Remove unneeded libraries

7 files changed, 0 insertions, 6687 deletions

diff --git a/libraries/I2Cdev/I2Cdev.cpp b/libraries/I2Cdev/I2Cdev.cpp
deleted file mode 100644
index 92032be..0000000
--- a/libraries/I2Cdev/I2Cdev.cpp
+++ /dev/null
@@ -1,1373 +0,0 @@
-// I2Cdev library collection - Main I2C device class
-// Abstracts bit and byte I2C R/W functions into a convenient class
-// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
-//
-// Changelog:
-//     2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
-//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
-//     2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
-//     2011-10-03 - added automatic Arduino version detection for ease of use
-//     2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
-//     2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
-//     2011-08-03 - added optional timeout parameter to read* methods to easily change from default
-//     2011-08-02 - added support for 16-bit registers
-//                - fixed incorrect Doxygen comments on some methods
-//                - added timeout value for read operations (thanks mem @ Arduino forums)
-//     2011-07-30 - changed read/write function structures to return success or byte counts
-//                - made all methods static for multi-device memory savings
-//     2011-07-28 - initial release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#include "I2Cdev.h"
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-
-    #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
-        #if ARDUINO < 100
-            #warning Using outdated Arduino IDE with Wire library is functionally limiting.
-            #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
-            #warning This I2Cdev implementation does not support:
-            #warning - Repeated starts conditions
-            #warning - Timeout detection (some Wire requests block forever)
-        #elif ARDUINO == 100
-            #warning Using outdated Arduino IDE with Wire library is functionally limiting.
-            #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
-            #warning This I2Cdev implementation does not support:
-            #warning - Repeated starts conditions
-            #warning - Timeout detection (some Wire requests block forever)
-        #elif ARDUINO > 100
-            /*
-            #warning Using current Arduino IDE with Wire library is functionally limiting.
-            #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended.
-            #warning This I2Cdev implementation does not support:
-            #warning - Timeout detection (some Wire requests block forever)
-            */
-        #endif
-    #endif
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-
-    #error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago!
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-
-    #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
-        #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection.
-        #warning This I2Cdev implementation does not support:
-        #warning - Repeated starts conditions
-    #endif
-
-    // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
-    // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
-    // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-    TwoWire Wire;
-
-#endif
-
-/** Default constructor.
- */
-I2Cdev::I2Cdev() {
-}
-
-/** Read a single bit from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-7)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
-    uint8_t b;
-    uint8_t count = readByte(devAddr, regAddr, &b, timeout);
-    *data = b & (1 << bitNum);
-    return count;
-}
-
-/** Read a single bit from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-15)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
-    uint16_t b;
-    uint8_t count = readWord(devAddr, regAddr, &b, timeout);
-    *data = b & (1 << bitNum);
-    return count;
-}
-
-/** Read multiple bits from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-7)
- * @param length Number of bits to read (not more than 8)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
-    // 01101001 read byte
-    // 76543210 bit numbers
-    //    xxx   args: bitStart=4, length=3
-    //    010   masked
-    //   -> 010 shifted
-    uint8_t count, b;
-    if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
-        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        b &= mask;
-        b >>= (bitStart - length + 1);
-        *data = b;
-    }
-    return count;
-}
-
-/** Read multiple bits from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-15)
- * @param length Number of bits to read (not more than 16)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
- */
-int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
-    // 1101011001101001 read byte
-    // fedcba9876543210 bit numbers
-    //    xxx           args: bitStart=12, length=3
-    //    010           masked
-    //           -> 010 shifted
-    uint8_t count;
-    uint16_t w;
-    if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
-        uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        w &= mask;
-        w >>= (bitStart - length + 1);
-        *data = w;
-    }
-    return count;
-}
-
-/** Read single byte from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for byte value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
-    return readBytes(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read single word from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for word value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
-    return readWords(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read multiple bytes from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of bytes to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of bytes read (-1 indicates failure)
- */
-int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") reading ");
-        Serial.print(length, DEC);
-        Serial.print(" bytes from 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-
-    int8_t count = 0;
-    uint32_t t1 = millis();
-
-    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
-        #if (ARDUINO < 100)
-            // Arduino v00xx (before v1.0), Wire library
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.send(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
-                for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
-                    data[count] = Wire.receive();
-                    #ifdef I2CDEV_SERIAL_DEBUG
-                        Serial.print(data[count], HEX);
-                        if (count + 1 < length) Serial.print(" ");
-                    #endif
-                }
-
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO == 100)
-            // Arduino v1.0.0, Wire library
-            // Adds standardized write() and read() stream methods instead of send() and receive()
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-        
-                for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
-                    data[count] = Wire.read();
-                    #ifdef I2CDEV_SERIAL_DEBUG
-                        Serial.print(data[count], HEX);
-                        if (count + 1 < length) Serial.print(" ");
-                    #endif
-                }
-        
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO > 100)
-            // Arduino v1.0.1+, Wire library
-            // Adds official support for repeated start condition, yay!
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-        
-                for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
-                    data[count] = Wire.read();
-                    #ifdef I2CDEV_SERIAL_DEBUG
-                        Serial.print(data[count], HEX);
-                        if (count + 1 < length) Serial.print(" ");
-                    #endif
-                }
-        
-                Wire.endTransmission();
-            }
-        #endif
-
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-        // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
-        // no loop required for fastwire
-        uint8_t status = Fastwire::readBuf(devAddr, regAddr, data, length);
-        if (status == 0) {
-            count = length; // success
-        } else {
-            count = -1; // error
-        }
-
-    #endif
-
-    // check for timeout
-    if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print(". Done (");
-        Serial.print(count, DEC);
-        Serial.println(" read).");
-    #endif
-
-    return count;
-}
-
-/** Read multiple words from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of words to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of words read (0 indicates failure)
- */
-int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") reading ");
-        Serial.print(length, DEC);
-        Serial.print(" words from 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-
-    int8_t count = 0;
-    uint32_t t1 = millis();
-
-    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
-        #if (ARDUINO < 100)
-            // Arduino v00xx (before v1.0), Wire library
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.send(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-    
-                bool msb = true; // starts with MSB, then LSB
-                for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
-                    if (msb) {
-                        // first byte is bits 15-8 (MSb=15)
-                        data[count] = Wire.receive() << 8;
-                    } else {
-                        // second byte is bits 7-0 (LSb=0)
-                        data[count] |= Wire.receive();
-                        #ifdef I2CDEV_SERIAL_DEBUG
-                            Serial.print(data[count], HEX);
-                            if (count + 1 < length) Serial.print(" ");
-                        #endif
-                        count++;
-                    }
-                    msb = !msb;
-                }
-
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO == 100)
-            // Arduino v1.0.0, Wire library
-            // Adds standardized write() and read() stream methods instead of send() and receive()
-    
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-    
-                bool msb = true; // starts with MSB, then LSB
-                for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
-                    if (msb) {
-                        // first byte is bits 15-8 (MSb=15)
-                        data[count] = Wire.read() << 8;
-                    } else {
-                        // second byte is bits 7-0 (LSb=0)
-                        data[count] |= Wire.read();
-                        #ifdef I2CDEV_SERIAL_DEBUG
-                            Serial.print(data[count], HEX);
-                            if (count + 1 < length) Serial.print(" ");
-                        #endif
-                        count++;
-                    }
-                    msb = !msb;
-                }
-        
-                Wire.endTransmission();
-            }
-        #elif (ARDUINO > 100)
-            // Arduino v1.0.1+, Wire library
-            // Adds official support for repeated start condition, yay!
