MPU6050-DMP2 - ported from https://github.com/jrowberg/i2cdevlib…

Users » chris1seto » Code » MPU6050-DMP2

Chris Seto / Mbed 2 deprecated MPU6050-DMP2

ported from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050

Dependencies: mbed

Fork of MPU6050 by Shundo Kishi

Files at this revision

API Documentation at this revision

Revision 3:25e1a5a10e53, committed 2013-11-19

Comitter:: syundo0730
Date:: Tue Nov 19 19:05:55 2013 +0000
Parent:: 2:f8bfb37b2e1f
Child:: 4:a1c169138c71
Commit message:: first commit

Changed in this revision

MPU6050.cpp	Show annotated file Show diff for this revision Revisions of this file
MPU6050.h	Show annotated file Show diff for this revision Revisions of this file
MPU6050_6Axis_MotionApps20.h	Show annotated file Show diff for this revision Revisions of this file
MPU6050_6Axis_MotionApps20old.h	Show annotated file Show diff for this revision Revisions of this file

--- a/MPU6050.cpp	Sun May 12 10:54:50 2013 +0000
+++ b/MPU6050.cpp	Tue Nov 19 19:05:55 2013 +0000
@@ -46,8 +46,8 @@
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
-#define pgm_read_byte_near(x) (*(prog_uchar*)x)
-#define pgm_read_byte(x) (*(prog_uchar*)x)
+#define pgm_read_byte_near(x) (*(prog_uchar*)(x))//<- I modified here
+#define pgm_read_byte(x) (*(prog_uchar*)(x))//<- I modified here
 
 /** Default constructor, uses default I2C address.
  * @see MPU6050_DEFAULT_ADDRESS

