text: // I2Cdev library collection - MPU9150 I2C device class
  // Based on InvenSense MPU-9150 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
  // 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
  // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
  //
  // Changelog:
  //     ... - ongoing debug release
  
  // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
  // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
  // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
  
  /* ============================================
  I2Cdev device library code is placed under the MIT license
  Copyright (c) 2012 Jeff Rowberg
  
  Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  copies of the Software, and to permit persons to whom the Software is
  furnished to do so, subject to the following conditions:
  
  The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.
  
  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  THE SOFTWARE.
  ===============================================
  */
  
  #ifndef _MPU9150_H_
  #define _MPU9150_H_
  
  #include "I2Cdev.h"
  
  // Tom Carpenter's conditional PROGMEM code
  // http://forum.arduino.cc/index.php?topic=129407.0
  #ifdef __AVR__
      #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
  
  //Magnetometer Registers
  #define MPU9150_RA_MAG_ADDRESS		0x0C
  #define MPU9150_RA_MAG_XOUT_L		0x03
  #define MPU9150_RA_MAG_XOUT_H		0x04
  #define MPU9150_RA_MAG_YOUT_L		0x05
  #define MPU9150_RA_MAG_YOUT_H		0x06
  #define MPU9150_RA_MAG_ZOUT_L		0x07
  #define MPU9150_RA_MAG_ZOUT_H		0x08
  
  #define MPU9150_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
  #define MPU9150_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
  #define MPU9150_DEFAULT_ADDRESS     MPU9150_ADDRESS_AD0_LOW
  