-
-            // I2C/TWI subsystem uses internal buffer that breaks with large data requests
-            // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
-            // smaller chunks instead of all at once
-            for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
-                Wire.beginTransmission(devAddr);
-                Wire.write(regAddr);
-                Wire.endTransmission();
-                Wire.beginTransmission(devAddr);
-                Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-        
-                bool msb = true; // starts with MSB, then LSB
-                for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
-                    if (msb) {
-                        // first byte is bits 15-8 (MSb=15)
-                        data[count] = Wire.read() << 8;
-                    } else {
-                        // second byte is bits 7-0 (LSb=0)
-                        data[count] |= Wire.read();
-                        #ifdef I2CDEV_SERIAL_DEBUG
-                            Serial.print(data[count], HEX);
-                            if (count + 1 < length) Serial.print(" ");
-                        #endif
-                        count++;
-                    }
-                    msb = !msb;
-                }
-        
-                Wire.endTransmission();
-            }
-        #endif
-
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-        // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
-        // no loop required for fastwire
-        uint16_t intermediate[(uint8_t)length];
-        uint8_t status = Fastwire::readBuf(devAddr, regAddr, (uint8_t *)intermediate, (uint8_t)(length * 2));
-        if (status == 0) {
-            count = length; // success
-            for (uint8_t i = 0; i < length; i++) {
-                data[i] = (intermediate[2*i] << 8) | intermediate[2*i + 1];
-            }
-        } else {
-            count = -1; // error
-        }
-
-    #endif
-
-    if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print(". Done (");
-        Serial.print(count, DEC);
-        Serial.println(" read).");
-    #endif
-    
-    return count;
-}
-
-/** write a single bit in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-7)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
-    uint8_t b;
-    readByte(devAddr, regAddr, &b);
-    b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
-    return writeByte(devAddr, regAddr, b);
-}
-
-/** write a single bit in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-15)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
-    uint16_t w;
-    readWord(devAddr, regAddr, &w);
-    w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
-    return writeWord(devAddr, regAddr, w);
-}
-
-/** Write multiple bits in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-7)
- * @param length Number of bits to write (not more than 8)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
-    //      010 value to write
-    // 76543210 bit numbers
-    //    xxx   args: bitStart=4, length=3
-    // 00011100 mask byte
-    // 10101111 original value (sample)
-    // 10100011 original & ~mask
-    // 10101011 masked | value
-    uint8_t b;
-    if (readByte(devAddr, regAddr, &b) != 0) {
-        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        data <<= (bitStart - length + 1); // shift data into correct position
-        data &= mask; // zero all non-important bits in data
-        b &= ~(mask); // zero all important bits in existing byte
-        b |= data; // combine data with existing byte
-        return writeByte(devAddr, regAddr, b);
-    } else {
-        return false;
-    }
-}
-
-/** Write multiple bits in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-15)
- * @param length Number of bits to write (not more than 16)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
-    //              010 value to write
-    // fedcba9876543210 bit numbers
-    //    xxx           args: bitStart=12, length=3
-    // 0001110000000000 mask byte
-    // 1010111110010110 original value (sample)
-    // 1010001110010110 original & ~mask
-    // 1010101110010110 masked | value
-    uint16_t w;
-    if (readWord(devAddr, regAddr, &w) != 0) {
-        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
-        data <<= (bitStart - length + 1); // shift data into correct position
-        data &= mask; // zero all non-important bits in data
-        w &= ~(mask); // zero all important bits in existing word
-        w |= data; // combine data with existing word
-        return writeWord(devAddr, regAddr, w);
-    } else {
-        return false;
-    }
-}
-
-/** Write single byte to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New byte value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
-    return writeBytes(devAddr, regAddr, 1, &data);
-}
-
-/** Write single word to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New word value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
-    return writeWords(devAddr, regAddr, 1, &data);
-}
-
-/** Write multiple bytes to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of bytes to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") writing ");
-        Serial.print(length, DEC);
-        Serial.print(" bytes to 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-    uint8_t status = 0;
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.beginTransmission(devAddr);
-        Wire.send((uint8_t) regAddr); // send address
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        Wire.beginTransmission(devAddr);
-        Wire.write((uint8_t) regAddr); // send address
-    #endif
-    for (uint8_t i = 0; i < length; i++) {
-        #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-            Wire.send((uint8_t) data[i]);
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-            Wire.write((uint8_t) data[i]);
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-            status = Fastwire::write(devAddr, regAddr, data[i]);
-            Serial.println(status);
-        #endif
-        #ifdef I2CDEV_SERIAL_DEBUG
-            Serial.print(data[i], HEX);
-            if (i + 1 < length) Serial.print(" ");
-        #endif
-    }
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.endTransmission();
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        status = Wire.endTransmission();
-    #endif
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.println(". Done.");
-    #endif
-    return status == 0;
-}
-
-/** Write multiple words to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of words to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.print("I2C (0x");
-        Serial.print(devAddr, HEX);
-        Serial.print(") writing ");
-        Serial.print(length, DEC);
-        Serial.print(" words to 0x");
-        Serial.print(regAddr, HEX);
-        Serial.print("...");
-    #endif
-    uint8_t status = 0;
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.beginTransmission(devAddr);
-        Wire.send(regAddr); // send address
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        Wire.beginTransmission(devAddr);
-        Wire.write(regAddr); // send address
-    #endif
-    for (uint8_t i = 0; i < length * 2; i++) {
-        #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-            Wire.send((uint8_t)(data[i++] >> 8)); // send MSB
-            Wire.send((uint8_t)data[i]);          // send LSB
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-            Wire.write((uint8_t)(data[i++] >> 8)); // send MSB
-            Wire.write((uint8_t)data[i]);          // send LSB
-        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
-            status = Fastwire::write(devAddr, regAddr, (uint8_t)(data[i++] >> 8));
-            status = Fastwire::write(devAddr, regAddr + 1, (uint8_t)data[i]);
-        #endif
-        #ifdef I2CDEV_SERIAL_DEBUG
-            Serial.print(data[i], HEX);
-            if (i + 1 < length) Serial.print(" ");
-        #endif
-    }
-    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
-        Wire.endTransmission();
-    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
-        status = Wire.endTransmission();
-    #endif
-    #ifdef I2CDEV_SERIAL_DEBUG
-        Serial.println(". Done.");
-    #endif
-    return status == 0;
-}
-
-/** Default timeout value for read operations.
- * Set this to 0 to disable timeout detection.
- */
-uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-    /*
-    FastWire 0.2
-    This is a library to help faster programs to read I2C devices.
-    Copyright(C) 2011 Francesco Ferrara
-    occhiobello at gmail dot com
-    */
-
-    boolean Fastwire::waitInt() {
-        int l = 250;
-        while (!(TWCR & (1 << TWINT)) && l-- > 0);
-        return l > 0;
-    }
-
-    void Fastwire::setup(int khz, boolean pullup) {
-        TWCR = 0;
-        #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
-            // activate internal pull-ups for twi (PORTC bits 4 & 5)
-            // as per note from atmega8 manual pg167
-            if (pullup) PORTC |= ((1 << 4) | (1 << 5));
-            else        PORTC &= ~((1 << 4) | (1 << 5));
-        #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
-            // activate internal pull-ups for twi (PORTC bits 0 & 1)
-            if (pullup) PORTC |= ((1 << 0) | (1 << 1));
-            else        PORTC &= ~((1 << 0) | (1 << 1));
-        #else
-            // activate internal pull-ups for twi (PORTD bits 0 & 1)
-            // as per note from atmega128 manual pg204
-            if (pullup) PORTD |= ((1 << 0) | (1 << 1));
-            else        PORTD &= ~((1 << 0) | (1 << 1));
-        #endif
-
-        TWSR = 0; // no prescaler => prescaler = 1
-        TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate
-        TWCR = 1 << TWEN; // enable twi module, no interrupt
-    }
-
-    byte Fastwire::write(byte device, byte address, byte value) {
-        byte twst, retry;
-
-        retry = 2;
-        do {
-            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
-            if (!waitInt()) return 1;
-            twst = TWSR & 0xF8;
-            if (twst != TW_START && twst != TW_REP_START) return 2;
-
-            TWDR = device & 0xFE; // send device address without read bit (1)
-            TWCR = (1 << TWINT) | (1 << TWEN);
-            if (!waitInt()) return 3;
-            twst = TWSR & 0xF8;
-        } while (twst == TW_MT_SLA_NACK && retry-- > 0);
-        if (twst != TW_MT_SLA_ACK) return 4;
-
-        TWDR = address; // send data to the previously addressed device
-        TWCR = (1 << TWINT) | (1 << TWEN);
-        if (!waitInt()) return 5;
-        twst = TWSR & 0xF8;
-        if (twst != TW_MT_DATA_ACK) return 6;
-
-        TWDR = value; // send data to the previously addressed device
-        TWCR = (1 << TWINT) | (1 << TWEN);
-        if (!waitInt()) return 7;
-        twst = TWSR & 0xF8;
-        if (twst != TW_MT_DATA_ACK) return 8;
-
-        return 0;
-    }
-
-    byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) {
-        byte twst, retry;
-
-        retry = 2;
-        do {
-            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
-            if (!waitInt()) return 16;
-            twst = TWSR & 0xF8;
-            if (twst != TW_START && twst != TW_REP_START) return 17;
-
-            TWDR = device & 0xfe; // send device address to write
-            TWCR = (1 << TWINT) | (1 << TWEN);
-            if (!waitInt()) return 18;
-            twst = TWSR & 0xF8;
-        } while (twst == TW_MT_SLA_NACK && retry-- > 0);
-        if (twst != TW_MT_SLA_ACK) return 19;
-
-        TWDR = address; // send data to the previously addressed device
-        TWCR = (1 << TWINT) | (1 << TWEN);
-        if (!waitInt()) return 20;
-        twst = TWSR & 0xF8;
-        if (twst != TW_MT_DATA_ACK) return 21;
-
-        /***/
-
-        retry = 2;
-        do {
-            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
-            if (!waitInt()) return 22;
-            twst = TWSR & 0xF8;
-            if (twst != TW_START && twst != TW_REP_START) return 23;
-
-            TWDR = device | 0x01; // send device address with the read bit (1)
-            TWCR = (1 << TWINT) | (1 << TWEN);
-            if (!waitInt()) return 24;
-            twst = TWSR & 0xF8;
-        } while (twst == TW_MR_SLA_NACK && retry-- > 0);
-        if (twst != TW_MR_SLA_ACK) return 25;
-
-        for(uint8_t i = 0; i < num; i++) {
-            if (i == num - 1)
-               TWCR = (1 << TWINT) | (1 << TWEN);
-            else
-                TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
-            if (!waitInt()) return 26;
-            twst = TWSR & 0xF8;
-            if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) return twst;
-            data[i] = TWDR;
-        }
-
-        return 0;
-   }
-#endif
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-    // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
-    // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
-    // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-
-    /*
-    call this version 1.0
-    
-    Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer
-    length and index are set *before* the data is actually read. The problem is that these
-    are variables local to the TwoWire object, and by the time we actually have read the
-    data, and know what the length actually is, we have no simple access to the object's 
-    variables. The actual bytes read *is* given to the callback function, though.
