Add Arduino library for MPU-9150

5 files changed, 5847 insertions, 0 deletions

diff --git a/libraries/I2Cdev/I2Cdev.cpp b/libraries/I2Cdev/I2Cdev.cpp
new file mode 100644
index 0000000..92032be
--- /dev/null
+++ b/libraries/I2Cdev/I2Cdev.cpp
@@ -0,0 +1,1373 @@
+// 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+//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation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
diff --git a/libraries/I2Cdev/I2Cdev.h b/libraries/I2Cdev/I2Cdev.h
new file mode 100644
index 0000000..4c6d41f
--- /dev/null
+++ b/libraries/I2Cdev/I2Cdev.h
@@ -0,0 +1,261 @@
+// I2Cdev library collection - Main I2C device class header file
+// 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.
+===============================================
+*/
+
+#ifndef _I2CDEV_H_
+#define _I2CDEV_H_
+
+// -----------------------------------------------------------------------------
+// I2C interface implementation setting
+// -----------------------------------------------------------------------------
+#define I2CDEV_IMPLEMENTATION       I2CDEV_ARDUINO_WIRE
+
+// comment this out if you are using a non-optimal IDE/implementation setting
+// but want the compiler to shut up about it
+#define I2CDEV_IMPLEMENTATION_WARNINGS
+
+// -----------------------------------------------------------------------------
+// I2C interface implementation options
+// -----------------------------------------------------------------------------
+#define I2CDEV_ARDUINO_WIRE         1 // Wire object from Arduino
+#define I2CDEV_BUILTIN_NBWIRE       2 // Tweaked Wire object from Gene Knight's NBWire project
+                                      // ^^^ NBWire implementation is still buggy w/some interrupts!
+#define I2CDEV_BUILTIN_FASTWIRE     3 // FastWire object from Francesco Ferrara's project
+                                      // ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
+
+// -----------------------------------------------------------------------------
+// Arduino-style "Serial.print" debug constant (uncomment to enable)
+// -----------------------------------------------------------------------------
+//#define I2CDEV_SERIAL_DEBUG
+
+#ifdef ARDUINO
+    #if ARDUINO < 100
+        #include "WProgram.h"
+    #else
+        #include "Arduino.h"
+    #endif
+    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+        #include <Wire.h>
+    #endif
+#else
+    #include "ArduinoWrapper.h"
+#endif
+
+// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
+#define I2CDEV_DEFAULT_READ_TIMEOUT     1000
+
+class I2Cdev {
+    public:
+        I2Cdev();
+        
+        static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+
+        static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
+        static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
+        static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
+        static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
+        static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
+        static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
+        static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
+        static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
+
+        static uint16_t readTimeout;
+};
+
+#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
+    //////////////////////
+    
+    /* Master */
+    #define TW_START                0x08
+    #define TW_REP_START            0x10
+
+    /* Master Transmitter */
+    #define TW_MT_SLA_ACK           0x18
+    #define TW_MT_SLA_NACK          0x20
+    #define TW_MT_DATA_ACK          0x28
+    #define TW_MT_DATA_NACK         0x30
+    #define TW_MT_ARB_LOST          0x38
+
+    /* Master Receiver */
+    #define TW_MR_ARB_LOST          0x38
+    #define TW_MR_SLA_ACK           0x40
+    #define TW_MR_SLA_NACK          0x48
+    #define TW_MR_DATA_ACK          0x50
+    #define TW_MR_DATA_NACK         0x58
+
+    #define TW_OK                   0
+    #define TW_ERROR                1
+
+    class Fastwire {
+        private:
+            static boolean waitInt();
+
+        public:
+            static void setup(int khz, boolean pullup);
+            static byte write(byte device, byte address, byte value);
+            static byte readBuf(byte device, byte address, byte *data, byte num);
+    };
+#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
+
+    #define NBWIRE_BUFFER_LENGTH 32
+    
+    class TwoWire {
+        private:
+            static uint8_t rxBuffer[];
+            static uint8_t rxBufferIndex;
+            static uint8_t rxBufferLength;
+        
+            static uint8_t txAddress;
+            static uint8_t txBuffer[];
+            static uint8_t txBufferIndex;
+            static uint8_t txBufferLength;
+        
+            // static uint8_t transmitting;
+            static void (*user_onRequest)(void);
+            static void (*user_onReceive)(int);
+            static void onRequestService(void);
+            static void onReceiveService(uint8_t*, int);
+    
+        public:
+            TwoWire();
+            void begin();
+            void begin(uint8_t);
+            void begin(int);
+            void beginTransmission(uint8_t);
+            //void beginTransmission(int);
+            uint8_t endTransmission(uint16_t timeout=0);
+            void nbendTransmission(void (*function)(int)) ;
+            uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
+            //uint8_t requestFrom(int, int);
+            void nbrequestFrom(uint8_t, int, void (*function)(int));
+            void send(uint8_t);
+            void send(uint8_t*, uint8_t);
+            //void send(int);
+            void send(char*);
+            uint8_t available(void);
+            uint8_t receive(void);
+            void onReceive(void (*)(int));
+            void onRequest(void (*)(void));
+    };
+    
+    #define TWI_READY   0
+    #define TWI_MRX     1
+    #define TWI_MTX     2
+    #define TWI_SRX     3
+    #define TWI_STX     4
+    
+    #define TW_WRITE    0
+    #define TW_READ     1
+    
+    #define TW_MT_SLA_NACK      0x20
+    #define TW_MT_DATA_NACK     0x30
+    
+    #define CPU_FREQ            16000000L
+    #define TWI_FREQ            100000L
+    #define TWI_BUFFER_LENGTH   32
+    
+    /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
+    
+    #define TW_STATUS_MASK              (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
+    #define TW_STATUS                   (TWSR & TW_STATUS_MASK)
+    #define TW_START                    0x08
+    #define TW_REP_START                0x10
+    #define TW_MT_SLA_ACK               0x18
+    #define TW_MT_SLA_NACK              0x20
+    #define TW_MT_DATA_ACK              0x28
+    #define TW_MT_DATA_NACK             0x30
+    #define TW_MT_ARB_LOST              0x38
+    #define TW_MR_ARB_LOST              0x38
+    #define TW_MR_SLA_ACK               0x40
+    #define TW_MR_SLA_NACK              0x48
+    #define TW_MR_DATA_ACK              0x50
+    #define TW_MR_DATA_NACK             0x58
+    #define TW_ST_SLA_ACK               0xA8
+    #define TW_ST_ARB_LOST_SLA_ACK      0xB0
+    #define TW_ST_DATA_ACK              0xB8
+    #define TW_ST_DATA_NACK             0xC0
+    #define TW_ST_LAST_DATA             0xC8
+    #define TW_SR_SLA_ACK               0x60
+    #define TW_SR_ARB_LOST_SLA_ACK      0x68
+    #define TW_SR_GCALL_ACK             0x70
+    #define TW_SR_ARB_LOST_GCALL_ACK    0x78
+    #define TW_SR_DATA_ACK              0x80
+    #define TW_SR_DATA_NACK             0x88
+    #define TW_SR_GCALL_DATA_ACK        0x90
+    #define TW_SR_GCALL_DATA_NACK       0x98
+    #define TW_SR_STOP                  0xA0
+    #define TW_NO_INFO                  0xF8
+    #define TW_BUS_ERROR                0x00
+    
+    //#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
+    //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
+    
+    #ifndef sbi // set bit
+        #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+    #endif // sbi
+    
+    #ifndef cbi // clear bit
+        #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+    #endif // cbi
+    
+    extern TwoWire Wire;
+
+#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+
+#endif /* _I2CDEV_H_ */
\ No newline at end of file
diff --git a/libraries/I2Cdev/keywords.txt b/libraries/I2Cdev/keywords.txt
new file mode 100644
index 0000000..4132a06
--- /dev/null
+++ b/libraries/I2Cdev/keywords.txt
@@ -0,0 +1,38 @@
+#######################################
+# Syntax Coloring Map For I2Cdev
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+I2Cdev	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+readBit	KEYWORD2
+readBitW	KEYWORD2
+readBits	KEYWORD2
+readBitsW	KEYWORD2
+readByte	KEYWORD2
+readBytes	KEYWORD2
+readWord	KEYWORD2
+readWords	KEYWORD2
+writeBit	KEYWORD2
+writeBitW	KEYWORD2
+writeBits	KEYWORD2
+writeBitsW	KEYWORD2
+writeByte	KEYWORD2
+writeBytes	KEYWORD2
+writeWord	KEYWORD2
+writeWords	KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
diff --git a/libraries/MPU9150/MPU9150.cpp b/libraries/MPU9150/MPU9150.cpp
new file mode 100644
index 0000000..caed93d
--- /dev/null
+++ b/libraries/MPU9150/MPU9150.cpp
@@ -0,0 +1,3173 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/* ============================================
+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 "MPU9150.h"
+
+/** Default constructor, uses default I2C address.
+ * @see MPU6050_DEFAULT_ADDRESS
+ */
+MPU6050::MPU6050() {
+    devAddr = MPU6050_DEFAULT_ADDRESS;
+}
+
+/** Specific address constructor.
+ * @param address I2C address
+ * @see MPU6050_DEFAULT_ADDRESS
+ * @see MPU6050_ADDRESS_AD0_LOW
+ * @see MPU6050_ADDRESS_AD0_HIGH
+ */
+MPU6050::MPU6050(uint8_t address) {
+    devAddr = address;
+}
+
+/** Power on and prepare for general usage.
+ * This will activate the device and take it out of sleep mode (which must be done
+ * after start-up). This function also sets both the accelerometer and the gyroscope
+ * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
+ * the clock source to use the X Gyro for reference, which is slightly better than
+ * the default internal clock source.
+ */
+void MPU6050::initialize() {
+    setClockSource(MPU6050_CLOCK_PLL_XGYRO);
+    setFullScaleGyroRange(MPU6050_GYRO_FS_250);
+    setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
+    setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
+}
+
+/** Verify the I2C connection.
+ * Make sure the device is connected and responds as expected.
+ * @return True if connection is valid, false otherwise
+ */
+bool MPU6050::testConnection() {
+    return getDeviceID() == 0x34;
+}
+
+// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
+
+/** Get the auxiliary I2C supply voltage level.
+ * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
+ * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
+ * the MPU-6000, which does not have a VLOGIC pin.
+ * @return I2C supply voltage level (0=VLOGIC, 1=VDD)
+ */
+uint8_t MPU6050::getAuxVDDIOLevel() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+    return buffer[0];
+}
+/** Set the auxiliary I2C supply voltage level.
+ * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
+ * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
+ * the MPU-6000, which does not have a VLOGIC pin.
+ * @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
+ */
+void MPU6050::setAuxVDDIOLevel(uint8_t level) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+}
+
+// SMPLRT_DIV register
+
+/** Get gyroscope output rate divider.
+ * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
+ * Motion detection, and Free Fall detection are all based on the Sample Rate.
+ * The Sample Rate is generated by dividing the gyroscope output rate by
+ * SMPLRT_DIV:
+ *
+ * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+ *
+ * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
+ * 7), and 1kHz when the DLPF is enabled (see Register 26).
+ *
+ * Note: The accelerometer output rate is 1kHz. This means that for a Sample
+ * Rate greater than 1kHz, the same accelerometer sample may be output to the
+ * FIFO, DMP, and sensor registers more than once.
+ *
+ * For a diagram of the gyroscope and accelerometer signal paths, see Section 8
+ * of the MPU-6000/MPU-6050 Product Specification document.
+ *
+ * @return Current sample rate
+ * @see MPU6050_RA_SMPLRT_DIV
+ */
+uint8_t MPU6050::getRate() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+    return buffer[0];
+} 
+
+uint8_t MPU6050::checkMagStatus() {
+    I2Cdev::readByte(MPU9150_RA_MAG_ADDRESS, 0x02, buffer);
+    return buffer[0];
+}
+
+
+/** Set gyroscope sample rate divider.
+ * @param rate New sample rate divider
+ * @see getRate()
+ * @see MPU6050_RA_SMPLRT_DIV
+ */
+void MPU6050::setRate(uint8_t rate) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+}
+
+// CONFIG register
+
+/** Get external FSYNC configuration.
+ * Configures the external Frame Synchronization (FSYNC) pin sampling. An
+ * external signal connected to the FSYNC pin can be sampled by configuring
+ * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
+ * strobes may be captured. The latched FSYNC signal will be sampled at the
+ * Sampling Rate, as defined in register 25. After sampling, the latch will
+ * reset to the current FSYNC signal state.
+ *
+ * The sampled value will be reported in place of the least significant bit in
+ * a sensor data register determined by the value of EXT_SYNC_SET according to
+ * the following table.
+ *
+ * <pre>
+ * EXT_SYNC_SET | FSYNC Bit Location
+ * -------------+-------------------
+ * 0            | Input disabled
+ * 1            | TEMP_OUT_L[0]
+ * 2            | GYRO_XOUT_L[0]
+ * 3            | GYRO_YOUT_L[0]
+ * 4            | GYRO_ZOUT_L[0]
+ * 5            | ACCEL_XOUT_L[0]
+ * 6            | ACCEL_YOUT_L[0]
+ * 7            | ACCEL_ZOUT_L[0]
+ * </pre>
+ *
+ * @return FSYNC configuration value
+ */
+uint8_t MPU6050::getExternalFrameSync() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set external FSYNC configuration.
+ * @see getExternalFrameSync()
+ * @see MPU6050_RA_CONFIG
+ * @param sync New FSYNC configuration value
+ */
+void MPU6050::setExternalFrameSync(uint8_t sync) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+}
+/** Get digital low-pass filter configuration.
+ * The DLPF_CFG parameter sets the digital low pass filter configuration. It
+ * also determines the internal sampling rate used by the device as shown in
+ * the table below.
+ *
+ * Note: The accelerometer output rate is 1kHz. This means that for a Sample
+ * Rate greater than 1kHz, the same accelerometer sample may be output to the
+ * FIFO, DMP, and sensor registers more than once.
+ *
+ * <pre>
+ *          |   ACCELEROMETER    |           GYROSCOPE
+ * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
+ * ---------+-----------+--------+-----------+--------+-------------
+ * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
+ * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
+ * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
+ * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
+ * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
+ * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
+ * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
+ * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
+ * </pre>
+ *
+ * @return DLFP configuration
+ * @see MPU6050_RA_CONFIG
+ * @see MPU6050_CFG_DLPF_CFG_BIT
+ * @see MPU6050_CFG_DLPF_CFG_LENGTH
+ */
+uint8_t MPU6050::getDLPFMode() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set digital low-pass filter configuration.
+ * @param mode New DLFP configuration setting
+ * @see getDLPFBandwidth()
+ * @see MPU6050_DLPF_BW_256
+ * @see MPU6050_RA_CONFIG
+ * @see MPU6050_CFG_DLPF_CFG_BIT
+ * @see MPU6050_CFG_DLPF_CFG_LENGTH
+ */
+void MPU6050::setDLPFMode(uint8_t mode) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+}
+
+// GYRO_CONFIG register
+
+/** Get full-scale gyroscope range.
+ * The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
+ * as described in the table below.