  #define MPU9150_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
  #define MPU9150_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
  #define MPU9150_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
  #define MPU9150_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
  #define MPU9150_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
  #define MPU9150_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
  #define MPU9150_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
  #define MPU9150_RA_XA_OFFS_L_TC     0x07
  #define MPU9150_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
  #define MPU9150_RA_YA_OFFS_L_TC     0x09
  #define MPU9150_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
  #define MPU9150_RA_ZA_OFFS_L_TC     0x0B
  #define MPU9150_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
  #define MPU9150_RA_XG_OFFS_USRL     0x14
  #define MPU9150_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
  #define MPU9150_RA_YG_OFFS_USRL     0x16
  #define MPU9150_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
  #define MPU9150_RA_ZG_OFFS_USRL     0x18
  #define MPU9150_RA_SMPLRT_DIV       0x19
  #define MPU9150_RA_CONFIG           0x1A
  #define MPU9150_RA_GYRO_CONFIG      0x1B
  #define MPU9150_RA_ACCEL_CONFIG     0x1C
  #define MPU9150_RA_FF_THR           0x1D
  #define MPU9150_RA_FF_DUR           0x1E
  #define MPU9150_RA_MOT_THR          0x1F
  #define MPU9150_RA_MOT_DUR          0x20
  #define MPU9150_RA_ZRMOT_THR        0x21
  #define MPU9150_RA_ZRMOT_DUR        0x22
  #define MPU9150_RA_FIFO_EN          0x23
  #define MPU9150_RA_I2C_MST_CTRL     0x24
  #define MPU9150_RA_I2C_SLV0_ADDR    0x25
  #define MPU9150_RA_I2C_SLV0_REG     0x26
  #define MPU9150_RA_I2C_SLV0_CTRL    0x27
  #define MPU9150_RA_I2C_SLV1_ADDR    0x28
  #define MPU9150_RA_I2C_SLV1_REG     0x29
  #define MPU9150_RA_I2C_SLV1_CTRL    0x2A
  #define MPU9150_RA_I2C_SLV2_ADDR    0x2B
  #define MPU9150_RA_I2C_SLV2_REG     0x2C
  #define MPU9150_RA_I2C_SLV2_CTRL    0x2D
  #define MPU9150_RA_I2C_SLV3_ADDR    0x2E
  #define MPU9150_RA_I2C_SLV3_REG     0x2F
  #define MPU9150_RA_I2C_SLV3_CTRL    0x30
  #define MPU9150_RA_I2C_SLV4_ADDR    0x31
  #define MPU9150_RA_I2C_SLV4_REG     0x32
  #define MPU9150_RA_I2C_SLV4_DO      0x33
  #define MPU9150_RA_I2C_SLV4_CTRL    0x34
  #define MPU9150_RA_I2C_SLV4_DI      0x35
  #define MPU9150_RA_I2C_MST_STATUS   0x36
  #define MPU9150_RA_INT_PIN_CFG      0x37
  #define MPU9150_RA_INT_ENABLE       0x38
  #define MPU9150_RA_DMP_INT_STATUS   0x39
  #define MPU9150_RA_INT_STATUS       0x3A
  #define MPU9150_RA_ACCEL_XOUT_H     0x3B
  #define MPU9150_RA_ACCEL_XOUT_L     0x3C
  #define MPU9150_RA_ACCEL_YOUT_H     0x3D
  #define MPU9150_RA_ACCEL_YOUT_L     0x3E
  #define MPU9150_RA_ACCEL_ZOUT_H     0x3F
  #define MPU9150_RA_ACCEL_ZOUT_L     0x40
  #define MPU9150_RA_TEMP_OUT_H       0x41
  #define MPU9150_RA_TEMP_OUT_L       0x42
  #define MPU9150_RA_GYRO_XOUT_H      0x43
  #define MPU9150_RA_GYRO_XOUT_L      0x44
  #define MPU9150_RA_GYRO_YOUT_H      0x45
  #define MPU9150_RA_GYRO_YOUT_L      0x46
  #define MPU9150_RA_GYRO_ZOUT_H      0x47
  #define MPU9150_RA_GYRO_ZOUT_L      0x48
  #define MPU9150_RA_EXT_SENS_DATA_00 0x49
  #define MPU9150_RA_EXT_SENS_DATA_01 0x4A
  #define MPU9150_RA_EXT_SENS_DATA_02 0x4B
  #define MPU9150_RA_EXT_SENS_DATA_03 0x4C
  #define MPU9150_RA_EXT_SENS_DATA_04 0x4D
  #define MPU9150_RA_EXT_SENS_DATA_05 0x4E
  #define MPU9150_RA_EXT_SENS_DATA_06 0x4F
  #define MPU9150_RA_EXT_SENS_DATA_07 0x50
  #define MPU9150_RA_EXT_SENS_DATA_08 0x51
  #define MPU9150_RA_EXT_SENS_DATA_09 0x52
  #define MPU9150_RA_EXT_SENS_DATA_10 0x53
  #define MPU9150_RA_EXT_SENS_DATA_11 0x54
  #define MPU9150_RA_EXT_SENS_DATA_12 0x55
  #define MPU9150_RA_EXT_SENS_DATA_13 0x56
  #define MPU9150_RA_EXT_SENS_DATA_14 0x57
  #define MPU9150_RA_EXT_SENS_DATA_15 0x58
  #define MPU9150_RA_EXT_SENS_DATA_16 0x59
  #define MPU9150_RA_EXT_SENS_DATA_17 0x5A
  #define MPU9150_RA_EXT_SENS_DATA_18 0x5B
  #define MPU9150_RA_EXT_SENS_DATA_19 0x5C
  #define MPU9150_RA_EXT_SENS_DATA_20 0x5D
  #define MPU9150_RA_EXT_SENS_DATA_21 0x5E
  #define MPU9150_RA_EXT_SENS_DATA_22 0x5F
  #define MPU9150_RA_EXT_SENS_DATA_23 0x60
  #define MPU9150_RA_MOT_DETECT_STATUS    0x61
  #define MPU9150_RA_I2C_SLV0_DO      0x63
  #define MPU9150_RA_I2C_SLV1_DO      0x64
  #define MPU9150_RA_I2C_SLV2_DO      0x65
  #define MPU9150_RA_I2C_SLV3_DO      0x66
  #define MPU9150_RA_I2C_MST_DELAY_CTRL   0x67
  #define MPU9150_RA_SIGNAL_PATH_RESET    0x68
  #define MPU9150_RA_MOT_DETECT_CTRL      0x69
  #define MPU9150_RA_USER_CTRL        0x6A
  #define MPU9150_RA_PWR_MGMT_1       0x6B
  #define MPU9150_RA_PWR_MGMT_2       0x6C
  #define MPU9150_RA_BANK_SEL         0x6D
  #define MPU9150_RA_MEM_START_ADDR   0x6E
  #define MPU9150_RA_MEM_R_W          0x6F
  #define MPU9150_RA_DMP_CFG_1        0x70
  #define MPU9150_RA_DMP_CFG_2        0x71
  #define MPU9150_RA_FIFO_COUNTH      0x72
  #define MPU9150_RA_FIFO_COUNTL      0x73
  #define MPU9150_RA_FIFO_R_W         0x74
  #define MPU9150_RA_WHO_AM_I         0x75
  
  #define MPU9150_TC_PWR_MODE_BIT     7
  #define MPU9150_TC_OFFSET_BIT       6
  #define MPU9150_TC_OFFSET_LENGTH    6
  #define MPU9150_TC_OTP_BNK_VLD_BIT  0
  
  #define MPU9150_VDDIO_LEVEL_VLOGIC  0
  #define MPU9150_VDDIO_LEVEL_VDD     1
  
  #define MPU9150_CFG_EXT_SYNC_SET_BIT    5
  #define MPU9150_CFG_EXT_SYNC_SET_LENGTH 3
  #define MPU9150_CFG_DLPF_CFG_BIT    2
  #define MPU9150_CFG_DLPF_CFG_LENGTH 3
  
  #define MPU9150_EXT_SYNC_DISABLED       0x0
  #define MPU9150_EXT_SYNC_TEMP_OUT_L     0x1
  #define MPU9150_EXT_SYNC_GYRO_XOUT_L    0x2
  #define MPU9150_EXT_SYNC_GYRO_YOUT_L    0x3
  #define MPU9150_EXT_SYNC_GYRO_ZOUT_L    0x4
  #define MPU9150_EXT_SYNC_ACCEL_XOUT_L   0x5
  #define MPU9150_EXT_SYNC_ACCEL_YOUT_L   0x6
  #define MPU9150_EXT_SYNC_ACCEL_ZOUT_L   0x7
  
