From d970ee2a52cbead091a58d8cefbc7a61db2e4536 Mon Sep 17 00:00:00 2001
From: Qian Qian <xeonqq@gmail.com>
Date: Fri, 3 Nov 2023 21:15:40 +0100
Subject: [PATCH] Move one liner functions to header

---
 Sming/Libraries/MPU6050/MPU6050.cpp | 3005 ++-------------------------
 Sming/Libraries/MPU6050/MPU6050.h   | 2961 +++++++++++++++++++++++---
 2 files changed, 2824 insertions(+), 3142 deletions(-)

diff --git a/Sming/Libraries/MPU6050/MPU6050.cpp b/Sming/Libraries/MPU6050/MPU6050.cpp
index e4113b7c8b..dff39db572 100644
--- a/Sming/Libraries/MPU6050/MPU6050.cpp
+++ b/Sming/Libraries/MPU6050/MPU6050.cpp
@@ -62,13 +62,6 @@ size_t MPU6050::Motion6::printTo(Print& p) const
 	return n;
 }
 
-/** 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);
@@ -77,196 +70,6 @@ void MPU6050::initialize()
 	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
 }
 
-// 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()
-{
-	return readBit(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_SMPLRT_DIV);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH);
-}
-/** 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()
 {
 	const uint8_t x = readByte(MPU6050_RA_SELF_TEST_X);
@@ -274,10 +77,6 @@ uint8_t MPU6050::getAccelXSelfTestFactoryTrim()
 	return (x >> 3) | ((a >> 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()
 {
 	const uint8_t y = readByte(MPU6050_RA_SELF_TEST_Y);
@@ -285,10 +84,6 @@ uint8_t MPU6050::getAccelYSelfTestFactoryTrim()
 	return (y >> 3) | ((a >> 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()
 {
 	uint8_t buffer[2] = {0};
@@ -296,668 +91,24 @@ uint8_t MPU6050::getAccelZSelfTestFactoryTrim()
 	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()
 {
 	const uint8_t x = readByte(MPU6050_RA_SELF_TEST_X);
 	return (x & 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()
 {
 	const uint8_t y = readByte(MPU6050_RA_SELF_TEST_Y);
 	return (y & 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()
 {
 	const uint8_t z = readByte(MPU6050_RA_SELF_TEST_Z);
 	return (z & 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()
-{
-	return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_FF_THR);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_FF_DUR);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_MOT_THR);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_MOT_DUR);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_ZRMOT_THR);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_ZRMOT_DUR);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH);
-}
-/** 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).
@@ -1083,1936 +234,194 @@ void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
  * 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 false;
-	}
-	return readBit(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT);
-}
-/** 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 false;
-	}
-	return readBit(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT);
-}
-/** 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 false;
-	}
-	return readBit(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT);
-}
-/** 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 false;
-	}
-	return readBits(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_I2C_SLV4_ADDR);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_I2C_SLV4_REG);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_I2C_SLV4_DI);
-}
-
-// 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT);
-}
-
-// 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_INT_ENABLE);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT);
-}
-/** 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()
-{
-	return readByte(MPU6050_RA_INT_STATUS);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT);
-}
-
-// ACCEL_*OUT_* registers
-
-/** Get raw 6-axis motion sensor readings (accel/gyro).
- * Retrieves all currently available motion sensor values.
- * @return container for 3-axis accelerometer and 3-axis gyroscope values
- * @see getAcceleration()
- * @see getAngularRate()
- * @see MPU6050_RA_ACCEL_XOUT_H
- */
-MPU6050::Motion6 MPU6050::getMotion6()
-{
-	Motion6 motion6;
-	uint8_t buffer[14] = {0};
-	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
-	motion6.accel.x = concat(buffer[0], buffer[1]);
-	motion6.accel.y = concat(buffer[2], buffer[3]);
-	motion6.accel.z = concat(buffer[4], buffer[5]);
-	motion6.gyro.x = concat(buffer[8], buffer[9]);
-	motion6.gyro.y = concat(buffer[10], buffer[11]);
-	motion6.gyro.z = concat(buffer[12], buffer[13]);
-	return motion6;
-}
-/** 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
- */
-
-MPU6050::Motion3 MPU6050::getAcceleration()
-{
-	Motion3 accel;
-	uint8_t buffer[6] = {0};
-	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
-	accel.x = concat(buffer[0], buffer[1]);
-	accel.y = concat(buffer[2], buffer[3]);
-	accel.z = concat(buffer[4], buffer[5]);
-	return accel;
-}
-
-/** 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()
-{
-	return readReg<int16_t>(MPU6050_RA_ACCEL_XOUT_H);
-}
-/** 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()
-{
-	return readReg<int16_t>(MPU6050_RA_ACCEL_YOUT_H);
-}
-/** 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()
-{
-	return readReg<int16_t>(MPU6050_RA_ACCEL_ZOUT_H);
-}
-
-// 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()
-{
-	return readReg<int16_t>(MPU6050_RA_TEMP_OUT_H);
-}
-
-// 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>
- *
- * @return container for 3-axis gyro values
- * @see getMotion6()
- * @see MPU6050_RA_GYRO_XOUT_H
- */
-MPU6050::Motion3 MPU6050::getAngularRate()
-{
-	Motion3 angularRate;
-	uint8_t buffer[6] = {0};
-	I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
-	angularRate.x = concat(buffer[0], buffer[1]);
-	angularRate.y = concat(buffer[2], buffer[3]);
-	angularRate.z = concat(buffer[4], buffer[5]);
-	return angularRate;
-}
-
-/** 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::getAngularRateX()
-{
-	return readReg<int16_t>(MPU6050_RA_GYRO_XOUT_H);
-}
-/** 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::getAngularRateY()
-{
-	return readReg<int16_t>(MPU6050_RA_GYRO_YOUT_H);
-}
-/** 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::getAngularRateZ()
-{
-	return readReg<int16_t>(MPU6050_RA_GYRO_ZOUT_H);
-}
-
-int16_t MPU6050::getAngularRateZ2()
-{
-	return readReg<int16_t>(MPU6050_RA_GYRO_ZOUT_H);
-}
-
-// 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)
-{
-	return readByte(MPU6050_RA_EXT_SENS_DATA_00 + position);
-}
-/** 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)
-{
-	return readReg<uint16_t>(MPU6050_RA_EXT_SENS_DATA_00 + position);
-}
-/** 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)
-{
-	return readReg<uint32_t>(MPU6050_RA_EXT_SENS_DATA_00 + position);
-}
-
-// 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()
-{
-	return readByte(MPU6050_RA_MOT_DETECT_STATUS);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT);
-}
-
-// 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()
-{
-	return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT);
-}
-/** 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 false;
-	}
-	return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, num);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
-					MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT); // 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()
-{
-	return readBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH);
-}
-/** 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()
-{
-	return readBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT);
-}
-/** 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()
-{
-	return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT);
-}
-/** 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
+ * 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
  */
-void MPU6050::setStandbyYGyroEnabled(bool enabled)
+bool MPU6050::getSlaveWordByteSwap(uint8_t num)
 {
-	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+	if(num > 3) {
+		return false;
+	}
+	return readBit(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT);
 }
-/** 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
+/** 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
  */
-bool MPU6050::getStandbyZGyroEnabled()
+void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
 {
-	return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT);
+	if(num > 3) {
+		return;
+	}
+	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
 }
-/** 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
+/** 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
  */
-void MPU6050::setStandbyZGyroEnabled(bool enabled)
+bool MPU6050::getSlaveWriteMode(uint8_t num)
 {
-	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+	if(num > 3) {
+		return false;
+	}
+	return readBit(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT);
 }
-
-// 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
+/** 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
  */
-uint16_t MPU6050::getFIFOCount()
+void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
 {
-	uint8_t buffer[2] = {0};
-	I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
-	return (((uint16_t)buffer[0]) << 8) | buffer[1];
+	if(num > 3) {
+		return;
+	}
+	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
 }
-
-// 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.
+/** 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.
  *
- * @return Byte from FIFO buffer
+ * @param num Slave number (0-3)
+ * @return Current word pair grouping order offset for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
  */
-uint8_t MPU6050::getFIFOByte()
-{
-	return readByte(MPU6050_RA_FIFO_R_W);
-}
-void MPU6050::getFIFOBytes(uint8_t* data, uint8_t length)
+bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
 {
-	if(length > 0) {
-		I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
-	} else {
-		*data = 0;
+	if(num > 3) {
+		return false;
 	}
+	return readBit(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT);
 }
-/** Write byte to FIFO buffer.
- * @see getFIFOByte()
- * @see MPU6050_RA_FIFO_R_W
+/** 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::setFIFOByte(uint8_t data)
+void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
 {
-	I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+	if(num > 3) {
+		return;
+	}
+	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, enabled);
 }
-
-// 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
+/** 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::getDeviceID()
+uint8_t MPU6050::getSlaveDataLength(uint8_t num)
 {
-	return readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH);
+	if(num > 3) {
+		return false;
+	}
+	return readBits(MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH);
 }
-/** 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
+/** 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::setDeviceID(uint8_t id)
+void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
 {
-	I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+	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);
 }
 
-// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
-// XG_OFFS_TC register
-
-uint8_t MPU6050::getOTPBankValid()
-{
-	return readBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT);
-}
-void MPU6050::setOTPBankValid(bool enabled)
-{
-	I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
-}
-int8_t MPU6050::getXGyroOffsetTC()
-{
-	return readBits(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
-}
-void MPU6050::setXGyroOffsetTC(int8_t offset)
+MPU6050::Motion6 MPU6050::getMotion6()
 {
-	I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+	Motion6 motion6;
+	uint8_t buffer[14] = {0};
+	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+	motion6.accel.x = concat(buffer[0], buffer[1]);
+	motion6.accel.y = concat(buffer[2], buffer[3]);
+	motion6.accel.z = concat(buffer[4], buffer[5]);
+	motion6.gyro.x = concat(buffer[8], buffer[9]);
+	motion6.gyro.y = concat(buffer[10], buffer[11]);
+	motion6.gyro.z = concat(buffer[12], buffer[13]);
+	return motion6;
 }
 
-// YG_OFFS_TC register
-
-int8_t MPU6050::getYGyroOffsetTC()
-{
-	return readBits(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
-}
-void MPU6050::setYGyroOffsetTC(int8_t offset)
+MPU6050::Motion3 MPU6050::getAcceleration()
 {
-	I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+	Motion3 accel;
+	uint8_t buffer[6] = {0};
+	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+	accel.x = concat(buffer[0], buffer[1]);
+	accel.y = concat(buffer[2], buffer[3]);
+	accel.z = concat(buffer[4], buffer[5]);
+	return accel;
 }
 
-// ZG_OFFS_TC register
-
-int8_t MPU6050::getZGyroOffsetTC()
-{
-	return readBits(MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
-}
-void MPU6050::setZGyroOffsetTC(int8_t offset)
+MPU6050::Motion3 MPU6050::getAngularRate()
 {
-	I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+	Motion3 angularRate;
+	uint8_t buffer[6] = {0};
+	I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+	angularRate.x = concat(buffer[0], buffer[1]);
+	angularRate.y = concat(buffer[2], buffer[3]);
+	angularRate.z = concat(buffer[4], buffer[5]);
+	return angularRate;
 }
 
-// X_FINE_GAIN register
-
-int8_t MPU6050::getXFineGain()
-{
-	return readByte(MPU6050_RA_X_FINE_GAIN);
-}
-void MPU6050::setXFineGain(int8_t gain)
+void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
 {
-	I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+	if(num > 3) {
+		return;
+	}
+	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
 }
 