-    
-    The ISR code for a slave receiver is commented out. I don't have that setup, and can't
-    verify it at this time. Save it for 2.0!
-    
-    The handling of the read and write processes here is much like in the demo sketch code: 
-    the process is broken down into sequential functions, where each registers the next as a
-    callback, essentially.
-    
-    For example, for the Read process, twi_read00 just returns if TWI is not yet in a 
-    ready state. When there's another interrupt, and the interface *is* ready, then it
-    sets up the read, starts it, and registers twi_read01 as the function to call after
-    the *next* interrupt. twi_read01, then, just returns if the interface is still in a
-    "reading" state. When the reading is done, it copies the information to the buffer,
-    cleans up, and calls the user-requested callback function with the actual number of 
-    bytes read.
-    
-    The writing is similar.
-    
-    Questions, comments and problems can go to Gene@Telobot.com.
-    
-    Thumbs Up!
-    Gene Knight
-    
-    */
-    
-    uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH];
-    uint8_t TwoWire::rxBufferIndex = 0;
-    uint8_t TwoWire::rxBufferLength = 0;
-    
-    uint8_t TwoWire::txAddress = 0;
-    uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH];
-    uint8_t TwoWire::txBufferIndex = 0;
-    uint8_t TwoWire::txBufferLength = 0;
-    
-    //uint8_t TwoWire::transmitting = 0;
-    void (*TwoWire::user_onRequest)(void);
-    void (*TwoWire::user_onReceive)(int);
-    
-    static volatile uint8_t twi_transmitting;
-    static volatile uint8_t twi_state;
-    static uint8_t twi_slarw;
-    static volatile uint8_t twi_error;
-    static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
-    static volatile uint8_t twi_masterBufferIndex;
-    static uint8_t twi_masterBufferLength;
-    static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
-    static volatile uint8_t twi_rxBufferIndex;
-    //static volatile uint8_t twi_Interrupt_Continue_Command;
-    static volatile uint8_t twi_Return_Value;
-    static volatile uint8_t twi_Done;
-    void (*twi_cbendTransmissionDone)(int);
-    void (*twi_cbreadFromDone)(int);
-    
-    void twi_init() {
-        // initialize state
-        twi_state = TWI_READY;
-
-        // activate internal pull-ups for twi
-        // as per note from atmega8 manual pg167
-        sbi(PORTC, 4);
-        sbi(PORTC, 5);
-
-        // initialize twi prescaler and bit rate
-        cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits
-        cbi(TWSR, TWPS1);
-
-        /* twi bit rate formula from atmega128 manual pg 204
-        SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
-        note: TWBR should be 10 or higher for master mode
-        It is 72 for a 16mhz Wiring board with 100kHz TWI */
-
-        TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register
-        // enable twi module, acks, and twi interrupt
-
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
-
-        /* TWEN - TWI Enable Bit
-        TWIE - TWI Interrupt Enable
-        TWEA - TWI Enable Acknowledge Bit
-        TWINT - TWI Interrupt Flag
-        TWSTA - TWI Start Condition
-        */
-    }
-    
-    typedef struct {
-        uint8_t address;
-        uint8_t* data;
-        uint8_t length;
-        uint8_t wait;
-        uint8_t i;
-    } twi_Write_Vars;
-
-    twi_Write_Vars *ptwv = 0;
-    static void (*fNextInterruptFunction)(void) = 0;
-    
-    void twi_Finish(byte bRetVal) {
-        if (ptwv) {
-            free(ptwv);
-            ptwv = 0;
-        }
-        twi_Done = 0xFF;
-        twi_Return_Value = bRetVal;
-        fNextInterruptFunction = 0;
-    }
-    
-    uint8_t twii_WaitForDone(uint16_t timeout) {
-        uint32_t endMillis = millis() + timeout;
-        while (!twi_Done && (timeout == 0 || millis() < endMillis)) continue;
-        return twi_Return_Value;
-    }
-    
-    void twii_SetState(uint8_t ucState) {
-        twi_state = ucState;
-    }
-
-    void twii_SetError(uint8_t ucError) {
-        twi_error = ucError ;
-    }
-
-    void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) {
-        twi_masterBufferIndex = 0;
-        twi_masterBufferLength = ucLength;
-    }
-
-    void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) {
-        uint8_t i;
-        for (i = 0; i < ucLength; ++i) {
-            twi_masterBuffer[i] = pData[i];
-        }
-    }
-
-    void twii_CopyFromBuf(uint8_t *pData, uint8_t ucLength) {
-        uint8_t i;
-        for (i = 0; i < ucLength; ++i) {
-            pData[i] = twi_masterBuffer[i];
-        }
-    }
-
-    void twii_SetSlaRW(uint8_t ucSlaRW) {
-        twi_slarw = ucSlaRW;
-    }
-
-    void twii_SetStart() {
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
-    }
-
-    void twi_write01() {
-        if (TWI_MTX == twi_state) return; // blocking test
-        twi_transmitting = 0 ;
-        if (twi_error == 0xFF)
-            twi_Finish (0);    // success
-        else if (twi_error == TW_MT_SLA_NACK)
-            twi_Finish (2);    // error: address send, nack received
-        else if (twi_error == TW_MT_DATA_NACK)
-            twi_Finish (3);    // error: data send, nack received
-        else
-            twi_Finish (4);    // other twi error
-        if (twi_cbendTransmissionDone) return twi_cbendTransmissionDone(twi_Return_Value);
-        return;
-    }
-    
-    
-    void twi_write00() {
-        if (TWI_READY != twi_state) return; // blocking test
-        if (TWI_BUFFER_LENGTH < ptwv -> length) {
-            twi_Finish(1); // end write with error 1
-            return;
-        }
-        twi_Done = 0x00; // show as working
-        twii_SetState(TWI_MTX); // to transmitting
-        twii_SetError(0xFF); // to No Error
-        twii_InitBuffer(0, ptwv -> length); // pointer and length
-        twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data
-        twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command
-        twii_SetStart(); // start the cycle
-        fNextInterruptFunction = twi_write01; // next routine
-        return twi_write01();
-    }
-    
-    void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) {
-        uint8_t i;
-        ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
-        ptwv -> address = address;
-        ptwv -> data = data;
-        ptwv -> length = length;
-        ptwv -> wait = wait;
-        fNextInterruptFunction = twi_write00;
-        return twi_write00();
-    }
-
-    void twi_read01() {
-        if (TWI_MRX == twi_state) return; // blocking test
-        if (twi_masterBufferIndex < ptwv -> length) ptwv -> length = twi_masterBufferIndex;
-        twii_CopyFromBuf(ptwv -> data, ptwv -> length);
-        twi_Finish(ptwv -> length);
-        if (twi_cbreadFromDone) return twi_cbreadFromDone(twi_Return_Value);
-        return;
-    }
-    
-    void twi_read00() {
-        if (TWI_READY != twi_state) return; // blocking test
-        if (TWI_BUFFER_LENGTH < ptwv -> length) twi_Finish(0); // error return
-        twi_Done = 0x00; // show as working
-        twii_SetState(TWI_MRX); // reading
-        twii_SetError(0xFF); // reset error
-        twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length
-        twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command
-        twii_SetStart(); // start cycle
-        fNextInterruptFunction = twi_read01;
-        return twi_read01();
-    }
-
-    void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) {
-        uint8_t i;
-
-        ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
-        ptwv -> address = address;
-        ptwv -> data = data;
-        ptwv -> length = length;
-        fNextInterruptFunction = twi_read00;
-        return twi_read00();
-    }
-
-    void twi_reply(uint8_t ack) {
-        // transmit master read ready signal, with or without ack
-        if (ack){
-            TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
-        } else {
-            TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
-        }
-    }
-    
-    void twi_stop(void) {
-        // send stop condition
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
-    
-        // wait for stop condition to be exectued on bus
-        // TWINT is not set after a stop condition!