  #define MPU9150_DLPF_BW_256         0x00
  #define MPU9150_DLPF_BW_188         0x01
  #define MPU9150_DLPF_BW_98          0x02
  #define MPU9150_DLPF_BW_42          0x03
  #define MPU9150_DLPF_BW_20          0x04
  #define MPU9150_DLPF_BW_10          0x05
  #define MPU9150_DLPF_BW_5           0x06
  
  #define MPU9150_GCONFIG_FS_SEL_BIT      4
  #define MPU9150_GCONFIG_FS_SEL_LENGTH   2
  
  #define MPU9150_GYRO_FS_250         0x00
  #define MPU9150_GYRO_FS_500         0x01
  #define MPU9150_GYRO_FS_1000        0x02
  #define MPU9150_GYRO_FS_2000        0x03
  
  #define MPU9150_ACONFIG_XA_ST_BIT           7
  #define MPU9150_ACONFIG_YA_ST_BIT           6
  #define MPU9150_ACONFIG_ZA_ST_BIT           5
  #define MPU9150_ACONFIG_AFS_SEL_BIT         4
  #define MPU9150_ACONFIG_AFS_SEL_LENGTH      2
  #define MPU9150_ACONFIG_ACCEL_HPF_BIT       2
  #define MPU9150_ACONFIG_ACCEL_HPF_LENGTH    3
  
  #define MPU9150_ACCEL_FS_2          0x00
  #define MPU9150_ACCEL_FS_4          0x01
  #define MPU9150_ACCEL_FS_8          0x02
  #define MPU9150_ACCEL_FS_16         0x03
  
  #define MPU9150_DHPF_RESET          0x00
  #define MPU9150_DHPF_5              0x01
  #define MPU9150_DHPF_2P5            0x02
  #define MPU9150_DHPF_1P25           0x03
  #define MPU9150_DHPF_0P63           0x04
  #define MPU9150_DHPF_HOLD           0x07
  
  #define MPU9150_TEMP_FIFO_EN_BIT    7
  #define MPU9150_XG_FIFO_EN_BIT      6
  #define MPU9150_YG_FIFO_EN_BIT      5
  #define MPU9150_ZG_FIFO_EN_BIT      4
  #define MPU9150_ACCEL_FIFO_EN_BIT   3
  #define MPU9150_SLV2_FIFO_EN_BIT    2
  #define MPU9150_SLV1_FIFO_EN_BIT    1
  #define MPU9150_SLV0_FIFO_EN_BIT    0
  
  #define MPU9150_MULT_MST_EN_BIT     7
  #define MPU9150_WAIT_FOR_ES_BIT     6
  #define MPU9150_SLV_3_FIFO_EN_BIT   5
  #define MPU9150_I2C_MST_P_NSR_BIT   4
  #define MPU9150_I2C_MST_CLK_BIT     3
  #define MPU9150_I2C_MST_CLK_LENGTH  4
  
  #define MPU9150_CLOCK_DIV_348       0x0
  #define MPU9150_CLOCK_DIV_333       0x1
  #define MPU9150_CLOCK_DIV_320       0x2
  #define MPU9150_CLOCK_DIV_308       0x3
  #define MPU9150_CLOCK_DIV_296       0x4
  #define MPU9150_CLOCK_DIV_286       0x5
  #define MPU9150_CLOCK_DIV_276       0x6
  #define MPU9150_CLOCK_DIV_267       0x7
  #define MPU9150_CLOCK_DIV_258       0x8
  #define MPU9150_CLOCK_DIV_500       0x9
  #define MPU9150_CLOCK_DIV_471       0xA
  #define MPU9150_CLOCK_DIV_444       0xB
  #define MPU9150_CLOCK_DIV_421       0xC
  #define MPU9150_CLOCK_DIV_400       0xD
  #define MPU9150_CLOCK_DIV_381       0xE
  #define MPU9150_CLOCK_DIV_364       0xF
  
  #define MPU9150_I2C_SLV_RW_BIT      7
  #define MPU9150_I2C_SLV_ADDR_BIT    6
  #define MPU9150_I2C_SLV_ADDR_LENGTH 7
  #define MPU9150_I2C_SLV_EN_BIT      7
  #define MPU9150_I2C_SLV_BYTE_SW_BIT 6
  #define MPU9150_I2C_SLV_REG_DIS_BIT 5
  #define MPU9150_I2C_SLV_GRP_BIT     4
  #define MPU9150_I2C_SLV_LEN_BIT     3
  #define MPU9150_I2C_SLV_LEN_LENGTH  4
  
  #define MPU9150_I2C_SLV4_RW_BIT         7
  #define MPU9150_I2C_SLV4_ADDR_BIT       6
  #define MPU9150_I2C_SLV4_ADDR_LENGTH    7
  #define MPU9150_I2C_SLV4_EN_BIT         7
  #define MPU9150_I2C_SLV4_INT_EN_BIT     6
  #define MPU9150_I2C_SLV4_REG_DIS_BIT    5
  #define MPU9150_I2C_SLV4_MST_DLY_BIT    4
  #define MPU9150_I2C_SLV4_MST_DLY_LENGTH 5
  