-// Y_FINE_GAIN register
-
-int8_t MPU6050::getYFineGain()
-{
-	return readByte(MPU6050_RA_Y_FINE_GAIN);
-}
-void MPU6050::setYFineGain(int8_t gain)
+bool MPU6050::getSlaveDelayEnabled(uint8_t num)
 {
-	I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
+	if(num > 4) {
+		return false;
+	}
+	return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, num);
 }
 
-// Z_FINE_GAIN register
-
-int8_t MPU6050::getZFineGain()
-{
-	return readByte(MPU6050_RA_Z_FINE_GAIN);
-}
-void MPU6050::setZFineGain(int8_t gain)
+void MPU6050::getFIFOBytes(uint8_t* data, uint8_t length)
 {
-	I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+	if(length > 0) {
+		I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+	} else {
+		*data = 0;
+	}
 }
 
 // XA_OFFS_* registers
-
 int16_t MPU6050::getXAccelOffset()
 {
 	uint8_t buffer[2] = {0};
 	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
 
@@ -3022,10 +431,6 @@ 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
 
@@ -3035,116 +440,6 @@ 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()
-{
-	return readReg<int16_t>(MPU6050_RA_XG_OFFS_USRH);
-}
-void MPU6050::setXGyroOffset(int16_t offset)
-{
-	I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
-}
-
-// YG_OFFS_USR* register
-
-int16_t MPU6050::getYGyroOffset()
-{
-	return readReg<int16_t>(MPU6050_RA_YG_OFFS_USRH);
-}
-
-void MPU6050::setYGyroOffset(int16_t offset)
-{
-	I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
-}
-
-// ZG_OFFS_USR* register
-
-int16_t MPU6050::getZGyroOffset()
-{
-	return readReg<int16_t>(MPU6050_RA_ZG_OFFS_USRH);
-}
-
-void MPU6050::setZGyroOffset(int16_t offset)
-{
-	I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
-}
-
-// INT_ENABLE register (DMP functions)
-
-bool MPU6050::getIntPLLReadyEnabled()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
-}
-void MPU6050::setIntPLLReadyEnabled(bool enabled)
-{
-	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
-}
-bool MPU6050::getIntDMPEnabled()
-{
-	return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT);
-}
-void MPU6050::setIntDMPEnabled(bool enabled)
-{
-	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
-}
-
-// DMP_INT_STATUS
-bool MPU6050::getDMPInt5Status()
-{
-	return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT);
-}
-bool MPU6050::getDMPInt4Status()
-{
-	return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT);
-}
-bool MPU6050::getDMPInt3Status()
-{
-	return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT);
-}
-bool MPU6050::getDMPInt2Status()
-{
-	return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT);
-}
-bool MPU6050::getDMPInt1Status()
-{
-	return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT);
-}
-bool MPU6050::getDMPInt0Status()
-{
-	return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT);
-}
-
-// INT_STATUS register (DMP functions)
-
-bool MPU6050::getIntPLLReadyStatus()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
-}
-bool MPU6050::getIntDMPStatus()
-{
-	return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT);
-}
-
-// USER_CTRL register (DMP functions)
-
-bool MPU6050::getDMPEnabled()
-{
-	return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT);
-}
-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
 
@@ -3384,34 +679,6 @@ bool MPU6050::writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, b
 	}
 	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()
-{
-	return readByte(MPU6050_RA_DMP_CFG_1);
-}
-
-void MPU6050::setDMPConfig1(uint8_t config)
-{
-	I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
-}
-
-// DMP_CFG_2 register
-uint8_t MPU6050::getDMPConfig2()
-{
-	return readByte(MPU6050_RA_DMP_CFG_2);
-}
-
-void MPU6050::setDMPConfig2(uint8_t config)
-{
-	I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
-
 /**
  * calibration
  *
diff --git a/Sming/Libraries/MPU6050/MPU6050.h b/Sming/Libraries/MPU6050/MPU6050.h
index 9b012ba41e..0cae21c339 100644
--- a/Sming/Libraries/MPU6050/MPU6050.h
+++ b/Sming/Libraries/MPU6050/MPU6050.h
@@ -12,28 +12,28 @@
 // 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.
-===============================================
-*/
+   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.
+   ===============================================
+   */
 
 #pragma once
 
@@ -43,22 +43,22 @@ THE SOFTWARE.
 #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_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_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_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
@@ -433,126 +433,893 @@ class MPU6050
 		size_t printTo(Print& p) const;
 	};
 	/** Default constructor, uses default I2C address.
-     * @see MPU6050_DEFAULT_ADDRESS
-     */
+         * @see MPU6050_DEFAULT_ADDRESS
+         */
 	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
-     */
+         * @param address I2C address
+         * @see MPU6050_DEFAULT_ADDRESS
+         * @see MPU6050_ADDRESS_AD0_LOW
+         * @see MPU6050_ADDRESS_AD0_HIGH
+         */
 	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 initialize();
 
 	/** Verify the I2C connection.
-     * Make sure the device is connected and responds as expected.
-     * @return True if connection is valid, false otherwise
-     */
+         * Make sure the device is connected and responds as expected.
+         * @return True if connection is valid, false otherwise
+         */
 	bool testConnection()
 	{
 		return getDeviceID() == 0x34;
 	}
 
-	// AUX_VDDIO register
-	uint8_t getAuxVDDIOLevel();
-	void setAuxVDDIOLevel(uint8_t level);
+	// 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 getAuxVDDIOLevel()
+	{
+		return readBit(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT);
+	}
+
+	/** 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 setAuxVDDIOLevel(uint8_t level)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+	}
 