-        while (TWCR & _BV(TWSTO)) {
-            continue;
-        }
-    
-        // update twi state
-        twi_state = TWI_READY;
-    }
-
-    void twi_releaseBus(void) {
-        // release bus
-        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
-    
-        // update twi state
-        twi_state = TWI_READY;
-    }
-    
-    SIGNAL(TWI_vect) {
-        switch (TW_STATUS) {
-            // All Master
-            case TW_START:     // sent start condition
-            case TW_REP_START: // sent repeated start condition
-                // copy device address and r/w bit to output register and ack
-                TWDR = twi_slarw;
-                twi_reply(1);
-                break;
-    
-            // Master Transmitter
-            case TW_MT_SLA_ACK:  // slave receiver acked address
-            case TW_MT_DATA_ACK: // slave receiver acked data
-                // if there is data to send, send it, otherwise stop
-                if (twi_masterBufferIndex < twi_masterBufferLength) {
-                    // copy data to output register and ack
-                    TWDR = twi_masterBuffer[twi_masterBufferIndex++];
-                    twi_reply(1);
-                } else {
-                    twi_stop();
-                }
-                break;
-
-            case TW_MT_SLA_NACK:  // address sent, nack received
-                twi_error = TW_MT_SLA_NACK;
-                twi_stop();
-                break;
-
-            case TW_MT_DATA_NACK: // data sent, nack received
-                twi_error = TW_MT_DATA_NACK;
-                twi_stop();
-                break;
-
-            case TW_MT_ARB_LOST: // lost bus arbitration
-                twi_error = TW_MT_ARB_LOST;
-                twi_releaseBus();
-                break;
-    
-            // Master Receiver
-            case TW_MR_DATA_ACK: // data received, ack sent
-                // put byte into buffer
-                twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
-            case TW_MR_SLA_ACK:  // address sent, ack received
-                // ack if more bytes are expected, otherwise nack
-                if (twi_masterBufferIndex < twi_masterBufferLength) {
-                    twi_reply(1);
-                } else {
-                    twi_reply(0);
-                }
-                break;
-
-            case TW_MR_DATA_NACK: // data received, nack sent
-                // put final byte into buffer
-                twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
-            case TW_MR_SLA_NACK: // address sent, nack received
-                twi_stop();
-                break;
-
-        // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
-
-        // Slave Receiver (NOT IMPLEMENTED YET)
-        /*
-            case TW_SR_SLA_ACK:   // addressed, returned ack
-            case TW_SR_GCALL_ACK: // addressed generally, returned ack
-            case TW_SR_ARB_LOST_SLA_ACK:   // lost arbitration, returned ack
-            case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
-                // enter slave receiver mode
-                twi_state = TWI_SRX;
-
-                // indicate that rx buffer can be overwritten and ack
-                twi_rxBufferIndex = 0;
-                twi_reply(1);
-                break;
-
-            case TW_SR_DATA_ACK:       // data received, returned ack
-            case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
-                // if there is still room in the rx buffer
-                if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
-                    // put byte in buffer and ack
-                    twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
-                    twi_reply(1);
-                } else {
-                    // otherwise nack
-                    twi_reply(0);
-                }
-                break;
-
-            case TW_SR_STOP: // stop or repeated start condition received
-                // put a null char after data if there's room
-                if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
-                    twi_rxBuffer[twi_rxBufferIndex] = 0;
-                }
-
-                // sends ack and stops interface for clock stretching
-                twi_stop();
-
-                // callback to user defined callback
-                twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
-
-                // since we submit rx buffer to "wire" library, we can reset it
-                twi_rxBufferIndex = 0;
-
-                // ack future responses and leave slave receiver state
-                twi_releaseBus();
-                break;
-
-            case TW_SR_DATA_NACK:       // data received, returned nack
-            case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
-                // nack back at master
-                twi_reply(0);
-                break;
-
-            // Slave Transmitter
-            case TW_ST_SLA_ACK:          // addressed, returned ack
-            case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
-                // enter slave transmitter mode
-                twi_state = TWI_STX;
-
-                // ready the tx buffer index for iteration
-                twi_txBufferIndex = 0;
-
-                // set tx buffer length to be zero, to verify if user changes it
-                twi_txBufferLength = 0;
-
-                // request for txBuffer to be filled and length to be set
-                // note: user must call twi_transmit(bytes, length) to do this
-                twi_onSlaveTransmit();
-
-                // if they didn't change buffer & length, initialize it
-                if (0 == twi_txBufferLength) {
-                    twi_txBufferLength = 1;
-                    twi_txBuffer[0] = 0x00;
-                }
-                
-                // transmit first byte from buffer, fall through
-
-            case TW_ST_DATA_ACK: // byte sent, ack returned
-                // copy data to output register
-                TWDR = twi_txBuffer[twi_txBufferIndex++];
-
-                // if there is more to send, ack, otherwise nack
-                if (twi_txBufferIndex < twi_txBufferLength) {
-                    twi_reply(1);
-                } else {
-                    twi_reply(0);
-                }
-                break;
-
-            case TW_ST_DATA_NACK: // received nack, we are done
-            case TW_ST_LAST_DATA: // received ack, but we are done already!
-                // ack future responses
-                twi_reply(1);
-                // leave slave receiver state
-                twi_state = TWI_READY;
-                break;
-            */
-
-            // all
-            case TW_NO_INFO:   // no state information
-                break;
-
-            case TW_BUS_ERROR: // bus error, illegal stop/start
-                twi_error = TW_BUS_ERROR;
-                twi_stop();
-                break;
-        }
-
-        if (fNextInterruptFunction) return fNextInterruptFunction();
-    }
-
-    TwoWire::TwoWire() { }
-    
-    void TwoWire::begin(void) {
-        rxBufferIndex = 0;
-        rxBufferLength = 0;
-    
-        txBufferIndex = 0;
-        txBufferLength = 0;
-
-        twi_init();
-    }
-    
-    void TwoWire::beginTransmission(uint8_t address) {
-        //beginTransmission((uint8_t)address);
-
-        // indicate that we are transmitting
-        twi_transmitting = 1;
-        
-        // set address of targeted slave
-        txAddress = address;
-        
-        // reset tx buffer iterator vars
-        txBufferIndex = 0;
-        txBufferLength = 0;
-    }
-    
-    uint8_t TwoWire::endTransmission(uint16_t timeout) {
-        // transmit buffer (blocking)
-        //int8_t ret =
-        twi_cbendTransmissionDone = NULL;
-        twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
-        int8_t ret = twii_WaitForDone(timeout);
-
-        // reset tx buffer iterator vars
-        txBufferIndex = 0;
-        txBufferLength = 0;
-
-        // indicate that we are done transmitting
-        // twi_transmitting = 0;
-        return ret;
-    }
-
-    void TwoWire::nbendTransmission(void (*function)(int)) {
-        twi_cbendTransmissionDone = function;
-        twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
-        return;
-    }
-    
-    void TwoWire::send(uint8_t data) {
-        if (twi_transmitting) {
-            // in master transmitter mode
-            // don't bother if buffer is full
-            if (txBufferLength >= NBWIRE_BUFFER_LENGTH) {
-                return;
-            }
-
-            // put byte in tx buffer
-            txBuffer[txBufferIndex] = data;
-            ++txBufferIndex;
-
-            // update amount in buffer
-            txBufferLength = txBufferIndex;
-        } else {
-            // in slave send mode
-            // reply to master
-            //twi_transmit(&data, 1);
-        }
-    }
-    
-    uint8_t TwoWire::receive(void) {
-        // default to returning null char
-        // for people using with char strings
-        uint8_t value = 0;
-      
-        // get each successive byte on each call
-        if (rxBufferIndex < rxBufferLength) {
-            value = rxBuffer[rxBufferIndex];
-            ++rxBufferIndex;
-        }
-    
-        return value;
-    }
-    
-    uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) {
-        // clamp to buffer length
-        if (quantity > NBWIRE_BUFFER_LENGTH) {
-            quantity = NBWIRE_BUFFER_LENGTH;
-        }
-
-        // perform blocking read into buffer
-        twi_cbreadFromDone = NULL;
-        twi_readFrom(address, rxBuffer, quantity);
-        uint8_t read = twii_WaitForDone(timeout);
-
-        // set rx buffer iterator vars
-        rxBufferIndex = 0;
-        rxBufferLength = read;
-    
-        return read;
-    }
-    
-    void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) {
-        // clamp to buffer length
-        if (quantity > NBWIRE_BUFFER_LENGTH) {
-            quantity = NBWIRE_BUFFER_LENGTH;
-        }
-
-        // perform blocking read into buffer
-        twi_cbreadFromDone = function;
-        twi_readFrom(address, rxBuffer, quantity);
-        //uint8_t read = twii_WaitForDone();
-
-        // set rx buffer iterator vars
-        //rxBufferIndex = 0;
-        //rxBufferLength = read;
-
-        rxBufferIndex = 0;
-        rxBufferLength = quantity; // this is a hack
-
-        return; //read;
-    }
-
-    uint8_t TwoWire::available(void) {
-        return rxBufferLength - rxBufferIndex;
-    }
-
-#endif
diff --git a/libraries/I2Cdev/I2Cdev.h b/libraries/I2Cdev/I2Cdev.h
deleted file mode 100644
index 4c6d41f..0000000
--- a/libraries/I2Cdev/I2Cdev.h
+++ /dev/null
@@ -1,261 +0,0 @@
-// 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
deleted file mode 100644
index 4132a06..0000000
--- a/libraries/I2Cdev/keywords.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-#######################################
-# 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/MPU6050/MPU6050.cpp b/libraries/MPU6050/MPU6050.cpp
deleted file mode 100644
index 86901d9..0000000
--- a/libraries/MPU6050/MPU6050.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-// MPU-6050 Accelerometer + Gyro
-// -----------------------------
-//
-// By arduino.cc user "Krodal".
-// June 2012
-// Open Source / Public Domain
-//
-// Using Arduino 1.0.1
-// It will not work with an older version,
-// since Wire.endTransmission() uses a parameter
-// to hold or release the I2C bus.
-//
-// Documentation:
-// - The InvenSense documents:
-//   - "MPU-6000 and MPU-6050 Product Specification",
-//     PS-MPU-6000A.pdf
-//   - "MPU-6000 and MPU-6050 Register Map and Descriptions",
-//     RM-MPU-6000A.pdf or RS-MPU-6000A.pdf
-//   - "MPU-6000/MPU-6050 9-Axis Evaluation Board User Guide"
-//     AN-MPU-6000EVB.pdf
-//
-// The accuracy is 16-bits.
