From d1241ba9551fac43f8ab65d73149a6d55b53ea31 Mon Sep 17 00:00:00 2001
From: Hideaki Tai <hideaki.tai@gmail.com>
Date: Tue, 9 Mar 2021 21:06:07 +0900
Subject: [PATCH] support MPU9255 without code change

---
 MPU9250.h |  7 +++----
 README.md | 14 ++------------
 2 files changed, 5 insertions(+), 16 deletions(-)

diff --git a/MPU9250.h b/MPU9250.h
index 445e923..af93cc7 100644
--- a/MPU9250.h
+++ b/MPU9250.h
@@ -65,7 +65,7 @@ struct MPU9250Setting {
     ACCEL_DLPF_CFG accel_dlpf_cfg {ACCEL_DLPF_CFG::DLPF_45HZ};
 };
 
-template <typename WireType, uint8_t WHO_AM_I>
+template <typename WireType>
 class MPU9250_ {
     static constexpr uint8_t MPU9250_DEFAULT_ADDRESS {0x68};  // Device address when ADO = 0
     static constexpr uint8_t AK8963_ADDRESS {0x0C};           //  Address of magnetometer
@@ -175,7 +175,7 @@ class MPU9250_ {
             Serial.print("MPU9250 WHO AM I = ");
             Serial.println(c, HEX);
         }
-        return (c == WHO_AM_I);
+        return (c == MPU9250_WHOAMI_DEFAULT_VALUE) || (c == MPU9255_WHOAMI_DEFAULT_VALUE);
     }
 
     bool isConnectedAK8963() {
@@ -951,7 +951,6 @@ class MPU9250_ {
     }
 };
 
-using MPU9250 = MPU9250_<TwoWire, MPU9250_WHOAMI_DEFAULT_VALUE>;
-using MPU9255 = MPU9250_<TwoWire, MPU9255_WHOAMI_DEFAULT_VALUE>;
+using MPU9250 = MPU9250_<TwoWire>;
 
 #endif  // MPU9250_H
diff --git a/README.md b/README.md
index d2919c0..bb10902 100644
--- a/README.md
+++ b/README.md
@@ -10,8 +10,7 @@ This library is based on the [great work](https://github.com/kriswiner/MPU9250)
 ``` C++
 #include "MPU9250.h"
 
-MPU9250 mpu;
-// MPU9255 mpu; // You can also use MPU9255
+MPU9250 mpu; // You can also use MPU9255 as is
 
 void setup() {
     Serial.begin(115200);
@@ -40,8 +39,7 @@ void loop() {
 ``` C++
 #include "MPU9250.h"
 
-MPU9250 mpu;
-// MPU9255 mpu; // You can also use MPU9255
+MPU9250 mpu; // You can also use MPU9255 as is
 
 void setup() {
     Serial.begin(115200);
@@ -191,14 +189,6 @@ MPU9250Setting setting;
 mpu.setup(0x70, setting, sw);
 ```
 
-### MPU9255
-
-To use MPU9255 instead of MPU9250, just declare MPU9255.
-
-```C++
-MPU9255 mpu;
-```
-
 ## APIs
 
 ``` C++