Diff: MPU6050.cpp

Revision:

2:8c562a8fed36

Parent:

0:662207e34fba

Child:

3:8d033f880fce

--- a/MPU6050.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.cpp	Fri Sep 12 09:28:14 2014 +0800
@@ -42,28 +42,20 @@
 
 #include "MPU6050.h"
 
-#define useDebugSerial
+#define LOG(args...)   // printf(args)     
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
 #define pgm_read_byte_near(x) (*(prog_uchar*)x)
 #define pgm_read_byte(x) (*(prog_uchar*)x)
 
-/** Default constructor, uses default I2C address.
- * @see MPU6050_DEFAULT_ADDRESS
- */
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
-{
-    devAddr = MPU6050_DEFAULT_ADDRESS;
-}
-
 /** Specific address constructor.
  * @param address I2C address
  * @see MPU6050_DEFAULT_ADDRESS
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050(I2C &i2c, uint8_t address) : i2Cdev(i2c)
 {
     devAddr = address;
 }
@@ -77,19 +69,14 @@
  */
 void MPU6050::initialize()
 {
-
-#ifdef useDebugSerial
-    debugSerial.printf("MPU6050::initialize start\n");
-#endif
+    LOG("MPU6050::initialize start\n");
 
     setClockSource(MPU6050_CLOCK_PLL_XGYRO);
     setFullScaleGyroRange(MPU6050_GYRO_FS_250);
     setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
 
-#ifdef useDebugSerial
-    debugSerial.printf("MPU6050::initialize end\n");
-#endif
+    LOG("MPU6050::initialize end\n");
 }
 
 /** Verify the I2C connection.
@@ -98,13 +85,12 @@
  */
 bool MPU6050::testConnection()
 {
-#ifdef useDebugSerial
-    debugSerial.printf("MPU6050::testConnection start\n");
-#endif
+    LOG("MPU6050::testConnection start\n");
+    
     uint8_t deviceId = getDeviceID();
-#ifdef useDebugSerial
-    debugSerial.printf("DeviceId = %d\n",deviceId);
-#endif
+    
+    LOG("DeviceId = %d\n",deviceId);
+
     return deviceId == 0x34;
 }
 
@@ -3429,4 +3415,4 @@
 void MPU6050::setDMPConfig2(uint8_t config)
 {
     i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
\ No newline at end of file
+}