--- a/MPU6050.h	Sun May 12 10:54:50 2013 +0000
+++ b/MPU6050.h	Tue Nov 19 19:05:55 2013 +0000
@@ -860,7 +860,7 @@
             uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
             uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
             uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
-            uint8_t dm  pGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
             uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
             uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
             uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050_6Axis_MotionApps20.h	Tue Nov 19 19:05:55 2013 +0000
@@ -0,0 +1,743 @@
+// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 5/20/2013 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
+#define _MPU6050_6AXIS_MOTIONAPPS20_H_
+
+#include "I2Cdev.h"
+#include "helper_3dmath.h"
+
+// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
+#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
+
+#include "MPU6050.h"
+
+// Tom Carpenter's conditional PROGMEM code
+// http://forum.arduino.cc/index.php?topic=129407.0
+#ifndef __arm__
+    #include <avr/pgmspace.h>
+#else
+    // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
+    #ifndef __PGMSPACE_H_
+        #define __PGMSPACE_H_ 1
+        #include <inttypes.h>
+
+        #define PROGMEM
+        #define PGM_P  const char *
+        #define PSTR(str) (str)
+        #define F(x) x
+
+        typedef void prog_void;
+        typedef char prog_char;
+        typedef unsigned char prog_uchar;
+        typedef int8_t prog_int8_t;
+        typedef uint8_t prog_uint8_t;
+        typedef int16_t prog_int16_t;
+        typedef uint16_t prog_uint16_t;
+        typedef int32_t prog_int32_t;
+        typedef uint32_t prog_uint32_t;
+        
+        #define strcpy_P(dest, src) strcpy((dest), (src))
+        #define strcat_P(dest, src) strcat((dest), (src))
+        #define strcmp_P(a, b) strcmp((a), (b))
+        
+        #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+        #define pgm_read_word(addr) (*(const unsigned short *)(addr))
+        #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
+        #define pgm_read_float(addr) (*(const float *)(addr))
+        
+        #define pgm_read_byte_near(addr) pgm_read_byte(addr)
+        #define pgm_read_word_near(addr) pgm_read_word(addr)
+        #define pgm_read_dword_near(addr) pgm_read_dword(addr)
+        #define pgm_read_float_near(addr) pgm_read_float(addr)
+        #define pgm_read_byte_far(addr) pgm_read_byte(addr)
+        #define pgm_read_word_far(addr) pgm_read_word(addr)
+        #define pgm_read_dword_far(addr) pgm_read_dword(addr)
+        #define pgm_read_float_far(addr) pgm_read_float(addr)
+    #endif
+#endif
+
+/* Source is from the InvenSense MotionApps v2 demo code. Original source is
+ * unavailable, unless you happen to be amazing as decompiling binary by
+ * hand (in which case, please contact me, and I'm totally serious).
+ *
+ * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
+ * DMP reverse-engineering he did to help make this bit of wizardry
+ * possible.
+ */
+
+// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
+// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
+// after moving string constants to flash memory storage using the F()
+// compiler macro (Arduino IDE 1.0+ required).
+
+//#define DEBUG
+#ifdef DEBUG
+    #define DEBUG_PRINT(x) Serial.print(x)
+    #define DEBUG_PRINTF(x, y) Serial.print(x, y)
+    #define DEBUG_PRINTLN(x) Serial.println(x)
+    #define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
+#else
+    #define DEBUG_PRINT(x)
+    #define DEBUG_PRINTF(x, y)
+    #define DEBUG_PRINTLN(x)
+    #define DEBUG_PRINTLNF(x, y)
+#endif
+
+#define MPU6050_DMP_CODE_SIZE       1929    // dmpMemory[]
+#define MPU6050_DMP_CONFIG_SIZE     192     // dmpConfig[]
+#define MPU6050_DMP_UPDATES_SIZE    47      // dmpUpdates[]
+
+/* ================================================================================================ *
+ | Default MotionApps v2.0 42-byte FIFO packet structure:                                           |
+ |                                                                                                  |
+ | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
+ |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
+ |                                                                                                  |
+ | [GYRO Z][      ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ]                         |
+ |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41                          |
+ * ================================================================================================ */
+
+// this block of memory gets written to the MPU on start-up, and it seems
+// to be volatile memory, so it has to be done each time (it only takes ~1
+// second though)
+const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
+    // bank 0, 256 bytes
+    0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
+    0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
+    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
+    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
+    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
+    0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
+    0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
+    0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
+    0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
+
+    // bank 1, 256 bytes
+    0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
+    0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
+    0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
+    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
+
+    // bank 2, 256 bytes
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
+    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+    // bank 3, 256 bytes
+    0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
+    0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
+    0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
+    0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
+    0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
+    0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
+    0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
+    0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
+    0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
+    0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
+    0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
+    0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
+    0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
+    0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
+    0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
+    0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
+
+    // bank 4, 256 bytes
+    0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
+    0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
+    0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
+    0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
+    0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
+    0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
+    0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
+    0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
+    0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
+    0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
+    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
+    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
+    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
+    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
+    0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
+    0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
+
+    // bank 5, 256 bytes
+    0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