+ *
+ * <pre>
+ * 0 = +/- 250 degrees/sec
+ * 1 = +/- 500 degrees/sec
+ * 2 = +/- 1000 degrees/sec
+ * 3 = +/- 2000 degrees/sec
+ * </pre>
+ *
+ * @return Current full-scale gyroscope range setting
+ * @see MPU6050_GYRO_FS_250
+ * @see MPU6050_RA_GYRO_CONFIG
+ * @see MPU6050_GCONFIG_FS_SEL_BIT
+ * @see MPU6050_GCONFIG_FS_SEL_LENGTH
+ */
+uint8_t MPU6050::getFullScaleGyroRange() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set full-scale gyroscope range.
+ * @param range New full-scale gyroscope range value
+ * @see getFullScaleRange()
+ * @see MPU6050_GYRO_FS_250
+ * @see MPU6050_RA_GYRO_CONFIG
+ * @see MPU6050_GCONFIG_FS_SEL_BIT
+ * @see MPU6050_GCONFIG_FS_SEL_LENGTH
+ */
+void MPU6050::setFullScaleGyroRange(uint8_t range) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+}
+
+// ACCEL_CONFIG register
+
+/** Get self-test enabled setting for accelerometer X axis.
+ * @return Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+bool MPU6050::getAccelXSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Get self-test enabled setting for accelerometer X axis.
+ * @param enabled Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setAccelXSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+}
+/** Get self-test enabled value for accelerometer Y axis.
+ * @return Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+bool MPU6050::getAccelYSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Get self-test enabled value for accelerometer Y axis.
+ * @param enabled Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setAccelYSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+}
+/** Get self-test enabled value for accelerometer Z axis.
+ * @return Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+bool MPU6050::getAccelZSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Set self-test enabled value for accelerometer Z axis.
+ * @param enabled Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setAccelZSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+}
+/** Get full-scale accelerometer range.
+ * The FS_SEL parameter allows setting the full-scale range of the accelerometer
+ * sensors, as described in the table below.
+ *
+ * <pre>
+ * 0 = +/- 2g
+ * 1 = +/- 4g
+ * 2 = +/- 8g
+ * 3 = +/- 16g
+ * </pre>
+ *
+ * @return Current full-scale accelerometer range setting
+ * @see MPU6050_ACCEL_FS_2
+ * @see MPU6050_RA_ACCEL_CONFIG
+ * @see MPU6050_ACONFIG_AFS_SEL_BIT
+ * @see MPU6050_ACONFIG_AFS_SEL_LENGTH
+ */
+uint8_t MPU6050::getFullScaleAccelRange() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set full-scale accelerometer range.
+ * @param range New full-scale accelerometer range setting
+ * @see getFullScaleAccelRange()
+ */
+void MPU6050::setFullScaleAccelRange(uint8_t range) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
+}
+/** Get the high-pass filter configuration.
+ * The DHPF is a filter module in the path leading to motion detectors (Free
+ * Fall, Motion threshold, and Zero Motion). The high pass filter output is not
+ * available to the data registers (see Figure in Section 8 of the MPU-6000/
+ * MPU-6050 Product Specification document).
+ *
+ * The high pass filter has three modes:
+ *
+ * <pre>
+ *    Reset: The filter output settles to zero within one sample. This
+ *           effectively disables the high pass filter. This mode may be toggled
+ *           to quickly settle the filter.
+ *
+ *    On:    The high pass filter will pass signals above the cut off frequency.
+ *
+ *    Hold:  When triggered, the filter holds the present sample. The filter
+ *           output will be the difference between the input sample and the held
+ *           sample.
+ * </pre>
+ *
+ * <pre>
+ * ACCEL_HPF | Filter Mode | Cut-off Frequency
+ * ----------+-------------+------------------
+ * 0         | Reset       | None
+ * 1         | On          | 5Hz
+ * 2         | On          | 2.5Hz
+ * 3         | On          | 1.25Hz
+ * 4         | On          | 0.63Hz
+ * 7         | Hold        | None
+ * </pre>
+ *
+ * @return Current high-pass filter configuration
+ * @see MPU6050_DHPF_RESET
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+uint8_t MPU6050::getDHPFMode() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set the high-pass filter configuration.
+ * @param bandwidth New high-pass filter configuration
+ * @see setDHPFMode()
+ * @see MPU6050_DHPF_RESET
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setDHPFMode(uint8_t bandwidth) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+}
+
+// FF_THR register
+
+/** Get free-fall event acceleration threshold.
+ * This register configures the detection threshold for Free Fall event
+ * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
+ * absolute value of the accelerometer measurements for the three axes are each
+ * less than the detection threshold. This condition increments the Free Fall
+ * duration counter (Register 30). The Free Fall interrupt is triggered when the
+ * Free Fall duration counter reaches the time specified in FF_DUR.
+ *
+ * For more details on the Free Fall detection interrupt, see Section 8.2 of the
+ * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
+ * 58 of this document.
+ *
+ * @return Current free-fall acceleration threshold value (LSB = 2mg)
+ * @see MPU6050_RA_FF_THR
+ */
+uint8_t MPU6050::getFreefallDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
+    return buffer[0];
+}
+/** Get free-fall event acceleration threshold.
+ * @param threshold New free-fall acceleration threshold value (LSB = 2mg)
+ * @see getFreefallDetectionThreshold()
+ * @see MPU6050_RA_FF_THR
+ */
+void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+}
+
+// FF_DUR register
+
+/** Get free-fall event duration threshold.
+ * This register configures the duration counter threshold for Free Fall event
+ * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
+ * of 1 LSB = 1 ms.
+ *
+ * The Free Fall duration counter increments while the absolute value of the
+ * accelerometer measurements are each less than the detection threshold
+ * (Register 29). The Free Fall interrupt is triggered when the Free Fall
+ * duration counter reaches the time specified in this register.
+ *
+ * For more details on the Free Fall detection interrupt, see Section 8.2 of
+ * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
+ * and 58 of this document.
+ *
+ * @return Current free-fall duration threshold value (LSB = 1ms)
+ * @see MPU6050_RA_FF_DUR
+ */
+uint8_t MPU6050::getFreefallDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
+    return buffer[0];
+}
+/** Get free-fall event duration threshold.
+ * @param duration New free-fall duration threshold value (LSB = 1ms)
+ * @see getFreefallDetectionDuration()
+ * @see MPU6050_RA_FF_DUR
+ */
+void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+}
+
+// MOT_THR register
+
+/** Get motion detection event acceleration threshold.
+ * This register configures the detection threshold for Motion interrupt
+ * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
+ * absolute value of any of the accelerometer measurements exceeds this Motion
+ * detection threshold. This condition increments the Motion detection duration
+ * counter (Register 32). The Motion detection interrupt is triggered when the
+ * Motion Detection counter reaches the time count specified in MOT_DUR
+ * (Register 32).
+ *
+ * The Motion interrupt will indicate the axis and polarity of detected motion
+ * in MOT_DETECT_STATUS (Register 97).
+ *
+ * For more details on the Motion detection interrupt, see Section 8.3 of the
+ * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
+ * 58 of this document.
+ *
+ * @return Current motion detection acceleration threshold value (LSB = 2mg)
+ * @see MPU6050_RA_MOT_THR
+ */
+uint8_t MPU6050::getMotionDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
+    return buffer[0];
+}
+/** Set free-fall event acceleration threshold.
+ * @param threshold New motion detection acceleration threshold value (LSB = 2mg)
+ * @see getMotionDetectionThreshold()
+ * @see MPU6050_RA_MOT_THR
+ */
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+}
+
+// MOT_DUR register
+
+/** Get motion detection event duration threshold.
+ * This register configures the duration counter threshold for Motion interrupt
+ * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
+ * of 1LSB = 1ms. The Motion detection duration counter increments when the
+ * absolute value of any of the accelerometer measurements exceeds the Motion
+ * detection threshold (Register 31). The Motion detection interrupt is
+ * triggered when the Motion detection counter reaches the time count specified
+ * in this register.
+ *
+ * For more details on the Motion detection interrupt, see Section 8.3 of the
+ * MPU-6000/MPU-6050 Product Specification document.
+ *
+ * @return Current motion detection duration threshold value (LSB = 1ms)
+ * @see MPU6050_RA_MOT_DUR
+ */
+uint8_t MPU6050::getMotionDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
+    return buffer[0];
+}
+/** Set motion detection event duration threshold.
+ * @param duration New motion detection duration threshold value (LSB = 1ms)
+ * @see getMotionDetectionDuration()
+ * @see MPU6050_RA_MOT_DUR
+ */
+void MPU6050::setMotionDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+}
+
+// ZRMOT_THR register
+
+/** Get zero motion detection event acceleration threshold.
+ * This register configures the detection threshold for Zero Motion interrupt
+ * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
+ * the absolute value of the accelerometer measurements for the 3 axes are each
+ * less than the detection threshold. This condition increments the Zero Motion
+ * duration counter (Register 34). The Zero Motion interrupt is triggered when
+ * the Zero Motion duration counter reaches the time count specified in
+ * ZRMOT_DUR (Register 34).
+ *
+ * Unlike Free Fall or Motion detection, Zero Motion detection triggers an
+ * interrupt both when Zero Motion is first detected and when Zero Motion is no
+ * longer detected.
+ *
+ * When a zero motion event is detected, a Zero Motion Status will be indicated
+ * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
+ * condition is detected, the status bit is set to 1. When a zero-motion-to-
+ * motion condition is detected, the status bit is set to 0.
+ *
+ * For more details on the Zero Motion detection interrupt, see Section 8.4 of
+ * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
+ * and 58 of this document.
+ *
+ * @return Current zero motion detection acceleration threshold value (LSB = 2mg)
+ * @see MPU6050_RA_ZRMOT_THR
+ */
+uint8_t MPU6050::getZeroMotionDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+    return buffer[0];
+}
+/** Set zero motion detection event acceleration threshold.
+ * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
+ * @see getZeroMotionDetectionThreshold()
+ * @see MPU6050_RA_ZRMOT_THR
+ */
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+}
+
+// ZRMOT_DUR register
+
+/** Get zero motion detection event duration threshold.
+ * This register configures the duration counter threshold for Zero Motion
+ * interrupt generation. The duration counter ticks at 16 Hz, therefore
+ * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
+ * increments while the absolute value of the accelerometer measurements are
+ * each less than the detection threshold (Register 33). The Zero Motion
+ * interrupt is triggered when the Zero Motion duration counter reaches the time
+ * count specified in this register.
+ *
+ * For more details on the Zero Motion detection interrupt, see Section 8.4 of
+ * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
+ * and 58 of this document.
+ *
+ * @return Current zero motion detection duration threshold value (LSB = 64ms)
+ * @see MPU6050_RA_ZRMOT_DUR
+ */
+uint8_t MPU6050::getZeroMotionDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+    return buffer[0];
+}
+/** Set zero motion detection event duration threshold.
+ * @param duration New zero motion detection duration threshold value (LSB = 1ms)
+ * @see getZeroMotionDetectionDuration()
+ * @see MPU6050_RA_ZRMOT_DUR
+ */
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+}
+
+// FIFO_EN register
+
+/** Get temperature FIFO enabled value.
+ * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
+ * 66) to be written into the FIFO buffer.
+ * @return Current temperature FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getTempFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set temperature FIFO enabled value.
+ * @param enabled New temperature FIFO enabled value
+ * @see getTempFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setTempFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope X-axis FIFO enabled value.
+ * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
+ * 68) to be written into the FIFO buffer.
+ * @return Current gyroscope X-axis FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getXGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope X-axis FIFO enabled value.
+ * @param enabled New gyroscope X-axis FIFO enabled value
+ * @see getXGyroFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setXGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope Y-axis FIFO enabled value.
+ * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
+ * 70) to be written into the FIFO buffer.
+ * @return Current gyroscope Y-axis FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getYGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope Y-axis FIFO enabled value.
+ * @param enabled New gyroscope Y-axis FIFO enabled value
+ * @see getYGyroFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setYGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope Z-axis FIFO enabled value.
+ * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
+ * 72) to be written into the FIFO buffer.
+ * @return Current gyroscope Z-axis FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getZGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope Z-axis FIFO enabled value.
+ * @param enabled New gyroscope Z-axis FIFO enabled value
+ * @see getZGyroFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setZGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+}
+/** Get accelerometer FIFO enabled value.
+ * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
+ * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
+ * written into the FIFO buffer.
+ * @return Current accelerometer FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getAccelFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set accelerometer FIFO enabled value.
+ * @param enabled New accelerometer FIFO enabled value
+ * @see getAccelFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setAccelFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 2 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 2 to be written into the FIFO buffer.
+ * @return Current Slave 2 FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getSlave2FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 2 FIFO enabled value.
+ * @param enabled New Slave 2 FIFO enabled value
+ * @see getSlave2FIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setSlave2FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 1 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 1 to be written into the FIFO buffer.
+ * @return Current Slave 1 FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getSlave1FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 1 FIFO enabled value.
+ * @param enabled New Slave 1 FIFO enabled value
+ * @see getSlave1FIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setSlave1FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 0 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 0 to be written into the FIFO buffer.
+ * @return Current Slave 0 FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getSlave0FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 0 FIFO enabled value.
+ * @param enabled New Slave 0 FIFO enabled value
+ * @see getSlave0FIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setSlave0FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+}
+
+// I2C_MST_CTRL register
+
+/** Get multi-master enabled value.
+ * Multi-master capability allows multiple I2C masters to operate on the same
+ * bus. In circuits where multi-master capability is required, set MULT_MST_EN
+ * to 1. This will increase current drawn by approximately 30uA.
+ *
+ * In circuits where multi-master capability is required, the state of the I2C
+ * bus must always be monitored by each separate I2C Master. Before an I2C
+ * Master can assume arbitration of the bus, it must first confirm that no other
+ * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
+ * MPU-60X0's bus arbitration detection logic is turned on, enabling it to
+ * detect when the bus is available.
+ *
+ * @return Current multi-master enabled value
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+bool MPU6050::getMultiMasterEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set multi-master enabled value.
+ * @param enabled New multi-master enabled value
+ * @see getMultiMasterEnabled()
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setMultiMasterEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+}
+/** Get wait-for-external-sensor-data enabled value.
+ * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
+ * delayed until External Sensor data from the Slave Devices are loaded into the
+ * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
+ * data (i.e. from gyro and accel) and external sensor data have been loaded to
+ * their respective data registers (i.e. the data is synced) when the Data Ready
+ * interrupt is triggered.
+ *
+ * @return Current wait-for-external-sensor-data enabled value
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+bool MPU6050::getWaitForExternalSensorEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+    return buffer[0];
+}
+/** Set wait-for-external-sensor-data enabled value.
+ * @param enabled New wait-for-external-sensor-data enabled value
+ * @see getWaitForExternalSensorEnabled()
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+}
+/** Get Slave 3 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 3 to be written into the FIFO buffer.
+ * @return Current Slave 3 FIFO enabled value
+ * @see MPU6050_RA_MST_CTRL
+ */
+bool MPU6050::getSlave3FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 3 FIFO enabled value.
