Remove unneeded libraries

1 files changed, 0 insertions, 1373 deletions

diff --git a/libraries/I2Cdev/I2Cdev.cpp b/libraries/I2Cdev/I2Cdev.cpp
deleted file mode 100644
index 92032be..0000000
--- a/libraries/I2Cdev/I2Cdev.cpp
+++ /dev/null
@@ -1,1373 +0,0 @@
-// I2Cdev library collection - Main I2C device class
-// Abstracts bit and byte I2C R/W functions into a convenient class
-// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
-//
-// Changelog:
-//     2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
-//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
-//     2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
-//     2011-10-03 - added automatic Arduino version detection for ease of use
-//     2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
-//     2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
-//     2011-08-03 - added optional timeout parameter to read* methods to easily change from default
-//     2011-08-02 - added support for 16-bit registers
-//                - fixed incorrect Doxygen comments on some methods
-//                - added timeout value for read operations (thanks mem @ Arduino forums)
-//     2011-07-30 - changed read/write function structures to return success or byte counts
-//                - made all methods static for multi-device memory savings
-//     2011-07-28 - initial release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#include "I2Cdev.h"
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-
-    #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
-        #if ARDUINO < 100
-            #warning Using outdated Arduino IDE with Wire library is functionally limiting.
-            #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
-            #warning This I2Cdev implementation does not support:
-            #warning - Repeated starts conditions
-            #warning - Timeout detection (some Wire requests block forever)
-        #elif ARDUINO == 100
-            #warning Using outdated Arduino IDE with Wire library is functionally limiting.
-            #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
-            #warning This I2Cdev implementation does not support:
-            #warning - Repeated starts conditions
-            #warning - Timeout detection (some Wire requests block forever)
-        #elif ARDUINO > 100
-            /*
-            #warning Using current Arduino IDE with Wire library is functionally limiting.
-            #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended.
-            #warning This I2Cdev implementation does not support:
-            #warning - Timeout detection (some Wire requests block forever)
-            */
-        #endif
-    #endif
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-
-    #error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago!
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-
-    #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
-        #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection.
-        #warning This I2Cdev implementation does not support:
-        #warning - Repeated starts conditions
-    #endif
-
-    // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
-    // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
-    // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-    TwoWire Wire;
-
-#endif
-
-/** Default constructor.
- */
-I2Cdev::I2Cdev() {
-}
-
-/** Read a single bit from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-7)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
-    uint8_t b;
-    uint8_t count = readByte(devAddr, regAddr, &b, timeout);
-    *data = b & (1 << bitNum);
-    return count;
-}
-
-/** Read a single bit from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-15)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
-    uint16_t b;
-    uint8_t count = readWord(devAddr, regAddr, &b, timeout);
-    *data = b & (1 << bitNum);
-    return count;
-}
-
-/** Read multiple bits from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-7)
- * @param length Number of bits to read (not more than 8)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
-    // 01101001 read byte
-    // 76543210 bit numbers
-    //    xxx   args: bitStart=4, length=3
-    //    010   masked
-    //   -> 010 shifted
-    uint8_t count, b;
-    if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
-        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        b &= mask;
-        b >>= (bitStart - length + 1);
-        *data = b;
-    }
-    return count;
-}
-
-/** Read multiple bits from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-15)
- * @param length Number of bits to read (not more than 16)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
- */
-int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
-    // 1101011001101001 read byte
-    // fedcba9876543210 bit numbers
-    //    xxx           args: bitStart=12, length=3
-    //    010           masked
-    //           -> 010 shifted
-    uint8_t count;
-    uint16_t w;
-    if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
-        uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        w &= mask;
-        w >>= (bitStart - length + 1);
-        *data = w;
-    }
-    return count;
-}
-
-/** Read single byte from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for byte value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
-    return readBytes(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read single word from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for word value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
-    return readWords(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read multiple bytes from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of bytes to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of bytes read (-1 indicates failure)
- */
-int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") reading ");
-        Serial.print(length, DEC);
-        Serial.print(" bytes from 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-
-    int8_t count = 0;
-    uint32_t t1 = millis();
-
-    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
-        #if (ARDUINO < 100)
-            // Arduino v00xx (before v1.0), Wire library
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.send(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
-                for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
-                    data[count] = Wire.receive();
-                    #ifdef I2CDEV_SERIAL_DEBUG
-                        Serial.print(data[count], HEX);
-                        if (count + 1 < length) Serial.print(" ");
-                    #endif
-                }
-
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO == 100)
-            // Arduino v1.0.0, Wire library
-            // Adds standardized write() and read() stream methods instead of send() and receive()
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-        
-                for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
-                    data[count] = Wire.read();
-                    #ifdef I2CDEV_SERIAL_DEBUG
-                        Serial.print(data[count], HEX);
-                        if (count + 1 < length) Serial.print(" ");
-                    #endif
-                }
-        
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO > 100)
-            // Arduino v1.0.1+, Wire library
-            // Adds official support for repeated start condition, yay!
