diff --git a/Sming/Libraries/MPU6050/MPU6050.cpp b/Sming/Libraries/MPU6050/MPU6050.cpp
new file mode 100644
index 0000000000..5d174ab7a1
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+++ b/Sming/Libraries/MPU6050/MPU6050.cpp
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+// 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 "MPU6050.h"
+#include <string.h>
+
+#define I2C_NUM I2C_NUM_0
+
+/** 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];
+}
+/** 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);
+}
+
+// SELF TEST FACTORY TRIM VALUES
+
+/** Get self-test factory trim value for accelerometer X axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_X
+ */
+uint8_t MPU6050::getAccelXSelfTestFactoryTrim()
+{
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]);
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+	return (buffer[0] >> 3) | ((buffer[1] >> 4) & 0x03);
+}
+
+/** Get self-test factory trim value for accelerometer Y axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Y
+ */
+uint8_t MPU6050::getAccelYSelfTestFactoryTrim()
+{
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]);
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+	return (buffer[0] >> 3) | ((buffer[1] >> 2) & 0x03);
+}
+
+/** Get self-test factory trim value for accelerometer Z axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Z
+ */
+uint8_t MPU6050::getAccelZSelfTestFactoryTrim()
+{
+	I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer);
+	return (buffer[0] >> 3) | (buffer[1] & 0x03);
+}
+
+/** Get self-test factory trim value for gyro X axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_X
+ */
+uint8_t MPU6050::getGyroXSelfTestFactoryTrim()
+{
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer);
+	return (buffer[0] & 0x1F);
+}
+
+/** Get self-test factory trim value for gyro Y axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Y
+ */
+uint8_t MPU6050::getGyroYSelfTestFactoryTrim()
+{
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer);
+	return (buffer[0] & 0x1F);
+}
+
+/** Get self-test factory trim value for gyro Z axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Z
+ */
+uint8_t MPU6050::getGyroZSelfTestFactoryTrim()
+{
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer);
+	return (buffer[0] & 0x1F);
+}
+
+// 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 motion detection 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)
+{
+	getMotion6(ax, ay, az, gx, gy, gz);
+	// TODO: magnetometer integration
+}
+/** 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 full motion detection status register content (all bits).
+ * @return Motion detection status byte
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ */
+uint8_t MPU6050::getMotionStatus()
+{
+	I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
+	return buffer[0];
+}
+/** 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)
+{
+	if(length > 0) {
+		I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+	} else {
+		*data = 0;
+	}
+}
+/** 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::getXGyroOffsetTC()
+{
+	I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+	return buffer[0];
+}
+void MPU6050::setXGyroOffsetTC(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::getYGyroOffsetTC()
+{
+	I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+	return buffer[0];
+}
+void MPU6050::setYGyroOffsetTC(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::getZGyroOffsetTC()
+{
+	I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+	return buffer[0];
+}
+void MPU6050::setZGyroOffsetTC(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::getXGyroOffset()
+{
+	I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+	return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXGyroOffset(int16_t offset)
+{
+	I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+}
+
+// YG_OFFS_USR* register
+
+int16_t MPU6050::getYGyroOffset()
+{
+	I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+	return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYGyroOffset(int16_t offset)
+{
+	I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+}
+
+// ZG_OFFS_USR* register
+
+int16_t MPU6050::getZGyroOffset()
+{
