# How to enable the DMP of the MPU9250?

The datasheet mentions some Advanced Hardware Features which gets executed by the Digital Motion Processor. I'd like to use the Android Orientation motion-based function and send the orientation with SPI to the microcontroller. However I can't seem to find the registers in the MPU9250 I need to enable this. I've looked through both the datasheet and register map.

Under Advanced Hardware Features on Page 54 of the Register Map document it says, "For further details please see the Application Note 'Programming Sequence for DMP Hardware Functions."'

In that app note on page 23:

as well as a ton of related stuff after it.

https://github.com/kriswiner/MPU9250/blob/master/Documents/Application%20Note%20-%20Programming%20Sequence%20for%20DMP%20Hardware%20Functions%20v12%20(....pdf

EDIT: Someone goofed and removed the sentence from Register Map document v1.6. It is in v1.4. That is why you were lost. You were looking at v1.6.

• Huh, what version is that Register Map document? I have V1.6 open and there is no 6.1 and 6.2, only 6 – Swedgin Jan 30 at 15:13
• @Swedgin It's not in the register map document. It's in the app note that the Register Map document refers to. – DKNguyen Jan 30 at 15:16
• @Swedgin Someone goofed and removed the sentence from Register Map document v1.6. It is in v1.4 – DKNguyen Jan 30 at 15:21
• Ok will look for the 1.4 version. I was losing my brain when not being able to locate these 2 sections haha. – Swedgin Jan 30 at 15:22
• – Swedgin Jan 30 at 15:29