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-        
-                for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
-                    data[count] = Wire.read();
-                    #ifdef I2CDEV_SERIAL_DEBUG
-                        Serial.print(data[count], HEX);
-                        if (count + 1 < length) Serial.print(" ");
-                    #endif
-                }
-        
-                Wire.endTransmission();
-            }
-        #endif
-
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-        // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
-        // no loop required for fastwire
-        uint8_t status = Fastwire::readBuf(devAddr, regAddr, data, length);
-        if (status == 0) {
-            count = length; // success
-        } else {
-            count = -1; // error
-        }
-
-    #endif
-
-    // check for timeout
-    if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print(". Done (");
-        Serial.print(count, DEC);
-        Serial.println(" read).");
-    #endif
-
-    return count;
-}
-
-/** Read multiple words from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of words to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of words read (0 indicates failure)
- */
-int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") reading ");
-        Serial.print(length, DEC);
-        Serial.print(" words from 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-
-    int8_t count = 0;
-    uint32_t t1 = millis();
-
-    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
-        #if (ARDUINO < 100)
-            // Arduino v00xx (before v1.0), Wire library
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.send(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-    
-                bool msb = true; // starts with MSB, then LSB
-                for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
-                    if (msb) {
-                        // first byte is bits 15-8 (MSb=15)
-                        data[count] = Wire.receive() << 8;
-                    } else {
-                        // second byte is bits 7-0 (LSb=0)
-                        data[count] |= Wire.receive();
-                        #ifdef I2CDEV_SERIAL_DEBUG
-                            Serial.print(data[count], HEX);
-                            if (count + 1 < length) Serial.print(" ");
-                        #endif
-                        count++;
-                    }
-                    msb = !msb;
-                }
-
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO == 100)
-            // Arduino v1.0.0, Wire library
-            // Adds standardized write() and read() stream methods instead of send() and receive()
-    
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-    
-                bool msb = true; // starts with MSB, then LSB
-                for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
-                    if (msb) {
-                        // first byte is bits 15-8 (MSb=15)
-                        data[count] = Wire.read() << 8;
-                    } else {
-                        // second byte is bits 7-0 (LSb=0)
-                        data[count] |= Wire.read();
-                        #ifdef I2CDEV_SERIAL_DEBUG
-                            Serial.print(data[count], HEX);
-                            if (count + 1 < length) Serial.print(" ");
-                        #endif
-                        count++;
-                    }
-                    msb = !msb;
-                }
-        
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO > 100)
-            // Arduino v1.0.1+, Wire library
-            // Adds official support for repeated start condition, yay!