+ * @param enabled New Slave 3 FIFO enabled value
+ * @see getSlave3FIFOEnabled()
+ * @see MPU6050_RA_MST_CTRL
+ */
+void MPU6050::setSlave3FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+}
+/** Get slave read/write transition enabled value.
+ * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
+ * read to the next slave read. If the bit equals 0, there will be a restart
+ * between reads. If the bit equals 1, there will be a stop followed by a start
+ * of the following read. When a write transaction follows a read transaction,
+ * the stop followed by a start of the successive write will be always used.
+ *
+ * @return Current slave read/write transition enabled value
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+bool MPU6050::getSlaveReadWriteTransitionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+    return buffer[0];
+}
+/** Set slave read/write transition enabled value.
+ * @param enabled New slave read/write transition enabled value
+ * @see getSlaveReadWriteTransitionEnabled()
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
+}
+/** Get I2C master clock speed.
+ * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
+ * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
+ * the following table:
+ *
+ * <pre>
+ * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
+ * ------------+------------------------+-------------------
+ * 0           | 348kHz                 | 23
+ * 1           | 333kHz                 | 24
+ * 2           | 320kHz                 | 25
+ * 3           | 308kHz                 | 26
+ * 4           | 296kHz                 | 27
+ * 5           | 286kHz                 | 28
+ * 6           | 276kHz                 | 29
+ * 7           | 267kHz                 | 30
+ * 8           | 258kHz                 | 31
+ * 9           | 500kHz                 | 16
+ * 10          | 471kHz                 | 17
+ * 11          | 444kHz                 | 18
+ * 12          | 421kHz                 | 19
+ * 13          | 400kHz                 | 20
+ * 14          | 381kHz                 | 21
+ * 15          | 364kHz                 | 22
+ * </pre>
+ *
+ * @return Current I2C master clock speed
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+uint8_t MPU6050::getMasterClockSpeed() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set I2C master clock speed.
+ * @reparam speed Current I2C master clock speed
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setMasterClockSpeed(uint8_t speed) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
+}
+
+// I2C_SLV* registers (Slave 0-3)
+
+/** Get the I2C address of the specified slave (0-3).
+ * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
+ * operation, and if it is cleared, then it's a write operation. The remaining
+ * bits (6-0) are the 7-bit device address of the slave device.
+ *
+ * In read mode, the result of the read is placed in the lowest available 
+ * EXT_SENS_DATA register. For further information regarding the allocation of
+ * read results, please refer to the EXT_SENS_DATA register description
+ * (Registers 73 - 96).
+ *
+ * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
+ * characteristics, and so it has its own functions (getSlave4* and setSlave4*).
+ *
+ * I2C data transactions are performed at the Sample Rate, as defined in
+ * Register 25. The user is responsible for ensuring that I2C data transactions
+ * to and from each enabled Slave can be completed within a single period of the
+ * Sample Rate.
+ *
+ * The I2C slave access rate can be reduced relative to the Sample Rate. This
+ * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
+ * slave's access rate is reduced relative to the Sample Rate is determined by
+ * I2C_MST_DELAY_CTRL (Register 103).
+ *
+ * The processing order for the slaves is fixed. The sequence followed for
+ * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
+ * particular Slave is disabled it will be skipped.
+ *
+ * Each slave can either be accessed at the sample rate or at a reduced sample
+ * rate. In a case where some slaves are accessed at the Sample Rate and some
+ * slaves are accessed at the reduced rate, the sequence of accessing the slaves
+ * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
+ * be skipped if their access rate dictates that they should not be accessed
+ * during that particular cycle. For further information regarding the reduced
+ * access rate, please refer to Register 52. Whether a slave is accessed at the
+ * Sample Rate or at the reduced rate is determined by the Delay Enable bits in
+ * Register 103.
+ *
+ * @param num Slave number (0-3)
+ * @return Current address for specified slave
+ * @see MPU6050_RA_I2C_SLV0_ADDR
+ */
+uint8_t MPU6050::getSlaveAddress(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
+    return buffer[0];
+}
+/** Set the I2C address of the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param address New address for specified slave
+ * @see getSlaveAddress()
+ * @see MPU6050_RA_I2C_SLV0_ADDR
+ */
+void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
+    if (num > 3) return;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
+}
+/** Get the active internal register for the specified slave (0-3).
+ * Read/write operations for this slave will be done to whatever internal
+ * register address is stored in this MPU register.
+ *
+ * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
+ * characteristics, and so it has its own functions.
+ *
+ * @param num Slave number (0-3)
+ * @return Current active register for specified slave
+ * @see MPU6050_RA_I2C_SLV0_REG
+ */
+uint8_t MPU6050::getSlaveRegister(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
+    return buffer[0];
+}
+/** Set the active internal register for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param reg New active register for specified slave
+ * @see getSlaveRegister()
+ * @see MPU6050_RA_I2C_SLV0_REG
+ */
+void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
+    if (num > 3) return;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
+}
+/** Get the enabled value for the specified slave (0-3).
+ * When set to 1, this bit enables Slave 0 for data transfer operations. When
+ * cleared to 0, this bit disables Slave 0 from data transfer operations.
+ * @param num Slave number (0-3)
+ * @return Current enabled value for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveEnabled(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param enabled New enabled value for specified slave
+ * @see getSlaveEnabled()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
+}
+/** Get word pair byte-swapping enabled for the specified slave (0-3).
+ * When set to 1, this bit enables byte swapping. When byte swapping is enabled,
+ * the high and low bytes of a word pair are swapped. Please refer to
+ * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
+ * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
+ * registers in the order they were transferred.
+ *
+ * @param num Slave number (0-3)
+ * @return Current word pair byte-swapping enabled value for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
+    return buffer[0];
+}
+/** Set word pair byte-swapping enabled for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param enabled New word pair byte-swapping enabled value for specified slave
+ * @see getSlaveWordByteSwap()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
+}
+/** Get write mode for the specified slave (0-3).
+ * When set to 1, the transaction will read or write data only. When cleared to
+ * 0, the transaction will write a register address prior to reading or writing
+ * data. This should equal 0 when specifying the register address within the
+ * Slave device to/from which the ensuing data transaction will take place.
+ *
+ * @param num Slave number (0-3)
+ * @return Current write mode for specified slave (0 = register address + data, 1 = data only)
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveWriteMode(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
+    return buffer[0];
+}
+/** Set write mode for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
+ * @see getSlaveWriteMode()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
+}
+/** Get word pair grouping order offset for the specified slave (0-3).
+ * This sets specifies the grouping order of word pairs received from registers.
+ * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
+ * then odd register addresses) are paired to form a word. When set to 1, bytes
+ * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
+ * register addresses) are paired to form a word.
+ *
+ * @param num Slave number (0-3)
+ * @return Current word pair grouping order offset for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+    return buffer[0];
+}
+/** Set word pair grouping order offset for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param enabled New word pair grouping order offset for specified slave
+ * @see getSlaveWordGroupOffset()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
+}
+/** Get number of bytes to read for the specified slave (0-3).
+ * Specifies the number of bytes transferred to and from Slave 0. Clearing this
+ * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
+ * @param num Slave number (0-3)
+ * @return Number of bytes to read for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set number of bytes to read for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param length Number of bytes to read for specified slave
+ * @see getSlaveDataLength()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
+    if (num > 3) return;
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
+}
+
+// I2C_SLV* registers (Slave 4)
+
+/** Get the I2C address of Slave 4.
+ * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
+ * operation, and if it is cleared, then it's a write operation. The remaining
+ * bits (6-0) are the 7-bit device address of the slave device.
+ *
+ * @return Current address for Slave 4
+ * @see getSlaveAddress()
+ * @see MPU6050_RA_I2C_SLV4_ADDR
+ */
+uint8_t MPU6050::getSlave4Address() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+    return buffer[0];
+}
+/** Set the I2C address of Slave 4.
+ * @param address New address for Slave 4
+ * @see getSlave4Address()
+ * @see MPU6050_RA_I2C_SLV4_ADDR
+ */
+void MPU6050::setSlave4Address(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
+}
+/** Get the active internal register for the Slave 4.
+ * Read/write operations for this slave will be done to whatever internal
+ * register address is stored in this MPU register.
+ *
+ * @return Current active register for Slave 4
+ * @see MPU6050_RA_I2C_SLV4_REG
+ */
+uint8_t MPU6050::getSlave4Register() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
+    return buffer[0];
+}
+/** Set the active internal register for Slave 4.
+ * @param reg New active register for Slave 4
+ * @see getSlave4Register()
+ * @see MPU6050_RA_I2C_SLV4_REG
+ */
+void MPU6050::setSlave4Register(uint8_t reg) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+}
+/** Set new byte to write to Slave 4.
+ * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
+ * is set 1 (set to read), this register has no effect.
+ * @param data New byte to write to Slave 4
+ * @see MPU6050_RA_I2C_SLV4_DO
+ */
+void MPU6050::setSlave4OutputByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+}
+/** Get the enabled value for the Slave 4.
+ * When set to 1, this bit enables Slave 4 for data transfer operations. When
+ * cleared to 0, this bit disables Slave 4 from data transfer operations.
+ * @return Current enabled value for Slave 4
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+bool MPU6050::getSlave4Enabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for Slave 4.
+ * @param enabled New enabled value for Slave 4
+ * @see getSlave4Enabled()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4Enabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+}
+/** Get the enabled value for Slave 4 transaction interrupts.
+ * When set to 1, this bit enables the generation of an interrupt signal upon
+ * completion of a Slave 4 transaction. When cleared to 0, this bit disables the
+ * generation of an interrupt signal upon completion of a Slave 4 transaction.
+ * The interrupt status can be observed in Register 54.
+ *
+ * @return Current enabled value for Slave 4 transaction interrupts.
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+bool MPU6050::getSlave4InterruptEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for Slave 4 transaction interrupts.
+ * @param enabled New enabled value for Slave 4 transaction interrupts.
+ * @see getSlave4InterruptEnabled()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4InterruptEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+}
+/** Get write mode for Slave 4.
+ * When set to 1, the transaction will read or write data only. When cleared to
+ * 0, the transaction will write a register address prior to reading or writing
+ * data. This should equal 0 when specifying the register address within the
+ * Slave device to/from which the ensuing data transaction will take place.
+ *
+ * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+bool MPU6050::getSlave4WriteMode() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+    return buffer[0];
+}
+/** Set write mode for the Slave 4.
+ * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
+ * @see getSlave4WriteMode()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4WriteMode(bool mode) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+}
+/** Get Slave 4 master delay value.
+ * This configures the reduced access rate of I2C slaves relative to the Sample
+ * Rate. When a slave's access rate is decreased relative to the Sample Rate,
+ * the slave is accessed every:
+ *
+ *     1 / (1 + I2C_MST_DLY) samples
+ *
+ * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
+ * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
+ * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
+ * further information regarding the Sample Rate, please refer to register 25.
+ *
+ * @return Current Slave 4 master delay value
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+uint8_t MPU6050::getSlave4MasterDelay() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Slave 4 master delay value.
+ * @param delay New Slave 4 master delay value
+ * @see getSlave4MasterDelay()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4MasterDelay(uint8_t delay) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
+}
+/** Get last available byte read from Slave 4.
+ * This register stores the data read from Slave 4. This field is populated
+ * after a read transaction.
+ * @return Last available byte read from to Slave 4
+ * @see MPU6050_RA_I2C_SLV4_DI
+ */
+uint8_t MPU6050::getSlate4InputByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+    return buffer[0];
+}
+
+// I2C_MST_STATUS register
+
+/** Get FSYNC interrupt status.
+ * This bit reflects the status of the FSYNC interrupt from an external device
+ * into the MPU-60X0. This is used as a way to pass an external interrupt
+ * through the MPU-60X0 to the host application processor. When set to 1, this
+ * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
+ * (Register 55).
+ * @return FSYNC interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getPassthroughStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 4 transaction done status.
+ * Automatically sets to 1 when a Slave 4 transaction has completed. This
+ * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
+ * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
+ * I2C_SLV4_CTRL register (Register 52).
+ * @return Slave 4 transaction done status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave4IsDone() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+    return buffer[0];
+}
+/** Get master arbitration lost status.
+ * This bit automatically sets to 1 when the I2C Master has lost arbitration of
+ * the auxiliary I2C bus (an error condition). This triggers an interrupt if the
+ * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Master arbitration lost status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getLostArbitration() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 4 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 4 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave4Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 3 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 3 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave3Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 2 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 2 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave2Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 1 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 1 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave1Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 0 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 0 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave0Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_PIN_CFG register
+
+/** Get interrupt logic level mode.
+ * Will be set 0 for active-high, 1 for active-low.
+ * @return Current interrupt mode (0=active-high, 1=active-low)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_LEVEL_BIT
+ */
+bool MPU6050::getInterruptMode() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt logic level mode.
+ * @param mode New interrupt mode (0=active-high, 1=active-low)
+ * @see getInterruptMode()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_LEVEL_BIT
+ */
+void MPU6050::setInterruptMode(bool mode) {
+   I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+}
+/** Get interrupt drive mode.
+ * Will be set 0 for push-pull, 1 for open-drain.
+ * @return Current interrupt drive mode (0=push-pull, 1=open-drain)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_OPEN_BIT
+ */
+bool MPU6050::getInterruptDrive() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt drive mode.
+ * @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
+ * @see getInterruptDrive()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_OPEN_BIT
+ */
+void MPU6050::setInterruptDrive(bool drive) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+}
+/** Get interrupt latch mode.
+ * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
+ * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
+ */
+bool MPU6050::getInterruptLatch() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt latch mode.
+ * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
+ * @see getInterruptLatch()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
+ */
+void MPU6050::setInterruptLatch(bool latch) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+}
+/** Get interrupt latch clear mode.
+ * Will be set 0 for status-read-only, 1 for any-register-read.
+ * @return Current latch clear mode (0=status-read-only, 1=any-register-read)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
+ */
+bool MPU6050::getInterruptLatchClear() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt latch clear mode.
+ * @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
+ * @see getInterruptLatchClear()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
+ */
+void MPU6050::setInterruptLatchClear(bool clear) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+}
+/** Get FSYNC interrupt logic level mode.
+ * @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
+ * @see getFSyncInterruptMode()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
+ */
+bool MPU6050::getFSyncInterruptLevel() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+    return buffer[0];
+}
+/** Set FSYNC interrupt logic level mode.
+ * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
+ * @see getFSyncInterruptMode()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
+ */
+void MPU6050::setFSyncInterruptLevel(bool level) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+}
+/** Get FSYNC pin interrupt enabled setting.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled setting
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
+ */
+bool MPU6050::getFSyncInterruptEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set FSYNC pin interrupt enabled setting.
+ * @param enabled New FSYNC pin interrupt enabled setting
+ * @see getFSyncInterruptEnabled()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
+ */
+void MPU6050::setFSyncInterruptEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+}
+/** Get I2C bypass enabled status.
+ * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
+ * 0, the host application processor will be able to directly access the
+ * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
+ * application processor will not be able to directly access the auxiliary I2C
+ * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
+ * bit[5]).
+ * @return Current I2C bypass enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
+ */
+bool MPU6050::getI2CBypassEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C bypass enabled status.
+ * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
+ * 0, the host application processor will be able to directly access the
+ * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
+ * application processor will not be able to directly access the auxiliary I2C
+ * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
+ * bit[5]).
+ * @param enabled New I2C bypass enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
+ */
+void MPU6050::setI2CBypassEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+}
+/** Get reference clock output enabled status.
+ * When this bit is equal to 1, a reference clock output is provided at the
+ * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
+ * further information regarding CLKOUT, please refer to the MPU-60X0 Product
+ * Specification document.
+ * @return Current reference clock output enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_CLKOUT_EN_BIT
+ */
+bool MPU6050::getClockOutputEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set reference clock output enabled status.
+ * When this bit is equal to 1, a reference clock output is provided at the
+ * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
+ * further information regarding CLKOUT, please refer to the MPU-60X0 Product
+ * Specification document.
+ * @param enabled New reference clock output enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_CLKOUT_EN_BIT
+ */
+void MPU6050::setClockOutputEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+}
+
+// INT_ENABLE register
+
+/** Get full interrupt enabled status.
+ * Full register byte for all interrupts, for quick reading. Each bit will be
+ * set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+uint8_t MPU6050::getIntEnabled() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
+    return buffer[0];
+}
+/** Set full interrupt enabled status.
+ * Full register byte for all interrupts, for quick reading. Each bit should be
+ * set 0 for disabled, 1 for enabled.
+ * @param enabled New interrupt enabled status
+ * @see getIntFreefallEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+void MPU6050::setIntEnabled(uint8_t enabled) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
+}
+/** Get Free Fall interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+bool MPU6050::getIntFreefallEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+    return buffer[0];
+}
+/** Set Free Fall interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntFreefallEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+void MPU6050::setIntFreefallEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
+}
+/** Get Motion Detection interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_MOT_BIT
+ **/
+bool MPU6050::getIntMotionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+    return buffer[0];
+}
+/** Set Motion Detection interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntMotionEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_MOT_BIT
+ **/
+void MPU6050::setIntMotionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+}
+/** Get Zero Motion Detection interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_ZMOT_BIT
+ **/
+bool MPU6050::getIntZeroMotionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+    return buffer[0];
+}
+/** Set Zero Motion Detection interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntZeroMotionEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_ZMOT_BIT
+ **/
+void MPU6050::setIntZeroMotionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+}
+/** Get FIFO Buffer Overflow interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ **/
+bool MPU6050::getIntFIFOBufferOverflowEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+    return buffer[0];
+}
+/** Set FIFO Buffer Overflow interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntFIFOBufferOverflowEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ **/
+void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+}
+/** Get I2C Master interrupt enabled status.
+ * This enables any of the I2C Master interrupt sources to generate an
+ * interrupt. Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ **/
+bool MPU6050::getIntI2CMasterEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C Master interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntI2CMasterEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ **/
+void MPU6050::setIntI2CMasterEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+}
+/** Get Data Ready interrupt enabled setting.
+ * This event occurs each time a write operation to all of the sensor registers
+ * has been completed. Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_DATA_RDY_BIT
+ */
+bool MPU6050::getIntDataReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+    return buffer[0];
+}
+/** Set Data Ready interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntDataReadyEnabled()
+ * @see MPU6050_RA_INT_CFG
+ * @see MPU6050_INTERRUPT_DATA_RDY_BIT
+ */
+void MPU6050::setIntDataReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+}
+
+// INT_STATUS register
+
+/** Get full set of interrupt status bits.
+ * These bits clear to 0 after the register has been read. Very useful
+ * for getting multiple INT statuses, since each single bit read clears
+ * all of them because it has to read the whole byte.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ */
+uint8_t MPU6050::getIntStatus() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
+    return buffer[0];
+}
+/** Get Free Fall interrupt status.
+ * This bit automatically sets to 1 when a Free Fall interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_FF_BIT
+ */
+bool MPU6050::getIntFreefallStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+    return buffer[0];
+}
+/** Get Motion Detection interrupt status.
+ * This bit automatically sets to 1 when a Motion Detection interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_MOT_BIT
+ */
+bool MPU6050::getIntMotionStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+    return buffer[0];
+}
+/** Get Zero Motion Detection interrupt status.
+ * This bit automatically sets to 1 when a Zero Motion Detection interrupt has
+ * been generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_ZMOT_BIT
+ */
+bool MPU6050::getIntZeroMotionStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+    return buffer[0];
+}
+/** Get FIFO Buffer Overflow interrupt status.
+ * This bit automatically sets to 1 when a Free Fall interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ */
+bool MPU6050::getIntFIFOBufferOverflowStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+    return buffer[0];
+}
+/** Get I2C Master interrupt status.
+ * This bit automatically sets to 1 when an I2C Master interrupt has been
+ * generated. For a list of I2C Master interrupts, please refer to Register 54.
+ * The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ */
+bool MPU6050::getIntI2CMasterStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+    return buffer[0];
+}
+/** Get Data Ready interrupt status.
+ * This bit automatically sets to 1 when a Data Ready interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_DATA_RDY_BIT
+ */
+bool MPU6050::getIntDataReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+    return buffer[0];
+}
+
+// ACCEL_*OUT_* registers
+
+/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
+ * FUNCTION NOT FULLY IMPLEMENTED YET.
+ * @param ax 16-bit signed integer container for accelerometer X-axis value
+ * @param ay 16-bit signed integer container for accelerometer Y-axis value
+ * @param az 16-bit signed integer container for accelerometer Z-axis value
+ * @param gx 16-bit signed integer container for gyroscope X-axis value
+ * @param gy 16-bit signed integer container for gyroscope Y-axis value
+ * @param gz 16-bit signed integer container for gyroscope Z-axis value
+ * @param mx 16-bit signed integer container for magnetometer X-axis value
+ * @param my 16-bit signed integer container for magnetometer Y-axis value
+ * @param mz 16-bit signed integer container for magnetometer Z-axis value
+ * @see getMotion6()
+ * @see getAcceleration()
+ * @see getRotation()
+ * @see MPU6050_RA_ACCEL_XOUT_H
+ */
+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) {
+    
+	//get accel and gyro
+	getMotion6(ax, ay, az, gx, gy, gz);
+	
+	//read mag
+	I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
+	delay(10);
+	I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
+	delay(10);
+	I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
+	*mx = (((int16_t)buffer[1]) << 8) | buffer[0];
+        *my = (((int16_t)buffer[3]) << 8) | buffer[2];
+        *mz = (((int16_t)buffer[5]) << 8) | buffer[4];		
+}
+
+void MPU6050::getMag(int16_t* mx, int16_t* my, int16_t* mz) {
+    
+	//read mag
+	I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
+	delay(10);
+	I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
+	delay(10);
+	I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
+	*mx = (((int16_t)buffer[1]) << 8) | buffer[0];
+        *my = (((int16_t)buffer[3]) << 8) | buffer[2];
+        *mz = (((int16_t)buffer[5]) << 8) | buffer[4];		
+}
+/** Get raw 6-axis motion sensor readings (accel/gyro).
+ * Retrieves all currently available motion sensor values.
+ * @param ax 16-bit signed integer container for accelerometer X-axis value
+ * @param ay 16-bit signed integer container for accelerometer Y-axis value
+ * @param az 16-bit signed integer container for accelerometer Z-axis value
+ * @param gx 16-bit signed integer container for gyroscope X-axis value
+ * @param gy 16-bit signed integer container for gyroscope Y-axis value
+ * @param gz 16-bit signed integer container for gyroscope Z-axis value
+ * @see getAcceleration()
+ * @see getRotation()
+ * @see MPU6050_RA_ACCEL_XOUT_H
+ */
+void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+    *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *az = (((int16_t)buffer[4]) << 8) | buffer[5];
+    *gx = (((int16_t)buffer[8]) << 8) | buffer[9];
+    *gy = (((int16_t)buffer[10]) << 8) | buffer[11];
+    *gz = (((int16_t)buffer[12]) << 8) | buffer[13];
+}
+/** Get 3-axis accelerometer readings.
+ * These registers store the most recent accelerometer measurements.
+ * Accelerometer measurements are written to these registers at the Sample Rate
+ * as defined in Register 25.
+ *
+ * The accelerometer measurement registers, along with the temperature
+ * measurement registers, gyroscope measurement registers, and external sensor
+ * data registers, are composed of two sets of registers: an internal register
+ * set and a user-facing read register set.
+ *
+ * The data within the accelerometer sensors' internal register set is always
+ * updated at the Sample Rate. Meanwhile, the user-facing read register set
+ * duplicates the internal register set's data values whenever the serial
+ * interface is idle. This guarantees that a burst read of sensor registers will
+ * read measurements from the same sampling instant. Note that if burst reads
+ * are not used, the user is responsible for ensuring a set of single byte reads
+ * correspond to a single sampling instant by checking the Data Ready interrupt.
+ *
+ * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
+ * (Register 28). For each full scale setting, the accelerometers' sensitivity
+ * per LSB in ACCEL_xOUT is shown in the table below:
+ *
+ * <pre>
+ * AFS_SEL | Full Scale Range | LSB Sensitivity
+ * --------+------------------+----------------
+ * 0       | +/- 2g           | 8192 LSB/mg
+ * 1       | +/- 4g           | 4096 LSB/mg
+ * 2       | +/- 8g           | 2048 LSB/mg
+ * 3       | +/- 16g          | 1024 LSB/mg
+ * </pre>
+ *
+ * @param x 16-bit signed integer container for X-axis acceleration
+ * @param y 16-bit signed integer container for Y-axis acceleration
+ * @param z 16-bit signed integer container for Z-axis acceleration
+ * @see MPU6050_RA_GYRO_XOUT_H
+ */
+void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+    *x = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *y = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *z = (((int16_t)buffer[4]) << 8) | buffer[5];
+}
+/** Get X-axis accelerometer reading.
+ * @return X-axis acceleration measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_ACCEL_XOUT_H
+ */
+int16_t MPU6050::getAccelerationX() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Y-axis accelerometer reading.
+ * @return Y-axis acceleration measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_ACCEL_YOUT_H
+ */
+int16_t MPU6050::getAccelerationY() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Z-axis accelerometer reading.
+ * @return Z-axis acceleration measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_ACCEL_ZOUT_H
+ */
+int16_t MPU6050::getAccelerationZ() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// TEMP_OUT_* registers
+
+/** Get current internal temperature.
+ * @return Temperature reading in 16-bit 2's complement format
+ * @see MPU6050_RA_TEMP_OUT_H
+ */
+int16_t MPU6050::getTemperature() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// GYRO_*OUT_* registers
+
+/** Get 3-axis gyroscope readings.
+ * These gyroscope measurement registers, along with the accelerometer
+ * measurement registers, temperature measurement registers, and external sensor
+ * data registers, are composed of two sets of registers: an internal register
+ * set and a user-facing read register set.
+ * The data within the gyroscope sensors' internal register set is always
+ * updated at the Sample Rate. Meanwhile, the user-facing read register set
+ * duplicates the internal register set's data values whenever the serial
+ * interface is idle. This guarantees that a burst read of sensor registers will
+ * read measurements from the same sampling instant. Note that if burst reads
+ * are not used, the user is responsible for ensuring a set of single byte reads
+ * correspond to a single sampling instant by checking the Data Ready interrupt.
+ *
+ * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
+ * (Register 27). For each full scale setting, the gyroscopes' sensitivity per
+ * LSB in GYRO_xOUT is shown in the table below:
+ *
+ * <pre>
+ * FS_SEL | Full Scale Range   | LSB Sensitivity
+ * -------+--------------------+----------------
+ * 0      | +/- 250 degrees/s  | 131 LSB/deg/s
+ * 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
+ * 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
+ * 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
+ * </pre>
+ *
+ * @param x 16-bit signed integer container for X-axis rotation
+ * @param y 16-bit signed integer container for Y-axis rotation
+ * @param z 16-bit signed integer container for Z-axis rotation
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_XOUT_H
+ */
+void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+    *x = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *y = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *z = (((int16_t)buffer[4]) << 8) | buffer[5];
+}
+/** Get X-axis gyroscope reading.
+ * @return X-axis rotation measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_XOUT_H
+ */
+int16_t MPU6050::getRotationX() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Y-axis gyroscope reading.
+ * @return Y-axis rotation measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_YOUT_H
+ */
+int16_t MPU6050::getRotationY() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Z-axis gyroscope reading.
+ * @return Z-axis rotation measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_ZOUT_H
+ */
+int16_t MPU6050::getRotationZ() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// EXT_SENS_DATA_* registers
+
+/** Read single byte from external sensor data register.
+ * These registers store data read from external sensors by the Slave 0, 1, 2,
+ * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
+ * I2C_SLV4_DI (Register 53).
+ *
+ * External sensor data is written to these registers at the Sample Rate as
+ * defined in Register 25. This access rate can be reduced by using the Slave
+ * Delay Enable registers (Register 103).
+ *
+ * External sensor data registers, along with the gyroscope measurement
+ * registers, accelerometer measurement registers, and temperature measurement
+ * registers, are composed of two sets of registers: an internal register set
+ * and a user-facing read register set.
+ *
+ * The data within the external sensors' internal register set is always updated
+ * at the Sample Rate (or the reduced access rate) whenever the serial interface
+ * is idle. This guarantees that a burst read of sensor registers will read
+ * measurements from the same sampling instant. Note that if burst reads are not
+ * used, the user is responsible for ensuring a set of single byte reads
+ * correspond to a single sampling instant by checking the Data Ready interrupt.
+ *
+ * Data is placed in these external sensor data registers according to
+ * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
+ * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
+ * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
+ * defined in Register 25) or delayed rate (if specified in Register 52 and
+ * 103). During each Sample cycle, slave reads are performed in order of Slave
+ * number. If all slaves are enabled with more than zero bytes to be read, the
+ * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
+ *
+ * Each enabled slave will have EXT_SENS_DATA registers associated with it by
+ * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
+ * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
+ * change the higher numbered slaves' associated registers. Furthermore, if
+ * fewer total bytes are being read from the external sensors as a result of
+ * such a change, then the data remaining in the registers which no longer have
+ * an associated slave device (i.e. high numbered registers) will remain in
+ * these previously allocated registers unless reset.
+ *
+ * If the sum of the read lengths of all SLVx transactions exceed the number of
+ * available EXT_SENS_DATA registers, the excess bytes will be dropped. There
+ * are 24 EXT_SENS_DATA registers and hence the total read lengths between all
+ * the slaves cannot be greater than 24 or some bytes will be lost.
+ *
+ * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
+ * information regarding the characteristics of Slave 4, please refer to
+ * Registers 49 to 53.
+ *
+ * EXAMPLE:
+ * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
+ * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
+ * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
+ * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
+ * will be associated with Slave 1. If Slave 2 is enabled as well, registers
+ * starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
+ *
+ * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
+ * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
+ * instead.
+ *
+ * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
+ * If a slave is disabled at any time, the space initially allocated to the
+ * slave in the EXT_SENS_DATA register, will remain associated with that slave.