+	I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+	return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZGyroOffset(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 = 0;
+	uint8_t* progBuffer = 0;
+	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) {
+			printf("VERIFY\n");
+			setMemoryBank(bank);
+			setMemoryStartAddress(address);
+			I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+			if(memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
+				printf("Block write verification error, bank \n");
+				/*Serial.print("Block write verification error, bank ");*/
+				printf("bank %d", bank);
+				printf(", address ");
+				printf("%d", address);
+				printf("!\nExpected:");
+				for(j = 0; j < chunkSize; j++) {
+					printf("%#04x", progBuffer[j]);
+				}
+				printf("\nReceived:");
+				for(uint8_t j = 0; j < chunkSize; j++) {
+					printf("%#04x", verifyBuffer[i + j]);
+				}
+				printf("\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, false);
+}
+bool MPU6050::writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem)
+{
+	uint8_t* progBuffer = 0;
+	uint8_t 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);
+}
+
+/**
+ * calibration
+ *
+ */
+
+/**
+  @brief      Fully calibrate Gyro from ZERO in about 6-7 Loops 600-700 readings
+*/
+void MPU6050::CalibrateGyro(uint8_t Loops)
+{
+	double kP = 0.3;
+	double kI = 90;
+	float x;
+	x = (100 - map(Loops, 1, 5, 20, 0)) * .01;
+	kP *= x;
+	kI *= x;
+
+	PID(0x43, kP, kI, Loops);
+}
+
+/**
+  @brief      Fully calibrate Accel from ZERO in about 6-7 Loops 600-700
+  readings
+*/
+void MPU6050::CalibrateAccel(uint8_t Loops)
+{
+	float kP = 0.3;
+	float kI = 20;
+	float x;
+	x = (100 - map(Loops, 1, 5, 20, 0)) * .01;
+	kP *= x;
+	kI *= x;
+	PID(0x3B, kP, kI, Loops);
+}
+
+/**
+ *
+ * @param ReadAddress
+ * @param kP
+ * @param kI
+ * @param Loops
+ */
+void MPU6050::PID(uint8_t ReadAddress, float kP, float kI, uint8_t Loops)
+{
+	uint8_t SaveAddress = (ReadAddress == 0x3B) ? ((getDeviceID() < 0x38) ? 0x06 : 0x77) : 0x13;
+
+	int16_t Data;
+	float Reading;
+	int16_t BitZero[3];
+	uint8_t shift = (SaveAddress == 0x77) ? 3 : 2;
+	float Error, PTerm, ITerm[3];
+	int16_t eSample;
+	uint32_t eSum;
+	for(int i = 0; i < 3; i++) {
+		I2Cdev::readWord(devAddr, SaveAddress + (i * shift),
+						 (uint16_t*)&Data); // reads 1 or more 16 bit integers (Word)
+		Reading = Data;
+		if(SaveAddress != 0x13) {
+			BitZero[i] = Data & 1; // Capture Bit Zero to properly handle Accelerometer calibration
+			ITerm[i] = ((float)Reading) * 8;
+		} else {
+			ITerm[i] = Reading * 4;
+		}
+	}
+	for(int L = 0; L < Loops; L++) {
+		eSample = 0;
+		for(int c = 0; c < 100; c++) { // 100 PI Calculations
+			eSum = 0;
+			for(int i = 0; i < 3; i++) {
+				I2Cdev::readWord(devAddr, ReadAddress + (i * 2),
+								 (uint16_t*)&Data); // reads 1 or more 16 bit integers (Word)
+				Reading = Data;
+				if((ReadAddress == 0x3B) && (i == 2))
+					Reading -= 16384; // remove Gravity
+				Error = -Reading;
+				eSum += abs(Reading);
+				PTerm = kP * Error;
+				ITerm[i] += (Error * 0.001) * kI; // Integral term 1000 Calculations a second = 0.001
+				if(SaveAddress != 0x13) {
+					Data = round((PTerm + ITerm[i]) / 8); // Compute PID Output
+					Data = ((Data)&0xFFFE) | BitZero[i];  // Insert Bit0 Saved at beginning
+				} else
+					Data = round((PTerm + ITerm[i]) / 4); // Compute PID Output
+				I2Cdev::writeWord(devAddr, SaveAddress + (i * shift), Data);
+			}
+			if((c == 99) && eSum > 1000) { // Error is still to great to continue
+				c = 0;
+			}
+			if((eSum * ((ReadAddress == 0x3B) ? .05 : 1)) < 5)
+				eSample++; // Successfully found offsets prepare to  advance
+			if((eSum < 100) && (c > 10) && (eSample >= 10))
+				break; // Advance to next Loop
+					   //            delay(1);
+		}
+		kP *= .75;
+		kI *= .75;
+		for(int i = 0; i < 3; i++) {
+			if(SaveAddress != 0x13) {
+				Data = round((ITerm[i]) / 8);		 // Compute PID Output
+				Data = ((Data)&0xFFFE) | BitZero[i]; // Insert Bit0 Saved at beginning
+			} else
+				Data = round((ITerm[i]) / 4);
+			I2Cdev::writeWord(devAddr, SaveAddress + (i * shift), Data);
+		}
+	}
+	resetFIFO();
+	resetDMP();
+}
diff --git a/Sming/Libraries/MPU6050/MPU6050.h b/Sming/Libraries/MPU6050/MPU6050.h
new file mode 100644
index 0000000000..0e0bda8f62
--- /dev/null