  #define MPU9150_MST_PASS_THROUGH_BIT    7
  #define MPU9150_MST_I2C_SLV4_DONE_BIT   6
  #define MPU9150_MST_I2C_LOST_ARB_BIT    5
  #define MPU9150_MST_I2C_SLV4_NACK_BIT   4
  #define MPU9150_MST_I2C_SLV3_NACK_BIT   3
  #define MPU9150_MST_I2C_SLV2_NACK_BIT   2
  #define MPU9150_MST_I2C_SLV1_NACK_BIT   1
  #define MPU9150_MST_I2C_SLV0_NACK_BIT   0
  
  #define MPU9150_INTCFG_INT_LEVEL_BIT        7
  #define MPU9150_INTCFG_INT_OPEN_BIT         6
  #define MPU9150_INTCFG_LATCH_INT_EN_BIT     5
  #define MPU9150_INTCFG_INT_RD_CLEAR_BIT     4
  #define MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT  3
  #define MPU9150_INTCFG_FSYNC_INT_EN_BIT     2
  #define MPU9150_INTCFG_I2C_BYPASS_EN_BIT    1
  #define MPU9150_INTCFG_CLKOUT_EN_BIT        0
  
  #define MPU9150_INTMODE_ACTIVEHIGH  0x00
  #define MPU9150_INTMODE_ACTIVELOW   0x01
  
  #define MPU9150_INTDRV_PUSHPULL     0x00
  #define MPU9150_INTDRV_OPENDRAIN    0x01
  
  #define MPU9150_INTLATCH_50USPULSE  0x00
  #define MPU9150_INTLATCH_WAITCLEAR  0x01
  
  #define MPU9150_INTCLEAR_STATUSREAD 0x00
  #define MPU9150_INTCLEAR_ANYREAD    0x01
  
  #define MPU9150_INTERRUPT_FF_BIT            7
  #define MPU9150_INTERRUPT_MOT_BIT           6
  #define MPU9150_INTERRUPT_ZMOT_BIT          5
  #define MPU9150_INTERRUPT_FIFO_OFLOW_BIT    4
  #define MPU9150_INTERRUPT_I2C_MST_INT_BIT   3
  #define MPU9150_INTERRUPT_PLL_RDY_INT_BIT   2
  #define MPU9150_INTERRUPT_DMP_INT_BIT       1
  #define MPU9150_INTERRUPT_DATA_RDY_BIT      0
  
  // TODO: figure out what these actually do
  // UMPL source code is not very obivous
  #define MPU9150_DMPINT_5_BIT            5
  #define MPU9150_DMPINT_4_BIT            4
  #define MPU9150_DMPINT_3_BIT            3
  #define MPU9150_DMPINT_2_BIT            2
  #define MPU9150_DMPINT_1_BIT            1
  #define MPU9150_DMPINT_0_BIT            0
  
  #define MPU9150_MOTION_MOT_XNEG_BIT     7
  #define MPU9150_MOTION_MOT_XPOS_BIT     6
  #define MPU9150_MOTION_MOT_YNEG_BIT     5
  #define MPU9150_MOTION_MOT_YPOS_BIT     4
  #define MPU9150_MOTION_MOT_ZNEG_BIT     3
  #define MPU9150_MOTION_MOT_ZPOS_BIT     2
  #define MPU9150_MOTION_MOT_ZRMOT_BIT    0
  
  #define MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
  #define MPU9150_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
  #define MPU9150_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
  #define MPU9150_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
  #define MPU9150_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
  #define MPU9150_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
  
  #define MPU9150_PATHRESET_GYRO_RESET_BIT    2
  #define MPU9150_PATHRESET_ACCEL_RESET_BIT   1
  #define MPU9150_PATHRESET_TEMP_RESET_BIT    0
  
  #define MPU9150_DETECT_ACCEL_ON_DELAY_BIT       5
  #define MPU9150_DETECT_ACCEL_ON_DELAY_LENGTH    2
  #define MPU9150_DETECT_FF_COUNT_BIT             3
  #define MPU9150_DETECT_FF_COUNT_LENGTH          2
  #define MPU9150_DETECT_MOT_COUNT_BIT            1
  #define MPU9150_DETECT_MOT_COUNT_LENGTH         2
  
  #define MPU9150_DETECT_DECREMENT_RESET  0x0
  #define MPU9150_DETECT_DECREMENT_1      0x1
  #define MPU9150_DETECT_DECREMENT_2      0x2
  #define MPU9150_DETECT_DECREMENT_4      0x3
  
  #define MPU9150_USERCTRL_DMP_EN_BIT             7
  #define MPU9150_USERCTRL_FIFO_EN_BIT            6
  #define MPU9150_USERCTRL_I2C_MST_EN_BIT         5
  #define MPU9150_USERCTRL_I2C_IF_DIS_BIT         4
  #define MPU9150_USERCTRL_DMP_RESET_BIT          3
  #define MPU9150_USERCTRL_FIFO_RESET_BIT         2
  #define MPU9150_USERCTRL_I2C_MST_RESET_BIT      1
  #define MPU9150_USERCTRL_SIG_COND_RESET_BIT     0
  
