Yifei Teng / MPU9250

MPU9250

Dependents:   FreeIMU

Fork of MPU6050 by Yifei Teng

Diff: MPU6050.cpp

Revision:
7:95e74f827c08
Parent:
6:40ac13ef7290
Child:
9:d879deb55ae1
--- a/MPU6050.cpp	Sat Jun 22 11:23:45 2013 +0000
+++ b/MPU6050.cpp	Sat Nov 02 17:23:43 2013 +0000
@@ -57,6 +57,11 @@
     devAddr = MPU6050_DEFAULT_ADDRESS;
 }
 
+MPU6050::MPU6050(I2C i2c) : debugSerial(USBTX, USBRX), i2Cdev(i2c)
+{
+    devAddr = MPU6050_DEFAULT_ADDRESS;
+}
+
 /** Specific address constructor.
  * @param address I2C address
  * @see MPU6050_DEFAULT_ADDRESS
@@ -78,8 +83,8 @@
 void MPU6050::initialize()
 {
 
+#ifdef useDebugSerial
     debugSerial.baud(921600); //uses max serial speed
-#ifdef useDebugSerial
     debugSerial.printf("MPU6050::initialize start\n");
 #endif
     setClockSource(MPU6050_CLOCK_PLL_XGYRO);