+ * This is to avoid dynamic adjustment of the register allocation.
+ *
+ * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
+ * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
+ *
+ * This above is also true if one of the slaves gets NACKed and stops
+ * functioning.
+ *
+ * @param position Starting position (0-23)
+ * @return Byte read from register
+ */
+uint8_t MPU6050::getExternalSensorByte(int position) {
+    I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+    return buffer[0];
+}
+/** Read word (2 bytes) from external sensor data registers.
+ * @param position Starting position (0-21)
+ * @return Word read from register
+ * @see getExternalSensorByte()
+ */
+uint16_t MPU6050::getExternalSensorWord(int position) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Read double word (4 bytes) from external sensor data registers.
+ * @param position Starting position (0-20)
+ * @return Double word read from registers
+ * @see getExternalSensorByte()
+ */
+uint32_t MPU6050::getExternalSensorDWord(int position) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+    return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
+}
+
+// MOT_DETECT_STATUS register
+
+/** Get X-axis negative motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_XNEG_BIT
+ */
+bool MPU6050::getXNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get X-axis positive motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_XPOS_BIT
+ */
+bool MPU6050::getXPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get Y-axis negative motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_YNEG_BIT
+ */
+bool MPU6050::getYNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get Y-axis positive motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_YPOS_BIT
+ */
+bool MPU6050::getYPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get Z-axis negative motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_ZNEG_BIT
+ */
+bool MPU6050::getZNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get Z-axis positive motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_ZPOS_BIT
+ */
+bool MPU6050::getZPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get zero motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_ZRMOT_BIT
+ */
+bool MPU6050::getZeroMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+    return buffer[0];
+}
+
+// I2C_SLV*_DO register
+
+/** Write byte to Data Output container for specified slave.
+ * This register holds the output data written into Slave when Slave is set to
+ * write mode. For further information regarding Slave control, please
+ * refer to Registers 37 to 39 and immediately following.
+ * @param num Slave number (0-3)
+ * @param data Byte to write
+ * @see MPU6050_RA_I2C_SLV0_DO
+ */
+void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
+    if (num > 3) return;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+}
+
+// I2C_MST_DELAY_CTRL register
+
+/** Get external data shadow delay enabled status.
+ * This register is used to specify the timing of external sensor data
+ * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
+ * sensor data is delayed until all data has been received.
+ * @return Current external data shadow delay enabled status.
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
+ */
+bool MPU6050::getExternalShadowDelayEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
+    return buffer[0];
+}
+/** Set external data shadow delay enabled status.
+ * @param enabled New external data shadow delay enabled status.
+ * @see getExternalShadowDelayEnabled()
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
+ */
+void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+}
+/** Get slave delay enabled status.
+ * When a particular slave delay is enabled, the rate of access for the that
+ * slave device is reduced. When a slave's access rate is decreased relative to
+ * the Sample Rate, the slave is accessed every:
+ *
+ *     1 / (1 + I2C_MST_DLY) Samples
+ *
+ * This base Sample Rate in turn is determined by SMPLRT_DIV (register  * 25)
+ * and DLPF_CFG (register 26).
+ *
+ * For further information regarding I2C_MST_DLY, please refer to register 52.
+ * For further information regarding the Sample Rate, please refer to register 25.
+ *
+ * @param num Slave number (0-4)
+ * @return Current slave delay enabled status.
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
+ */
+bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
+    // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
+    if (num > 4) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+    return buffer[0];
+}
+/** Set slave delay enabled status.
+ * @param num Slave number (0-4)
+ * @param enabled New slave delay enabled status.
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
+ */
+void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+}
+
+// SIGNAL_PATH_RESET register
+
+/** Reset gyroscope signal path.
+ * The reset will revert the signal path analog to digital converters and
+ * filters to their power up configurations.
+ * @see MPU6050_RA_SIGNAL_PATH_RESET
+ * @see MPU6050_PATHRESET_GYRO_RESET_BIT
+ */
+void MPU6050::resetGyroscopePath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+}
+/** Reset accelerometer signal path.
+ * The reset will revert the signal path analog to digital converters and
+ * filters to their power up configurations.
+ * @see MPU6050_RA_SIGNAL_PATH_RESET
+ * @see MPU6050_PATHRESET_ACCEL_RESET_BIT
+ */
+void MPU6050::resetAccelerometerPath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+}
+/** Reset temperature sensor signal path.
+ * The reset will revert the signal path analog to digital converters and
+ * filters to their power up configurations.
+ * @see MPU6050_RA_SIGNAL_PATH_RESET
+ * @see MPU6050_PATHRESET_TEMP_RESET_BIT
+ */
+void MPU6050::resetTemperaturePath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+}
+
+// MOT_DETECT_CTRL register
+
+/** Get accelerometer power-on delay.
+ * The accelerometer data path provides samples to the sensor registers, Motion
+ * detection, Zero Motion detection, and Free Fall detection modules. The
+ * signal path contains filters which must be flushed on wake-up with new
+ * samples before the detection modules begin operations. The default wake-up
+ * delay, of 4ms can be lengthened by up to 3ms. This additional delay is
+ * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
+ * any value above zero unless instructed otherwise by InvenSense. Please refer
+ * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
+ * further information regarding the detection modules.
+ * @return Current accelerometer power-on delay
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
+ */
+uint8_t MPU6050::getAccelerometerPowerOnDelay() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set accelerometer power-on delay.
+ * @param delay New accelerometer power-on delay (0-3)
+ * @see getAccelerometerPowerOnDelay()
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
+ */
+void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+}
+/** Get Free Fall detection counter decrement configuration.
+ * Detection is registered by the Free Fall detection module after accelerometer
+ * measurements meet their respective threshold conditions over a specified
+ * number of samples. When the threshold conditions are met, the corresponding
+ * detection counter increments by 1. The user may control the rate at which the
+ * detection counter decrements when the threshold condition is not met by
+ * configuring FF_COUNT. The decrement rate can be set according to the
+ * following table:
+ *
+ * <pre>
+ * FF_COUNT | Counter Decrement
+ * ---------+------------------
+ * 0        | Reset
+ * 1        | 1
+ * 2        | 2
+ * 3        | 4
+ * </pre>
+ *
+ * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
+ * reset the counter to 0. For further information on Free Fall detection,
+ * please refer to Registers 29 to 32.
+ *
+ * @return Current decrement configuration
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_FF_COUNT_BIT
+ */
+uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Free Fall detection counter decrement configuration.
+ * @param decrement New decrement configuration value
+ * @see getFreefallDetectionCounterDecrement()
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_FF_COUNT_BIT
+ */
+void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
+}
+/** Get Motion detection counter decrement configuration.
+ * Detection is registered by the Motion detection module after accelerometer
+ * measurements meet their respective threshold conditions over a specified
+ * number of samples. When the threshold conditions are met, the corresponding
+ * detection counter increments by 1. The user may control the rate at which the
+ * detection counter decrements when the threshold condition is not met by
+ * configuring MOT_COUNT. The decrement rate can be set according to the
+ * following table:
+ *
+ * <pre>
+ * MOT_COUNT | Counter Decrement
+ * ----------+------------------
+ * 0         | Reset
+ * 1         | 1
+ * 2         | 2
+ * 3         | 4
+ * </pre>
+ *
+ * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
+ * reset the counter to 0. For further information on Motion detection,
+ * please refer to Registers 29 to 32.
+ *
+ */
+uint8_t MPU6050::getMotionDetectionCounterDecrement() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Motion detection counter decrement configuration.
+ * @param decrement New decrement configuration value
+ * @see getMotionDetectionCounterDecrement()
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_MOT_COUNT_BIT
+ */
+void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
+}
+
+// USER_CTRL register
+
+/** Get FIFO enabled status.
+ * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
+ * cannot be written to or read from while disabled. The FIFO buffer's state
+ * does not change unless the MPU-60X0 is power cycled.
+ * @return Current FIFO enabled status
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_FIFO_EN_BIT
+ */
+bool MPU6050::getFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set FIFO enabled status.
+ * @param enabled New FIFO enabled status
+ * @see getFIFOEnabled()
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_FIFO_EN_BIT
+ */
+void MPU6050::setFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+}
+/** Get I2C Master Mode enabled status.
+ * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
+ * external sensor slave devices on the auxiliary I2C bus. When this bit is
+ * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
+ * driven by the primary I2C bus (SDA and SCL). This is a precondition to
+ * enabling Bypass Mode. For further information regarding Bypass Mode, please
+ * refer to Register 55.
+ * @return Current I2C Master Mode enabled status
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
+ */
+bool MPU6050::getI2CMasterModeEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C Master Mode enabled status.
+ * @param enabled New I2C Master Mode enabled status
+ * @see getI2CMasterModeEnabled()
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
+ */
+void MPU6050::setI2CMasterModeEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+}
+/** Switch from I2C to SPI mode (MPU-6000 only)
+ * If this is set, the primary SPI interface will be enabled in place of the
+ * disabled primary I2C interface.
+ */
+void MPU6050::switchSPIEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+}
+/** Reset the FIFO.
+ * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
+ * bit automatically clears to 0 after the reset has been triggered.
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_FIFO_RESET_BIT
+ */
+void MPU6050::resetFIFO() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
+}
+/** Reset the I2C Master.
+ * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
+ * This bit automatically clears to 0 after the reset has been triggered.
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
+ */
+void MPU6050::resetI2CMaster() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
+}
+/** Reset all sensor registers and signal paths.
+ * When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
+ * accelerometers, and temperature sensor). This operation will also clear the
+ * sensor registers. This bit automatically clears to 0 after the reset has been
+ * triggered.
+ *
+ * When resetting only the signal path (and not the sensor registers), please
+ * use Register 104, SIGNAL_PATH_RESET.
+ *
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
+ */
+void MPU6050::resetSensors() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+}
+
+// PWR_MGMT_1 register
+
+/** Trigger a full device reset.
+ * A small delay of ~50ms may be desirable after triggering a reset.
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_DEVICE_RESET_BIT
+ */
+void MPU6050::reset() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+}
+/** Get sleep mode status.
+ * Setting the SLEEP bit in the register puts the device into very low power
+ * sleep mode. In this mode, only the serial interface and internal registers
+ * remain active, allowing for a very low standby current. Clearing this bit
+ * puts the device back into normal mode. To save power, the individual standby
+ * selections for each of the gyros should be used if any gyro axis is not used
+ * by the application.
+ * @return Current sleep mode enabled status
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_SLEEP_BIT
+ */
+bool MPU6050::getSleepEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+    return buffer[0];
+}
+/** Set sleep mode status.
+ * @param enabled New sleep mode enabled status
+ * @see getSleepEnabled()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_SLEEP_BIT
+ */
+void MPU6050::setSleepEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+}
+/** Get wake cycle enabled status.
+ * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
+ * between sleep mode and waking up to take a single sample of data from active
+ * sensors at a rate determined by LP_WAKE_CTRL (register 108).
+ * @return Current sleep mode enabled status
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CYCLE_BIT
+ */
+bool MPU6050::getWakeCycleEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+    return buffer[0];
+}
+/** Set wake cycle enabled status.
+ * @param enabled New sleep mode enabled status
+ * @see getWakeCycleEnabled()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CYCLE_BIT
+ */
+void MPU6050::setWakeCycleEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+}
+/** Get temperature sensor enabled status.
+ * Control the usage of the internal temperature sensor.
+ *
+ * Note: this register stores the *disabled* value, but for consistency with the
+ * rest of the code, the function is named and used with standard true/false
+ * values to indicate whether the sensor is enabled or disabled, respectively.
+ *
+ * @return Current temperature sensor enabled status
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_TEMP_DIS_BIT
+ */
+bool MPU6050::getTempSensorEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+    return buffer[0] == 0; // 1 is actually disabled here
+}
+/** Set temperature sensor enabled status.
+ * Note: this register stores the *disabled* value, but for consistency with the
+ * rest of the code, the function is named and used with standard true/false
+ * values to indicate whether the sensor is enabled or disabled, respectively.
+ *
+ * @param enabled New temperature sensor enabled status
+ * @see getTempSensorEnabled()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_TEMP_DIS_BIT
+ */
+void MPU6050::setTempSensorEnabled(bool enabled) {
+    // 1 is actually disabled here
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+}
+/** Get clock source setting.
+ * @return Current clock source setting
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CLKSEL_BIT
+ * @see MPU6050_PWR1_CLKSEL_LENGTH
+ */
+uint8_t MPU6050::getClockSource() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set clock source setting.
+ * An internal 8MHz oscillator, gyroscope based clock, or external sources can
+ * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
+ * or an external source is chosen as the clock source, the MPU-60X0 can operate
+ * in low power modes with the gyroscopes disabled.
+ *
+ * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
+ * However, it is highly recommended that the device be configured to use one of
+ * the gyroscopes (or an external clock source) as the clock reference for
+ * improved stability. The clock source can be selected according to the following table:
+ *
+ * <pre>
+ * CLK_SEL | Clock Source
+ * --------+--------------------------------------
+ * 0       | Internal oscillator
+ * 1       | PLL with X Gyro reference
+ * 2       | PLL with Y Gyro reference
+ * 3       | PLL with Z Gyro reference
+ * 4       | PLL with external 32.768kHz reference
+ * 5       | PLL with external 19.2MHz reference
+ * 6       | Reserved
+ * 7       | Stops the clock and keeps the timing generator in reset
+ * </pre>
+ *
+ * @param source New clock source setting
+ * @see getClockSource()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CLKSEL_BIT
+ * @see MPU6050_PWR1_CLKSEL_LENGTH
+ */
+void MPU6050::setClockSource(uint8_t source) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
+}
+
+// PWR_MGMT_2 register
+
+/** Get wake frequency in Accel-Only Low Power Mode.
+ * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
+ * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
+ * the device will power off all devices except for the primary I2C interface,
+ * waking only the accelerometer at fixed intervals to take a single
+ * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
+ * as shown below:
+ *
+ * <pre>
+ * LP_WAKE_CTRL | Wake-up Frequency
+ * -------------+------------------
+ * 0            | 1.25 Hz
+ * 1            | 2.5 Hz
+ * 2            | 5 Hz
+ * 3            | 10 Hz
+ * <pre>
+ *
+ * For further information regarding the MPU-60X0's power modes, please refer to
+ * Register 107.
+ *
+ * @return Current wake frequency
+ * @see MPU6050_RA_PWR_MGMT_2
+ */
+uint8_t MPU6050::getWakeFrequency() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set wake frequency in Accel-Only Low Power Mode.
+ * @param frequency New wake frequency
+ * @see MPU6050_RA_PWR_MGMT_2
+ */
+void MPU6050::setWakeFrequency(uint8_t frequency) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+}
+
+/** Get X-axis accelerometer standby enabled status.
+ * If enabled, the X-axis will not gather or report data (or use power).
+ * @return Current X-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XA_BIT
+ */
+bool MPU6050::getStandbyXAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis accelerometer standby enabled status.
+ * @param New X-axis standby enabled status
+ * @see getStandbyXAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XA_BIT
+ */
+void MPU6050::setStandbyXAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+}
+/** Get Y-axis accelerometer standby enabled status.