+    0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
+    0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
+    0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
+    0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
+    0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
+    0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
+    0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
+    0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
+    0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
+    0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
+    0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
+    0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
+    0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
+    0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
+    0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
+
+    // bank 6, 256 bytes
+    0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
+    0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
+    0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
+    0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
+    0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
+    0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
+    0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
+    0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
+    0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
+    0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
+    0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
+    0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
+    0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
+    0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
+    0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
+    0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
+
+    // bank 7, 138 bytes (remainder)
+    0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
+    0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
+    0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
+    0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
+    0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
+    0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
+    0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
+    0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
+    0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
+};
+
+// thanks to Noah Zerkin for piecing this stuff together!
+const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
+//  BANK    OFFSET  LENGTH  [DATA]
+    0x03,   0x7B,   0x03,   0x4C, 0xCD, 0x6C,         // FCFG_1 inv_set_gyro_calibration
+    0x03,   0xAB,   0x03,   0x36, 0x56, 0x76,         // FCFG_3 inv_set_gyro_calibration
+    0x00,   0x68,   0x04,   0x02, 0xCB, 0x47, 0xA2,   // D_0_104 inv_set_gyro_calibration
+    0x02,   0x18,   0x04,   0x00, 0x05, 0x8B, 0xC1,   // D_0_24 inv_set_gyro_calibration
+    0x01,   0x0C,   0x04,   0x00, 0x00, 0x00, 0x00,   // D_1_152 inv_set_accel_calibration
+    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
+    0x03,   0x89,   0x03,   0x26, 0x46, 0x66,         // FCFG_7 inv_set_accel_calibration
+    0x00,   0x6C,   0x02,   0x20, 0x00,               // D_0_108 inv_set_accel_calibration
+    0x02,   0x40,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_00 inv_set_compass_calibration
+    0x02,   0x44,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_01
+    0x02,   0x48,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_02
+    0x02,   0x4C,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_10
+    0x02,   0x50,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_11
+    0x02,   0x54,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_12
+    0x02,   0x58,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_20
+    0x02,   0x5C,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_21
+    0x02,   0xBC,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_22
+    0x01,   0xEC,   0x04,   0x00, 0x00, 0x40, 0x00,   // D_1_236 inv_apply_endian_accel
+    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
+    0x04,   0x02,   0x03,   0x0D, 0x35, 0x5D,         // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
+    0x04,   0x09,   0x04,   0x87, 0x2D, 0x35, 0x3D,   // FCFG_5 inv_set_bias_update
+    0x00,   0xA3,   0x01,   0x00,                     // D_0_163 inv_set_dead_zone
+                 // SPECIAL 0x01 = enable interrupts
+    0x00,   0x00,   0x00,   0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
+    0x07,   0x86,   0x01,   0xFE,                     // CFG_6 inv_set_fifo_interupt
+    0x07,   0x41,   0x05,   0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
+    0x07,   0x7E,   0x01,   0x30,                     // CFG_16 inv_set_footer
+    0x07,   0x46,   0x01,   0x9A,                     // CFG_GYRO_SOURCE inv_send_gyro
+    0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_9 inv_send_gyro -> inv_construct3_fifo
+    0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_12 inv_send_accel -> inv_construct3_fifo
+    0x02,   0x16,   0x02,   0x00, 0x01                // D_0_22 inv_set_fifo_rate
+
+    // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
+    // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
+    // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
+
+    // It is important to make sure the host processor can keep up with reading and processing
+    // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
+};
+
+const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
+    0x01,   0xB2,   0x02,   0xFF, 0xFF,
+    0x01,   0x90,   0x04,   0x09, 0x23, 0xA1, 0x35,
+    0x01,   0x6A,   0x02,   0x06, 0x00,
+    0x01,   0x60,   0x08,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00,   0x60,   0x04,   0x40, 0x00, 0x00, 0x00,
+    0x01,   0x62,   0x02,   0x00, 0x00,
+    0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00
+};
+
+uint8_t MPU6050::dmpInitialize() {
+    // reset device
+    DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
+    reset();
+    //delay(30); // wait after reset
+    wait_ms(30);
+
+    // enable sleep mode and wake cycle
+    /*Serial.println(F("Enabling sleep mode..."));
+    setSleepEnabled(true);
+    Serial.println(F("Enabling wake cycle..."));
+    setWakeCycleEnabled(true);*/
+
+    // disable sleep mode
+    DEBUG_PRINTLN(F("Disabling sleep mode..."));
+    setSleepEnabled(false);
+
+    // get MPU hardware revision
+    DEBUG_PRINTLN(F("Selecting user bank 16..."));
+    setMemoryBank(0x10, true, true);
+    DEBUG_PRINTLN(F("Selecting memory byte 6..."));
+    setMemoryStartAddress(0x06);
+    DEBUG_PRINTLN(F("Checking hardware revision..."));
+    uint8_t hwRevision = readMemoryByte();
+    DEBUG_PRINT(F("Revision @ user[16][6] = "));
+    DEBUG_PRINTLNF(hwRevision, HEX);
+    DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
+    setMemoryBank(0, false, false);
+
+    // check OTP bank valid
+    DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
+    uint8_t otpValid = getOTPBankValid();
+    DEBUG_PRINT(F("OTP bank is "));
+    DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
+
+    // get X/Y/Z gyro offsets
+    DEBUG_PRINTLN(F("Reading gyro offset TC values..."));
+    //int8_t xgOffsetTC = getXGyroOffsetTC();
+    //int8_t ygOffsetTC = getYGyroOffsetTC();
+    //int8_t zgOffsetTC = getZGyroOffsetTC();
+    DEBUG_PRINT(F("X gyro offset = "));
+    DEBUG_PRINTLN(xgOffset);
+    DEBUG_PRINT(F("Y gyro offset = "));
+    DEBUG_PRINTLN(ygOffset);
+    DEBUG_PRINT(F("Z gyro offset = "));
+    DEBUG_PRINTLN(zgOffset);
+
+    // setup weird slave stuff (?)
+    DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
+    setSlaveAddress(0, 0x7F);
+    DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
+    setI2CMasterModeEnabled(false);
+    DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
+    setSlaveAddress(0, 0x68);
+    DEBUG_PRINTLN(F("Resetting I2C Master control..."));