-//
-// Temperature sensor from -40 to +85 degrees Celsius
-//   340 per degrees, -512 at 35 degrees.
-//
-// At power-up, all registers are zero, except these two:
-//      Register 0x6B (PWR_MGMT_2) = 0x40  (I read zero).
-//      Register 0x75 (WHO_AM_I)   = 0x68.
-//
-
-#include <Arduino.h>
-#include "MPU6050.h"
-
-// --------------------------------------------------------
-// MPU6050_read
-//
-// This is a common function to read multiple bytes
-// from an I2C device.
-//
-// It uses the boolean parameter for Wire.endTransMission()
-// to be able to hold or release the I2C-bus.
-// This is implemented in Arduino 1.0.1.
-//
-// Only this function is used to read.
-// There is no function for a single byte.
-//
-int MPU6050_read(int start, uint8_t *buffer, int size)
-{
-  int i, n;
-
-  Wire.beginTransmission(MPU6050_I2C_ADDRESS);
-  n = Wire.write(start);
-  if (n != 1)
-    return (-10);
-
-  n = Wire.endTransmission(false);    // hold the I2C-bus
-  if (n != 0)
-    return (n);
-
-  // Third parameter is true: relase I2C-bus after data is read.
-  Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true);
-  i = 0;
-  while(Wire.available() && i<size)
-  {
-    buffer[i++]=Wire.read();
-  }
-  if ( i != size)
-    return (-11);
-
-  return (0);  // return : no error
-}
-
-
-// --------------------------------------------------------
-// MPU6050_write
-//
-// This is a common function to write multiple bytes to an I2C device.
-//
-// If only a single register is written,
-// use the function MPU_6050_write_reg().
-//
-// Parameters:
-//   start : Start address, use a define for the register
-//   pData : A pointer to the data to write.
-//   size  : The number of bytes to write.
-//
-// If only a single register is written, a pointer
-// to the data has to be used, and the size is
-// a single byte:
-//   int data = 0;        // the data to write
-//   MPU6050_write (MPU6050_PWR_MGMT_1, &c, 1);
-//
-int MPU6050_write(int start, const uint8_t *pData, int size)
-{
-  int n, error;
-
-  Wire.beginTransmission(MPU6050_I2C_ADDRESS);
-  n = Wire.write(start);        // write the start address
-  if (n != 1)
-    return (-20);
-
-  n = Wire.write(pData, size);  // write data bytes
-  if (n != size)
-    return (-21);
-
-  error = Wire.endTransmission(true); // release the I2C-bus
-  if (error != 0)
-    return (error);
-
-  return (0);         // return : no error
-}
-
-// --------------------------------------------------------
-// MPU6050_write_reg
-//
-// An extra function to write a single register.
-// It is just a wrapper around the MPU_6050_write()
-// function, and it is only a convenient function
-// to make it easier to write a single register.
-//
-int MPU6050_write_reg(int reg, uint8_t data)
-{
-  int error;
-
-  error = MPU6050_write(reg, &data, 1);
-
-  return (error);
-}
-
-// --------------------------------------------------------
-// MPU6050_init
-//
-// Initialization
-//
-int MPU6050_init()
-{
-        // default at power-up:
-    //    Gyro at 250 degrees second
-    //    Acceleration at 2g
-    //    Clock source at internal 8MHz
-    //    The device is in sleep mode.
-    //
-    uint8_t c;
-    int error;
-    error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1);
-    if (error) return error;
-
-    // According to the datasheet, the 'sleep' bit
-    // should read a '1'. But I read a '0'.
-    // That bit has to be cleared, since the sensor
-    // is in sleep mode at power-up. Even if the
-    // bit reads '0'.
-    error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1);
-    if (error) return error;
-
-    // Clear the 'sleep' bit to start the sensor.
-    MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
-    return 0;
-}
-
-// --------------------------------------------------------
-// MPU6050_readout
-//
-// Perform an complete read-out
-//
-
-int MPU6050_readout(accel_t_gyro_union* accel_t_gyro)
-{
-  int error;
-
-  // Read the raw values.
-  // Read 14 bytes at once,
-  // containing acceleration, temperature and gyro.
-  // With the default settings of the MPU-6050,
-  // there is no filter enabled, and the values
-  // are not very stable.
-  error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *)accel_t_gyro, sizeof(accel_t_gyro_union));
-  if (error) return error;
-
-  // Swap all high and low bytes.
-  // After this, the registers values are swapped,
-  // so the structure name like x_accel_l does no
-  // longer contain the lower byte.
-  uint8_t swap;
-  #define SWAP(x,y) swap = x; x = y; y = swap
-
-  SWAP (accel_t_gyro->reg.x_accel_h, accel_t_gyro->reg.x_accel_l);
-  SWAP (accel_t_gyro->reg.y_accel_h, accel_t_gyro->reg.y_accel_l);
-  SWAP (accel_t_gyro->reg.z_accel_h, accel_t_gyro->reg.z_accel_l);
-  SWAP (accel_t_gyro->reg.t_h, accel_t_gyro->reg.t_l);
-  SWAP (accel_t_gyro->reg.x_gyro_h, accel_t_gyro->reg.x_gyro_l);
-  SWAP (accel_t_gyro->reg.y_gyro_h, accel_t_gyro->reg.y_gyro_l);
-  SWAP (accel_t_gyro->reg.z_gyro_h, accel_t_gyro->reg.z_gyro_l);
-}
diff --git a/libraries/MPU6050/MPU6050.h b/libraries/MPU6050/MPU6050.h
deleted file mode 100644
index 3cf3296..0000000
--- a/libraries/MPU6050/MPU6050.h
+++ /dev/null
@@ -1,645 +0,0 @@
-#ifndef MPU6050_H_INCLUDED
-#define MPU6050_H_INCLUDED
-
-#include <Wire.h>
-
-// The temperature sensor is -40 to +85 degrees Celsius.
-// It is a signed integer.
-// According to the datasheet:
-//   340 per degrees Celsius, -512 at 35 degrees.
-// At 0 degrees: -512 - (340 * 35) = -12412
-#define MPU6050_GET_TEMPERATURE(t) (( (float)t + 12412.0) / 340.0)
-
-// The name of the sensor is "MPU-6050".
-// For program code, I omit the '-',
-// therefor I use the name "MPU6050....".
-
-
-// Register names according to the datasheet.
-// According to the InvenSense document
-// "MPU-6000 and MPU-6050 Register Map
-// and Descriptions Revision 3.2", there are no registers
-// at 0x02 ... 0x18, but according other information
-// the registers in that unknown area are for gain
-// and offsets.
