From ad642110571cdb8387060640bb9042a3438536f1 Mon Sep 17 00:00:00 2001
From: Stanley Huang <stanleyhuangyc@gmail.com>
Date: Wed, 25 Jan 2017 23:09:40 +1100
Subject: Remove unneeded libraries

---
 libraries/MPU6050/MPU6050.cpp | 195 -------------
 libraries/MPU6050/MPU6050.h   | 645 ------------------------------------------
 2 files changed, 840 deletions(-)
 delete mode 100644 libraries/MPU6050/MPU6050.cpp
 delete mode 100644 libraries/MPU6050/MPU6050.h

(limited to 'libraries/MPU6050')

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
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