 	// SMPLRT_DIV register
-	uint8_t getRate();
-	void setRate(uint8_t rate);
+	/** 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 getRate()
+	{
+		return readByte(MPU6050_RA_SMPLRT_DIV);
+	}
+
+	/** Set gyroscope sample rate divider.
+         * @param rate New sample rate divider
+         * @see getRate()
+         * @see MPU6050_RA_SMPLRT_DIV
+         */
+	void setRate(uint8_t rate)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+	}
 
 	// CONFIG register
-	uint8_t getExternalFrameSync();
-	void setExternalFrameSync(uint8_t sync);
-	uint8_t getDLPFMode();
-	void setDLPFMode(uint8_t bandwidth);
+
+	/** 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 getExternalFrameSync()
+	{
+		return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH);
+	}
+	/** Set external FSYNC configuration.
+         * @see getExternalFrameSync()
+         * @see MPU6050_RA_CONFIG
+         * @param sync New FSYNC configuration value
+         */
+	void 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 getDLPFMode()
+	{
+		return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH);
+	}
+	/** 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 setDLPFMode(uint8_t mode)
+	{
+		I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+	}
 
 	// GYRO_CONFIG register
-	uint8_t getFullScaleGyroRange();
-	void setFullScaleGyroRange(uint8_t range);
+	/** 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 getFullScaleGyroRange()
+	{
+		return readBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH);
+	}
 
-	// SELF_TEST registers
+	/** 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 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 getAccelXSelfTestFactoryTrim();
+
+	/** Get self-test factory trim value for accelerometer Y axis.
+         * @return factory trim value
+         * @see MPU6050_RA_SELF_TEST_Y
+         */
 	uint8_t getAccelYSelfTestFactoryTrim();
+
+	/** Get self-test factory trim value for accelerometer Z axis.
+         * @return factory trim value
+         * @see MPU6050_RA_SELF_TEST_Z
+         */
 	uint8_t getAccelZSelfTestFactoryTrim();
 
+	/** Get self-test factory trim value for gyro X axis.
+         * @return factory trim value
+         * @see MPU6050_RA_SELF_TEST_X
+         */
 	uint8_t getGyroXSelfTestFactoryTrim();
+
+	/** Get self-test factory trim value for gyro Y axis.
+         * @return factory trim value
+         * @see MPU6050_RA_SELF_TEST_Y
+         */
 	uint8_t getGyroYSelfTestFactoryTrim();
+
+	/** Get self-test factory trim value for gyro Z axis.
+         * @return factory trim value
+         * @see MPU6050_RA_SELF_TEST_Z
+         */
 	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);
+
+	/** Get self-test enabled setting for accelerometer X axis.
+         * @return Self-test enabled value
+         * @see MPU6050_RA_ACCEL_CONFIG
+         */
+	bool getAccelXSelfTest()
+	{
+		return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT);
+	}
+	/** Get self-test enabled setting for accelerometer X axis.
+         * @param enabled Self-test enabled value
+         * @see MPU6050_RA_ACCEL_CONFIG
+         */
+	void 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 getAccelYSelfTest()
+	{
+		return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT);
+	}
+	/** Get self-test enabled value for accelerometer Y axis.
+         * @param enabled Self-test enabled value
+         * @see MPU6050_RA_ACCEL_CONFIG
+         */
+	void 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 getAccelZSelfTest()
+	{
+		return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT);
+	}
+	/** Set self-test enabled value for accelerometer Z axis.
+         * @param enabled Self-test enabled value
+         * @see MPU6050_RA_ACCEL_CONFIG
+         */
+	void 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 getFullScaleAccelRange()
+	{
+		return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH);
+	}
+	/** Set full-scale accelerometer range.
+         * @param range New full-scale accelerometer range setting
+         * @see getFullScaleAccelRange()
+         */
+	void 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 getDHPFMode()
+	{
+		return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH);
+	}
+	/** 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 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
-	uint8_t getFreefallDetectionThreshold();
-	void setFreefallDetectionThreshold(uint8_t threshold);
+
+	/** 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 getFreefallDetectionThreshold()
+	{
+		return readByte(MPU6050_RA_FF_THR);
+	}
+	/** Get free-fall event acceleration threshold.
+         * @param threshold New free-fall acceleration threshold value (LSB = 2mg)
+         * @see getFreefallDetectionThreshold()
+         * @see MPU6050_RA_FF_THR
+         */
+	void setFreefallDetectionThreshold(uint8_t threshold)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+	}
 
 	// FF_DUR register
-	uint8_t getFreefallDetectionDuration();
-	void setFreefallDetectionDuration(uint8_t duration);
+
+	/** 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 getFreefallDetectionDuration()
+	{
+		return readByte(MPU6050_RA_FF_DUR);
+	}
+	/** Get free-fall event duration threshold.
+         * @param duration New free-fall duration threshold value (LSB = 1ms)
+         * @see getFreefallDetectionDuration()
+         * @see MPU6050_RA_FF_DUR
+         */
+	void setFreefallDetectionDuration(uint8_t duration)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+	}
 
 	// MOT_THR register
-	uint8_t getMotionDetectionThreshold();
-	void setMotionDetectionThreshold(uint8_t threshold);
+
+	/** 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 getMotionDetectionThreshold()
+	{
+		return readByte(MPU6050_RA_MOT_THR);
+	}
+	/** Set motion detection event acceleration threshold.
+         * @param threshold New motion detection acceleration threshold value (LSB =
+         * 2mg)
+         * @see getMotionDetectionThreshold()
+         * @see MPU6050_RA_MOT_THR
+         */
+	void setMotionDetectionThreshold(uint8_t threshold)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+	}
 
 	// MOT_DUR register
-	uint8_t getMotionDetectionDuration();
-	void setMotionDetectionDuration(uint8_t duration);
+
+	/** 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 getMotionDetectionDuration()
+	{
+		return readByte(MPU6050_RA_MOT_DUR);
+	}
+	/** Set motion detection event duration threshold.
+         * @param duration New motion detection duration threshold value (LSB = 1ms)
+         * @see getMotionDetectionDuration()
+         * @see MPU6050_RA_MOT_DUR
+         */
+	void setMotionDetectionDuration(uint8_t duration)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+	}
 
