Yifei Teng / MPU9250

MPU9250

Dependents:   FreeIMU

Fork of MPU6050 by Yifei Teng

Diff: MPU6050.cpp

Revision:
17:902d1491455f
Parent:
16:6be55d010301
Child:
18:4ca30337237b
--- a/MPU6050.cpp	Wed Mar 28 21:34:10 2018 +0000
+++ b/MPU6050.cpp	Wed Mar 28 21:48:26 2018 +0000
@@ -1884,8 +1884,12 @@
  */
 void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz)
 {
+#ifdef MPU9250
+    get9250Motion9Counts(ax, ay, az, gx, gy, gz, mx, my, mz);
+#else
     getMotion6(ax, ay, az, gx, gy, gz);
     // TODO: magnetometer integration
+#endif
 }
 
 /** Get raw 6-axis motion sensor readings (accel/gyro).
@@ -3661,7 +3665,7 @@
     //Serial.println((((int16_t)data[5]) << 8) | data[4]);
 
     // successful init, return 0
-    Serial.println("FINISHED");
+    // debugSerial.printf("FINISHED\n");
 }