+    resetI2CMaster();
+    //delay(20);
+    wait_ms(20);
+
+    // load DMP code into memory banks
+    DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
+    DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
+    DEBUG_PRINTLN(F(" bytes)"));
+    if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
+        DEBUG_PRINTLN(F("Success! DMP code written and verified."));
+
+        // write DMP configuration
+        DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
+        DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
+        DEBUG_PRINTLN(F(" bytes in config def)"));
+        if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
+            DEBUG_PRINTLN(F("Success! DMP configuration written and verified."));
+
+            DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
+            setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
+
+            DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
+            setIntEnabled(0x12);
+
+            DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
+            setRate(4); // 1khz / (1 + 4) = 200 Hz
+
+            DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
+            setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
+
+            DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
+            setDLPFMode(MPU6050_DLPF_BW_42);
+
+            DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
+            setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
+
+            DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
+            setDMPConfig1(0x03);
+            setDMPConfig2(0x00);
+
+            DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
+            setOTPBankValid(false);
+
+            DEBUG_PRINTLN(F("Setting X/Y/Z gyro offset TCs to previous values..."));
+            //setXGyroOffsetTC(xgOffsetTC);
+            //setYGyroOffsetTC(ygOffsetTC);
+            //setZGyroOffsetTC(zgOffsetTC);
+
+            //DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
+            //setXGyroOffset(0);
+            //setYGyroOffset(0);
+            //setZGyroOffset(0);
+
+            DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
+            uint8_t dmpUpdate[16], j;
+            uint16_t pos = 0;
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Resetting FIFO..."));
+            resetFIFO();
+
+            DEBUG_PRINTLN(F("Reading FIFO count..."));
+            uint16_t fifoCount = getFIFOCount();
+            uint8_t fifoBuffer[128];
+
+            DEBUG_PRINT(F("Current FIFO count="));
+            DEBUG_PRINTLN(fifoCount);
+            getFIFOBytes(fifoBuffer, fifoCount);
+
+            DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
+            setMotionDetectionThreshold(2);
+
+            DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
+            setZeroMotionDetectionThreshold(156);
+
+            DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
+            setMotionDetectionDuration(80);
+
+            DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
+            setZeroMotionDetectionDuration(0);
+
+            DEBUG_PRINTLN(F("Resetting FIFO..."));
+            resetFIFO();
+
+            DEBUG_PRINTLN(F("Enabling FIFO..."));
+            setFIFOEnabled(true);
+
+            DEBUG_PRINTLN(F("Enabling DMP..."));
+            setDMPEnabled(true);
+
+            DEBUG_PRINTLN(F("Resetting DMP..."));
+            resetDMP();
+
+            DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
+            while ((fifoCount = getFIFOCount()) < 3);
+
+            DEBUG_PRINT(F("Current FIFO count="));
+            DEBUG_PRINTLN(fifoCount);
+            DEBUG_PRINTLN(F("Reading FIFO data..."));
+            getFIFOBytes(fifoBuffer, fifoCount);
+
+            DEBUG_PRINTLN(F("Reading interrupt status..."));
+            uint8_t mpuIntStatus = getIntStatus();
+
+            DEBUG_PRINT(F("Current interrupt status="));
+            DEBUG_PRINTLNF(mpuIntStatus, HEX);
+
+            DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
+            while ((fifoCount = getFIFOCount()) < 3);
+
+            DEBUG_PRINT(F("Current FIFO count="));
+            DEBUG_PRINTLN(fifoCount);
+
+            DEBUG_PRINTLN(F("Reading FIFO data..."));
+            getFIFOBytes(fifoBuffer, fifoCount);
+
+            DEBUG_PRINTLN(F("Reading interrupt status..."));
+            mpuIntStatus = getIntStatus();
+
+            DEBUG_PRINT(F("Current interrupt status="));
+            DEBUG_PRINTLNF(mpuIntStatus, HEX);
+
+            DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("DMP is good to go! Finally."));
+
+            DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
+            setDMPEnabled(false);
+
+            DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
+            dmpPacketSize = 42;
+            /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
+                return 3; // TODO: proper error code for no memory
+            }*/
+
+            DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
+            resetFIFO();
+            getIntStatus();
+        } else {
+            DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
+            return 2; // configuration block loading failed
+        }
+    } else {
+        DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
+        return 1; // main binary block loading failed
+    }
+    return 0; // success
+}
+
+bool MPU6050::dmpPacketAvailable() {
+    return getFIFOCount() >= dmpGetFIFOPacketSize();
+}
+
+// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
+// uint8_t MPU6050::dmpGetFIFORate();
+// uint8_t MPU6050::dmpGetSampleStepSizeMS();
+// uint8_t MPU6050::dmpGetSampleFrequency();
+// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
+
+//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
+//uint8_t MPU6050::dmpRunFIFORateProcesses();
+
+// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
+    data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
+    data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = (packet[28] << 8) + packet[29];
+    data[1] = (packet[32] << 8) + packet[33];
+    data[2] = (packet[36] << 8) + packet[37];
+    return 0;
+}
+uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    v -> x = (packet[28] << 8) + packet[29];
+    v -> y = (packet[32] << 8) + packet[33];
+    v -> z = (packet[36] << 8) + packet[37];
+    return 0;
+}
+uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
+    data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
+    data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
+    data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[0] << 8) + packet[1]);
+    data[1] = ((packet[4] << 8) + packet[5]);
+    data[2] = ((packet[8] << 8) + packet[9]);
+    data[3] = ((packet[12] << 8) + packet[13]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    int16_t qI[4];
+    uint8_t status = dmpGetQuaternion(qI, packet);
+    if (status == 0) {
+        q -> w = (float)qI[0] / 16384.0f;
+        q -> x = (float)qI[1] / 16384.0f;
+        q -> y = (float)qI[2] / 16384.0f;
+        q -> z = (float)qI[3] / 16384.0f;
+        return 0;
+    }
+    return status; // int16 return value, indicates error if this line is reached
+}
+// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
+    data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
+    data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = (packet[16] << 8) + packet[17];
+    data[1] = (packet[20] << 8) + packet[21];
+    data[2] = (packet[24] << 8) + packet[25];
+    return 0;
+}
+// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
+// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
+    // get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
+    v -> x = vRaw -> x - gravity -> x*8192;
+    v -> y = vRaw -> y - gravity -> y*8192;
+    v -> z = vRaw -> z - gravity -> z*8192;
+    return 0;
+}
+// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