 	// ZRMOT_THR register
-	uint8_t getZeroMotionDetectionThreshold();
-	void setZeroMotionDetectionThreshold(uint8_t threshold);
+
+	/** 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 getZeroMotionDetectionThreshold()
+	{
+		return readByte(MPU6050_RA_ZRMOT_THR);
+	}
+	/** 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 setZeroMotionDetectionThreshold(uint8_t threshold)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+	}
 
 	// ZRMOT_DUR register
-	uint8_t getZeroMotionDetectionDuration();
-	void setZeroMotionDetectionDuration(uint8_t duration);
+
+	/** 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 getZeroMotionDetectionDuration()
+	{
+		return readByte(MPU6050_RA_ZRMOT_DUR);
+	}
+	/** 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 setZeroMotionDetectionDuration(uint8_t duration)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, 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);
+
+	/** 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 getTempFIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT);
+	}
+	/** Set temperature FIFO enabled value.
+         * @param enabled New temperature FIFO enabled value
+         * @see getTempFIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getXGyroFIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT);
+	}
+	/** Set gyroscope X-axis FIFO enabled value.
+         * @param enabled New gyroscope X-axis FIFO enabled value
+         * @see getXGyroFIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getYGyroFIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT);
+	}
+	/** Set gyroscope Y-axis FIFO enabled value.
+         * @param enabled New gyroscope Y-axis FIFO enabled value
+         * @see getYGyroFIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getZGyroFIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT);
+	}
+	/** Set gyroscope Z-axis FIFO enabled value.
+         * @param enabled New gyroscope Z-axis FIFO enabled value
+         * @see getZGyroFIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getAccelFIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT);
+	}
+	/** Set accelerometer FIFO enabled value.
+         * @param enabled New accelerometer FIFO enabled value
+         * @see getAccelFIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getSlave2FIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT);
+	}
+	/** Set Slave 2 FIFO enabled value.
+         * @param enabled New Slave 2 FIFO enabled value
+         * @see getSlave2FIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getSlave1FIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT);
+	}
+	/** Set Slave 1 FIFO enabled value.
+         * @param enabled New Slave 1 FIFO enabled value
+         * @see getSlave1FIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void 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 getSlave0FIFOEnabled()
+	{
+		return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT);
+	}
+	/** Set Slave 0 FIFO enabled value.
+         * @param enabled New Slave 0 FIFO enabled value
+         * @see getSlave0FIFOEnabled()
+         * @see MPU6050_RA_FIFO_EN
+         */
+	void setSlave0FIFOEnabled(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, 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);
 
+	/** 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 getMultiMasterEnabled()
+	{
+		return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT);
+	}
+	/** Set multi-master enabled value.
+         * @param enabled New multi-master enabled value
+         * @see getMultiMasterEnabled()
+         * @see MPU6050_RA_I2C_MST_CTRL
+         */
+	void 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 getWaitForExternalSensorEnabled()
+	{
+		return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT);
+	}
+	/** 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 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 getSlave3FIFOEnabled()
+	{
+		return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT);
+	}
+	/** Set Slave 3 FIFO enabled value.
+         * @param enabled New Slave 3 FIFO enabled value
+         * @see getSlave3FIFOEnabled()
+         * @see MPU6050_RA_MST_CTRL
+         */
+	void 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 getSlaveReadWriteTransitionEnabled()
+	{
+		return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT);
+	}
+	/** 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 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 getMasterClockSpeed()
+	{
+		return readBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH);
+	}
+	/** Set I2C master clock speed.
+         * @reparam speed Current I2C master clock speed
+         * @see MPU6050_RA_I2C_MST_CTRL
+         */
+	void 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)
 	uint8_t getSlaveAddress(uint8_t num);
 	void setSlaveAddress(uint8_t num, uint8_t address);
@@ -570,253 +1337,1882 @@ class MPU6050
 	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();
+
+	/** 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 getSlave4Address()
+	{
+		return readByte(MPU6050_RA_I2C_SLV4_ADDR);
+	}
+	/** Set the I2C address of Slave 4.
+         * @param address New address for Slave 4
+         * @see getSlave4Address()
+         * @see MPU6050_RA_I2C_SLV4_ADDR
+         */
+	void 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 getSlave4Register()
+	{
+		return readByte(MPU6050_RA_I2C_SLV4_REG);
+	}
+	/** 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 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 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 getSlave4Enabled()
+	{
+		return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT);
+	}
+	/** Set the enabled value for Slave 4.
+         * @param enabled New enabled value for Slave 4
+         * @see getSlave4Enabled()
+         * @see MPU6050_RA_I2C_SLV4_CTRL
+         */
+	void 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 getSlave4InterruptEnabled()
+	{
+		return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT);
+	}
+	/** 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 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 getSlave4WriteMode()
+	{
+		return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT);
+	}
+	/** 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 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 getSlave4MasterDelay()
+	{
+		return readBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH);
+	}
+	/** Set Slave 4 master delay value.
+         * @param delay New Slave 4 master delay value
+         * @see getSlave4MasterDelay()
+         * @see MPU6050_RA_I2C_SLV4_CTRL
+         */
+	void 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 getSlate4InputByte()
+	{
+		return readByte(MPU6050_RA_I2C_SLV4_DI);
+	}
 