+++ b/Sming/Libraries/MPU6050/MPU6050.h
@@ -0,0 +1,1042 @@
+
+// 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 "helper_3dmath.h"
+#include <Libraries/I2Cdev/I2Cdev.h>
+
+// supporting link:
+// http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517 also:
+// http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s
+
+#undef pgm_read_byte
+#define pgm_read_byte(addr) (*(const unsigned char*)(addr))
+
+//#define PROGMEM /* empty */
+//#define pgm_read_byte(x) (*(x))
+//#define pgm_read_word(x) (*(x))
+//#define pgm_read_float(x) (*(x))
+//#define PSTR(STR) STR
+
+#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
+#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_SELF_TEST_X 0x0D  //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_Y 0x0E  //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_Z 0x0F  //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_A 0x10  //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
+#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_SELF_TEST_XA_1_BIT 0x07
+#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03
+#define MPU6050_SELF_TEST_XA_2_BIT 0x05
+#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02
+#define MPU6050_SELF_TEST_YA_1_BIT 0x07
+#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03
+#define MPU6050_SELF_TEST_YA_2_BIT 0x03
+#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02
+#define MPU6050_SELF_TEST_ZA_1_BIT 0x07
+#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03
+#define MPU6050_SELF_TEST_ZA_2_BIT 0x01
+#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02
+
+#define MPU6050_SELF_TEST_XG_1_BIT 0x04
+#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05
+#define MPU6050_SELF_TEST_YG_1_BIT 0x04
+#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05
+#define MPU6050_SELF_TEST_ZG_1_BIT 0x04
+#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05
+
+#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);
+
+	// 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);
+
+	// SELF_TEST registers
+	uint8_t getAccelXSelfTestFactoryTrim();
+	uint8_t getAccelYSelfTestFactoryTrim();
+	uint8_t getAccelZSelfTestFactoryTrim();
+
+	uint8_t getGyroXSelfTestFactoryTrim();
+	uint8_t getGyroYSelfTestFactoryTrim();
+	uint8_t getGyroZSelfTestFactoryTrim();
+
+	// 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();
+
+	// EXT_SENS_DATA_* registers
+	uint8_t getExternalSensorByte(int position);
+	uint16_t getExternalSensorWord(int position);
+	uint32_t getExternalSensorDWord(int position);
+
+	// MOT_DETECT_STATUS register
+	uint8_t getMotionStatus();
+	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 getXGyroOffsetTC();
+	void setXGyroOffsetTC(int8_t offset);
+
+	// YG_OFFS_TC register
+	int8_t getYGyroOffsetTC();
+	void setYGyroOffsetTC(int8_t offset);
+
+	// ZG_OFFS_TC register
+	int8_t getZGyroOffsetTC();
+	void setZGyroOffsetTC(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 getXGyroOffset();
+	void setXGyroOffset(int16_t offset);
+
+	// YG_OFFS_USR* register
+	int16_t getYGyroOffset();
+	void setYGyroOffset(int16_t offset);
+
+	// ZG_OFFS_USR* register
+	int16_t getZGyroOffset();
+	void setZGyroOffset(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 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 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
+
+	void CalibrateGyro(uint8_t Loops = 15);  // Fine tune after setting offsets with less Loops.
+	void CalibrateAccel(uint8_t Loops = 15); // Fine tune after setting offsets with less Loops.
+	void PID(uint8_t ReadAddress, float kP, float kI, uint8_t Loops); // Does the
+
+private:
+	uint8_t devAddr;
+	uint8_t buffer[14];
+};
+
+#endif /* _MPU6050_H_ */
diff --git a/Sming/Libraries/MPU6050/README.md b/Sming/Libraries/MPU6050/README.md
new file mode 100644
index 0000000000..19ff23e2ab
--- /dev/null
+++ b/Sming/Libraries/MPU6050/README.md
@@ -0,0 +1,9 @@
+# MPU6050 Six-Axis (Gyro + Accelerometer)
+
+Based on code from [jrowberg/i2cdevlib](https://github.com/jrowberg/i2cdevlib/tree/master/ESP32_ESP-IDF/components/MPU6050). Most of the code is the same, except:
+
+- Removed MPU6050::ReadRegister function due to incompatibility. It is also not used anywhere in the original code.
+- Removed map function in favor of the Sming built-in one.