-//
-//#define MPU6050_AUX_VDDIO          0x01   // R/W
-#define MPU6050_SMPLRT_DIV         0x19   // R/W
-#define MPU6050_CONFIG             0x1A   // R/W
-#define MPU6050_GYRO_CONFIG        0x1B   // R/W
-#define MPU6050_ACCEL_CONFIG       0x1C   // R/W
-#define MPU6050_FF_THR             0x1D   // R/W
-#define MPU6050_FF_DUR             0x1E   // R/W
-#define MPU6050_MOT_THR            0x1F   // R/W
-#define MPU6050_MOT_DUR            0x20   // R/W
-#define MPU6050_ZRMOT_THR          0x21   // R/W
-#define MPU6050_ZRMOT_DUR          0x22   // R/W
-//#define MPU6050_FIFO_EN            0x23   // R/W
-#define MPU6050_I2C_MST_CTRL       0x24   // R/W
-#define MPU6050_I2C_SLV0_ADDR      0x25   // R/W
-#define MPU6050_I2C_SLV0_REG       0x26   // R/W
-#define MPU6050_I2C_SLV0_CTRL      0x27   // R/W
-#define MPU6050_I2C_SLV1_ADDR      0x28   // R/W
-#define MPU6050_I2C_SLV1_REG       0x29   // R/W
-#define MPU6050_I2C_SLV1_CTRL      0x2A   // R/W
-#define MPU6050_I2C_SLV2_ADDR      0x2B   // R/W
-#define MPU6050_I2C_SLV2_REG       0x2C   // R/W
-#define MPU6050_I2C_SLV2_CTRL      0x2D   // R/W
-#define MPU6050_I2C_SLV3_ADDR      0x2E   // R/W
-#define MPU6050_I2C_SLV3_REG       0x2F   // R/W
-#define MPU6050_I2C_SLV3_CTRL      0x30   // R/W
-#define MPU6050_I2C_SLV4_ADDR      0x31   // R/W
-#define MPU6050_I2C_SLV4_REG       0x32   // R/W
-#define MPU6050_I2C_SLV4_DO        0x33   // R/W
-#define MPU6050_I2C_SLV4_CTRL      0x34   // R/W
-#define MPU6050_I2C_SLV4_DI        0x35   // R
-#define MPU6050_I2C_MST_STATUS     0x36   // R
-#define MPU6050_INT_PIN_CFG        0x37   // R/W
-#define MPU6050_INT_ENABLE         0x38   // R/W
-#define MPU6050_INT_STATUS         0x3A   // R
-#define MPU6050_ACCEL_XOUT_H       0x3B   // R
-#define MPU6050_ACCEL_XOUT_L       0x3C   // R
-#define MPU6050_ACCEL_YOUT_H       0x3D   // R
-#define MPU6050_ACCEL_YOUT_L       0x3E   // R
-#define MPU6050_ACCEL_ZOUT_H       0x3F   // R
-#define MPU6050_ACCEL_ZOUT_L       0x40   // R
-#define MPU6050_TEMP_OUT_H         0x41   // R
-#define MPU6050_TEMP_OUT_L         0x42   // R
-#define MPU6050_GYRO_XOUT_H        0x43   // R
-#define MPU6050_GYRO_XOUT_L        0x44   // R
-#define MPU6050_GYRO_YOUT_H        0x45   // R
-#define MPU6050_GYRO_YOUT_L        0x46   // R
-#define MPU6050_GYRO_ZOUT_H        0x47   // R
-#define MPU6050_GYRO_ZOUT_L        0x48   // R
-#define MPU6050_EXT_SENS_DATA_00   0x49   // R
-#define MPU6050_EXT_SENS_DATA_01   0x4A   // R
-#define MPU6050_EXT_SENS_DATA_02   0x4B   // R
-#define MPU6050_EXT_SENS_DATA_03   0x4C   // R
-#define MPU6050_EXT_SENS_DATA_04   0x4D   // R
-#define MPU6050_EXT_SENS_DATA_05   0x4E   // R
-#define MPU6050_EXT_SENS_DATA_06   0x4F   // R
-#define MPU6050_EXT_SENS_DATA_07   0x50   // R
-#define MPU6050_EXT_SENS_DATA_08   0x51   // R
-#define MPU6050_EXT_SENS_DATA_09   0x52   // R
-#define MPU6050_EXT_SENS_DATA_10   0x53   // R
-#define MPU6050_EXT_SENS_DATA_11   0x54   // R
-#define MPU6050_EXT_SENS_DATA_12   0x55   // R
-#define MPU6050_EXT_SENS_DATA_13   0x56   // R
-#define MPU6050_EXT_SENS_DATA_14   0x57   // R
-#define MPU6050_EXT_SENS_DATA_15   0x58   // R
-#define MPU6050_EXT_SENS_DATA_16   0x59   // R
-#define MPU6050_EXT_SENS_DATA_17   0x5A   // R
-#define MPU6050_EXT_SENS_DATA_18   0x5B   // R
-#define MPU6050_EXT_SENS_DATA_19   0x5C   // R
-#define MPU6050_EXT_SENS_DATA_20   0x5D   // R
-#define MPU6050_EXT_SENS_DATA_21   0x5E   // R
-#define MPU6050_EXT_SENS_DATA_22   0x5F   // R
-#define MPU6050_EXT_SENS_DATA_23   0x60   // R
-#define MPU6050_MOT_DETECT_STATUS  0x61   // R
-#define MPU6050_I2C_SLV0_DO        0x63   // R/W
-#define MPU6050_I2C_SLV1_DO        0x64   // R/W
-#define MPU6050_I2C_SLV2_DO        0x65   // R/W
-#define MPU6050_I2C_SLV3_DO        0x66   // R/W
-#define MPU6050_I2C_MST_DELAY_CTRL 0x67   // R/W
-#define MPU6050_SIGNAL_PATH_RESET  0x68   // R/W
-#define MPU6050_MOT_DETECT_CTRL    0x69   // R/W
-#define MPU6050_USER_CTRL          0x6A   // R/W
-#define MPU6050_PWR_MGMT_1         0x6B   // R/W
-#define MPU6050_PWR_MGMT_2         0x6C   // R/W
-#define MPU6050_FIFO_COUNTH        0x72   // R/W
-#define MPU6050_FIFO_COUNTL        0x73   // R/W
-#define MPU6050_FIFO_R_W           0x74   // R/W
-#define MPU6050_WHO_AM_I           0x75   // R
-
-
-// Defines for the bits, to be able to change
-// between bit number and binary definition.
-// By using the bit number, programming the sensor
-// is like programming the AVR microcontroller.
-// But instead of using "(1<<X)", or "_BV(X)",
-// the Arduino "bit(X)" is used.
-#define MPU6050_D0 0
-#define MPU6050_D1 1
-#define MPU6050_D2 2
-#define MPU6050_D3 3
-#define MPU6050_D4 4
-#define MPU6050_D5 5
-#define MPU6050_D6 6
-#define MPU6050_D7 7
-
-// AUX_VDDIO Register
-#define MPU6050_AUX_VDDIO MPU6050_D7  // I2C high: 1=VDD, 0=VLOGIC
-
-// CONFIG Register
-// DLPF is Digital Low Pass Filter for both gyro and accelerometers.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DLPF_CFG0     MPU6050_D0
-#define MPU6050_DLPF_CFG1     MPU6050_D1
-#define MPU6050_DLPF_CFG2     MPU6050_D2
-#define MPU6050_EXT_SYNC_SET0 MPU6050_D3
-#define MPU6050_EXT_SYNC_SET1 MPU6050_D4
-#define MPU6050_EXT_SYNC_SET2 MPU6050_D5
-
-// Combined definitions for the EXT_SYNC_SET values
-#define MPU6050_EXT_SYNC_SET_0 (0)
-#define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1))
-#define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2))
-#define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1))
-#define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
-
-// Alternative names for the combined definitions.
-#define MPU6050_EXT_SYNC_DISABLED     MPU6050_EXT_SYNC_SET_0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L   MPU6050_EXT_SYNC_SET_1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L  MPU6050_EXT_SYNC_SET_2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L  MPU6050_EXT_SYNC_SET_3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L  MPU6050_EXT_SYNC_SET_4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7
-
-// Combined definitions for the DLPF_CFG values
-#define MPU6050_DLPF_CFG_0 (0)
-#define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1))
-#define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2))
-#define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1))
-#define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
-
-// Alternative names for the combined definitions
-// This name uses the bandwidth (Hz) for the accelometer,
-// for the gyro the bandwidth is almost the same.
-#define MPU6050_DLPF_260HZ    MPU6050_DLPF_CFG_0
-#define MPU6050_DLPF_184HZ    MPU6050_DLPF_CFG_1
-#define MPU6050_DLPF_94HZ     MPU6050_DLPF_CFG_2
-#define MPU6050_DLPF_44HZ     MPU6050_DLPF_CFG_3
-#define MPU6050_DLPF_21HZ     MPU6050_DLPF_CFG_4
-#define MPU6050_DLPF_10HZ     MPU6050_DLPF_CFG_5
-#define MPU6050_DLPF_5HZ      MPU6050_DLPF_CFG_6
-#define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7
-
-// GYRO_CONFIG Register
-// The XG_ST, YG_ST, ZG_ST are bits for selftest.
-// The FS_SEL sets the range for the gyro.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_FS_SEL0 MPU6050_D3
-#define MPU6050_FS_SEL1 MPU6050_D4
-#define MPU6050_ZG_ST   MPU6050_D5
-#define MPU6050_YG_ST   MPU6050_D6
-#define MPU6050_XG_ST   MPU6050_D7
-
-// Combined definitions for the FS_SEL values
-#define MPU6050_FS_SEL_0 (0)
-#define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0))
-#define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1))
-#define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)|bit(MPU6050_FS_SEL0))
-
-// Alternative names for the combined definitions
-// The name uses the range in degrees per second.
-#define MPU6050_FS_SEL_250  MPU6050_FS_SEL_0
-#define MPU6050_FS_SEL_500  MPU6050_FS_SEL_1
-#define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2
-#define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3
-
-// ACCEL_CONFIG Register
-// The XA_ST, YA_ST, ZA_ST are bits for selftest.
-// The AFS_SEL sets the range for the accelerometer.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_ACCEL_HPF0 MPU6050_D0
-#define MPU6050_ACCEL_HPF1 MPU6050_D1
-#define MPU6050_ACCEL_HPF2 MPU6050_D2
-#define MPU6050_AFS_SEL0   MPU6050_D3
-#define MPU6050_AFS_SEL1   MPU6050_D4
-#define MPU6050_ZA_ST      MPU6050_D5
-#define MPU6050_YA_ST      MPU6050_D6
-#define MPU6050_XA_ST      MPU6050_D7
-
-// Combined definitions for the ACCEL_HPF values
-#define MPU6050_ACCEL_HPF_0 (0)
-#define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0))
-#define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1))
-#define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
-#define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2))
-#define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)|bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
-
-// Alternative names for the combined definitions
-// The name uses the Cut-off frequency.
-#define MPU6050_ACCEL_HPF_RESET  MPU6050_ACCEL_HPF_0
-#define MPU6050_ACCEL_HPF_5HZ    MPU6050_ACCEL_HPF_1
-#define MPU6050_ACCEL_HPF_2_5HZ  MPU6050_ACCEL_HPF_2
-#define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3
-#define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4
-#define MPU6050_ACCEL_HPF_HOLD   MPU6050_ACCEL_HPF_7
-
-// Combined definitions for the AFS_SEL values
-#define MPU6050_AFS_SEL_0 (0)
-#define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0))
-#define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1))
-#define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)|bit(MPU6050_AFS_SEL0))
-
-// Alternative names for the combined definitions
-// The name uses the full scale range for the accelerometer.