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-        
-                bool msb = true; // starts with MSB, then LSB
-                for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
-                    if (msb) {
-                        // first byte is bits 15-8 (MSb=15)
-                        data[count] = Wire.read() << 8;
-                    } else {
-                        // second byte is bits 7-0 (LSb=0)
-                        data[count] |= Wire.read();
-                        #ifdef I2CDEV_SERIAL_DEBUG
-                            Serial.print(data[count], HEX);
-                            if (count + 1 < length) Serial.print(" ");
-                        #endif
-                        count++;
-                    }
-                    msb = !msb;
-                }
-        
-                Wire.endTransmission();
-            }
-        #endif
-
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-        // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
-        // no loop required for fastwire
-        uint16_t intermediate[(uint8_t)length];
-        uint8_t status = Fastwire::readBuf(devAddr, regAddr, (uint8_t *)intermediate, (uint8_t)(length * 2));
-        if (status == 0) {
-            count = length; // success
-            for (uint8_t i = 0; i < length; i++) {
-                data[i] = (intermediate[2*i] << 8) | intermediate[2*i + 1];
-            }
-        } else {
-            count = -1; // error
-        }
-
-    #endif
-
-    if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print(". Done (");
-        Serial.print(count, DEC);
-        Serial.println(" read).");
-    #endif
-    
-    return count;
-}
-
-/** write a single bit in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-7)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
-    uint8_t b;
-    readByte(devAddr, regAddr, &b);
-    b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
-    return writeByte(devAddr, regAddr, b);
-}
-
-/** write a single bit in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-15)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
-    uint16_t w;
-    readWord(devAddr, regAddr, &w);
-    w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
-    return writeWord(devAddr, regAddr, w);
-}
-
-/** Write multiple bits in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-7)
- * @param length Number of bits to write (not more than 8)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
-    //      010 value to write
-    // 76543210 bit numbers
-    //    xxx   args: bitStart=4, length=3
-    // 00011100 mask byte
-    // 10101111 original value (sample)
-    // 10100011 original & ~mask
-    // 10101011 masked | value
-    uint8_t b;
-    if (readByte(devAddr, regAddr, &b) != 0) {
-        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        data <<= (bitStart - length + 1); // shift data into correct position
-        data &= mask; // zero all non-important bits in data
-        b &= ~(mask); // zero all important bits in existing byte
-        b |= data; // combine data with existing byte
-        return writeByte(devAddr, regAddr, b);
-    } else {
-        return false;
-    }
-}
-
-/** Write multiple bits in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-15)
- * @param length Number of bits to write (not more than 16)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
-    //              010 value to write
-    // fedcba9876543210 bit numbers
-    //    xxx           args: bitStart=12, length=3
-    // 0001110000000000 mask byte
-    // 1010111110010110 original value (sample)
-    // 1010001110010110 original & ~mask
-    // 1010101110010110 masked | value
-    uint16_t w;
-    if (readWord(devAddr, regAddr, &w) != 0) {
-        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        data <<= (bitStart - length + 1); // shift data into correct position
-        data &= mask; // zero all non-important bits in data
-        w &= ~(mask); // zero all important bits in existing word
-        w |= data; // combine data with existing word
-        return writeWord(devAddr, regAddr, w);
-    } else {
-        return false;
-    }
-}
-
-/** Write single byte to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New byte value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
-    return writeBytes(devAddr, regAddr, 1, &data);
-}
-
-/** Write single word to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New word value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
-    return writeWords(devAddr, regAddr, 1, &data);
-}
-
-/** Write multiple bytes to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of bytes to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") writing ");
-        Serial.print(length, DEC);
-        Serial.print(" bytes to 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-    uint8_t status = 0;
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.beginTransmission(devAddr);
-        Wire.send((uint8_t) regAddr); // send address
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        Wire.beginTransmission(devAddr);
-        Wire.write((uint8_t) regAddr); // send address
-    #endif
-    for (uint8_t i = 0; i < length; i++) {
-        #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-            Wire.send((uint8_t) data[i]);
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-            Wire.write((uint8_t) data[i]);
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-            status = Fastwire::write(devAddr, regAddr, data[i]);
-            Serial.println(status);
-        #endif
-        #ifdef I2CDEV_SERIAL_DEBUG
-            Serial.print(data[i], HEX);
-            if (i + 1 < length) Serial.print(" ");
-        #endif
-    }
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.endTransmission();
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        status = Wire.endTransmission();
-    #endif
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.println(". Done.");
-    #endif
-    return status == 0;
-}
-
-/** Write multiple words to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of words to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") writing ");
-        Serial.print(length, DEC);
-        Serial.print(" words to 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-    uint8_t status = 0;
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.beginTransmission(devAddr);
-        Wire.send(regAddr); // send address
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        Wire.beginTransmission(devAddr);
-        Wire.write(regAddr); // send address
-    #endif
-    for (uint8_t i = 0; i < length * 2; i++) {
-        #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-            Wire.send((uint8_t)(data[i++] >> 8)); // send MSB
-            Wire.send((uint8_t)data[i]);          // send LSB
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-            Wire.write((uint8_t)(data[i++] >> 8)); // send MSB
-            Wire.write((uint8_t)data[i]);          // send LSB
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-            status = Fastwire::write(devAddr, regAddr, (uint8_t)(data[i++] >> 8));
-            status = Fastwire::write(devAddr, regAddr + 1, (uint8_t)data[i]);
-        #endif
-        #ifdef I2CDEV_SERIAL_DEBUG
-            Serial.print(data[i], HEX);
-            if (i + 1 < length) Serial.print(" ");
-        #endif
-    }
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.endTransmission();
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        status = Wire.endTransmission();
-    #endif
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.println(". Done.");
-    #endif
-    return status == 0;
-}
-
-/** Default timeout value for read operations.