+    // rotate measured 3D acceleration vector into original state
+    // frame of reference based on orientation quaternion
+    memcpy(v, vReal, sizeof(VectorInt16));
+    v -> rotate(q);
+    return 0;
+}
+// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
+    v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
+    v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
+    v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
+    return 0;
+}
+// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
+
+uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
+    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);   // psi
+    data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y);                              // theta
+    data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1);   // phi
+    return 0;
+}
+uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
+    // yaw: (about Z axis)
+    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
+    // pitch: (nose up/down, about Y axis)
+    data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
+    // roll: (tilt left/right, about X axis)
+    data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
+    return 0;
+}
+
+// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
+
+uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
+    /*for (uint8_t k = 0; k < dmpPacketSize; k++) {
+        if (dmpData[k] < 0x10) Serial.print("0");
+        Serial.print(dmpData[k], HEX);
+        Serial.print(" ");
+    }
+    Serial.print("\n");*/
+    //Serial.println((uint16_t)dmpPacketBuffer);
+    return 0;
+}
+uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
+    uint8_t status;
+    uint8_t buf[dmpPacketSize];
+    for (uint8_t i = 0; i < numPackets; i++) {
+        // read packet from FIFO
+        getFIFOBytes(buf, dmpPacketSize);
+
+        // process packet
+        if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
+        
+        // increment external process count variable, if supplied
+        if (processed != 0) *processed++;
+    }
+    return 0;
+}
+
+// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
+
+// uint8_t MPU6050::dmpInitFIFOParam();
+// uint8_t MPU6050::dmpCloseFIFO();
+// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
+// uint8_t MPU6050::dmpDecodeQuantizedAccel();
+// uint32_t MPU6050::dmpGetGyroSumOfSquare();
+// uint32_t MPU6050::dmpGetAccelSumOfSquare();
+// void MPU6050::dmpOverrideQuaternion(long *q);
+uint16_t MPU6050::dmpGetFIFOPacketSize() {
+    return dmpPacketSize;
+}
+
+#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050_6Axis_MotionApps20old.h	Tue Nov 19 19:05:55 2013 +0000
@@ -0,0 +1,767 @@
+// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 6/18/2012 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+extern Serial pc;
+
+#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
+#define _MPU6050_6AXIS_MOTIONAPPS20_H_
+
+#include "mbed.h"
+
+#include "I2Cdev.h"
+#include "helper_3dmath.h"
+
+// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
+#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
+
+#include "MPU6050.h"
+
+/* Source is from the InvenSense MotionApps v2 demo code. Original source is
+ * unavailable, unless you happen to be amazing as decompiling binary by
+ * hand (in which case, please contact me, and I'm totally serious).
+ *
+ * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
+ * DMP reverse-engineering he did to help make this bit of wizardry
+ * possible.
+ */
+
+// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
+// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
+// after moving string constants to flash memory storage using the F()
+// compiler macro (Arduino IDE 1.0+ required).
+
+//#define DEBUG
+
+#ifdef DEBUG
+    #define DEBUG_PRINT(x) printf("%f", x)                  //Serial.print(x,)
+    #define DEBUG_PRINTF(x, y) printf("%f, %f", x, y)       //Serial.print(x, y)
+    #define DEBUG_PRINTLN(x) printf("%f\r\n", x)            //Serial.println(x)
+    #define DEBUG_PRINTLNF(x, y) printf("%f, %f\r\n", x, y) //Serial.println(x, y)
+#else
+    #define DEBUG_PRINT(x)
+    #define DEBUG_PRINTF(x, y)
+    #define DEBUG_PRINTLN(x)
+    #define DEBUG_PRINTLNF(x, y)
+#endif
+
+
+#define MPU6050_DMP_CODE_SIZE       1929    // dmpMemory[]
+#define MPU6050_DMP_CONFIG_SIZE     192     // dmpConfig[]
+#define MPU6050_DMP_UPDATES_SIZE    47      // dmpUpdates[]
+
+//To invalid Arduino Memory
+
+typedef unsigned char prog_uchar;
+#define PROGMEM
+
+/* ================================================================================================ *
+ | Default MotionApps v2.0 42-byte FIFO packet structure:                                           |
+ |                                                                                                  |
+ | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
+ |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
+ |                                                                                                  |
+ | [GYRO Z][      ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ]                         |
+ |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41                          |
+ * ================================================================================================ */
+
+// this block of memory gets written to the MPU on start-up, and it seems
+// to be volatile memory, so it has to be done each time (it only takes ~1
+// second though)
+const prog_uchar dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
+    // bank 0, 256 bytes
+    0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
+    0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
+    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
+    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
+    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
+    0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
+    0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
+    0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
+    0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
+
+    // bank 1, 256 bytes
+    0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
+    0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
+    0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
+    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
+
+    // bank 2, 256 bytes
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
+    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+    // bank 3, 256 bytes
+    0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
+    0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
+    0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
+    0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
+    0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
+    0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
+    0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
+    0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
+    0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
+    0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
+    0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
+    0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
+    0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
+    0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
+    0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
+    0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
+
+    // bank 4, 256 bytes
+    0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
+    0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
+    0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
+    0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
+    0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
+    0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
+    0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
+    0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