 	// I2C_MST_STATUS register
-	bool getPassthroughStatus();
-	bool getSlave4IsDone();
-	bool getLostArbitration();
-	bool getSlave4Nack();
-	bool getSlave3Nack();
-	bool getSlave2Nack();
-	bool getSlave1Nack();
-	bool getSlave0Nack();
+
+	/** 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 getPassthroughStatus()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT);
+	}
+	/** 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 getSlave4IsDone()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT);
+	}
+	/** 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 getLostArbitration()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT);
+	}
+	/** 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 getSlave4Nack()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT);
+	}
+	/** 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 getSlave3Nack()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT);
+	}
+	/** 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 getSlave2Nack()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT);
+	}
+	/** 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 getSlave1Nack()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT);
+	}
+	/** 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 getSlave0Nack()
+	{
+		return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT);
+	}
 
 	// 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);
+
+	/** 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 getInterruptMode()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT);
+	}
+	/** 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 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 getInterruptDrive()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT);
+	}
+	/** 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 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 getInterruptLatch()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT);
+	}
+	/** 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 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 getInterruptLatchClear()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT);
+	}
+	/** 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 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 getFSyncInterruptLevel()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT);
+	}
+	/** 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 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 getFSyncInterruptEnabled()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT);
+	}
+	/** 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 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 getI2CBypassEnabled()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT);
+	}
+	/** 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 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 getClockOutputEnabled()
+	{
+		return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT);
+	}
+	/** 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 setClockOutputEnabled(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, 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);
+
+	/** 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 getIntEnabled()
+	{
+		return readByte(MPU6050_RA_INT_ENABLE);
+	}
+	/** 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 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 getIntFreefallEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT);
+	}
+	/** 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 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 getIntMotionEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT);
+	}
+	/** 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 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 getIntZeroMotionEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT);
+	}
+	/** 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 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 getIntFIFOBufferOverflowEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
+	}
+	/** 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 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 getIntI2CMasterEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
+	}
+	/** 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 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 getIntDataReadyEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT);
+	}
+	/** 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 setIntDataReadyEnabled(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+	}
 
 	// INT_STATUS register
-	uint8_t getIntStatus();
-	bool getIntFreefallStatus();
-	bool getIntMotionStatus();
-	bool getIntZeroMotionStatus();
-	bool getIntFIFOBufferOverflowStatus();
-	bool getIntI2CMasterStatus();
-	bool getIntDataReadyStatus();
+
+	/** 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 getIntStatus()
+	{
+		return readByte(MPU6050_RA_INT_STATUS);
+	}
+	/** 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 getIntFreefallStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT);
+	}
+	/** 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 getIntMotionStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT);
+	}
+
+	/** 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 getIntZeroMotionStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT);
+	}
+
+	/** 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 getIntFIFOBufferOverflowStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
+	}
+
+	/** 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 getIntI2CMasterStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
+	}
+
+	/** 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 getIntDataReadyStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT);
+	}
 
 	// ACCEL_*OUT_* registers
+
+	/** Get raw 6-axis motion sensor readings (accel/gyro).
+         * Retrieves all currently available motion sensor values.
+         * @return container for 3-axis accelerometer and 3-axis gyroscope values
+         * @see getAcceleration()
+         * @see getAngularRate()
+         * @see MPU6050_RA_ACCEL_XOUT_H
+         */
 	Motion6 getMotion6();
 
+	/** 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
+         */
 	Motion3 getAcceleration();
-	int16_t getAccelerationX();
-	int16_t getAccelerationY();
-	int16_t getAccelerationZ();
+
+	/** 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 getAccelerationX()
+	{
+		return readReg<int16_t>(MPU6050_RA_ACCEL_XOUT_H);
+	}
+	/** 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 getAccelerationY()
+	{
+		return readReg<int16_t>(MPU6050_RA_ACCEL_YOUT_H);
+	}
+	/** 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 getAccelerationZ()
+	{
+		return readReg<int16_t>(MPU6050_RA_ACCEL_ZOUT_H);
+	}
 
 	// TEMP_OUT_* registers
-	int16_t getTemperature();
+
+	/** Get current internal temperature.
+         * @return Temperature reading in 16-bit 2's complement format
+         * @see MPU6050_RA_TEMP_OUT_H
+         */
+	int16_t getTemperature()
+	{
+		return readReg<int16_t>(MPU6050_RA_TEMP_OUT_H);
+	}
 
 	// 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>
+         *
+         * @return container for 3-axis gyro values
+         * @see getMotion6()
+         * @see MPU6050_RA_GYRO_XOUT_H
+         */
 	Motion3 getAngularRate();
-	int16_t getAngularRateX();
-	int16_t getAngularRateY();
-	int16_t getAngularRateZ();
-	int16_t getAngularRateZ2();
+
+	/** 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 getAngularRateX()
+	{
+		return readReg<int16_t>(MPU6050_RA_GYRO_XOUT_H);
+	}
+	/** 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 getAngularRateY()
+	{
+		return readReg<int16_t>(MPU6050_RA_GYRO_YOUT_H);
+	}
+	/** 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 getAngularRateZ()
+	{
+		return readReg<int16_t>(MPU6050_RA_GYRO_ZOUT_H);
+	}
+
+	int16_t getAngularRateZ2()
+	{
+		return readReg<int16_t>(MPU6050_RA_GYRO_ZOUT_H);
+	}
 
 	// EXT_SENS_DATA_* registers
-	uint8_t getExternalSensorByte(int position);
-	uint16_t getExternalSensorWord(int position);
-	uint32_t getExternalSensorDWord(int position);
+
+	/** 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 getExternalSensorByte(int position)
+	{
+		return readByte(MPU6050_RA_EXT_SENS_DATA_00 + position);
+	}
+	/** Read word (2 bytes) from external sensor data registers.
+         * @param position Starting position (0-21)
+         * @return Word read from register
+         * @see getExternalSensorByte()
+         */
+	uint16_t getExternalSensorWord(int position)
+	{
+		return readReg<uint16_t>(MPU6050_RA_EXT_SENS_DATA_00 + position);
+	}
+	/** 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 getExternalSensorDWord(int position)
+	{
+		return readReg<uint32_t>(MPU6050_RA_EXT_SENS_DATA_00 + position);
+	}
 