- * Set this to 0 to disable timeout detection.
- */
-uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-    /*
-    FastWire 0.2
-    This is a library to help faster programs to read I2C devices.
-    Copyright(C) 2011 Francesco Ferrara
-    occhiobello at gmail dot com
-    */
-
-    boolean Fastwire::waitInt() {
-        int l = 250;
-        while (!(TWCR & (1 << TWINT)) && l-- > 0);
-        return l > 0;
-    }
-
-    void Fastwire::setup(int khz, boolean pullup) {
-        TWCR = 0;
-        #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
-            // activate internal pull-ups for twi (PORTC bits 4 & 5)
-            // as per note from atmega8 manual pg167
-            if (pullup) PORTC |= ((1 << 4) | (1 << 5));
-            else        PORTC &= ~((1 << 4) | (1 << 5));
-        #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
-            // activate internal pull-ups for twi (PORTC bits 0 & 1)
-            if (pullup) PORTC |= ((1 << 0) | (1 << 1));
-            else        PORTC &= ~((1 << 0) | (1 << 1));
-        #else
-            // activate internal pull-ups for twi (PORTD bits 0 & 1)
-            // as per note from atmega128 manual pg204
-            if (pullup) PORTD |= ((1 << 0) | (1 << 1));
-            else        PORTD &= ~((1 << 0) | (1 << 1));
-        #endif
-
-        TWSR = 0; // no prescaler => prescaler = 1
-        TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate
-        TWCR = 1 << TWEN; // enable twi module, no interrupt
-    }
-
-    byte Fastwire::write(byte device, byte address, byte value) {
-        byte twst, retry;
-
-        retry = 2;
-        do {
-            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
-            if (!waitInt()) return 1;
-            twst = TWSR & 0xF8;
-            if (twst != TW_START && twst != TW_REP_START) return 2;
-
-            TWDR = device & 0xFE; // send device address without read bit (1)
-            TWCR = (1 << TWINT) | (1 << TWEN);
-            if (!waitInt()) return 3;
-            twst = TWSR & 0xF8;
-        } while (twst == TW_MT_SLA_NACK && retry-- > 0);
-        if (twst != TW_MT_SLA_ACK) return 4;
-
-        TWDR = address; // send data to the previously addressed device
-        TWCR = (1 << TWINT) | (1 << TWEN);
-        if (!waitInt()) return 5;
-        twst = TWSR & 0xF8;
-        if (twst != TW_MT_DATA_ACK) return 6;
-
-        TWDR = value; // send data to the previously addressed device
-        TWCR = (1 << TWINT) | (1 << TWEN);
-        if (!waitInt()) return 7;
-        twst = TWSR & 0xF8;
-        if (twst != TW_MT_DATA_ACK) return 8;
-
-        return 0;
-    }
-
-    byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) {
-        byte twst, retry;
-
-        retry = 2;
-        do {
-            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
-            if (!waitInt()) return 16;
-            twst = TWSR & 0xF8;
-            if (twst != TW_START && twst != TW_REP_START) return 17;
-
-            TWDR = device & 0xfe; // send device address to write
-            TWCR = (1 << TWINT) | (1 << TWEN);
-            if (!waitInt()) return 18;
-            twst = TWSR & 0xF8;
-        } while (twst == TW_MT_SLA_NACK && retry-- > 0);
-        if (twst != TW_MT_SLA_ACK) return 19;
-
-        TWDR = address; // send data to the previously addressed device
-        TWCR = (1 << TWINT) | (1 << TWEN);
-        if (!waitInt()) return 20;
-        twst = TWSR & 0xF8;
-        if (twst != TW_MT_DATA_ACK) return 21;
-
-        /***/
-
-        retry = 2;
-        do {
-            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
-            if (!waitInt()) return 22;
-            twst = TWSR & 0xF8;
-            if (twst != TW_START && twst != TW_REP_START) return 23;
-
-            TWDR = device | 0x01; // send device address with the read bit (1)
-            TWCR = (1 << TWINT) | (1 << TWEN);
-            if (!waitInt()) return 24;
-            twst = TWSR & 0xF8;
-        } while (twst == TW_MR_SLA_NACK && retry-- > 0);
-        if (twst != TW_MR_SLA_ACK) return 25;
-
-        for(uint8_t i = 0; i < num; i++) {
-            if (i == num - 1)
-               TWCR = (1 << TWINT) | (1 << TWEN);
-            else
-                TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
-            if (!waitInt()) return 26;
-            twst = TWSR & 0xF8;
-            if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) return twst;
-            data[i] = TWDR;
-        }
-
-        return 0;
-   }
-#endif
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-    // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
-    // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
-    // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-
-    /*
-    call this version 1.0
-    
-    Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer
-    length and index are set *before* the data is actually read. The problem is that these
-    are variables local to the TwoWire object, and by the time we actually have read the
-    data, and know what the length actually is, we have no simple access to the object's 
-    variables. The actual bytes read *is* given to the callback function, though.