-#define MPU6050_AFS_SEL_2G  MPU6050_AFS_SEL_0
-#define MPU6050_AFS_SEL_4G  MPU6050_AFS_SEL_1
-#define MPU6050_AFS_SEL_8G  MPU6050_AFS_SEL_2
-#define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3
-
-// FIFO_EN Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_SLV0_FIFO_EN  MPU6050_D0
-#define MPU6050_SLV1_FIFO_EN  MPU6050_D1
-#define MPU6050_SLV2_FIFO_EN  MPU6050_D2
-#define MPU6050_ACCEL_FIFO_EN MPU6050_D3
-#define MPU6050_ZG_FIFO_EN    MPU6050_D4
-#define MPU6050_YG_FIFO_EN    MPU6050_D5
-#define MPU6050_XG_FIFO_EN    MPU6050_D6
-#define MPU6050_TEMP_FIFO_EN  MPU6050_D7
-
-// I2C_MST_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_MST_CLK0  MPU6050_D0
-#define MPU6050_I2C_MST_CLK1  MPU6050_D1
-#define MPU6050_I2C_MST_CLK2  MPU6050_D2
-#define MPU6050_I2C_MST_CLK3  MPU6050_D3
-#define MPU6050_I2C_MST_P_NSR MPU6050_D4
-#define MPU6050_SLV_3_FIFO_EN MPU6050_D5
-#define MPU6050_WAIT_FOR_ES   MPU6050_D6
-#define MPU6050_MULT_MST_EN   MPU6050_D7
-
-// Combined definitions for the I2C_MST_CLK
-#define MPU6050_I2C_MST_CLK_0 (0)
-#define MPU6050_I2C_MST_CLK_1  (bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_2  (bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_3  (bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_4  (bit(MPU6050_I2C_MST_CLK2))
-#define MPU6050_I2C_MST_CLK_5  (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_6  (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_7  (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_8  (bit(MPU6050_I2C_MST_CLK3))
-#define MPU6050_I2C_MST_CLK_9  (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_10 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_11 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_12 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2))
-#define MPU6050_I2C_MST_CLK_13 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_14 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_15 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-
-// Alternative names for the combined definitions
-// The names uses I2C Master Clock Speed in kHz.
-#define MPU6050_I2C_MST_CLK_348KHZ MPU6050_I2C_MST_CLK_0
-#define MPU6050_I2C_MST_CLK_333KHZ MPU6050_I2C_MST_CLK_1
-#define MPU6050_I2C_MST_CLK_320KHZ MPU6050_I2C_MST_CLK_2
-#define MPU6050_I2C_MST_CLK_308KHZ MPU6050_I2C_MST_CLK_3
-#define MPU6050_I2C_MST_CLK_296KHZ MPU6050_I2C_MST_CLK_4
-#define MPU6050_I2C_MST_CLK_286KHZ MPU6050_I2C_MST_CLK_5
-#define MPU6050_I2C_MST_CLK_276KHZ MPU6050_I2C_MST_CLK_6
-#define MPU6050_I2C_MST_CLK_267KHZ MPU6050_I2C_MST_CLK_7
-#define MPU6050_I2C_MST_CLK_258KHZ MPU6050_I2C_MST_CLK_8
-#define MPU6050_I2C_MST_CLK_500KHZ MPU6050_I2C_MST_CLK_9
-#define MPU6050_I2C_MST_CLK_471KHZ MPU6050_I2C_MST_CLK_10
-#define MPU6050_I2C_MST_CLK_444KHZ MPU6050_I2C_MST_CLK_11
-#define MPU6050_I2C_MST_CLK_421KHZ MPU6050_I2C_MST_CLK_12
-#define MPU6050_I2C_MST_CLK_400KHZ MPU6050_I2C_MST_CLK_13
-#define MPU6050_I2C_MST_CLK_381KHZ MPU6050_I2C_MST_CLK_14
-#define MPU6050_I2C_MST_CLK_364KHZ MPU6050_I2C_MST_CLK_15
-
-// I2C_SLV0_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_RW MPU6050_D7
-
-// I2C_SLV0_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_LEN0    MPU6050_D0
-#define MPU6050_I2C_SLV0_LEN1    MPU6050_D1
-#define MPU6050_I2C_SLV0_LEN2    MPU6050_D2
-#define MPU6050_I2C_SLV0_LEN3    MPU6050_D3
-#define MPU6050_I2C_SLV0_GRP     MPU6050_D4
-#define MPU6050_I2C_SLV0_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV0_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV0_EN      MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV0_LEN_MASK 0x0F
-
-// I2C_SLV1_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV1_RW MPU6050_D7
-
-// I2C_SLV1_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV1_LEN0    MPU6050_D0
-#define MPU6050_I2C_SLV1_LEN1    MPU6050_D1
-#define MPU6050_I2C_SLV1_LEN2    MPU6050_D2
-#define MPU6050_I2C_SLV1_LEN3    MPU6050_D3
-#define MPU6050_I2C_SLV1_GRP     MPU6050_D4
-#define MPU6050_I2C_SLV1_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV1_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV1_EN      MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV1_LEN_MASK 0x0F
-
-// I2C_SLV2_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV2_RW MPU6050_D7
-
-// I2C_SLV2_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV2_LEN0    MPU6050_D0
-#define MPU6050_I2C_SLV2_LEN1    MPU6050_D1
-#define MPU6050_I2C_SLV2_LEN2    MPU6050_D2
-#define MPU6050_I2C_SLV2_LEN3    MPU6050_D3
-#define MPU6050_I2C_SLV2_GRP     MPU6050_D4
-#define MPU6050_I2C_SLV2_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV2_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV2_EN      MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV2_LEN_MASK 0x0F
-
-// I2C_SLV3_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV3_RW MPU6050_D7
-
-// I2C_SLV3_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV3_LEN0    MPU6050_D0
-#define MPU6050_I2C_SLV3_LEN1    MPU6050_D1
-#define MPU6050_I2C_SLV3_LEN2    MPU6050_D2
-#define MPU6050_I2C_SLV3_LEN3    MPU6050_D3
-#define MPU6050_I2C_SLV3_GRP     MPU6050_D4
-#define MPU6050_I2C_SLV3_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV3_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV3_EN      MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV3_LEN_MASK 0x0F
-
-// I2C_SLV4_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV4_RW MPU6050_D7
-
-// I2C_SLV4_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_MST_DLY0     MPU6050_D0
-#define MPU6050_I2C_MST_DLY1     MPU6050_D1
-#define MPU6050_I2C_MST_DLY2     MPU6050_D2
-#define MPU6050_I2C_MST_DLY3     MPU6050_D3
-#define MPU6050_I2C_MST_DLY4     MPU6050_D4
-#define MPU6050_I2C_SLV4_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV4_INT_EN  MPU6050_D6
-#define MPU6050_I2C_SLV4_EN      MPU6050_D7
-
-// A mask for the delay
-#define MPU6050_I2C_MST_DLY_MASK 0x1F
-
-// I2C_MST_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_NACK MPU6050_D0
-#define MPU6050_I2C_SLV1_NACK MPU6050_D1
-#define MPU6050_I2C_SLV2_NACK MPU6050_D2
-#define MPU6050_I2C_SLV3_NACK MPU6050_D3
-#define MPU6050_I2C_SLV4_NACK MPU6050_D4
-#define MPU6050_I2C_LOST_ARB  MPU6050_D5
-#define MPU6050_I2C_SLV4_DONE MPU6050_D6
-#define MPU6050_PASS_THROUGH  MPU6050_D7
-
-// I2C_PIN_CFG Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_CLKOUT_EN       MPU6050_D0
-#define MPU6050_I2C_BYPASS_EN   MPU6050_D1
-#define MPU6050_FSYNC_INT_EN    MPU6050_D2
-#define MPU6050_FSYNC_INT_LEVEL MPU6050_D3
-#define MPU6050_INT_RD_CLEAR    MPU6050_D4
-#define MPU6050_LATCH_INT_EN    MPU6050_D5
-#define MPU6050_INT_OPEN        MPU6050_D6
-#define MPU6050_INT_LEVEL       MPU6050_D7
-
-// INT_ENABLE Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DATA_RDY_EN    MPU6050_D0
-#define MPU6050_I2C_MST_INT_EN MPU6050_D3
-#define MPU6050_FIFO_OFLOW_EN  MPU6050_D4
-#define MPU6050_ZMOT_EN        MPU6050_D5
-#define MPU6050_MOT_EN         MPU6050_D6
-#define MPU6050_FF_EN          MPU6050_D7
-
-// INT_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DATA_RDY_INT   MPU6050_D0
-#define MPU6050_I2C_MST_INT    MPU6050_D3
-#define MPU6050_FIFO_OFLOW_INT MPU6050_D4