+ * If enabled, the Y-axis will not gather or report data (or use power).
+ * @return Current Y-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YA_BIT
+ */
+bool MPU6050::getStandbyYAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis accelerometer standby enabled status.
+ * @param New Y-axis standby enabled status
+ * @see getStandbyYAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YA_BIT
+ */
+void MPU6050::setStandbyYAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+}
+/** Get Z-axis accelerometer standby enabled status.
+ * If enabled, the Z-axis will not gather or report data (or use power).
+ * @return Current Z-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZA_BIT
+ */
+bool MPU6050::getStandbyZAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis accelerometer standby enabled status.
+ * @param New Z-axis standby enabled status
+ * @see getStandbyZAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZA_BIT
+ */
+void MPU6050::setStandbyZAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+}
+/** Get X-axis gyroscope standby enabled status.
+ * If enabled, the X-axis will not gather or report data (or use power).
+ * @return Current X-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XG_BIT
+ */
+bool MPU6050::getStandbyXGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis gyroscope standby enabled status.
+ * @param New X-axis standby enabled status
+ * @see getStandbyXGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XG_BIT
+ */
+void MPU6050::setStandbyXGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+}
+/** Get Y-axis gyroscope standby enabled status.
+ * If enabled, the Y-axis will not gather or report data (or use power).
+ * @return Current Y-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YG_BIT
+ */
+bool MPU6050::getStandbyYGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis gyroscope standby enabled status.
+ * @param New Y-axis standby enabled status
+ * @see getStandbyYGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YG_BIT
+ */
+void MPU6050::setStandbyYGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+}
+/** Get Z-axis gyroscope standby enabled status.
+ * If enabled, the Z-axis will not gather or report data (or use power).
+ * @return Current Z-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZG_BIT
+ */
+bool MPU6050::getStandbyZGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis gyroscope standby enabled status.
+ * @param New Z-axis standby enabled status
+ * @see getStandbyZGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZG_BIT
+ */
+void MPU6050::setStandbyZGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+}
+
+// FIFO_COUNT* registers
+
+/** Get current FIFO buffer size.
+ * This value indicates the number of bytes stored in the FIFO buffer. This
+ * number is in turn the number of bytes that can be read from the FIFO buffer
+ * and it is directly proportional to the number of samples available given the
+ * set of sensor data bound to be stored in the FIFO (register 35 and 36).
+ * @return Current FIFO buffer size
+ */
+uint16_t MPU6050::getFIFOCount() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// FIFO_R_W register
+
+/** Get byte from FIFO buffer.
+ * This register is used to read and write data from the FIFO buffer. Data is
+ * written to the FIFO in order of register number (from lowest to highest). If
+ * all the FIFO enable flags (see below) are enabled and all External Sensor
+ * Data registers (Registers 73 to 96) are associated with a Slave device, the
+ * contents of registers 59 through 96 will be written in order at the Sample
+ * Rate.
+ *
+ * The contents of the sensor data registers (Registers 59 to 96) are written
+ * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
+ * in FIFO_EN (Register 35). An additional flag for the sensor data registers
+ * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
+ *
+ * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
+ * automatically set to 1. This bit is located in INT_STATUS (Register 58).
+ * When the FIFO buffer has overflowed, the oldest data will be lost and new
+ * data will be written to the FIFO.
+ *
+ * If the FIFO buffer is empty, reading this register will return the last byte
+ * that was previously read from the FIFO until new data is available. The user
+ * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
+ * empty.
+ *
+ * @return Byte from FIFO buffer
+ */
+uint8_t MPU6050::getFIFOByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+}
+/** Write byte to FIFO buffer.
+ * @see getFIFOByte()
+ * @see MPU6050_RA_FIFO_R_W
+ */
+void MPU6050::setFIFOByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+}
+
+// WHO_AM_I register
+
+/** Get Device ID.
+ * This register is used to verify the identity of the device (0b110100, 0x34).
+ * @return Device ID (6 bits only! should be 0x34)
+ * @see MPU6050_RA_WHO_AM_I
+ * @see MPU6050_WHO_AM_I_BIT
+ * @see MPU6050_WHO_AM_I_LENGTH
+ */
+uint8_t MPU6050::getDeviceID() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Device ID.
+ * Write a new ID into the WHO_AM_I register (no idea why this should ever be
+ * necessary though).
+ * @param id New device ID to set.
+ * @see getDeviceID()
+ * @see MPU6050_RA_WHO_AM_I
+ * @see MPU6050_WHO_AM_I_BIT
+ * @see MPU6050_WHO_AM_I_LENGTH
+ */
+void MPU6050::setDeviceID(uint8_t id) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+}
+
+// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+
+// XG_OFFS_TC register
+
+uint8_t MPU6050::getOTPBankValid() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setOTPBankValid(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+}
+int8_t MPU6050::getXGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setXGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// YG_OFFS_TC register
+
+int8_t MPU6050::getYGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setYGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// ZG_OFFS_TC register
+
+int8_t MPU6050::getZGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setZGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// X_FINE_GAIN register
+
+int8_t MPU6050::getXFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setXFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+}
+
+// Y_FINE_GAIN register
+
+int8_t MPU6050::getYFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setYFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+}
+
+// Z_FINE_GAIN register
+
+int8_t MPU6050::getZFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setZFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+}
+
+// XA_OFFS_* registers
+
+int16_t MPU6050::getXAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+}
+
+// YA_OFFS_* register
+
+int16_t MPU6050::getYAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+}
+
+// ZA_OFFS_* register
+
+int16_t MPU6050::getZAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+}
+
+// XG_OFFS_USR* registers
+
+int16_t MPU6050::getXGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+}
+
+// YG_OFFS_USR* register
+
+int16_t MPU6050::getYGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+}
+
+// ZG_OFFS_USR* register
+
+int16_t MPU6050::getZGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+}
+
+// INT_ENABLE register (DMP functions)
+
+bool MPU6050::getIntPLLReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntPLLReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+}
+bool MPU6050::getIntDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+}
+
+// DMP_INT_STATUS
+
+bool MPU6050::getDMPInt5Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt4Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt3Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt2Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt1Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt0Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_STATUS register (DMP functions)
+
+bool MPU6050::getIntPLLReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getIntDMPStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+
+// USER_CTRL register (DMP functions)
+
+bool MPU6050::getDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+}
+void MPU6050::resetDMP() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+}
+
+// BANK_SEL register
+
+void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
+    bank &= 0x1F;
+    if (userBank) bank |= 0x20;
+    if (prefetchEnabled) bank |= 0x40;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+}
+
+// MEM_START_ADDR register
+
+void MPU6050::setMemoryStartAddress(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+}
+
+// MEM_R_W register
+
+uint8_t MPU6050::readMemoryByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::writeMemoryByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+}
+void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    for (uint16_t i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) chunkSize = 256 - address;
+
+        // read the chunk of data as specified
+        I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+        
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) bank++;
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+}
+bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    uint8_t *verifyBuffer;
+    uint8_t *progBuffer;
+    uint16_t i;
+    uint8_t j;
+    if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    for (i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) chunkSize = 256 - address;
+        
+        if (useProgMem) {
+            // write the chunk of data as specified
+            for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
+        } else {
+            // write the chunk of data as specified
+            progBuffer = (uint8_t *)data + i;
+        }
+
+        I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+
+        // verify data if needed
+        if (verify && verifyBuffer) {
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+            I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+            if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
+                /*Serial.print("Block write verification error, bank ");
+                Serial.print(bank, DEC);
+                Serial.print(", address ");
+                Serial.print(address, DEC);
+                Serial.print("!\nExpected:");
+                for (j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (progBuffer[j] < 16) Serial.print("0");
+                    Serial.print(progBuffer[j], HEX);
+                }
+                Serial.print("\nReceived:");
+                for (uint8_t j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (verifyBuffer[i + j] < 16) Serial.print("0");
+                    Serial.print(verifyBuffer[i + j], HEX);
+                }
+                Serial.print("\n");*/
+                free(verifyBuffer);
+                if (useProgMem) free(progBuffer);
+                return false; // uh oh.
+            }
+        }
+
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) bank++;
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+    if (verify) free(verifyBuffer);
+    if (useProgMem) free(progBuffer);
+    return true;
+}
+bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
+    return writeMemoryBlock(data, dataSize, bank, address, verify, true);
+}
+bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
+    uint8_t *progBuffer, success, special;
+    uint16_t i, j;
+    if (useProgMem) {
+        progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
+    }
+
+    // config set data is a long string of blocks with the following structure:
+    // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+    uint8_t bank, offset, length;
+    for (i = 0; i < dataSize;) {
+        if (useProgMem) {
+            bank = pgm_read_byte(data + i++);
+            offset = pgm_read_byte(data + i++);
+            length = pgm_read_byte(data + i++);
+        } else {
+            bank = data[i++];
+            offset = data[i++];
+            length = data[i++];
+        }
+
+        // write data or perform special action
+        if (length > 0) {
+            // regular block of data to write
+            /*Serial.print("Writing config block to bank ");
+            Serial.print(bank);
+            Serial.print(", offset ");
+            Serial.print(offset);
+            Serial.print(", length=");
+            Serial.println(length);*/
+            if (useProgMem) {
+                if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
+                for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
+            } else {
+                progBuffer = (uint8_t *)data + i;
+            }
+            success = writeMemoryBlock(progBuffer, length, bank, offset, true);
+            i += length;
+        } else {
+            // special instruction
+            // NOTE: this kind of behavior (what and when to do certain things)
+            // is totally undocumented. This code is in here based on observed
+            // behavior only, and exactly why (or even whether) it has to be here
+            // is anybody's guess for now.
+            if (useProgMem) {
+                special = pgm_read_byte(data + i++);
+            } else {
+                special = data[i++];
+            }
+            /*Serial.print("Special command code ");
+            Serial.print(special, HEX);
+            Serial.println(" found...");*/
+            if (special == 0x01) {
+                // enable DMP-related interrupts
+                
+                //setIntZeroMotionEnabled(true);
+                //setIntFIFOBufferOverflowEnabled(true);
+                //setIntDMPEnabled(true);
+                I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32);  // single operation
+
+                success = true;
+            } else {
+                // unknown special command
+                success = false;
+            }
+        }
+        
+        if (!success) {
+            if (useProgMem) free(progBuffer);
+            return false; // uh oh
+        }
+    }
+    if (useProgMem) free(progBuffer);
+    return true;
+}
+bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
+    return writeDMPConfigurationSet(data, dataSize, true);
+}
+
+// DMP_CFG_1 register
+
+uint8_t MPU6050::getDMPConfig1() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig1(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+}
+
+// DMP_CFG_2 register
+
+uint8_t MPU6050::getDMPConfig2() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig2(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+}
diff --git a/libraries/MPU9150/MPU9150.h b/libraries/MPU9150/MPU9150.h
new file mode 100644
index 0000000..e0d015f
--- /dev/null
+++ b/libraries/MPU9150/MPU9150.h
@@ -0,0 +1,1002 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/* ============================================
+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.