-    
-    The ISR code for a slave receiver is commented out. I don't have that setup, and can't
-    verify it at this time. Save it for 2.0!
-    
-    The handling of the read and write processes here is much like in the demo sketch code: 
-    the process is broken down into sequential functions, where each registers the next as a
-    callback, essentially.
-    
-    For example, for the Read process, twi_read00 just returns if TWI is not yet in a 
-    ready state. When there's another interrupt, and the interface *is* ready, then it
-    sets up the read, starts it, and registers twi_read01 as the function to call after
-    the *next* interrupt. twi_read01, then, just returns if the interface is still in a
-    "reading" state. When the reading is done, it copies the information to the buffer,
-    cleans up, and calls the user-requested callback function with the actual number of 
-    bytes read.
-    
-    The writing is similar.
-    
-    Questions, comments and problems can go to Gene@Telobot.com.
-    
-    Thumbs Up!
-    Gene Knight
-    
-    */
-    
-    uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH];
-    uint8_t TwoWire::rxBufferIndex = 0;
-    uint8_t TwoWire::rxBufferLength = 0;
-    
-    uint8_t TwoWire::txAddress = 0;
-    uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH];
-    uint8_t TwoWire::txBufferIndex = 0;
-    uint8_t TwoWire::txBufferLength = 0;
-    
-    //uint8_t TwoWire::transmitting = 0;
-    void (*TwoWire::user_onRequest)(void);
-    void (*TwoWire::user_onReceive)(int);
-    
-    static volatile uint8_t twi_transmitting;
-    static volatile uint8_t twi_state;
-    static uint8_t twi_slarw;
-    static volatile uint8_t twi_error;
-    static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
-    static volatile uint8_t twi_masterBufferIndex;
-    static uint8_t twi_masterBufferLength;
-    static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
-    static volatile uint8_t twi_rxBufferIndex;
-    //static volatile uint8_t twi_Interrupt_Continue_Command;
-    static volatile uint8_t twi_Return_Value;
-    static volatile uint8_t twi_Done;
-    void (*twi_cbendTransmissionDone)(int);
-    void (*twi_cbreadFromDone)(int);
-    
-    void twi_init() {
-        // initialize state
-        twi_state = TWI_READY;
-
-        // activate internal pull-ups for twi
-        // as per note from atmega8 manual pg167
-        sbi(PORTC, 4);
-        sbi(PORTC, 5);
-
-        // initialize twi prescaler and bit rate
-        cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits
-        cbi(TWSR, TWPS1);
-
-        /* twi bit rate formula from atmega128 manual pg 204
-        SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
-        note: TWBR should be 10 or higher for master mode
-        It is 72 for a 16mhz Wiring board with 100kHz TWI */
-
-        TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register
-        // enable twi module, acks, and twi interrupt
-
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
-
-        /* TWEN - TWI Enable Bit
-        TWIE - TWI Interrupt Enable
-        TWEA - TWI Enable Acknowledge Bit
-        TWINT - TWI Interrupt Flag
-        TWSTA - TWI Start Condition
-        */
-    }
-    
-    typedef struct {
-        uint8_t address;
-        uint8_t* data;
-        uint8_t length;
-        uint8_t wait;
-        uint8_t i;
-    } twi_Write_Vars;
-
-    twi_Write_Vars *ptwv = 0;
-    static void (*fNextInterruptFunction)(void) = 0;
-    
-    void twi_Finish(byte bRetVal) {
-        if (ptwv) {
-            free(ptwv);
-            ptwv = 0;
-        }
-        twi_Done = 0xFF;
-        twi_Return_Value = bRetVal;
-        fNextInterruptFunction = 0;
-    }
-    
-    uint8_t twii_WaitForDone(uint16_t timeout) {
-        uint32_t endMillis = millis() + timeout;
-        while (!twi_Done && (timeout == 0 || millis() < endMillis)) continue;
-        return twi_Return_Value;
-    }
-    
-    void twii_SetState(uint8_t ucState) {
-        twi_state = ucState;
-    }
-
-    void twii_SetError(uint8_t ucError) {
-        twi_error = ucError ;
-    }
-
-    void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) {