+    0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
+    0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
+    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
+    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
+    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
+    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
+    0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
+    0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
+
+    // bank 5, 256 bytes
+    0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
+    0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
+    0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
+    0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
+    0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
+    0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
+    0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
+    0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
+    0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
+    0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
+    0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
+    0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
+    0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
+    0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
+    0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
+    0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
+
+    // bank 6, 256 bytes
+    0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
+    0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
+    0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
+    0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
+    0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
+    0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
+    0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
+    0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
+    0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
+    0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
+    0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
+    0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
+    0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
+    0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
+    0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
+    0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
+
+    // bank 7, 138 bytes (remainder)
+    0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
+    0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
+    0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
+    0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
+    0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
+    0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
+    0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
+    0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
+    0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
+};
+
+// thanks to Noah Zerkin for piecing this stuff together!
+const prog_uchar dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
+//  BANK    OFFSET  LENGTH  [DATA]
+    0x03,   0x7B,   0x03,   0x4C, 0xCD, 0x6C,         // FCFG_1 inv_set_gyro_calibration
+    0x03,   0xAB,   0x03,   0x36, 0x56, 0x76,         // FCFG_3 inv_set_gyro_calibration
+    0x00,   0x68,   0x04,   0x02, 0xCB, 0x47, 0xA2,   // D_0_104 inv_set_gyro_calibration
+    0x02,   0x18,   0x04,   0x00, 0x05, 0x8B, 0xC1,   // D_0_24 inv_set_gyro_calibration
+    0x01,   0x0C,   0x04,   0x00, 0x00, 0x00, 0x00,   // D_1_152 inv_set_accel_calibration
+    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
+    0x03,   0x89,   0x03,   0x26, 0x46, 0x66,         // FCFG_7 inv_set_accel_calibration
+    0x00,   0x6C,   0x02,   0x20, 0x00,               // D_0_108 inv_set_accel_calibration
+    0x02,   0x40,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_00 inv_set_compass_calibration
+    0x02,   0x44,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_01
+    0x02,   0x48,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_02
+    0x02,   0x4C,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_10
+    0x02,   0x50,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_11
+    0x02,   0x54,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_12
+    0x02,   0x58,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_20
+    0x02,   0x5C,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_21
+    0x02,   0xBC,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_22
+    0x01,   0xEC,   0x04,   0x00, 0x00, 0x40, 0x00,   // D_1_236 inv_apply_endian_accel
+    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
+    0x04,   0x02,   0x03,   0x0D, 0x35, 0x5D,         // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
+    0x04,   0x09,   0x04,   0x87, 0x2D, 0x35, 0x3D,   // FCFG_5 inv_set_bias_update
+    0x00,   0xA3,   0x01,   0x00,                     // D_0_163 inv_set_dead_zone
+                 // SPECIAL 0x01 = enable interrupts
+    0x00,   0x00,   0x00,   0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
+    0x07,   0x86,   0x01,   0xFE,                     // CFG_6 inv_set_fifo_interupt
+    0x07,   0x41,   0x05,   0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
+    0x07,   0x7E,   0x01,   0x30,                     // CFG_16 inv_set_footer
+    0x07,   0x46,   0x01,   0x9A,                     // CFG_GYRO_SOURCE inv_send_gyro
+    0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_9 inv_send_gyro -> inv_construct3_fifo
+    0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_12 inv_send_accel -> inv_construct3_fifo
+    0x02,   0x16,   0x02,   0x00, 0x01                // D_0_22 inv_set_fifo_rate
+
+    // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
+    // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
+    // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
+
+    // It is important to make sure the host processor can keep up with reading and processing
+    // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
+};
+
+const prog_uchar dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
+    0x01,   0xB2,   0x02,   0xFF, 0xFF,
+    0x01,   0x90,   0x04,   0x09, 0x23, 0xA1, 0x35,
+    0x01,   0x6A,   0x02,   0x06, 0x00,
+    0x01,   0x60,   0x08,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00,   0x60,   0x04,   0x40, 0x00, 0x00, 0x00,
+    0x01,   0x62,   0x02,   0x00, 0x00,
+    0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00
+};
+
+uint8_t MPU6050::dmpInitialize() {
+    // reset device
+    DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
+    pc.printf("Resetting MPU6050...\r\n");
+    reset();
+    wait_ms(30);// wait after reset
+
+    // enable sleep mode and wake cycle
+    /*Serial.println(F("Enabling sleep mode..."));
+    setSleepEnabled(true);
+    Serial.println(F("Enabling wake cycle..."));
+    setWakeCycleEnabled(true);*/
+
+    // disable sleep mode
+    DEBUG_PRINTLN(F("Disabling sleep mode..."));
+    pc.printf("Disabling sleep mode...\r\n");
+    setSleepEnabled(false);
+
+    // get MPU hardware revision
+    DEBUG_PRINTLN(F("Selecting user bank 16..."));
+    setMemoryBank(0x10, true, true);
+    DEBUG_PRINTLN(F("Selecting memory byte 6..."));
+    setMemoryStartAddress(0x06);
+    DEBUG_PRINTLN(F("Checking hardware revision..."));
+    uint8_t hwRevision = readMemoryByte();
+    DEBUG_PRINT(F("Revision @ user[16][6] = "));
+    DEBUG_PRINTLNF(hwRevision, HEX);
+    DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
+    setMemoryBank(0, false, false);
+
+    // check OTP bank valid
+    DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
+    uint8_t otpValid = getOTPBankValid();
+    DEBUG_PRINT(F("OTP bank is "));
+    DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
+    if (otpValid) pc.printf("OTP bank is valid!\r\n");
+    else pc.printf("OTP bank is invalid!\r\n");
+
+    // get X/Y/Z gyro offsets