+===============================================
+*/
+
+#ifndef _MPU6050_H_
+#define _MPU6050_H_
+
+#include "I2Cdev.h"
+#include <avr/pgmspace.h>
+
+//Magnetometer Registers
+#define MPU9150_RA_MAG_ADDRESS		0x0C
+#define MPU9150_RA_MAG_XOUT_L		0x03
+#define MPU9150_RA_MAG_XOUT_H		0x04
+#define MPU9150_RA_MAG_YOUT_L		0x05
+#define MPU9150_RA_MAG_YOUT_H		0x06
+#define MPU9150_RA_MAG_ZOUT_L		0x07
+#define MPU9150_RA_MAG_ZOUT_H		0x08
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
+#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
+#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
+#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
+#define MPU6050_RA_XA_OFFS_L_TC     0x07
+#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
+#define MPU6050_RA_YA_OFFS_L_TC     0x09
+#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
+#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
+#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
+#define MPU6050_RA_XG_OFFS_USRL     0x14
+#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
+#define MPU6050_RA_YG_OFFS_USRL     0x16
+#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
+#define MPU6050_RA_ZG_OFFS_USRL     0x18
+#define MPU6050_RA_SMPLRT_DIV       0x19
+#define MPU6050_RA_CONFIG           0x1A
+#define MPU6050_RA_GYRO_CONFIG      0x1B
+#define MPU6050_RA_ACCEL_CONFIG     0x1C
+#define MPU6050_RA_FF_THR           0x1D
+#define MPU6050_RA_FF_DUR           0x1E
+#define MPU6050_RA_MOT_THR          0x1F
+#define MPU6050_RA_MOT_DUR          0x20
+#define MPU6050_RA_ZRMOT_THR        0x21
+#define MPU6050_RA_ZRMOT_DUR        0x22
+#define MPU6050_RA_FIFO_EN          0x23
+#define MPU6050_RA_I2C_MST_CTRL     0x24
+#define MPU6050_RA_I2C_SLV0_ADDR    0x25
+#define MPU6050_RA_I2C_SLV0_REG     0x26
+#define MPU6050_RA_I2C_SLV0_CTRL    0x27
+#define MPU6050_RA_I2C_SLV1_ADDR    0x28
+#define MPU6050_RA_I2C_SLV1_REG     0x29
+#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
+#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
+#define MPU6050_RA_I2C_SLV2_REG     0x2C
+#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
+#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
+#define MPU6050_RA_I2C_SLV3_REG     0x2F
+#define MPU6050_RA_I2C_SLV3_CTRL    0x30
+#define MPU6050_RA_I2C_SLV4_ADDR    0x31
+#define MPU6050_RA_I2C_SLV4_REG     0x32
+#define MPU6050_RA_I2C_SLV4_DO      0x33
+#define MPU6050_RA_I2C_SLV4_CTRL    0x34
+#define MPU6050_RA_I2C_SLV4_DI      0x35
+#define MPU6050_RA_I2C_MST_STATUS   0x36
+#define MPU6050_RA_INT_PIN_CFG      0x37
+#define MPU6050_RA_INT_ENABLE       0x38
+#define MPU6050_RA_DMP_INT_STATUS   0x39
+#define MPU6050_RA_INT_STATUS       0x3A
+#define MPU6050_RA_ACCEL_XOUT_H     0x3B
+#define MPU6050_RA_ACCEL_XOUT_L     0x3C
+#define MPU6050_RA_ACCEL_YOUT_H     0x3D
+#define MPU6050_RA_ACCEL_YOUT_L     0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L     0x40
+#define MPU6050_RA_TEMP_OUT_H       0x41
+#define MPU6050_RA_TEMP_OUT_L       0x42
+#define MPU6050_RA_GYRO_XOUT_H      0x43
+#define MPU6050_RA_GYRO_XOUT_L      0x44
+#define MPU6050_RA_GYRO_YOUT_H      0x45
+#define MPU6050_RA_GYRO_YOUT_L      0x46
+#define MPU6050_RA_GYRO_ZOUT_H      0x47
+#define MPU6050_RA_GYRO_ZOUT_L      0x48
+#define MPU6050_RA_EXT_SENS_DATA_00 0x49
+#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
+#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
+#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
+#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
+#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
+#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
+#define MPU6050_RA_EXT_SENS_DATA_07 0x50
+#define MPU6050_RA_EXT_SENS_DATA_08 0x51
+#define MPU6050_RA_EXT_SENS_DATA_09 0x52
+#define MPU6050_RA_EXT_SENS_DATA_10 0x53
+#define MPU6050_RA_EXT_SENS_DATA_11 0x54
+#define MPU6050_RA_EXT_SENS_DATA_12 0x55
+#define MPU6050_RA_EXT_SENS_DATA_13 0x56
+#define MPU6050_RA_EXT_SENS_DATA_14 0x57
+#define MPU6050_RA_EXT_SENS_DATA_15 0x58
+#define MPU6050_RA_EXT_SENS_DATA_16 0x59
+#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
+#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
+#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
+#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
+#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
+#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
+#define MPU6050_RA_EXT_SENS_DATA_23 0x60
+#define MPU6050_RA_MOT_DETECT_STATUS    0x61
+#define MPU6050_RA_I2C_SLV0_DO      0x63
+#define MPU6050_RA_I2C_SLV1_DO      0x64
+#define MPU6050_RA_I2C_SLV2_DO      0x65
+#define MPU6050_RA_I2C_SLV3_DO      0x66
+#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
+#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
+#define MPU6050_RA_MOT_DETECT_CTRL      0x69
+#define MPU6050_RA_USER_CTRL        0x6A
+#define MPU6050_RA_PWR_MGMT_1       0x6B
+#define MPU6050_RA_PWR_MGMT_2       0x6C
+#define MPU6050_RA_BANK_SEL         0x6D
+#define MPU6050_RA_MEM_START_ADDR   0x6E
+#define MPU6050_RA_MEM_R_W          0x6F
+#define MPU6050_RA_DMP_CFG_1        0x70
+#define MPU6050_RA_DMP_CFG_2        0x71
+#define MPU6050_RA_FIFO_COUNTH      0x72
+#define MPU6050_RA_FIFO_COUNTL      0x73
+#define MPU6050_RA_FIFO_R_W         0x74
+#define MPU6050_RA_WHO_AM_I         0x75
+
+#define MPU6050_TC_PWR_MODE_BIT     7
+#define MPU6050_TC_OFFSET_BIT       6
+#define MPU6050_TC_OFFSET_LENGTH    6
+#define MPU6050_TC_OTP_BNK_VLD_BIT  0
+
+#define MPU6050_VDDIO_LEVEL_VLOGIC  0
+#define MPU6050_VDDIO_LEVEL_VDD     1
+
+#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
+#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
+#define MPU6050_CFG_DLPF_CFG_BIT    2
+#define MPU6050_CFG_DLPF_CFG_LENGTH 3
+
+#define MPU6050_EXT_SYNC_DISABLED       0x0
+#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
+#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
+#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
+#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
+#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
+#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
+#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
+
+#define MPU6050_DLPF_BW_256         0x00
+#define MPU6050_DLPF_BW_188         0x01
+#define MPU6050_DLPF_BW_98          0x02
+#define MPU6050_DLPF_BW_42          0x03
+#define MPU6050_DLPF_BW_20          0x04
+#define MPU6050_DLPF_BW_10          0x05
+#define MPU6050_DLPF_BW_5           0x06
+
+#define MPU6050_GCONFIG_FS_SEL_BIT      4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
+
+#define MPU6050_GYRO_FS_250         0x00
+#define MPU6050_GYRO_FS_500         0x01
+#define MPU6050_GYRO_FS_1000        0x02
+#define MPU6050_GYRO_FS_2000        0x03
+
+#define MPU6050_ACONFIG_XA_ST_BIT           7
+#define MPU6050_ACONFIG_YA_ST_BIT           6
+#define MPU6050_ACONFIG_ZA_ST_BIT           5
+#define MPU6050_ACONFIG_AFS_SEL_BIT         4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
+#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
+#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
+
+#define MPU6050_ACCEL_FS_2          0x00
+#define MPU6050_ACCEL_FS_4          0x01
+#define MPU6050_ACCEL_FS_8          0x02
+#define MPU6050_ACCEL_FS_16         0x03
+
+#define MPU6050_DHPF_RESET          0x00
+#define MPU6050_DHPF_5              0x01
+#define MPU6050_DHPF_2P5            0x02
+#define MPU6050_DHPF_1P25           0x03
+#define MPU6050_DHPF_0P63           0x04
+#define MPU6050_DHPF_HOLD           0x07
+
+#define MPU6050_TEMP_FIFO_EN_BIT    7
+#define MPU6050_XG_FIFO_EN_BIT      6
+#define MPU6050_YG_FIFO_EN_BIT      5
+#define MPU6050_ZG_FIFO_EN_BIT      4
+#define MPU6050_ACCEL_FIFO_EN_BIT   3
+#define MPU6050_SLV2_FIFO_EN_BIT    2
+#define MPU6050_SLV1_FIFO_EN_BIT    1
+#define MPU6050_SLV0_FIFO_EN_BIT    0
+
+#define MPU6050_MULT_MST_EN_BIT     7
+#define MPU6050_WAIT_FOR_ES_BIT     6
+#define MPU6050_SLV_3_FIFO_EN_BIT   5
+#define MPU6050_I2C_MST_P_NSR_BIT   4
+#define MPU6050_I2C_MST_CLK_BIT     3
+#define MPU6050_I2C_MST_CLK_LENGTH  4
+
+#define MPU6050_CLOCK_DIV_348       0x0
+#define MPU6050_CLOCK_DIV_333       0x1
+#define MPU6050_CLOCK_DIV_320       0x2
+#define MPU6050_CLOCK_DIV_308       0x3
+#define MPU6050_CLOCK_DIV_296       0x4
+#define MPU6050_CLOCK_DIV_286       0x5
+#define MPU6050_CLOCK_DIV_276       0x6
+#define MPU6050_CLOCK_DIV_267       0x7
+#define MPU6050_CLOCK_DIV_258       0x8
+#define MPU6050_CLOCK_DIV_500       0x9
+#define MPU6050_CLOCK_DIV_471       0xA
+#define MPU6050_CLOCK_DIV_444       0xB
+#define MPU6050_CLOCK_DIV_421       0xC
+#define MPU6050_CLOCK_DIV_400       0xD
+#define MPU6050_CLOCK_DIV_381       0xE
+#define MPU6050_CLOCK_DIV_364       0xF
+
+#define MPU6050_I2C_SLV_RW_BIT      7
+#define MPU6050_I2C_SLV_ADDR_BIT    6
+#define MPU6050_I2C_SLV_ADDR_LENGTH 7
+#define MPU6050_I2C_SLV_EN_BIT      7
+#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
+#define MPU6050_I2C_SLV_REG_DIS_BIT 5
+#define MPU6050_I2C_SLV_GRP_BIT     4
+#define MPU6050_I2C_SLV_LEN_BIT     3
+#define MPU6050_I2C_SLV_LEN_LENGTH  4
+
+#define MPU6050_I2C_SLV4_RW_BIT         7
+#define MPU6050_I2C_SLV4_ADDR_BIT       6
+#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
+#define MPU6050_I2C_SLV4_EN_BIT         7
+#define MPU6050_I2C_SLV4_INT_EN_BIT     6
+#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
+#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
+#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
+
+#define MPU6050_MST_PASS_THROUGH_BIT    7
+#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
+#define MPU6050_MST_I2C_LOST_ARB_BIT    5
+#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
+#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
+#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
+#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
+#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
+
+#define MPU6050_INTCFG_INT_LEVEL_BIT        7
+#define MPU6050_INTCFG_INT_OPEN_BIT         6
+#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
+#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
+#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
+#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
+#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
+#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
+
+#define MPU6050_INTMODE_ACTIVEHIGH  0x00
+#define MPU6050_INTMODE_ACTIVELOW   0x01
+
+#define MPU6050_INTDRV_PUSHPULL     0x00
+#define MPU6050_INTDRV_OPENDRAIN    0x01
+
+#define MPU6050_INTLATCH_50USPULSE  0x00
+#define MPU6050_INTLATCH_WAITCLEAR  0x01
+
+#define MPU6050_INTCLEAR_STATUSREAD 0x00
+#define MPU6050_INTCLEAR_ANYREAD    0x01
+
+#define MPU6050_INTERRUPT_FF_BIT            7
+#define MPU6050_INTERRUPT_MOT_BIT           6
+#define MPU6050_INTERRUPT_ZMOT_BIT          5
+#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
+#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
+#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
+#define MPU6050_INTERRUPT_DMP_INT_BIT       1
+#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
+
+// TODO: figure out what these actually do
+// UMPL source code is not very obivous
+#define MPU6050_DMPINT_5_BIT            5
+#define MPU6050_DMPINT_4_BIT            4
+#define MPU6050_DMPINT_3_BIT            3
+#define MPU6050_DMPINT_2_BIT            2
+#define MPU6050_DMPINT_1_BIT            1
+#define MPU6050_DMPINT_0_BIT            0
+
+#define MPU6050_MOTION_MOT_XNEG_BIT     7
+#define MPU6050_MOTION_MOT_XPOS_BIT     6
+#define MPU6050_MOTION_MOT_YNEG_BIT     5
+#define MPU6050_MOTION_MOT_YPOS_BIT     4
+#define MPU6050_MOTION_MOT_ZNEG_BIT     3
+#define MPU6050_MOTION_MOT_ZPOS_BIT     2
+#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
+
+#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
+#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
+#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
+#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
+#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
+#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
+
+#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
+#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
+#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
+
+#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
+#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
+#define MPU6050_DETECT_FF_COUNT_BIT             3
+#define MPU6050_DETECT_FF_COUNT_LENGTH          2
+#define MPU6050_DETECT_MOT_COUNT_BIT            1
+#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
+
+#define MPU6050_DETECT_DECREMENT_RESET  0x0
+#define MPU6050_DETECT_DECREMENT_1      0x1
+#define MPU6050_DETECT_DECREMENT_2      0x2
+#define MPU6050_DETECT_DECREMENT_4      0x3
+
+#define MPU6050_USERCTRL_DMP_EN_BIT             7
+#define MPU6050_USERCTRL_FIFO_EN_BIT            6
+#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
+#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
+#define MPU6050_USERCTRL_DMP_RESET_BIT          3
+#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
+#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
+#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
+
+#define MPU6050_PWR1_DEVICE_RESET_BIT   7
+#define MPU6050_PWR1_SLEEP_BIT          6
+#define MPU6050_PWR1_CYCLE_BIT          5
+#define MPU6050_PWR1_TEMP_DIS_BIT       3
+#define MPU6050_PWR1_CLKSEL_BIT         2
+#define MPU6050_PWR1_CLKSEL_LENGTH      3
+
+#define MPU6050_CLOCK_INTERNAL          0x00
+#define MPU6050_CLOCK_PLL_XGYRO         0x01
+#define MPU6050_CLOCK_PLL_YGYRO         0x02
+#define MPU6050_CLOCK_PLL_ZGYRO         0x03
+#define MPU6050_CLOCK_PLL_EXT32K        0x04
+#define MPU6050_CLOCK_PLL_EXT19M        0x05
+#define MPU6050_CLOCK_KEEP_RESET        0x07
+
+#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
+#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
+#define MPU6050_PWR2_STBY_XA_BIT            5
+#define MPU6050_PWR2_STBY_YA_BIT            4
+#define MPU6050_PWR2_STBY_ZA_BIT            3
+#define MPU6050_PWR2_STBY_XG_BIT            2
+#define MPU6050_PWR2_STBY_YG_BIT            1
+#define MPU6050_PWR2_STBY_ZG_BIT            0
+
+#define MPU6050_WAKE_FREQ_1P25      0x0
+#define MPU6050_WAKE_FREQ_2P5       0x1
+#define MPU6050_WAKE_FREQ_5         0x2
+#define MPU6050_WAKE_FREQ_10        0x3
+
+#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
+#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
+#define MPU6050_BANKSEL_MEM_SEL_BIT         4
+#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
+
+#define MPU6050_WHO_AM_I_BIT        6
+#define MPU6050_WHO_AM_I_LENGTH     6
+
+#define MPU6050_DMP_MEMORY_BANKS        8
+#define MPU6050_DMP_MEMORY_BANK_SIZE    256
+#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
+
+// note: DMP code memory blocks defined at end of header file
+
+class MPU6050 {
+    public:
+        MPU6050();
+        MPU6050(uint8_t address);
+
+        void initialize();
+        bool testConnection();
+
+        // AUX_VDDIO register
+        uint8_t getAuxVDDIOLevel();
+        void setAuxVDDIOLevel(uint8_t level);
+
+        // SMPLRT_DIV register
+        uint8_t getRate();
+        void setRate(uint8_t rate);
+        
+        uint8_t  checkMagStatus();
+     
+        // CONFIG register
+        uint8_t getExternalFrameSync();
+        void setExternalFrameSync(uint8_t sync);
+        uint8_t getDLPFMode();
+        void setDLPFMode(uint8_t bandwidth);
+
+        // GYRO_CONFIG register
+        uint8_t getFullScaleGyroRange();
+        void setFullScaleGyroRange(uint8_t range);
+
+        // ACCEL_CONFIG register
+        bool getAccelXSelfTest();
+        void setAccelXSelfTest(bool enabled);
+        bool getAccelYSelfTest();
+        void setAccelYSelfTest(bool enabled);
+        bool getAccelZSelfTest();
+        void setAccelZSelfTest(bool enabled);
+        uint8_t getFullScaleAccelRange();
+        void setFullScaleAccelRange(uint8_t range);
+        uint8_t getDHPFMode();
+        void setDHPFMode(uint8_t mode);
+
+        // FF_THR register
+        uint8_t getFreefallDetectionThreshold();
+        void setFreefallDetectionThreshold(uint8_t threshold);
+
+        // FF_DUR register
+        uint8_t getFreefallDetectionDuration();
+        void setFreefallDetectionDuration(uint8_t duration);
+
+        // MOT_THR register
+        uint8_t getMotionDetectionThreshold();
+        void setMotionDetectionThreshold(uint8_t threshold);
+
+        // MOT_DUR register
+        uint8_t getMotionDetectionDuration();
+        void setMotionDetectionDuration(uint8_t duration);
