MPU9250: add debug output and missing get ID

include/mpu9250.h

@@ -534,5 +534,7 @@ extern const struct accel_ops mpu9250_accel_ops;
  * Get MPU9250 based on id
  */
 #define MPU9250_ID(id) HAL_GET_ID(hal, mpu9250, mpu9250_##id)
+#define MPU9250_GYRO_ID(id) HAL_GET_ID(gyro, mpu9250, mpu9250_gyro_##id)
+#define MPU9250_ACCEL_ID(id) HAL_GET_ID(accel, mpu9250, mpu9250_accel_##id)
 /**\}*/
 #endif

sensor/icm20948.c

@@ -254,28 +254,34 @@ struct mpu9250 *mpu9250_init(uint32_t index, struct spi *spi, uint8_t cs, uint16
 	{
 		ret = mpu_send(mpu, MPU_GYRO_CONFIG_1, MPU_GYRO_CONFIG_1_GYRO_DLPFCFG(2) | MPU_GYRO_CONFIG_1_GYRO_FCHOICE | MPU_GYRO_CONFIG_1_GYRO_FS_SEL_2000DPS, waittime);
 		if (ret < 0) {
+			PRINTF("Send Config Failed\n");
 			goto mpu9250_init_error2;
 		}
 		/* Set sample rate to 1.125 kHz */
 		ret = mpu_send(mpu, MPU_GYRO_SMPLRT_DIV, 0x0, waittime);
 		if (ret < 0) {
+			PRINTF("Set sample rate to 1.125 kHz Failed\n");
 			goto mpu9250_init_error2;
 		}
 		/* Set sample rate to 1.125 kHz */
 		ret = mpu_send(mpu, MPU_ACCEL_SMPLRT_DIV_1, 0x0, waittime);
 		if (ret < 0) {
+			PRINTF("Set sample rate to 1.125 kHz Failed\n");
 			goto mpu9250_init_error2;
 		}
 		ret = mpu_send(mpu, MPU_ACCEL_SMPLRT_DIV_2, 0x0, waittime);
 		if (ret < 0) {
+			PRINTF("MPU_ACCEL_SMPLRT_DIV_2 Failed\n");
 			goto mpu9250_init_error2;
 		}
 		/* Set accelerometer full-scale to 2 g, maximum sensitivity, and set FCHOICE */
 		ret = mpu_send(mpu, MPU_ACCEL_CONFIG, MPU_ACCEL_CONFIG_ACCEL_FS_SEL_8G | MPU_ACCEL_CONFIG_ACCEL_FCHOICE | MPU_ACCEL_CONFIG_ACCEL_DLPFCFG(0), waittime);
 		if (ret < 0) {
+			PRINTF("Set accelerometer full-scale to 2 g, maximum sensitivity, and set FCHOICE Failed\n");
 			goto mpu9250_init_error2;
 		}
 	}
+	PRINTF("MPU Setup Completed\n");
 	return mpu;
 mpu9250_init_error2:
 	spiSlave_deinit(mpu->slave);

sensor/mpu9250.c

@@ -244,7 +244,7 @@ struct mpu9250 *mpu9250_init(uint32_t index, struct spi *spi, uint8_t cs, uint16
 		goto mpu9250_init_error2;
 	}
 
-	PRINTF("MPU Config");
+	PRINTF("MPU Config\n");
 	{
 		ret = mpu_clearSetBit(
 			mpu,