-        twi_masterBufferIndex = 0;
-        twi_masterBufferLength = ucLength;
-    }
-
-    void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) {
-        uint8_t i;
-        for (i = 0; i < ucLength; ++i) {
-            twi_masterBuffer[i] = pData[i];
-        }
-    }
-
-    void twii_CopyFromBuf(uint8_t *pData, uint8_t ucLength) {
-        uint8_t i;
-        for (i = 0; i < ucLength; ++i) {
-            pData[i] = twi_masterBuffer[i];
-        }
-    }
-
-    void twii_SetSlaRW(uint8_t ucSlaRW) {
-        twi_slarw = ucSlaRW;
-    }
-
-    void twii_SetStart() {
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
-    }
-
-    void twi_write01() {
-        if (TWI_MTX == twi_state) return; // blocking test
-        twi_transmitting = 0 ;
-        if (twi_error == 0xFF)
-            twi_Finish (0);    // success
-        else if (twi_error == TW_MT_SLA_NACK)
-            twi_Finish (2);    // error: address send, nack received
-        else if (twi_error == TW_MT_DATA_NACK)
-            twi_Finish (3);    // error: data send, nack received
-        else
-            twi_Finish (4);    // other twi error
-        if (twi_cbendTransmissionDone) return twi_cbendTransmissionDone(twi_Return_Value);
-        return;
-    }
-    
-    
-    void twi_write00() {
-        if (TWI_READY != twi_state) return; // blocking test
-        if (TWI_BUFFER_LENGTH < ptwv -> length) {
-            twi_Finish(1); // end write with error 1
-            return;
-        }
-        twi_Done = 0x00; // show as working
-        twii_SetState(TWI_MTX); // to transmitting
-        twii_SetError(0xFF); // to No Error
-        twii_InitBuffer(0, ptwv -> length); // pointer and length
-        twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data
-        twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command
-        twii_SetStart(); // start the cycle
-        fNextInterruptFunction = twi_write01; // next routine
-        return twi_write01();
-    }
-    
-    void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) {
-        uint8_t i;
-        ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
-        ptwv -> address = address;
-        ptwv -> data = data;
-        ptwv -> length = length;
-        ptwv -> wait = wait;
-        fNextInterruptFunction = twi_write00;
-        return twi_write00();
-    }
-
-    void twi_read01() {
-        if (TWI_MRX == twi_state) return; // blocking test
-        if (twi_masterBufferIndex < ptwv -> length) ptwv -> length = twi_masterBufferIndex;
-        twii_CopyFromBuf(ptwv -> data, ptwv -> length);
-        twi_Finish(ptwv -> length);
-        if (twi_cbreadFromDone) return twi_cbreadFromDone(twi_Return_Value);
-        return;
-    }
-    
-    void twi_read00() {
-        if (TWI_READY != twi_state) return; // blocking test
-        if (TWI_BUFFER_LENGTH < ptwv -> length) twi_Finish(0); // error return
-        twi_Done = 0x00; // show as working
-        twii_SetState(TWI_MRX); // reading
-        twii_SetError(0xFF); // reset error
-        twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length
-        twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command
-        twii_SetStart(); // start cycle
-        fNextInterruptFunction = twi_read01;
-        return twi_read01();
-    }
-
-    void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) {
-        uint8_t i;
-
-        ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
-        ptwv -> address = address;
-        ptwv -> data = data;
-        ptwv -> length = length;
-        fNextInterruptFunction = twi_read00;
-        return twi_read00();
-    }
-
-    void twi_reply(uint8_t ack) {
-        // transmit master read ready signal, with or without ack
-        if (ack){
-            TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
-        } else {
-            TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
-        }
-    }
-    
-    void twi_stop(void) {
-        // send stop condition
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
-    
-        // wait for stop condition to be exectued on bus
-        // TWINT is not set after a stop condition!