 	// MOT_DETECT_STATUS register
-	uint8_t getMotionStatus();
-	bool getXNegMotionDetected();
-	bool getXPosMotionDetected();
-	bool getYNegMotionDetected();
-	bool getYPosMotionDetected();
-	bool getZNegMotionDetected();
-	bool getZPosMotionDetected();
-	bool getZeroMotionDetected();
+
+	/** Get full motion detection status register content (all bits).
+         * @return Motion detection status byte
+         * @see MPU6050_RA_MOT_DETECT_STATUS
+         */
+	uint8_t getMotionStatus()
+	{
+		return readByte(MPU6050_RA_MOT_DETECT_STATUS);
+	}
+	/** 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 getXNegMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT);
+	}
+	/** 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 getXPosMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT);
+	}
+	/** 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 getYNegMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT);
+	}
+	/** 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 getYPosMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT);
+	}
+	/** 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 getZNegMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT);
+	}
+	/** 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 getZPosMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT);
+	}
+	/** Get zero motion detection interrupt status.
+         * @return Motion detection status
+         * @see MPU6050_RA_MOT_DETECT_STATUS
+         * @see MPU6050_MOTION_MOT_ZRMOT_BIT
+         */
+	bool getZeroMotionDetected()
+	{
+		return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT);
+	}
 
 	// 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 setSlaveOutputByte(uint8_t num, uint8_t data);
 
 	// I2C_MST_DELAY_CTRL register
-	bool getExternalShadowDelayEnabled();
-	void setExternalShadowDelayEnabled(bool enabled);
+	/** 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 getExternalShadowDelayEnabled()
+	{
+		return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT);
+	}
+	/** 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 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 getSlaveDelayEnabled(uint8_t num);
-	void setSlaveDelayEnabled(uint8_t num, bool enabled);
+
+	/** 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 setSlaveDelayEnabled(uint8_t num, bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+	}
 
 	// SIGNAL_PATH_RESET register
-	void resetGyroscopePath();
-	void resetAccelerometerPath();
-	void resetTemperaturePath();
+
+	/** 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 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 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 resetTemperaturePath()
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+	}
 
 	// 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);
+
+	/** 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 getAccelerometerPowerOnDelay()
+	{
+		return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
+						MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH);
+	}
+	/** 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 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 getFreefallDetectionCounterDecrement()
+	{
+		return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH);
+	}
+	/** 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 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 getMotionDetectionCounterDecrement()
+	{
+		return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH);
+	}
+	/** 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 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
-	bool getFIFOEnabled();
-	void setFIFOEnabled(bool enabled);
-	bool getI2CMasterModeEnabled();
-	void setI2CMasterModeEnabled(bool enabled);
-	void switchSPIEnabled(bool enabled);
-	void resetFIFO();
-	void resetI2CMaster();
-	void resetSensors();
+
+	/** 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 getFIFOEnabled()
+	{
+		return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT);
+	}
+	/** Set FIFO enabled status.
+         * @param enabled New FIFO enabled status
+         * @see getFIFOEnabled()
+         * @see MPU6050_RA_USER_CTRL
+         * @see MPU6050_USERCTRL_FIFO_EN_BIT
+         */
+	void 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 getI2CMasterModeEnabled()
+	{
+		return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT);
+	}
+	/** 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 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 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 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 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 resetSensors()
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+	}
 
 	// 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);
+
+	/** 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 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 getSleepEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT);
+	}
+	/** 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 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 getWakeCycleEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT);
+	}
+	/** 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 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 getTempSensorEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT); // 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 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 getClockSource()
+	{
+		return readBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH);
+	}
+	/** 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 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
-	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();
+
+	/** 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 getWakeFrequency()
+	{
+		return readBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH);
+	}
+	/** Set wake frequency in Accel-Only Low Power Mode.
+         * @param frequency New wake frequency
+         * @see MPU6050_RA_PWR_MGMT_2
+         */
+	void 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 getStandbyXAccelEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT);
+	}
+	/** 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 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 getStandbyYAccelEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT);
+	}
+	/** 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 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 getStandbyZAccelEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT);
+	}
+	/** 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 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 getStandbyXGyroEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT);
+	}
+	/** 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 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 getStandbyYGyroEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT);
+	}
+	/** 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 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 getStandbyZGyroEnabled()
+	{
+		return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT);
+	}
+	/** 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 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 getFIFOCount()
+	{
+		uint8_t buffer[2] = {0};
+		I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+		return (((uint16_t)buffer[0]) << 8) | buffer[1];
+	}
 
 	// FIFO_R_W register
-	uint8_t getFIFOByte();
-	void setFIFOByte(uint8_t data);
+
+	/** 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 getFIFOByte()
+	{
+		return readByte(MPU6050_RA_FIFO_R_W);
+	}
+
+	/** Write byte to FIFO buffer.
+         * @see getFIFOByte()
+         * @see MPU6050_RA_FIFO_R_W
+         */
+	void setFIFOByte(uint8_t data)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+	}
+
 	void getFIFOBytes(uint8_t* data, uint8_t length);
 
 	// WHO_AM_I register
-	uint8_t getDeviceID();
-	void setDeviceID(uint8_t id);
+
+	/** 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 getDeviceID()
+	{
+		return readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH);
+	}
+	/** 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 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 getOTPBankValid();
-	void setOTPBankValid(bool enabled);
-	int8_t getXGyroOffsetTC();
-	void setXGyroOffsetTC(int8_t offset);
+
+	uint8_t getOTPBankValid()
+	{
+		return readBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT);
+	}
+	void setOTPBankValid(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+	}
+	int8_t getXGyroOffsetTC()
+	{
+		return readBits(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
+	}
+	void 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 getYGyroOffsetTC();
-	void setYGyroOffsetTC(int8_t offset);
+
+	int8_t getYGyroOffsetTC()
+	{
+		return readBits(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
+	}
+	void 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 getZGyroOffsetTC();
-	void setZGyroOffsetTC(int8_t offset);
+
+	int8_t getZGyroOffsetTC()
+	{
+		return readBits(MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
+	}
+	void 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 getXFineGain();
-	void setXFineGain(int8_t gain);
+
+	int8_t getXFineGain()
+	{
+		return readByte(MPU6050_RA_X_FINE_GAIN);
+	}
+	void setXFineGain(int8_t gain)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+	}
 