  #define MPU9150_PWR1_DEVICE_RESET_BIT   7
  #define MPU9150_PWR1_SLEEP_BIT          6
  #define MPU9150_PWR1_CYCLE_BIT          5
  #define MPU9150_PWR1_TEMP_DIS_BIT       3
  #define MPU9150_PWR1_CLKSEL_BIT         2
  #define MPU9150_PWR1_CLKSEL_LENGTH      3
  
  #define MPU9150_CLOCK_INTERNAL          0x00
  #define MPU9150_CLOCK_PLL_XGYRO         0x01
  #define MPU9150_CLOCK_PLL_YGYRO         0x02
  #define MPU9150_CLOCK_PLL_ZGYRO         0x03
  #define MPU9150_CLOCK_PLL_EXT32K        0x04
  #define MPU9150_CLOCK_PLL_EXT19M        0x05
  #define MPU9150_CLOCK_KEEP_RESET        0x07
  
  #define MPU9150_PWR2_LP_WAKE_CTRL_BIT       7
  #define MPU9150_PWR2_LP_WAKE_CTRL_LENGTH    2
  #define MPU9150_PWR2_STBY_XA_BIT            5
  #define MPU9150_PWR2_STBY_YA_BIT            4
  #define MPU9150_PWR2_STBY_ZA_BIT            3
  #define MPU9150_PWR2_STBY_XG_BIT            2
  #define MPU9150_PWR2_STBY_YG_BIT            1
  #define MPU9150_PWR2_STBY_ZG_BIT            0
  
  #define MPU9150_WAKE_FREQ_1P25      0x0
  #define MPU9150_WAKE_FREQ_2P5       0x1
  #define MPU9150_WAKE_FREQ_5         0x2
  #define MPU9150_WAKE_FREQ_10        0x3
  
  #define MPU9150_BANKSEL_PRFTCH_EN_BIT       6
  #define MPU9150_BANKSEL_CFG_USER_BANK_BIT   5
  #define MPU9150_BANKSEL_MEM_SEL_BIT         4
  #define MPU9150_BANKSEL_MEM_SEL_LENGTH      5
  
  #define MPU9150_WHO_AM_I_BIT        6
  #define MPU9150_WHO_AM_I_LENGTH     6
  
  #define MPU9150_DMP_MEMORY_BANKS        8
  #define MPU9150_DMP_MEMORY_BANK_SIZE    256
  #define MPU9150_DMP_MEMORY_CHUNK_SIZE   16
  
  // note: DMP code memory blocks defined at end of header file
  
  class MPU9150 {
      public:
          MPU9150();
          MPU9150(uint8_t address);
  
          void initialize();
          bool testConnection();
  
          // AUX_VDDIO register
          uint8_t getAuxVDDIOLevel();
          void setAuxVDDIOLevel(uint8_t level);
  
          // SMPLRT_DIV register
          uint8_t getRate();
          void setRate(uint8_t rate);
  
          // CONFIG register
          uint8_t getExternalFrameSync();
          void setExternalFrameSync(uint8_t sync);
          uint8_t getDLPFMode();
          void setDLPFMode(uint8_t bandwidth);
  
          // GYRO_CONFIG register
          uint8_t getFullScaleGyroRange();
          void setFullScaleGyroRange(uint8_t range);
  
          // ACCEL_CONFIG register
          bool getAccelXSelfTest();
          void setAccelXSelfTest(bool enabled);
          bool getAccelYSelfTest();
          void setAccelYSelfTest(bool enabled);
          bool getAccelZSelfTest();
          void setAccelZSelfTest(bool enabled);
          uint8_t getFullScaleAccelRange();
          void setFullScaleAccelRange(uint8_t range);
          uint8_t getDHPFMode();
          void setDHPFMode(uint8_t mode);
  
          // FF_THR register
          uint8_t getFreefallDetectionThreshold();
          void setFreefallDetectionThreshold(uint8_t threshold);
  
          // FF_DUR register
          uint8_t getFreefallDetectionDuration();
          void setFreefallDetectionDuration(uint8_t duration);
  
          // MOT_THR register
          uint8_t getMotionDetectionThreshold();
          void setMotionDetectionThreshold(uint8_t threshold);
  
          // MOT_DUR register
          uint8_t getMotionDetectionDuration();
          void setMotionDetectionDuration(uint8_t duration);
  
          // ZRMOT_THR register
          uint8_t getZeroMotionDetectionThreshold();
          void setZeroMotionDetectionThreshold(uint8_t threshold);
  
          // ZRMOT_DUR register
          uint8_t getZeroMotionDetectionDuration();
          void setZeroMotionDetectionDuration(uint8_t duration);
  