+- Adapted include path and applied clangformat
+
+
diff --git a/Sming/Libraries/MPU6050/component.mk b/Sming/Libraries/MPU6050/component.mk
new file mode 100644
index 0000000000..725f8abd75
--- /dev/null
+++ b/Sming/Libraries/MPU6050/component.mk
@@ -0,0 +1 @@
+COMPONENT_DEPENDS := I2Cdev
diff --git a/Sming/Libraries/MPU6050/helper_3dmath.h b/Sming/Libraries/MPU6050/helper_3dmath.h
new file mode 100644
index 0000000000..4e8ac2d51b
--- /dev/null
+++ b/Sming/Libraries/MPU6050/helper_3dmath.h
@@ -0,0 +1,243 @@
+// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D
+// math helper 6/5/2012 by Jeff Rowberg <jeff@rowberg.net> Updates should
+// (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     2012-06-05 - add 3D math helper file to DMP6 example sketch
+
+/* ============================================
+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 _HELPER_3DMATH_H_
+#define _HELPER_3DMATH_H_
+#include <math.h>
+#include <stdint.h>
+
+class Quaternion
+{
+public:
+	float w;
+	float x;
+	float y;
+	float z;
+
+	Quaternion()
+	{
+		w = 1.0f;
+		x = 0.0f;
+		y = 0.0f;
+		z = 0.0f;
+	}
+
+	Quaternion(float nw, float nx, float ny, float nz)
+	{
+		w = nw;
+		x = nx;
+		y = ny;
+		z = nz;
+	}
+
+	Quaternion getProduct(Quaternion q)
+	{
+		// Quaternion multiplication is defined by:
+		//     (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2)
+		//     (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2)
+		//     (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2)
+		//     (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2
+		return Quaternion(w * q.w - x * q.x - y * q.y - z * q.z,  // new w
+						  w * q.x + x * q.w + y * q.z - z * q.y,  // new x
+						  w * q.y - x * q.z + y * q.w + z * q.x,  // new y
+						  w * q.z + x * q.y - y * q.x + z * q.w); // new z
+	}
+
+	Quaternion getConjugate()
+	{
+		return Quaternion(w, -x, -y, -z);
+	}
+
+	float getMagnitude()
+	{
+		return sqrt(w * w + x * x + y * y + z * z);
+	}
+
+	void normalize()
+	{
+		float m = getMagnitude();
+		w /= m;
+		x /= m;
+		y /= m;
+		z /= m;
+	}
+
+	Quaternion getNormalized()
+	{
+		Quaternion r(w, x, y, z);
+		r.normalize();
+		return r;
+	}
+};
+
+class VectorInt16
+{
+public:
+	int16_t x;
+	int16_t y;
+	int16_t z;
+
+	VectorInt16()
+	{
+		x = 0;
+		y = 0;
+		z = 0;
+	}
+
+	VectorInt16(int16_t nx, int16_t ny, int16_t nz)
+	{
+		x = nx;
+		y = ny;
+		z = nz;
+	}
+
+	float getMagnitude()
+	{
+		return sqrt(x * x + y * y + z * z);
+	}
+
+	void normalize()
+	{
+		float m = getMagnitude();
+		x /= m;
+		y /= m;
+		z /= m;
+	}
+
+	VectorInt16 getNormalized()
+	{
+		VectorInt16 r(x, y, z);
+		r.normalize();
+		return r;
+	}
+
+	void rotate(Quaternion* q)
+	{
+		// http://www.cprogramming.com/tutorial/3d/quaternions.html
+		// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
+		// http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
+		// ^ or:
+		// http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1
+
+		// P_out = q * P_in * conj(q)
+		// - P_out is the output vector
+		// - q is the orientation quaternion
+		// - P_in is the input vector (a*aReal)
+		// - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z],
+		// q*=[w,-x,-y,-z])
+		Quaternion p(0, x, y, z);
+
+		// quaternion multiplication: q * p, stored back in p
+		p = q->getProduct(p);
+
+		// quaternion multiplication: p * conj(q), stored back in p
+		p = p.getProduct(q->getConjugate());
+
+		// p quaternion is now [0, x', y', z']
+		x = p.x;
+		y = p.y;
+		z = p.z;
+	}
+
+	VectorInt16 getRotated(Quaternion* q)
+	{
+		VectorInt16 r(x, y, z);
+		r.rotate(q);
+		return r;
+	}
+};
+
+class VectorFloat