 	// Y_FINE_GAIN register
-	int8_t getYFineGain();
-	void setYFineGain(int8_t gain);
+
+	int8_t getYFineGain()
+	{
+		return readByte(MPU6050_RA_Y_FINE_GAIN);
+	}
+	void setYFineGain(int8_t gain)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+	}
 
 	// Z_FINE_GAIN register
-	int8_t getZFineGain();
-	void setZFineGain(int8_t gain);
+
+	int8_t getZFineGain()
+	{
+		return readByte(MPU6050_RA_Z_FINE_GAIN);
+	}
+	void setZFineGain(int8_t gain)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+	}
 
 	// XA_OFFS_* registers
 	int16_t getXAccelOffset();
-	void setXAccelOffset(int16_t offset);
+	void setXAccelOffset(int16_t offset)
+	{
+		I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+	}
 
 	// YA_OFFS_* register
 	int16_t getYAccelOffset();
-	void setYAccelOffset(int16_t offset);
+	void setYAccelOffset(int16_t offset)
+	{
+		I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+	}
 
 	// ZA_OFFS_* register
 	int16_t getZAccelOffset();
-	void setZAccelOffset(int16_t offset);
+	void setZAccelOffset(int16_t offset)
+	{
+		I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+	}
 
 	// XG_OFFS_USR* registers
-	int16_t getXGyroOffset();
-	void setXGyroOffset(int16_t offset);
-
+	int16_t getXGyroOffset()
+	{
+		return readReg<int16_t>(MPU6050_RA_XG_OFFS_USRH);
+	}
+	void setXGyroOffset(int16_t offset)
+	{
+		I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+	}
 	// YG_OFFS_USR* register
-	int16_t getYGyroOffset();
-	void setYGyroOffset(int16_t offset);
+	int16_t getYGyroOffset()
+	{
+		return readReg<int16_t>(MPU6050_RA_YG_OFFS_USRH);
+	}
+
+	void setYGyroOffset(int16_t offset)
+	{
+		I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+	}
 
 	// ZG_OFFS_USR* register
-	int16_t getZGyroOffset();
-	void setZGyroOffset(int16_t offset);
+	int16_t getZGyroOffset()
+	{
+		return readReg<int16_t>(MPU6050_RA_ZG_OFFS_USRH);
+	}
+
+	void setZGyroOffset(int16_t offset)
+	{
+		I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+	}
 
 	// INT_ENABLE register (DMP functions)
-	bool getIntPLLReadyEnabled();
-	void setIntPLLReadyEnabled(bool enabled);
-	bool getIntDMPEnabled();
-	void setIntDMPEnabled(bool enabled);
+	bool getIntPLLReadyEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
+	}
+	void setIntPLLReadyEnabled(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+	}
+	bool getIntDMPEnabled()
+	{
+		return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT);
+	}
+	void setIntDMPEnabled(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+	}
 
 	// DMP_INT_STATUS
-	bool getDMPInt5Status();
-	bool getDMPInt4Status();
-	bool getDMPInt3Status();
-	bool getDMPInt2Status();
-	bool getDMPInt1Status();
-	bool getDMPInt0Status();
+	bool getDMPInt5Status()
+	{
+		return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT);
+	}
+	bool getDMPInt4Status()
+	{
+		return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT);
+	}
+	bool getDMPInt3Status()
+	{
+		return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT);
+	}
+	bool getDMPInt2Status()
+	{
+		return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT);
+	}
+	bool getDMPInt1Status()
+	{
+		return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT);
+	}
+	bool getDMPInt0Status()
+	{
+		return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT);
+	}
 
 	// INT_STATUS register (DMP functions)
-	bool getIntPLLReadyStatus();
-	bool getIntDMPStatus();
+
+	bool getIntPLLReadyStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
+	}
+	bool getIntDMPStatus()
+	{
+		return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT);
+	}
 
 	// USER_CTRL register (DMP functions)
-	bool getDMPEnabled();
-	void setDMPEnabled(bool enabled);
-	void resetDMP();
 
+	bool getDMPEnabled()
+	{
+		return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT);
+	}
+	void setDMPEnabled(bool enabled)
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+	}
+	void resetDMP()
+	{
+		I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+	}
 	// BANK_SEL register
 	void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
 
@@ -833,17 +3229,36 @@ class MPU6050
 							  bool verify = true);
 
 	bool writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem = false);
-	bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize);
+
+	bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize)
+	{
+		return writeDMPConfigurationSet(data, dataSize, true);
+	}
 
 	// DMP_CFG_1 register
-	uint8_t getDMPConfig1();
-	void setDMPConfig1(uint8_t config);
+
+	uint8_t getDMPConfig1()
+	{
+		return readByte(MPU6050_RA_DMP_CFG_1);
+	}
+
+	void setDMPConfig1(uint8_t config)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+	}
 
 	// DMP_CFG_2 register
-	uint8_t getDMPConfig2();
-	void setDMPConfig2(uint8_t config);
+	uint8_t getDMPConfig2()
+	{
+		return readByte(MPU6050_RA_DMP_CFG_2);
+	}
+
+	void setDMPConfig2(uint8_t config)
+	{
+		I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+	}
 
-	void CalibrateGyro(uint8_t Loops = 15);  // Fine tune after setting offsets with less Loops.
+	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