          // FIFO_EN register
          bool getTempFIFOEnabled();
          void setTempFIFOEnabled(bool enabled);
          bool getXGyroFIFOEnabled();
          void setXGyroFIFOEnabled(bool enabled);
          bool getYGyroFIFOEnabled();
          void setYGyroFIFOEnabled(bool enabled);
          bool getZGyroFIFOEnabled();
          void setZGyroFIFOEnabled(bool enabled);
          bool getAccelFIFOEnabled();
          void setAccelFIFOEnabled(bool enabled);
          bool getSlave2FIFOEnabled();
          void setSlave2FIFOEnabled(bool enabled);
          bool getSlave1FIFOEnabled();
          void setSlave1FIFOEnabled(bool enabled);
          bool getSlave0FIFOEnabled();
          void setSlave0FIFOEnabled(bool enabled);
  
          // I2C_MST_CTRL register
          bool getMultiMasterEnabled();
          void setMultiMasterEnabled(bool enabled);
          bool getWaitForExternalSensorEnabled();
          void setWaitForExternalSensorEnabled(bool enabled);
          bool getSlave3FIFOEnabled();
          void setSlave3FIFOEnabled(bool enabled);
          bool getSlaveReadWriteTransitionEnabled();
          void setSlaveReadWriteTransitionEnabled(bool enabled);
          uint8_t getMasterClockSpeed();
          void setMasterClockSpeed(uint8_t speed);
  
          // I2C_SLV* registers (Slave 0-3)
          uint8_t getSlaveAddress(uint8_t num);
          void setSlaveAddress(uint8_t num, uint8_t address);
          uint8_t getSlaveRegister(uint8_t num);
          void setSlaveRegister(uint8_t num, uint8_t reg);
          bool getSlaveEnabled(uint8_t num);
          void setSlaveEnabled(uint8_t num, bool enabled);
          bool getSlaveWordByteSwap(uint8_t num);
          void setSlaveWordByteSwap(uint8_t num, bool enabled);
          bool getSlaveWriteMode(uint8_t num);
          void setSlaveWriteMode(uint8_t num, bool mode);
          bool getSlaveWordGroupOffset(uint8_t num);
          void setSlaveWordGroupOffset(uint8_t num, bool enabled);
          uint8_t getSlaveDataLength(uint8_t num);
          void setSlaveDataLength(uint8_t num, uint8_t length);
  
          // I2C_SLV* registers (Slave 4)
          uint8_t getSlave4Address();
          void setSlave4Address(uint8_t address);
          uint8_t getSlave4Register();
          void setSlave4Register(uint8_t reg);
          void setSlave4OutputByte(uint8_t data);
          bool getSlave4Enabled();
          void setSlave4Enabled(bool enabled);
          bool getSlave4InterruptEnabled();
          void setSlave4InterruptEnabled(bool enabled);
          bool getSlave4WriteMode();
          void setSlave4WriteMode(bool mode);
          uint8_t getSlave4MasterDelay();
          void setSlave4MasterDelay(uint8_t delay);
          uint8_t getSlate4InputByte();
  
          // I2C_MST_STATUS register
          bool getPassthroughStatus();
          bool getSlave4IsDone();
          bool getLostArbitration();
          bool getSlave4Nack();
          bool getSlave3Nack();
          bool getSlave2Nack();
          bool getSlave1Nack();
          bool getSlave0Nack();
  
          // INT_PIN_CFG register
          bool getInterruptMode();
          void setInterruptMode(bool mode);
          bool getInterruptDrive();
          void setInterruptDrive(bool drive);
          bool getInterruptLatch();
          void setInterruptLatch(bool latch);
          bool getInterruptLatchClear();
          void setInterruptLatchClear(bool clear);
          bool getFSyncInterruptLevel();
          void setFSyncInterruptLevel(bool level);
          bool getFSyncInterruptEnabled();
          void setFSyncInterruptEnabled(bool enabled);
          bool getI2CBypassEnabled();
          void setI2CBypassEnabled(bool enabled);
          bool getClockOutputEnabled();
          void setClockOutputEnabled(bool enabled);
  
          // INT_ENABLE register
          uint8_t getIntEnabled();
          void setIntEnabled(uint8_t enabled);
          bool getIntFreefallEnabled();
          void setIntFreefallEnabled(bool enabled);
          bool getIntMotionEnabled();
          void setIntMotionEnabled(bool enabled);
          bool getIntZeroMotionEnabled();
          void setIntZeroMotionEnabled(bool enabled);
          bool getIntFIFOBufferOverflowEnabled();
          void setIntFIFOBufferOverflowEnabled(bool enabled);
          bool getIntI2CMasterEnabled();
          void setIntI2CMasterEnabled(bool enabled);
          bool getIntDataReadyEnabled();
          void setIntDataReadyEnabled(bool enabled);
  
          // INT_STATUS register
          uint8_t getIntStatus();
          bool getIntFreefallStatus();
          bool getIntMotionStatus();
          bool getIntZeroMotionStatus();
          bool getIntFIFOBufferOverflowStatus();
          bool getIntI2CMasterStatus();
          bool getIntDataReadyStatus();
  