+    DEBUG_PRINTLN(F("Reading gyro offset values..."));
+    int8_t xgOffset = getXGyroOffset();
+    int8_t ygOffset = getYGyroOffset();
+    int8_t zgOffset = getZGyroOffset();
+    DEBUG_PRINT(F("X gyro offset = "));
+    DEBUG_PRINTLN(xgOffset);
+    DEBUG_PRINT(F("Y gyro offset = "));
+    DEBUG_PRINTLN(ygOffset);
+    DEBUG_PRINT(F("Z gyro offset = "));
+    DEBUG_PRINTLN(zgOffset);
+
+    // setup weird slave stuff (?)
+    DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
+    pc.printf("Setting slave 0 address to 0x7F...\r\n");
+    setSlaveAddress(0, 0x7F);
+    DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
+    pc.printf("Disabling I2C Master mode...\r\n");
+    setI2CMasterModeEnabled(false);
+    DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
+    pc.printf("Setting slave 0 address to 0x68 (self)...\r\n");
+    setSlaveAddress(0, 0x68);
+    DEBUG_PRINTLN(F("Resetting I2C Master control..."));
+    pc.printf("Resetting I2C Master control...\r\n");
+    resetI2CMaster();
+    wait_ms(20);
+
+    // load DMP code into memory banks
+    DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
+    pc.printf("Writing DMP code to MPU memory banks (");
+    DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
+    pc.printf("%d", MPU6050_DMP_CODE_SIZE);
+    DEBUG_PRINTLN(F(" bytes)"));
+    pc.printf(" bytes)\r\n");
+    if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
+        DEBUG_PRINTLN(F("Success! DMP code written and verified."));
+        pc.printf("Success! DMP code written and verified.\r\n");
+
+        // write DMP configuration
+        DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
+        DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
+        DEBUG_PRINTLN(F(" bytes in config def)"));
+        if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
+            DEBUG_PRINTLN(F("Success! DMP configuration written and verified."));
+            pc.printf("Success! DMP configuration written and verified.\r\n");
+
+            DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
+            pc.printf("Setting clock source to Z Gyro...\r\n");
+            setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
+
+            DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
+            pc.printf("Setting DMP and FIFO_OFLOW interrupts enabled...\r\n");
+            setIntEnabled(0x12);
+
+            DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
+            pc.printf("Setting sample rate to 200Hz...\r\n");
+            setRate(4); // 1khz / (1 + 4) = 200 Hz
+
+            DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
+            pc.printf("Setting external frame sync to TEMP_OUT_L[0]...\r\n");
+            setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
+
+            DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
+            pc.printf("Setting DLPF bandwidth to 42Hz...\r\n");
+            setDLPFMode(MPU6050_DLPF_BW_42);
+
+            DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
+            pc.printf("Setting gyro sensitivity to +/- 2000 deg/sec...\r\n");
+            setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
+
+            DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
+            pc.printf("Setting DMP configuration bytes (function unknown)...\r\n");
+            setDMPConfig1(0x03);
+            setDMPConfig2(0x00);
+
+            DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
+            pc.printf("Clearing OTP Bank flag...\r\n");
+            setOTPBankValid(false);
+
+            DEBUG_PRINTLN(F("Setting X/Y/Z gyro offsets to previous values..."));
+            pc.printf("Setting X/Y/Z gyro offsets to previous values...\r\n");
+            setXGyroOffset(xgOffset);
+            setYGyroOffset(ygOffset);
+            setZGyroOffset(zgOffset);
+
+            DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
+            pc.printf("Setting X/Y/Z gyro user offsets to zero...\r\n");
+            setXGyroOffsetUser(0);
+            setYGyroOffsetUser(0);
+            setZGyroOffsetUser(0);
+
+            DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
+            pc.printf("Writing final memory update 1/7 (function unknown)...\r\n");
+            uint8_t dmpUpdate[16], j;
+            uint16_t pos = 0;
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
+            pc.printf("Writing final memory update 2/7 (function unknown)...\r\n");
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Resetting FIFO..."));
+            pc.printf("Resetting FIFO...\r\n");
+            resetFIFO();
+            
+            DEBUG_PRINTLN(F("Reading FIFO count..."));
+            pc.printf("Reading FIFO count...\r\n");
+            uint8_t fifoCount = getFIFOCount();
+            uint8_t fifoBuffer[128];
+            
+            DEBUG_PRINT(F("Current FIFO count="));
+            pc.printf("Current FIFO count=");
+            DEBUG_PRINTLN(fifoCount);
+            pc.printf("%d\r\n", fifoCount);
+            getFIFOBytes(fifoBuffer, fifoCount);
+
+            DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
+            pc.printf("Setting motion detection threshold to 2...\r\n");
+            setMotionDetectionThreshold(2);
+
+            DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
+            pc.printf("Setting zero-motion detection threshold to 156...\r\n");
+            setZeroMotionDetectionThreshold(156);
+
+            DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
+            pc.printf("Setting motion detection duration to 80...\r\n");
+            setMotionDetectionDuration(80);
+
+            DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
+            pc.printf("Setting zero-motion detection duration to 0...\r\n");
+            setZeroMotionDetectionDuration(0);
+
+            DEBUG_PRINTLN(F("Resetting FIFO..."));
+            pc.printf("Resetting FIFO...\r\n");
+            resetFIFO();
+
+            DEBUG_PRINTLN(F("Enabling FIFO..."));
+            pc.printf("Enabling FIFO...\r\n");
+            setFIFOEnabled(true);
+
+            DEBUG_PRINTLN(F("Enabling DMP..."));
+            pc.printf("Enabling DMP...\r\n");
+            setDMPEnabled(true);
+
+            DEBUG_PRINTLN(F("Resetting DMP..."));
+            pc.printf("Resetting DMP...\r\n");
+            resetDMP();
+
+            DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
+            pc.printf("Writing final memory update 3/7 (function unknown)...\r\n");
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
+            pc.printf("Writing final memory update 4/7 (function unknown)...\r\n");
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
+            pc.printf("Writing final memory update 5/7 (function unknown)...\r\n");
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
+            pc.printf("Waiting for FIFO count > 2...\r\n");
+            while ((fifoCount = getFIFOCount()) < 3);
+
+            DEBUG_PRINT(F("Current FIFO count="));
+            pc.printf("Current FIFO count=");
+            DEBUG_PRINTLN(fifoCount);
+            pc.printf("%d\r\n", fifoCount);
+            DEBUG_PRINTLN(F("Reading FIFO data..."));
+            pc.printf("Reading FIFO data...\r\n");
+            getFIFOBytes(fifoBuffer, fifoCount);
+            
+            DEBUG_PRINTLN(F("Reading interrupt status..."));
+            pc.printf("Reading interrupt status...\r\n");
+            uint8_t mpuIntStatus = getIntStatus();
+
+            DEBUG_PRINT(F("Current interrupt status="));
+            pc.printf("Current interrupt status=");
+            DEBUG_PRINTLNF(mpuIntStatus, HEX);
+            pc.printf("%x\r\n", mpuIntStatus);
+
+            DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
+            pc.printf("Reading final memory update 6/7 (function unknown)...\r\n");
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
+            pc.printf("Waiting for FIFO count > 2...\r\n");
+            while ((fifoCount = getFIFOCount()) < 3);