-        while (TWCR & _BV(TWSTO)) {
-            continue;
-        }
-    
-        // update twi state
-        twi_state = TWI_READY;
-    }
-
-    void twi_releaseBus(void) {
-        // release bus
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
-    
-        // update twi state
-        twi_state = TWI_READY;
-    }
-    
-    SIGNAL(TWI_vect) {
-        switch (TW_STATUS) {
-            // All Master
-            case TW_START:     // sent start condition
-            case TW_REP_START: // sent repeated start condition
-                // copy device address and r/w bit to output register and ack
-                TWDR = twi_slarw;
-                twi_reply(1);
-                break;
-    
-            // Master Transmitter
-            case TW_MT_SLA_ACK:  // slave receiver acked address
-            case TW_MT_DATA_ACK: // slave receiver acked data
-                // if there is data to send, send it, otherwise stop
-                if (twi_masterBufferIndex < twi_masterBufferLength) {
-                    // copy data to output register and ack
-                    TWDR = twi_masterBuffer[twi_masterBufferIndex++];
-                    twi_reply(1);
-                } else {
-                    twi_stop();
-                }
-                break;
-
-            case TW_MT_SLA_NACK:  // address sent, nack received
-                twi_error = TW_MT_SLA_NACK;
-                twi_stop();
-                break;
-
-            case TW_MT_DATA_NACK: // data sent, nack received
-                twi_error = TW_MT_DATA_NACK;
-                twi_stop();
-                break;
-
-            case TW_MT_ARB_LOST: // lost bus arbitration
-                twi_error = TW_MT_ARB_LOST;
-                twi_releaseBus();
-                break;
-    
-            // Master Receiver
-            case TW_MR_DATA_ACK: // data received, ack sent
-                // put byte into buffer
-                twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
-            case TW_MR_SLA_ACK:  // address sent, ack received
-                // ack if more bytes are expected, otherwise nack
-                if (twi_masterBufferIndex < twi_masterBufferLength) {
-                    twi_reply(1);
-                } else {
-                    twi_reply(0);
-                }
-                break;
-
-            case TW_MR_DATA_NACK: // data received, nack sent
-                // put final byte into buffer
-                twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
-            case TW_MR_SLA_NACK: // address sent, nack received
-                twi_stop();
-                break;
-
-        // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
-
-        // Slave Receiver (NOT IMPLEMENTED YET)
-        /*
-            case TW_SR_SLA_ACK:   // addressed, returned ack
-            case TW_SR_GCALL_ACK: // addressed generally, returned ack
-            case TW_SR_ARB_LOST_SLA_ACK:   // lost arbitration, returned ack
-            case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
-                // enter slave receiver mode
-                twi_state = TWI_SRX;
-
-                // indicate that rx buffer can be overwritten and ack
-                twi_rxBufferIndex = 0;
-                twi_reply(1);
-                break;
-
-            case TW_SR_DATA_ACK:       // data received, returned ack
-            case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
-                // if there is still room in the rx buffer
-                if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
-                    // put byte in buffer and ack
-                    twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
-                    twi_reply(1);
-                } else {
-                    // otherwise nack
-                    twi_reply(0);
-                }
-                break;
-
-            case TW_SR_STOP: // stop or repeated start condition received
-                // put a null char after data if there's room
-                if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
-                    twi_rxBuffer[twi_rxBufferIndex] = 0;
-                }
-
-                // sends ack and stops interface for clock stretching
-                twi_stop();
-
-                // callback to user defined callback
-                twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
-
-                // since we submit rx buffer to "wire" library, we can reset it
-                twi_rxBufferIndex = 0;
-
-                // ack future responses and leave slave receiver state
-                twi_releaseBus();
-                break;
-
-            case TW_SR_DATA_NACK:       // data received, returned nack
-            case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
-                // nack back at master
-                twi_reply(0);
-                break;
-
-            // Slave Transmitter
-            case TW_ST_SLA_ACK:          // addressed, returned ack
-            case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
-                // enter slave transmitter mode
-                twi_state = TWI_STX;
-
-                // ready the tx buffer index for iteration
-                twi_txBufferIndex = 0;
-
-                // set tx buffer length to be zero, to verify if user changes it
-                twi_txBufferLength = 0;
-
-                // request for txBuffer to be filled and length to be set
-                // note: user must call twi_transmit(bytes, length) to do this
-                twi_onSlaveTransmit();
-
-                // if they didn't change buffer & length, initialize it
-                if (0 == twi_txBufferLength) {
-                    twi_txBufferLength = 1;
-                    twi_txBuffer[0] = 0x00;
-                }
-                
-                // transmit first byte from buffer, fall through
-
-            case TW_ST_DATA_ACK: // byte sent, ack returned
-                // copy data to output register
-                TWDR = twi_txBuffer[twi_txBufferIndex++];
-
-                // if there is more to send, ack, otherwise nack
-                if (twi_txBufferIndex < twi_txBufferLength) {
-                    twi_reply(1);
-                } else {
-                    twi_reply(0);
-                }
-                break;
-
-            case TW_ST_DATA_NACK: // received nack, we are done
-            case TW_ST_LAST_DATA: // received ack, but we are done already!