          // ACCEL_*OUT_* registers
          void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
          void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
          void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
          int16_t getAccelerationX();
          int16_t getAccelerationY();
          int16_t getAccelerationZ();
  
          // TEMP_OUT_* registers
          int16_t getTemperature();
  
          // GYRO_*OUT_* registers
          void getRotation(int16_t* x, int16_t* y, int16_t* z);
          int16_t getRotationX();
          int16_t getRotationY();
          int16_t getRotationZ();
  
          // EXT_SENS_DATA_* registers
          uint8_t getExternalSensorByte(int position);
          uint16_t getExternalSensorWord(int position);
          uint32_t getExternalSensorDWord(int position);
  
          // MOT_DETECT_STATUS register
          bool getXNegMotionDetected();
          bool getXPosMotionDetected();
          bool getYNegMotionDetected();
          bool getYPosMotionDetected();
          bool getZNegMotionDetected();
          bool getZPosMotionDetected();
          bool getZeroMotionDetected();
  
          // I2C_SLV*_DO register
          void setSlaveOutputByte(uint8_t num, uint8_t data);
  
          // I2C_MST_DELAY_CTRL register
          bool getExternalShadowDelayEnabled();
          void setExternalShadowDelayEnabled(bool enabled);
          bool getSlaveDelayEnabled(uint8_t num);
          void setSlaveDelayEnabled(uint8_t num, bool enabled);
  
          // SIGNAL_PATH_RESET register
          void resetGyroscopePath();
          void resetAccelerometerPath();
          void resetTemperaturePath();
  
          // MOT_DETECT_CTRL register
          uint8_t getAccelerometerPowerOnDelay();
          void setAccelerometerPowerOnDelay(uint8_t delay);
          uint8_t getFreefallDetectionCounterDecrement();
          void setFreefallDetectionCounterDecrement(uint8_t decrement);
          uint8_t getMotionDetectionCounterDecrement();
          void setMotionDetectionCounterDecrement(uint8_t decrement);
  
          // USER_CTRL register
          bool getFIFOEnabled();
          void setFIFOEnabled(bool enabled);
          bool getI2CMasterModeEnabled();
          void setI2CMasterModeEnabled(bool enabled);
          void switchSPIEnabled(bool enabled);
          void resetFIFO();
          void resetI2CMaster();
          void resetSensors();
  
          // PWR_MGMT_1 register
          void reset();
          bool getSleepEnabled();
          void setSleepEnabled(bool enabled);
          bool getWakeCycleEnabled();
          void setWakeCycleEnabled(bool enabled);
          bool getTempSensorEnabled();
          void setTempSensorEnabled(bool enabled);
          uint8_t getClockSource();
          void setClockSource(uint8_t source);
  
          // PWR_MGMT_2 register
          uint8_t getWakeFrequency();
          void setWakeFrequency(uint8_t frequency);
          bool getStandbyXAccelEnabled();
          void setStandbyXAccelEnabled(bool enabled);
          bool getStandbyYAccelEnabled();
          void setStandbyYAccelEnabled(bool enabled);
          bool getStandbyZAccelEnabled();
          void setStandbyZAccelEnabled(bool enabled);
          bool getStandbyXGyroEnabled();
          void setStandbyXGyroEnabled(bool enabled);
          bool getStandbyYGyroEnabled();
          void setStandbyYGyroEnabled(bool enabled);
          bool getStandbyZGyroEnabled();
          void setStandbyZGyroEnabled(bool enabled);
  
          // FIFO_COUNT_* registers
          uint16_t getFIFOCount();
  
          // FIFO_R_W register
          uint8_t getFIFOByte();
          void setFIFOByte(uint8_t data);
          void getFIFOBytes(uint8_t *data, uint8_t length);
  
          // WHO_AM_I register
          uint8_t getDeviceID();
          void setDeviceID(uint8_t id);
  
          // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
  
          // XG_OFFS_TC register
          uint8_t getOTPBankValid();
          void setOTPBankValid(bool enabled);
          int8_t getXGyroOffsetTC();
          void setXGyroOffsetTC(int8_t offset);
  
          // YG_OFFS_TC register
          int8_t getYGyroOffsetTC();
          void setYGyroOffsetTC(int8_t offset);
  
          // ZG_OFFS_TC register
          int8_t getZGyroOffsetTC();
          void setZGyroOffsetTC(int8_t offset);
  
          // X_FINE_GAIN register
          int8_t getXFineGain();
          void setXFineGain(int8_t gain);
  
          // Y_FINE_GAIN register
          int8_t getYFineGain();
          void setYFineGain(int8_t gain);
  
          // Z_FINE_GAIN register
          int8_t getZFineGain();
          void setZFineGain(int8_t gain);
  
          // XA_OFFS_* registers
          int16_t getXAccelOffset();
          void setXAccelOffset(int16_t offset);
  
          // YA_OFFS_* register
          int16_t getYAccelOffset();
          void setYAccelOffset(int16_t offset);
  
          // ZA_OFFS_* register
          int16_t getZAccelOffset();
          void setZAccelOffset(int16_t offset);
  