+
+            DEBUG_PRINT(F("Current FIFO count="));
+            pc.printf("Current FIFO count=");
+            DEBUG_PRINTLN(fifoCount);
+            pc.printf("%d\r\n", fifoCount);
+
+            DEBUG_PRINTLN(F("Reading FIFO data..."));
+            pc.printf("Reading FIFO data...\r\n");
+            getFIFOBytes(fifoBuffer, fifoCount);
+
+            DEBUG_PRINTLN(F("Reading interrupt status..."));
+            pc.printf("Reading interrupt status...\r\n");
+            mpuIntStatus = getIntStatus();
+
+            DEBUG_PRINT(F("Current interrupt status="));
+            pc.printf("Current interrupt status=");
+            DEBUG_PRINTLNF(mpuIntStatus, HEX);
+            pc.printf("%x\r\n", mpuIntStatus);
+
+            DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
+            pc.printf("Writing final memory update 7/7 (function unknown)...\r\n");
+            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = dmpUpdates[pos]; //pgm_read_byte(&dmpUpdates[pos]);
+            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
+
+            DEBUG_PRINTLN(F("DMP is good to go! Finally."));
+            pc.printf("DMP is good to go! Finally.\r\n");
+
+            DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
+            pc.printf("DDisabling DMP (you turn it on later)...\r\n");
+            setDMPEnabled(false);
+
+            DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
+            pc.printf("Setting up internal 42-byte (default) DMP packet buffer...\r\n");
+            dmpPacketSize = 42;
+            /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
+                return 3; // TODO: proper error code for no memory
+            }*/
+
+            DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
+            pc.printf("Resetting FIFO and clearing INT status one last time...\r\n");
+            resetFIFO();
+            getIntStatus();
+        } else {
+            DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
+            return 2; // configuration block loading failed
+        }
+    } else {
+        DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
+        return 1; // main binary block loading failed
+    }
+    return 0; // success
+}
+
+bool MPU6050::dmpPacketAvailable() {
+    return getFIFOCount() >= dmpGetFIFOPacketSize();
+}
+
+// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
+// uint8_t MPU6050::dmpGetFIFORate();
+// uint8_t MPU6050::dmpGetSampleStepSizeMS();
+// uint8_t MPU6050::dmpGetSampleFrequency();
+// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
+
+//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
+//uint8_t MPU6050::dmpRunFIFORateProcesses();
+
+// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
+    data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
+    data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = (packet[28] << 8) + packet[29];
+    data[1] = (packet[32] << 8) + packet[33];
+    data[2] = (packet[36] << 8) + packet[37];
+    return 0;
+}
+uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    v -> x = (packet[28] << 8) + packet[29];
+    v -> y = (packet[32] << 8) + packet[33];
+    v -> z = (packet[36] << 8) + packet[37];
+    return 0;
+}
+uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
+    data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
+    data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
+    data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[0] << 8) + packet[1]);
+    data[1] = ((packet[4] << 8) + packet[5]);
+    data[2] = ((packet[8] << 8) + packet[9]);
+    data[3] = ((packet[12] << 8) + packet[13]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    int16_t qI[4];
+    uint8_t status = dmpGetQuaternion(qI, packet);
+    if (status == 0) {
+        q -> w = (float)qI[0] / 16384.0f;
+        q -> x = (float)qI[1] / 16384.0f;
+        q -> y = (float)qI[2] / 16384.0f;
+        q -> z = (float)qI[3] / 16384.0f;
+        return 0;
+    }
+    return status; // int16 return value, indicates error if this line is reached
+}
+// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
+    data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
+    data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
+    return 0;
+}
+uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
+    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+    if (packet == 0) packet = dmpPacketBuffer;
+    data[0] = (packet[16] << 8) + packet[17];
+    data[1] = (packet[20] << 8) + packet[21];
+    data[2] = (packet[24] << 8) + packet[25];
+    return 0;
+}
+// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
+// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
+    // get rid of the gravity component (+1g = +4096 in standard DMP FIFO packet)
+    v -> x = vRaw -> x - gravity -> x*4096;
+    v -> y = vRaw -> y - gravity -> y*4096;
+    v -> z = vRaw -> z - gravity -> z*4096;
+    return 0;
+}
+// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
+    // rotate measured 3D acceleration vector into original state
+    // frame of reference based on orientation quaternion
+    memcpy(v, vReal, sizeof(VectorInt16));
+    v -> rotate(q);
+    return 0;
+}
+// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
+uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
+    v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
+    v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
+    v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
+    return 0;
+}
+// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
+
+uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
+    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);   // psi
+    data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y);                              // theta
+    data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1);   // phi
+    return 0;
+}
+uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
+    // yaw: (about Z axis)
+    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
+    // pitch: (nose up/down, about Y axis)
+    data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
+    // roll: (tilt left/right, about X axis)
+    data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
+    return 0;
+}
+
+// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
+// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
+
+uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
+    /*for (uint8_t k = 0; k < dmpPacketSize; k++) {
+        if (dmpData[k] < 0x10) Serial.print("0");
+        Serial.print(dmpData[k], HEX);
+        Serial.print(" ");
+    }
+    Serial.print("\n");*/
+    //Serial.println((uint16_t)dmpPacketBuffer);
+    return 0;
+}
+uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
+    uint8_t status;
+    uint8_t buf[dmpPacketSize];
+    for (uint8_t i = 0; i < numPackets; i++) {
+        // read packet from FIFO
+        getFIFOBytes(buf, dmpPacketSize);
+
+        // process packet
+        if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
+        
+        // increment external process count variable, if supplied
+        if (processed != 0) *processed++;
+    }
+    return 0;
+}
+
+// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
+
+// uint8_t MPU6050::dmpInitFIFOParam();
+// uint8_t MPU6050::dmpCloseFIFO();
+// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
+// uint8_t MPU6050::dmpDecodeQuantizedAccel();
+// uint32_t MPU6050::dmpGetGyroSumOfSquare();
+// uint32_t MPU6050::dmpGetAccelSumOfSquare();
+// void MPU6050::dmpOverrideQuaternion(long *q);
+uint16_t MPU6050::dmpGetFIFOPacketSize() {
+    return dmpPacketSize;
+}
+
+#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
\ No newline at end of file

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 Jun 2014
Imports:	6
Forks:	0
Commits:	7
Dependents:	0
Dependencies:	1
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Revision 3:25e1a5a10e53, committed 2013-11-19

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