GRP I2C_SLV2_LENG[3:0] I2C_ID_3 [6:0] I2C_SLV3_REG[7:0] I2C_SLV3 _BYTE_SW I2C_SLV3 _REG_DIS I2C_SLV3 _GRP I2C_SLV3_LENG [3:0] I2C_ID_4 [6:0] I2C_SLV4_REG[7:0] I2C_SLV4_DO[7:0] I2C_SLV4 _EN SLV4_DON E_INT_EN I2C_SLV4 _REG_DIS 7 of 54 I2C_MST_DLY[4:0] MPU-9255-00 - XGYRO_Ct en ax_st_en FIFO_ MODE YGYRO_Ct en ay_st_en GYRO_XO UT WAIT _FOR_ES TEMP _FIFO_EN MULT _MST_EN I2C_SLV0 _RNW I2C_SLV0 _EN I2C_SLV1 _RNW I2C_SLV1 _EN I2C_SLV2 _RNW I2C_SLV2 _EN I2C_SLV3 _RNW I2C_SLV3 _EN I2C_SLV4 _RNW

MPU-9255 Register Map and Descriptions Document Number: RM-000008 Revision: 1.0 Release Date: 10/10/2014 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C_SLV4_DI[7:0] PASS_ THROUGH I2C_SLV4 _DONE I2C_LOST _ARB INT_PIN_CFG R/W ACTL OPEN LATCH _INT_EN Register Name I2C_SLV4_DI I2C_MST_STATUS Serial I/F R R Addr (Dec.) 53 54 55 - - WOM_EN WOM_INT - - 56 INT_ENABLE 58 INT_STATUS 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 99 100 101 ACCEL_XOUT_H ACCEL_XOUT_L ACCEL_YOUT_H ACCEL_YOUT_L ACCEL_ZOUT_H ACCEL_ZOUT_L TEMP_OUT_H TEMP_OUT_L GYRO_XOUT_H GYRO_XOUT_L GYRO_YOUT_H GYRO_YOUT_L GYRO_ZOUT_H GYRO_ZOUT_L EXT_SENS_DATA_00 EXT_SENS_DATA_01 EXT_SENS_DATA_02 EXT_SENS_DATA_03 EXT_SENS_DATA_04 EXT_SENS_DATA_05 EXT_SENS_DATA_06 EXT_SENS_DATA_07 EXT_SENS_DATA_08 EXT_SENS_DATA_09 EXT_SENS_DATA_10 EXT_SENS_DATA_11 EXT_SENS_DATA_12 EXT_SENS_DATA_13 EXT_SENS_DATA_14 EXT_SENS_DATA_15 EXT_SENS_DATA_16 EXT_SENS_DATA_17 EXT_SENS_DATA_18 EXT_SENS_DATA_19 EXT_SENS_DATA_20 EXT_SENS_DATA_21 EXT_SENS_DATA_22 EXT_SENS_DATA_23 I2C_SLV0_DO I2C_SLV1_DO I2C_SLV2_DO R/W R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R/W R/W R/W I2C_SLV2 _NACK FSYNC _INT_MOD E_EN I2C_SLV1 _NACK I2C_SLV0 _NACK BYPASS _EN - - - - - RAW_RDY_ EN RAW_DATA _RDY_INT I2C_SLV3 _NACK ACTL_FSY NC FSYNC_INT _EN I2C_SLV4 _NACK INT_ANYR D _2CLEAR FIFO _OFLOW _EN FIFO _OFLOW FSYNC _INT _INT ACCEL_XOUT_H[15:8] ACCEL_XOUT_L[7:0] ACCEL_YOUT_H[15:8] ACCEL_YOUT_L[7:0] ACCEL_ZOUT_H[15:8] ACCEL_ZOUT_L[7:0] TEMP_OUT_H[15:8] TEMP_OUT_L[7:0] GYRO_XOUT_H[15:8] GYRO_XOUT_L[7:0] GYRO_YOUT_H[15:8] GYRO_YOUT_L[7:0] GYRO_ZOUT_H[15:8] GYRO_ZOUT_L[7:0] EXT_SENS_DATA_00[7:0] EXT_SENS_DATA_01[7:0] EXT_SENS_DATA_02[7:0] EXT_SENS_DATA_03[7:0] EXT_SENS_DATA_04[7:0] EXT_SENS_DATA_05[7:0] EXT_SENS_DATA_06[7:0] EXT_SENS_DATA_07[7:0] EXT_SENS_DATA_08[7:0] EXT_SENS_DATA_09[7:0] EXT_SENS_DATA_10[7:0] EXT_SENS_DATA_11[7:0] EXT_SENS_DATA_12[7:0] EXT_SENS_DATA_13[7:0] EXT_SENS_DATA_14[7:0] EXT_SENS_DATA_15[7:0] EXT_SENS_DATA_16[7:0] EXT_SENS_DATA_17[7:0] EXT_SENS_DATA_18[7:0] EXT_SENS_DATA_19[7:0] EXT_SENS_DATA_20[7:0] EXT_SENS_DATA_21[7:0] EXT_SENS_DATA_22[7:0] EXT_SENS_DATA_23[7:0] I2C_SLV0_DO[7:0] I2C_SLV1_DO[7:0] I2C_SLV2_DO[7:0] 8 of 54 MPU-9255-00 Addr (Hex) 35 36 37 38 3A 3B 3C 3D 3E 3F 40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F 60 63 64 65

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