+
+        // ZRMOT_THR register
+        uint8_t getZeroMotionDetectionThreshold();
+        void setZeroMotionDetectionThreshold(uint8_t threshold);
+
+        // ZRMOT_DUR register
+        uint8_t getZeroMotionDetectionDuration();
+        void setZeroMotionDetectionDuration(uint8_t duration);
+
+        // FIFO_EN register
+        bool getTempFIFOEnabled();
+        void setTempFIFOEnabled(bool enabled);
+        bool getXGyroFIFOEnabled();
+        void setXGyroFIFOEnabled(bool enabled);
+        bool getYGyroFIFOEnabled();
+        void setYGyroFIFOEnabled(bool enabled);
+        bool getZGyroFIFOEnabled();
+        void setZGyroFIFOEnabled(bool enabled);
+        bool getAccelFIFOEnabled();
+        void setAccelFIFOEnabled(bool enabled);
+        bool getSlave2FIFOEnabled();
+        void setSlave2FIFOEnabled(bool enabled);
+        bool getSlave1FIFOEnabled();
+        void setSlave1FIFOEnabled(bool enabled);
+        bool getSlave0FIFOEnabled();
+        void setSlave0FIFOEnabled(bool enabled);
+
+        // I2C_MST_CTRL register
+        bool getMultiMasterEnabled();
+        void setMultiMasterEnabled(bool enabled);
+        bool getWaitForExternalSensorEnabled();
+        void setWaitForExternalSensorEnabled(bool enabled);
+        bool getSlave3FIFOEnabled();
+        void setSlave3FIFOEnabled(bool enabled);
+        bool getSlaveReadWriteTransitionEnabled();
+        void setSlaveReadWriteTransitionEnabled(bool enabled);
+        uint8_t getMasterClockSpeed();
+        void setMasterClockSpeed(uint8_t speed);
+
+        // I2C_SLV* registers (Slave 0-3)
+        uint8_t getSlaveAddress(uint8_t num);
+        void setSlaveAddress(uint8_t num, uint8_t address);
+        uint8_t getSlaveRegister(uint8_t num);
+        void setSlaveRegister(uint8_t num, uint8_t reg);
+        bool getSlaveEnabled(uint8_t num);
+        void setSlaveEnabled(uint8_t num, bool enabled);
+        bool getSlaveWordByteSwap(uint8_t num);
+        void setSlaveWordByteSwap(uint8_t num, bool enabled);
+        bool getSlaveWriteMode(uint8_t num);
+        void setSlaveWriteMode(uint8_t num, bool mode);
+        bool getSlaveWordGroupOffset(uint8_t num);
+        void setSlaveWordGroupOffset(uint8_t num, bool enabled);
+        uint8_t getSlaveDataLength(uint8_t num);
+        void setSlaveDataLength(uint8_t num, uint8_t length);
+
+        // I2C_SLV* registers (Slave 4)
+        uint8_t getSlave4Address();
+        void setSlave4Address(uint8_t address);
+        uint8_t getSlave4Register();
+        void setSlave4Register(uint8_t reg);
+        void setSlave4OutputByte(uint8_t data);
+        bool getSlave4Enabled();
+        void setSlave4Enabled(bool enabled);
+        bool getSlave4InterruptEnabled();
+        void setSlave4InterruptEnabled(bool enabled);
+        bool getSlave4WriteMode();
+        void setSlave4WriteMode(bool mode);
+        uint8_t getSlave4MasterDelay();
+        void setSlave4MasterDelay(uint8_t delay);
+        uint8_t getSlate4InputByte();
+
+        // I2C_MST_STATUS register
+        bool getPassthroughStatus();
+        bool getSlave4IsDone();
+        bool getLostArbitration();
+        bool getSlave4Nack();
+        bool getSlave3Nack();
+        bool getSlave2Nack();
+        bool getSlave1Nack();
+        bool getSlave0Nack();
+
+        // INT_PIN_CFG register
+        bool getInterruptMode();
+        void setInterruptMode(bool mode);
+        bool getInterruptDrive();
+        void setInterruptDrive(bool drive);
+        bool getInterruptLatch();
+        void setInterruptLatch(bool latch);
+        bool getInterruptLatchClear();
+        void setInterruptLatchClear(bool clear);
+        bool getFSyncInterruptLevel();
+        void setFSyncInterruptLevel(bool level);
+        bool getFSyncInterruptEnabled();
+        void setFSyncInterruptEnabled(bool enabled);
+        bool getI2CBypassEnabled();
+        void setI2CBypassEnabled(bool enabled);
+        bool getClockOutputEnabled();
+        void setClockOutputEnabled(bool enabled);
+
+        // INT_ENABLE register
+        uint8_t getIntEnabled();
+        void setIntEnabled(uint8_t enabled);
+        bool getIntFreefallEnabled();
+        void setIntFreefallEnabled(bool enabled);
+        bool getIntMotionEnabled();
+        void setIntMotionEnabled(bool enabled);
+        bool getIntZeroMotionEnabled();
+        void setIntZeroMotionEnabled(bool enabled);
+        bool getIntFIFOBufferOverflowEnabled();
+        void setIntFIFOBufferOverflowEnabled(bool enabled);
+        bool getIntI2CMasterEnabled();
+        void setIntI2CMasterEnabled(bool enabled);
+        bool getIntDataReadyEnabled();
+        void setIntDataReadyEnabled(bool enabled);
+
+        // INT_STATUS register
+        uint8_t getIntStatus();
+        bool getIntFreefallStatus();
+        bool getIntMotionStatus();
+        bool getIntZeroMotionStatus();
+        bool getIntFIFOBufferOverflowStatus();
+        bool getIntI2CMasterStatus();
+        bool getIntDataReadyStatus();
+
+        // ACCEL_*OUT_* registers
+        void 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);
+        void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
+        void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
+        int16_t getAccelerationX();
+        int16_t getAccelerationY();
+        int16_t getAccelerationZ();
+
+        // TEMP_OUT_* registers
+        int16_t getTemperature();
+
+        // GYRO_*OUT_* registers
+        void getRotation(int16_t* x, int16_t* y, int16_t* z);
+        int16_t getRotationX();
+        int16_t getRotationY();
+        int16_t getRotationZ();
+
+        // MAG_*OUT_* registers
+        void getMag(int16_t* x, int16_t* y, int16_t* z);
+
+        // EXT_SENS_DATA_* registers
+        uint8_t getExternalSensorByte(int position);
+        uint16_t getExternalSensorWord(int position);
+        uint32_t getExternalSensorDWord(int position);
+
+        // MOT_DETECT_STATUS register
+        bool getXNegMotionDetected();
+        bool getXPosMotionDetected();
+        bool getYNegMotionDetected();
+        bool getYPosMotionDetected();
+        bool getZNegMotionDetected();
+        bool getZPosMotionDetected();
+        bool getZeroMotionDetected();
+
+        // I2C_SLV*_DO register
+        void setSlaveOutputByte(uint8_t num, uint8_t data);
+
+        // I2C_MST_DELAY_CTRL register
+        bool getExternalShadowDelayEnabled();
+        void setExternalShadowDelayEnabled(bool enabled);
+        bool getSlaveDelayEnabled(uint8_t num);
+        void setSlaveDelayEnabled(uint8_t num, bool enabled);
+
+        // SIGNAL_PATH_RESET register
+        void resetGyroscopePath();
+        void resetAccelerometerPath();
+        void resetTemperaturePath();
+
+        // MOT_DETECT_CTRL register
+        uint8_t getAccelerometerPowerOnDelay();
+        void setAccelerometerPowerOnDelay(uint8_t delay);
+        uint8_t getFreefallDetectionCounterDecrement();
+        void setFreefallDetectionCounterDecrement(uint8_t decrement);
+        uint8_t getMotionDetectionCounterDecrement();
+        void setMotionDetectionCounterDecrement(uint8_t decrement);
+
+        // USER_CTRL register
+        bool getFIFOEnabled();
+        void setFIFOEnabled(bool enabled);
+        bool getI2CMasterModeEnabled();
+        void setI2CMasterModeEnabled(bool enabled);
+        void switchSPIEnabled(bool enabled);
+        void resetFIFO();
+        void resetI2CMaster();
+        void resetSensors();
+
+        // PWR_MGMT_1 register
+        void reset();
+        bool getSleepEnabled();
+        void setSleepEnabled(bool enabled);
+        bool getWakeCycleEnabled();
+        void setWakeCycleEnabled(bool enabled);
+        bool getTempSensorEnabled();
+        void setTempSensorEnabled(bool enabled);
+        uint8_t getClockSource();
+        void setClockSource(uint8_t source);
+
+        // PWR_MGMT_2 register
+        uint8_t getWakeFrequency();
+        void setWakeFrequency(uint8_t frequency);
+        bool getStandbyXAccelEnabled();
+        void setStandbyXAccelEnabled(bool enabled);
+        bool getStandbyYAccelEnabled();
+        void setStandbyYAccelEnabled(bool enabled);
+        bool getStandbyZAccelEnabled();
+        void setStandbyZAccelEnabled(bool enabled);
+        bool getStandbyXGyroEnabled();
+        void setStandbyXGyroEnabled(bool enabled);
+        bool getStandbyYGyroEnabled();
+        void setStandbyYGyroEnabled(bool enabled);
+        bool getStandbyZGyroEnabled();
+        void setStandbyZGyroEnabled(bool enabled);
+
+        // FIFO_COUNT_* registers
+        uint16_t getFIFOCount();
+
+        // FIFO_R_W register
+        uint8_t getFIFOByte();
+        void setFIFOByte(uint8_t data);
+        void getFIFOBytes(uint8_t *data, uint8_t length);
+
+        // WHO_AM_I register
+        uint8_t getDeviceID();
+        void setDeviceID(uint8_t id);
+        
+        // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+        
+        // XG_OFFS_TC register
+        uint8_t getOTPBankValid();
+        void setOTPBankValid(bool enabled);
+        int8_t getXGyroOffset();
+        void setXGyroOffset(int8_t offset);
+
+        // YG_OFFS_TC register
+        int8_t getYGyroOffset();
+        void setYGyroOffset(int8_t offset);
+
+        // ZG_OFFS_TC register
+        int8_t getZGyroOffset();
+        void setZGyroOffset(int8_t offset);
+
+        // X_FINE_GAIN register
+        int8_t getXFineGain();
+        void setXFineGain(int8_t gain);
+
+        // Y_FINE_GAIN register
+        int8_t getYFineGain();
+        void setYFineGain(int8_t gain);
+
+        // Z_FINE_GAIN register
+        int8_t getZFineGain();
+        void setZFineGain(int8_t gain);
+
+        // XA_OFFS_* registers
+        int16_t getXAccelOffset();
+        void setXAccelOffset(int16_t offset);
+
+        // YA_OFFS_* register
+        int16_t getYAccelOffset();
+        void setYAccelOffset(int16_t offset);
+
+        // ZA_OFFS_* register
+        int16_t getZAccelOffset();
+        void setZAccelOffset(int16_t offset);
+
+        // XG_OFFS_USR* registers
+        int16_t getXGyroOffsetUser();
+        void setXGyroOffsetUser(int16_t offset);
+
+        // YG_OFFS_USR* register
+        int16_t getYGyroOffsetUser();
+        void setYGyroOffsetUser(int16_t offset);
+
+        // ZG_OFFS_USR* register
+        int16_t getZGyroOffsetUser();
+        void setZGyroOffsetUser(int16_t offset);
+        
+        // INT_ENABLE register (DMP functions)
+        bool getIntPLLReadyEnabled();
+        void setIntPLLReadyEnabled(bool enabled);
+        bool getIntDMPEnabled();
+        void setIntDMPEnabled(bool enabled);
+        
+        // DMP_INT_STATUS
+        bool getDMPInt5Status();
+        bool getDMPInt4Status();
+        bool getDMPInt3Status();
+        bool getDMPInt2Status();
+        bool getDMPInt1Status();
+        bool getDMPInt0Status();
+
+        // INT_STATUS register (DMP functions)
+        bool getIntPLLReadyStatus();
+        bool getIntDMPStatus();
+        
+        // USER_CTRL register (DMP functions)
+        bool getDMPEnabled();
+        void setDMPEnabled(bool enabled);
+        void resetDMP();
+        
+        // BANK_SEL register
+        void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
+        
+        // MEM_START_ADDR register
+        void setMemoryStartAddress(uint8_t address);
+        
+        // MEM_R_W register
+        uint8_t readMemoryByte();
+        void writeMemoryByte(uint8_t data);
+        void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
+        bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
+        bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
+
+        bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
+        bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
+
+        // DMP_CFG_1 register
+        uint8_t getDMPConfig1();
+        void setDMPConfig1(uint8_t config);
+
+        // DMP_CFG_2 register
+        uint8_t getDMPConfig2();
+        void setDMPConfig2(uint8_t config);
+
+        // special methods for MotionApps 2.0 implementation
+        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
+            uint8_t *dmpPacketBuffer;
+            uint16_t dmpPacketSize;
+
+            uint8_t dmpInitialize();
+            bool dmpPacketAvailable();
+
+            uint8_t dmpSetFIFORate(uint8_t fifoRate);
+            uint8_t dmpGetFIFORate();
+            uint8_t dmpGetSampleStepSizeMS();
+            uint8_t dmpGetSampleFrequency();
+            int32_t dmpDecodeTemperature(int8_t tempReg);
+            
+            // Register callbacks after a packet of FIFO data is processed
+            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+            uint8_t dmpRunFIFORateProcesses();
+            
+            // Setup FIFO for various output
+            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+            // Get Fixed Point data from FIFO
+            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);                  	
+            uint8_t dmpGetMag (VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
+            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
+            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
+            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
+            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
+            
+            uint8_t dmpGetEuler(float *data, Quaternion *q);
+            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
+
+            // Get Floating Point data from FIFO
+            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
+
+            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
+            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
+
+            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
+
+            uint8_t dmpInitFIFOParam();
+            uint8_t dmpCloseFIFO();
+            uint8_t dmpSetGyroDataSource(uint8_t source);
+            uint8_t dmpDecodeQuantizedAccel();
+            uint32_t dmpGetGyroSumOfSquare();
+            uint32_t dmpGetAccelSumOfSquare();
+            void dmpOverrideQuaternion(long *q);
+            uint16_t dmpGetFIFOPacketSize();
+        #endif
+
+        // special methods for MotionApps 4.1 implementation
+        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
+            uint8_t *dmpPacketBuffer;
+            uint16_t dmpPacketSize;
+
+            uint8_t dmpInitialize();
+            bool dmpPacketAvailable();
+
+            uint8_t dmpSetFIFORate(uint8_t fifoRate);
+            uint8_t dmpGetFIFORate();
+            uint8_t dmpGetSampleStepSizeMS();
+            uint8_t dmpGetSampleFrequency();
+            int32_t dmpDecodeTemperature(int8_t tempReg);
+            
+            // Register callbacks after a packet of FIFO data is processed
+            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+            uint8_t dmpRunFIFORateProcesses();
+            
+            // Setup FIFO for various output
+            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+            // Get Fixed Point data from FIFO
+            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetMag(VectorInt16 *v, const uint8_t* packet=0);
+	    uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
+            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
+            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
+            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
+            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
+            
+            uint8_t dmpGetEuler(float *data, Quaternion *q);
+            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
+
+            // Get Floating Point data from FIFO
+            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
+
+            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
+            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
+
+            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
+
+            uint8_t dmpInitFIFOParam();
+            uint8_t dmpCloseFIFO();
+            uint8_t dmpSetGyroDataSource(uint8_t source);
+            uint8_t dmpDecodeQuantizedAccel();
+            uint32_t dmpGetGyroSumOfSquare();
+            uint32_t dmpGetAccelSumOfSquare();
+            void dmpOverrideQuaternion(long *q);
+            uint16_t dmpGetFIFOPacketSize();
+        #endif
+
+    private:
+        uint8_t devAddr;
+        uint8_t buffer[14];
+};
+
+#endif /* _MPU6050_H_ */
+