          // XG_OFFS_USR* registers
          int16_t getXGyroOffset();
          void setXGyroOffset(int16_t offset);
  
          // YG_OFFS_USR* register
          int16_t getYGyroOffset();
          void setYGyroOffset(int16_t offset);
  
          // ZG_OFFS_USR* register
          int16_t getZGyroOffset();
          void setZGyroOffset(int16_t offset);
  
          // INT_ENABLE register (DMP functions)
          bool getIntPLLReadyEnabled();
          void setIntPLLReadyEnabled(bool enabled);
          bool getIntDMPEnabled();
          void setIntDMPEnabled(bool enabled);
  
          // DMP_INT_STATUS
          bool getDMPInt5Status();
          bool getDMPInt4Status();
          bool getDMPInt3Status();
          bool getDMPInt2Status();
          bool getDMPInt1Status();
          bool getDMPInt0Status();
  
          // INT_STATUS register (DMP functions)
          bool getIntPLLReadyStatus();
          bool getIntDMPStatus();
  
          // USER_CTRL register (DMP functions)
          bool getDMPEnabled();
          void setDMPEnabled(bool enabled);
          void resetDMP();
  
          // BANK_SEL register
          void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
  
          // MEM_START_ADDR register
          void setMemoryStartAddress(uint8_t address);
  
          // MEM_R_W register
          uint8_t readMemoryByte();
          void writeMemoryByte(uint8_t data);
          void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
          bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
          bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
  
          bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
          bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
  
          // DMP_CFG_1 register
          uint8_t getDMPConfig1();
          void setDMPConfig1(uint8_t config);
  
          // DMP_CFG_2 register
          uint8_t getDMPConfig2();
          void setDMPConfig2(uint8_t config);
  
          // special methods for MotionApps 2.0 implementation
          #ifdef MPU9150_INCLUDE_DMP_MOTIONAPPS20
              uint8_t *dmpPacketBuffer;
              uint16_t dmpPacketSize;
  
              uint8_t dmpInitialize();
              bool dmpPacketAvailable();
  
              uint8_t dmpSetFIFORate(uint8_t fifoRate);
              uint8_t dmpGetFIFORate();
              uint8_t dmpGetSampleStepSizeMS();
              uint8_t dmpGetSampleFrequency();
              int32_t dmpDecodeTemperature(int8_t tempReg);
  
              // Register callbacks after a packet of FIFO data is processed
              //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
              //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
              uint8_t dmpRunFIFORateProcesses();
  
              // Setup FIFO for various output
              uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
              uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
              uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
  
              // Get Fixed Point data from FIFO
              uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
              uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
              uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
              uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
              uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
              uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
              uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
              uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
              uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
              uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
  
              uint8_t dmpGetEuler(float *data, Quaternion *q);
              uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
  
              // Get Floating Point data from FIFO
              uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
              uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
  
              uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
              uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
  
              uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
  
              uint8_t dmpInitFIFOParam();
              uint8_t dmpCloseFIFO();
              uint8_t dmpSetGyroDataSource(uint8_t source);
              uint8_t dmpDecodeQuantizedAccel();
              uint32_t dmpGetGyroSumOfSquare();
              uint32_t dmpGetAccelSumOfSquare();
              void dmpOverrideQuaternion(long *q);
              uint16_t dmpGetFIFOPacketSize();
          #endif
  
          // special methods for MotionApps 4.1 implementation
          #ifdef MPU9150_INCLUDE_DMP_MOTIONAPPS41
              uint8_t *dmpPacketBuffer;
              uint16_t dmpPacketSize;
  
              uint8_t dmpInitialize();
              bool dmpPacketAvailable();
  
              uint8_t dmpSetFIFORate(uint8_t fifoRate);
              uint8_t dmpGetFIFORate();
              uint8_t dmpGetSampleStepSizeMS();
              uint8_t dmpGetSampleFrequency();
              int32_t dmpDecodeTemperature(int8_t tempReg);
  
              // Register callbacks after a packet of FIFO data is processed
              //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
              //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
              uint8_t dmpRunFIFORateProcesses();
  
              // Setup FIFO for various output
              uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
              uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
              uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
              uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
  
              // Get Fixed Point data from FIFO
              uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
              uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
              uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
              uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
              uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
              uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
              uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
              uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
              uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
              uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
              uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
              uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
  
              uint8_t dmpGetEuler(float *data, Quaternion *q);
              uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
  
              // Get Floating Point data from FIFO
              uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
              uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
  
              uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
              uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
  
              uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
  
              uint8_t dmpInitFIFOParam();
              uint8_t dmpCloseFIFO();
              uint8_t dmpSetGyroDataSource(uint8_t source);
              uint8_t dmpDecodeQuantizedAccel();
              uint32_t dmpGetGyroSumOfSquare();
              uint32_t dmpGetAccelSumOfSquare();
              void dmpOverrideQuaternion(long *q);
              uint16_t dmpGetFIFOPacketSize();
          #endif
  
      private:
          uint8_t devAddr;
          uint8_t buffer[14];
  };
  
  #endif /* _MPU9150_H_ */
  