+{
+public:
+	float x;
+	float y;
+	float z;
+
+	VectorFloat()
+	{
+		x = 0;
+		y = 0;
+		z = 0;
+	}
+
+	VectorFloat(float nx, float ny, float nz)
+	{
+		x = nx;
+		y = ny;
+		z = nz;
+	}
+
+	float getMagnitude()
+	{
+		return sqrt(x * x + y * y + z * z);
+	}
+
+	void normalize()
+	{
+		float m = getMagnitude();
+		x /= m;
+		y /= m;
+		z /= m;
+	}
+
+	VectorFloat getNormalized()
+	{
+		VectorFloat r(x, y, z);
+		r.normalize();
+		return r;
+	}
+
+	void rotate(Quaternion* q)
+	{
+		Quaternion p(0, x, y, z);
+
+		// quaternion multiplication: q * p, stored back in p
+		p = q->getProduct(p);
+
+		// quaternion multiplication: p * conj(q), stored back in p
+		p = p.getProduct(q->getConjugate());
+
+		// p quaternion is now [0, x', y', z']
+		x = p.x;
+		y = p.y;
+		z = p.z;
+	}
+
+	VectorFloat getRotated(Quaternion* q)
+	{
+		VectorFloat r(x, y, z);
+		r.rotate(q);
+		return r;
+	}
+};
+
+#endif /* _HELPER_3DMATH_H_ */
diff --git a/samples/Accel_Gyro_MPU6050/Makefile b/samples/Accel_Gyro_MPU6050/Makefile
new file mode 100644
index 0000000000..ff51b6c3a7
--- /dev/null
+++ b/samples/Accel_Gyro_MPU6050/Makefile
@@ -0,0 +1,9 @@
+#####################################################################
+#### Please don't change this file. Use component.mk instead ####
+#####################################################################
+
+ifndef SMING_HOME
+$(error SMING_HOME is not set: please configure it as an environment variable)
+endif
+
+include $(SMING_HOME)/project.mk
diff --git a/samples/Accel_Gyro_MPU6050/README.rst b/samples/Accel_Gyro_MPU6050/README.rst
new file mode 100644
index 0000000000..d43abbcfff
--- /dev/null
+++ b/samples/Accel_Gyro_MPU6050/README.rst
@@ -0,0 +1,7 @@
+MPU6050 Six-Axis (Gyro + Accelerometer) 
+================
+
+MPU6050 sensor reader.
+
+.. image:: mpu6050.jpg
+   :height: 192px
diff --git a/samples/Accel_Gyro_MPU6050/app/application.cpp b/samples/Accel_Gyro_MPU6050/app/application.cpp
new file mode 100644
index 0000000000..d49c231127
--- /dev/null
+++ b/samples/Accel_Gyro_MPU6050/app/application.cpp
@@ -0,0 +1,42 @@
+#include <Libraries/MPU6050/MPU6050.h>
+#include <SmingCore.h>
+
+constexpr float main_loop_interval = 0.02; // sec
+SimpleTimer main_loop_timer;
+MPU6050 mpu;
+
+void print_accel_gyro(int16_t ax, int16_t ay, int16_t az, int16_t gx, int16_t gy, int16_t gz)
+{
+	Serial.print("a/g:\t");
+	Serial.print(ax);
+	Serial.print("\t");
+	Serial.print(ay);
+	Serial.print("\t");
+	Serial.print(az);
+	Serial.print("\t");
+	Serial.print(gx);
+	Serial.print("\t");
+	Serial.print(gy);
+	Serial.print("\t");
+	Serial.println(gz);
+}
+
+void main_loop()
+{
+	int16_t ax, ay, az;
+	int16_t gx, gy, gz;
+	mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+	print_accel_gyro(ax, ay, az, gx, gy, gz);
+}
+
+void init()
+{
+	Serial.begin(SERIAL_BAUD_RATE); // 115200 by default
+	Serial.systemDebugOutput(true); // Enable debug output to serial
+
+	Wire.begin(DEFAULT_SDA_PIN, DEFAULT_SCL_PIN);
+	mpu.initialize();
+	Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
+
+	main_loop_timer.initializeMs(static_cast<int>(main_loop_interval * 1000), main_loop).start();
+}
diff --git a/samples/Accel_Gyro_MPU6050/component.mk b/samples/Accel_Gyro_MPU6050/component.mk
new file mode 100644
index 0000000000..54e9cf0c23
--- /dev/null
+++ b/samples/Accel_Gyro_MPU6050/component.mk
@@ -0,0 +1,2 @@
+ARDUINO_LIBRARIES := MPU6050
+DISABLE_NETWORK := 1
diff --git a/samples/Accel_Gyro_MPU6050/mpu6050.jpg b/samples/Accel_Gyro_MPU6050/mpu6050.jpg
new file mode 100644
index 0000000000..3d478a9db9
Binary files /dev/null and b/samples/Accel_Gyro_MPU6050/mpu6050.jpg differ