-#define MPU6050_ZMOT_INT       MPU6050_D5
-#define MPU6050_MOT_INT        MPU6050_D6
-#define MPU6050_FF_INT         MPU6050_D7
-
-// MOT_DETECT_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_MOT_ZRMOT MPU6050_D0
-#define MPU6050_MOT_ZPOS  MPU6050_D2
-#define MPU6050_MOT_ZNEG  MPU6050_D3
-#define MPU6050_MOT_YPOS  MPU6050_D4
-#define MPU6050_MOT_YNEG  MPU6050_D5
-#define MPU6050_MOT_XPOS  MPU6050_D6
-#define MPU6050_MOT_XNEG  MPU6050_D7
-
-// IC2_MST_DELAY_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_DLY_EN MPU6050_D0
-#define MPU6050_I2C_SLV1_DLY_EN MPU6050_D1
-#define MPU6050_I2C_SLV2_DLY_EN MPU6050_D2
-#define MPU6050_I2C_SLV3_DLY_EN MPU6050_D3
-#define MPU6050_I2C_SLV4_DLY_EN MPU6050_D4
-#define MPU6050_DELAY_ES_SHADOW MPU6050_D7
-
-// SIGNAL_PATH_RESET Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_TEMP_RESET  MPU6050_D0
-#define MPU6050_ACCEL_RESET MPU6050_D1
-#define MPU6050_GYRO_RESET  MPU6050_D2
-
-// MOT_DETECT_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_MOT_COUNT0      MPU6050_D0
-#define MPU6050_MOT_COUNT1      MPU6050_D1
-#define MPU6050_FF_COUNT0       MPU6050_D2
-#define MPU6050_FF_COUNT1       MPU6050_D3
-#define MPU6050_ACCEL_ON_DELAY0 MPU6050_D4
-#define MPU6050_ACCEL_ON_DELAY1 MPU6050_D5
-
-// Combined definitions for the MOT_COUNT
-#define MPU6050_MOT_COUNT_0 (0)
-#define MPU6050_MOT_COUNT_1 (bit(MPU6050_MOT_COUNT0))
-#define MPU6050_MOT_COUNT_2 (bit(MPU6050_MOT_COUNT1))
-#define MPU6050_MOT_COUNT_3 (bit(MPU6050_MOT_COUNT1)|bit(MPU6050_MOT_COUNT0))
-
-// Alternative names for the combined definitions
-#define MPU6050_MOT_COUNT_RESET MPU6050_MOT_COUNT_0
-
-// Combined definitions for the FF_COUNT
-#define MPU6050_FF_COUNT_0 (0)
-#define MPU6050_FF_COUNT_1 (bit(MPU6050_FF_COUNT0))
-#define MPU6050_FF_COUNT_2 (bit(MPU6050_FF_COUNT1))
-#define MPU6050_FF_COUNT_3 (bit(MPU6050_FF_COUNT1)|bit(MPU6050_FF_COUNT0))
-
-// Alternative names for the combined definitions
-#define MPU6050_FF_COUNT_RESET MPU6050_FF_COUNT_0
-
-// Combined definitions for the ACCEL_ON_DELAY
-#define MPU6050_ACCEL_ON_DELAY_0 (0)
-#define MPU6050_ACCEL_ON_DELAY_1 (bit(MPU6050_ACCEL_ON_DELAY0))
-#define MPU6050_ACCEL_ON_DELAY_2 (bit(MPU6050_ACCEL_ON_DELAY1))
-#define MPU6050_ACCEL_ON_DELAY_3 (bit(MPU6050_ACCEL_ON_DELAY1)|bit(MPU6050_ACCEL_ON_DELAY0))
-
-// Alternative names for the ACCEL_ON_DELAY
-#define MPU6050_ACCEL_ON_DELAY_0MS MPU6050_ACCEL_ON_DELAY_0
-#define MPU6050_ACCEL_ON_DELAY_1MS MPU6050_ACCEL_ON_DELAY_1
-#define MPU6050_ACCEL_ON_DELAY_2MS MPU6050_ACCEL_ON_DELAY_2
-#define MPU6050_ACCEL_ON_DELAY_3MS MPU6050_ACCEL_ON_DELAY_3
-
-// USER_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_SIG_COND_RESET MPU6050_D0
-#define MPU6050_I2C_MST_RESET  MPU6050_D1
-#define MPU6050_FIFO_RESET     MPU6050_D2
-#define MPU6050_I2C_IF_DIS     MPU6050_D4   // must be 0 for MPU-6050
-#define MPU6050_I2C_MST_EN     MPU6050_D5
-#define MPU6050_FIFO_EN        MPU6050_D6
-
-// PWR_MGMT_1 Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_CLKSEL0      MPU6050_D0
-#define MPU6050_CLKSEL1      MPU6050_D1
-#define MPU6050_CLKSEL2      MPU6050_D2
-#define MPU6050_TEMP_DIS     MPU6050_D3    // 1: disable temperature sensor
-#define MPU6050_CYCLE        MPU6050_D5    // 1: sample and sleep
-#define MPU6050_SLEEP        MPU6050_D6    // 1: sleep mode
-#define MPU6050_DEVICE_RESET MPU6050_D7    // 1: reset to default values
-
-// Combined definitions for the CLKSEL
-#define MPU6050_CLKSEL_0 (0)
-#define MPU6050_CLKSEL_1 (bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_2 (bit(MPU6050_CLKSEL1))
-#define MPU6050_CLKSEL_3 (bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_4 (bit(MPU6050_CLKSEL2))
-#define MPU6050_CLKSEL_5 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_6 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1))
-#define MPU6050_CLKSEL_7 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0))
-
-// Alternative names for the combined definitions
-#define MPU6050_CLKSEL_INTERNAL    MPU6050_CLKSEL_0
-#define MPU6050_CLKSEL_X           MPU6050_CLKSEL_1
-#define MPU6050_CLKSEL_Y           MPU6050_CLKSEL_2
-#define MPU6050_CLKSEL_Z           MPU6050_CLKSEL_3
-#define MPU6050_CLKSEL_EXT_32KHZ   MPU6050_CLKSEL_4
-#define MPU6050_CLKSEL_EXT_19_2MHZ MPU6050_CLKSEL_5
-#define MPU6050_CLKSEL_RESERVED    MPU6050_CLKSEL_6
-#define MPU6050_CLKSEL_STOP        MPU6050_CLKSEL_7
-
-// PWR_MGMT_2 Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_STBY_ZG       MPU6050_D0
-#define MPU6050_STBY_YG       MPU6050_D1
-#define MPU6050_STBY_XG       MPU6050_D2
-#define MPU6050_STBY_ZA       MPU6050_D3
-#define MPU6050_STBY_YA       MPU6050_D4
-#define MPU6050_STBY_XA       MPU6050_D5
-#define MPU6050_LP_WAKE_CTRL0 MPU6050_D6
-#define MPU6050_LP_WAKE_CTRL1 MPU6050_D7
-
-// Combined definitions for the LP_WAKE_CTRL
-#define MPU6050_LP_WAKE_CTRL_0 (0)
-#define MPU6050_LP_WAKE_CTRL_1 (bit(MPU6050_LP_WAKE_CTRL0))
-#define MPU6050_LP_WAKE_CTRL_2 (bit(MPU6050_LP_WAKE_CTRL1))
-#define MPU6050_LP_WAKE_CTRL_3 (bit(MPU6050_LP_WAKE_CTRL1)|bit(MPU6050_LP_WAKE_CTRL0))
-
-// Alternative names for the combined definitions
-// The names uses the Wake-up Frequency.
-#define MPU6050_LP_WAKE_1_25HZ MPU6050_LP_WAKE_CTRL_0
-#define MPU6050_LP_WAKE_2_5HZ  MPU6050_LP_WAKE_CTRL_1
-#define MPU6050_LP_WAKE_5HZ    MPU6050_LP_WAKE_CTRL_2
-#define MPU6050_LP_WAKE_10HZ   MPU6050_LP_WAKE_CTRL_3
-
-
-// Default I2C address for the MPU-6050 is 0x68.
-// But only if the AD0 pin is low.
-// Some sensor boards have AD0 high, and the
-// I2C address thus becomes 0x69.
-#define MPU6050_I2C_ADDRESS 0x68
-
-
-// Declaring an union for the registers and the axis values.
-// The byte order does not match the byte order of
-// the compiler and AVR chip.
-// The AVR chip (on the Arduino board) has the Low Byte
-// at the lower address.
-// But the MPU-6050 has a different order: High Byte at
-// lower address, so that has to be corrected.
-// The register part "reg" is only used internally,
-// and are swapped in code.
-typedef union accel_t_gyro_union
-{
-  struct
-  {
-    uint8_t x_accel_h;
-    uint8_t x_accel_l;
-    uint8_t y_accel_h;
-    uint8_t y_accel_l;
-    uint8_t z_accel_h;
-    uint8_t z_accel_l;
-    uint8_t t_h;
-    uint8_t t_l;
-    uint8_t x_gyro_h;
-    uint8_t x_gyro_l;
-    uint8_t y_gyro_h;
-    uint8_t y_gyro_l;
-    uint8_t z_gyro_h;
-    uint8_t z_gyro_l;
-  } reg;
-  struct
-  {
-    int x_accel;
-    int y_accel;
-    int z_accel;
-    int temperature;
-    int x_gyro;
-    int y_gyro;
-    int z_gyro;
-  } value;
-};
-
-int MPU6050_init();
-int MPU6050_readout(accel_t_gyro_union* accel_t_gyro);
-int MPU6050_read(int start, uint8_t *buffer, int size);
-
-#endif // MPU6050_H_INCLUDED
diff --git a/libraries/MPU9150/MPU9150.cpp b/libraries/MPU9150/MPU9150.cpp
deleted file mode 100644
index caed93d..0000000
--- a/libraries/MPU9150/MPU9150.cpp
+++ /dev/null
@@ -1,3173 +0,0 @@
-// 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
deleted file mode 100644
index e0d015f..0000000
--- a/libraries/MPU9150/MPU9150.h
+++ /dev/null
@@ -1,1002 +0,0 @@
-// 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_ */
-