-                // ack future responses
-                twi_reply(1);
-                // leave slave receiver state
-                twi_state = TWI_READY;
-                break;
-            */
-
-            // all
-            case TW_NO_INFO:   // no state information
-                break;
-
-            case TW_BUS_ERROR: // bus error, illegal stop/start
-                twi_error = TW_BUS_ERROR;
-                twi_stop();
-                break;
-        }
-
-        if (fNextInterruptFunction) return fNextInterruptFunction();
-    }
-
-    TwoWire::TwoWire() { }
-    
-    void TwoWire::begin(void) {
-        rxBufferIndex = 0;
-        rxBufferLength = 0;
-    
-        txBufferIndex = 0;
-        txBufferLength = 0;
-
-        twi_init();
-    }
-    
-    void TwoWire::beginTransmission(uint8_t address) {
-        //beginTransmission((uint8_t)address);
-
-        // indicate that we are transmitting
-        twi_transmitting = 1;
-        
-        // set address of targeted slave
-        txAddress = address;
-        
-        // reset tx buffer iterator vars
-        txBufferIndex = 0;
-        txBufferLength = 0;
-    }
-    
-    uint8_t TwoWire::endTransmission(uint16_t timeout) {
-        // transmit buffer (blocking)
-        //int8_t ret =
-        twi_cbendTransmissionDone = NULL;
-        twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
-        int8_t ret = twii_WaitForDone(timeout);
-
-        // reset tx buffer iterator vars
-        txBufferIndex = 0;
-        txBufferLength = 0;
-
-        // indicate that we are done transmitting
-        // twi_transmitting = 0;
-        return ret;
-    }
-
-    void TwoWire::nbendTransmission(void (*function)(int)) {
-        twi_cbendTransmissionDone = function;
-        twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
-        return;
-    }
-    
-    void TwoWire::send(uint8_t data) {
-        if (twi_transmitting) {
-            // in master transmitter mode
-            // don't bother if buffer is full
-            if (txBufferLength >= NBWIRE_BUFFER_LENGTH) {
-                return;
-            }
-
-            // put byte in tx buffer
-            txBuffer[txBufferIndex] = data;
-            ++txBufferIndex;
-
-            // update amount in buffer
-            txBufferLength = txBufferIndex;
-        } else {
-            // in slave send mode
-            // reply to master
-            //twi_transmit(&data, 1);
-        }
-    }
-    
-    uint8_t TwoWire::receive(void) {
-        // default to returning null char
-        // for people using with char strings
-        uint8_t value = 0;
-      
-        // get each successive byte on each call
-        if (rxBufferIndex < rxBufferLength) {
-            value = rxBuffer[rxBufferIndex];
-            ++rxBufferIndex;
-        }
-    
-        return value;
-    }
-    
-    uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) {
-        // clamp to buffer length
-        if (quantity > NBWIRE_BUFFER_LENGTH) {
-            quantity = NBWIRE_BUFFER_LENGTH;
-        }
-
-        // perform blocking read into buffer
-        twi_cbreadFromDone = NULL;
-        twi_readFrom(address, rxBuffer, quantity);
-        uint8_t read = twii_WaitForDone(timeout);
-
-        // set rx buffer iterator vars
-        rxBufferIndex = 0;
-        rxBufferLength = read;
-    
-        return read;
-    }
-    
-    void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) {
-        // clamp to buffer length
-        if (quantity > NBWIRE_BUFFER_LENGTH) {
-            quantity = NBWIRE_BUFFER_LENGTH;
-        }
-
-        // perform blocking read into buffer
-        twi_cbreadFromDone = function;
-        twi_readFrom(address, rxBuffer, quantity);
-        //uint8_t read = twii_WaitForDone();
-
-        // set rx buffer iterator vars
-        //rxBufferIndex = 0;
-        //rxBufferLength = read;
-
-        rxBufferIndex = 0;
-        rxBufferLength = quantity; // this is a hack
-
-        return; //read;
-    }
-
-    uint8_t TwoWire::available(void) {
-        return rxBufferLength - rxBufferIndex;
-    }
-
-#endif