commit a5883f0402ce0758ea9eb220370788a432084b33
Author: Suhaylzhao <838119509@qq.com>
Date:   Fri Aug 19 11:54:07 2016 +0800

    First publish
    
    Apply to FNK0020

diff --git a/Code/C_Code/00.0.0_Hello/Hello.c b/Code/C_Code/00.0.0_Hello/Hello.c
new file mode 100644
index 0000000..9a3f624
--- /dev/null
+++ b/Code/C_Code/00.0.0_Hello/Hello.c
@@ -0,0 +1,7 @@
+#include <stdio.h>
+
+int main(){
+	printf("hello, world!\n");
+	
+	return 1;
+}
\ No newline at end of file
diff --git a/Code/C_Code/01.1.1_Blink/Blink.c b/Code/C_Code/01.1.1_Blink/Blink.c
new file mode 100644
index 0000000..b0b10d4
--- /dev/null
+++ b/Code/C_Code/01.1.1_Blink/Blink.c
@@ -0,0 +1,34 @@
+/**********************************************************************
+* Filename    : Blink.c
+* Description : Make an led blinking.
+* auther      : www.freenove.com
+* modification: 2016/06/07
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define  ledPin    0
+
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	//when initialize wiring successfully,print message to screen	
+	printf("wiringPi initialize successfully, GPIO %d(wiringPi pin)\n",ledPin); 	
+	
+	pinMode(ledPin, OUTPUT);//Set the pin mode
+
+	while(1){
+			digitalWrite(ledPin, HIGH);  //led on
+			printf("led on...\n");
+			delay(1000);
+			digitalWrite(ledPin, LOW);  //led off
+			printf("...led off\n");
+			delay(1000);
+	}
+
+	return 0;
+}
+
diff --git a/Code/C_Code/02.1.1_ButtonLED/ButtonLED.c b/Code/C_Code/02.1.1_ButtonLED/ButtonLED.c
new file mode 100644
index 0000000..595099a
--- /dev/null
+++ b/Code/C_Code/02.1.1_ButtonLED/ButtonLED.c
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : ButtonLED.c
+* Description : Controlling an led by button.
+* Author      : freenove
+* modification: 2016/06/12
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define ledPin    0  	//define the ledPin
+#define buttonPin 1		//define the buttonPin
+
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	
+	pinMode(ledPin, OUTPUT); //Set ledPin output
+	pinMode(buttonPin, INPUT);//Set buttonPin input
+
+	pullUpDnControl(buttonPin, PUD_UP);  //pull up to high level
+	while(1){
+		
+		if(digitalRead(buttonPin) == LOW){ //button has pressed down
+			digitalWrite(ledPin, HIGH);   //led on
+			printf("led on...\n");
+		}
+		else {				//button has released 
+			digitalWrite(ledPin, LOW);   //led off
+			printf("...led off\n");
+		}
+	}
+
+	return 0;
+}
+
diff --git a/Code/C_Code/02.2.1_TableLamp/TableLamp.c b/Code/C_Code/02.2.1_TableLamp/TableLamp.c
new file mode 100644
index 0000000..58020eb
--- /dev/null
+++ b/Code/C_Code/02.2.1_TableLamp/TableLamp.c
@@ -0,0 +1,63 @@
+/**********************************************************************
+* Filename    : Tablelamp.c
+* Description : a DIY MINI table lamp
+* Author      : freenove
+* modification: 2016/06/13
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define ledPin    0  	//define the ledPin
+#define buttonPin 1		//define the buttonPin
+int ledState=LOW;		//store the State of led
+int buttonState=HIGH;	//store the State of button
+int lastbuttonState=HIGH;//store the lastState of button
+long lastChangeTime;	//store the change time of button state
+long captureTime=50;	//set the button state stable time
+int reading;
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	printf("Program is starting...\n");
+	pinMode(ledPin, OUTPUT); 
+	pinMode(buttonPin, INPUT);
+
+	pullUpDnControl(buttonPin, PUD_UP);  //pull up to high level
+	while(1){
+		reading = digitalRead(buttonPin); //read the current state of button
+		if( reading != lastbuttonState){  //if the button state has changed ,record the time point
+			lastChangeTime = millis();
+		}
+		//if changing-state of the button last beyond the time we set,we considered that 
+		//the current button state is an effective change rather than a buffeting
+		if(millis() - lastChangeTime > captureTime){
+			//if button state is changed ,update the data.
+			if(reading != buttonState){
+				buttonState = reading;
+				//if the state is low ,the action is pressing
+				if(buttonState == LOW){
+					printf("Button is pressed!\n");
+					ledState = !ledState; //Turn the LED state .
+					if(ledState){
+						printf("turn on LED ...\n");
+					}
+					else {
+						printf("turn off LED ...\n");
+					}
+				}
+				//if the state is high ,the action is releasing
+				else {
+					printf("Button is released!\n");
+				}
+			}
+		}
+		digitalWrite(ledPin,ledState);
+		lastbuttonState = reading;
+	}
+
+	return 0;
+}
+
diff --git a/Code/C_Code/03.1.1_LightWater/LightWater b/Code/C_Code/03.1.1_LightWater/LightWater
new file mode 100644
index 0000000..6e60d95
Binary files /dev/null and b/Code/C_Code/03.1.1_LightWater/LightWater differ
diff --git a/Code/C_Code/03.1.1_LightWater/LightWater.c b/Code/C_Code/03.1.1_LightWater/LightWater.c
new file mode 100644
index 0000000..5f13f17
--- /dev/null
+++ b/Code/C_Code/03.1.1_LightWater/LightWater.c
@@ -0,0 +1,46 @@
+/**********************************************************************
+* Filename    : LightWater.c
+* Description : Display 10 LEDBar Graph 
+* Author      : freenove
+* modification: 2016/06/13
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#define leds 10
+int pins[leds] = {0,1,2,3,4,5,6,8,9,10};
+void led_on(int n)//make led_n on
+{
+	digitalWrite(n, LOW);
+}
+
+void led_off(int n)//make led_n off
+{
+	digitalWrite(n, HIGH);
+}
+
+int main(void)
+{
+	int i;
+	printf("Program is starting ... \n");
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	for(i=0;i<leds;i++){       //make leds pins' mode is output
+		pinMode(pins[i], OUTPUT);
+	}
+	while(1){
+		for(i=0;i<leds;i++){   //make led on from left to right
+			led_on(pins[i]);
+			delay(100);
+			led_off(pins[i]);
+		}
+		for(i=leds-1;i>-1;i--){   //make led on from right to left
+			led_on(pins[i]);
+			delay(100);
+			led_off(pins[i]);
+		}
+	}
+	return 0;
+}
+
diff --git a/Code/C_Code/04.1.1_BreathingLED/BreathingLED b/Code/C_Code/04.1.1_BreathingLED/BreathingLED
new file mode 100644
index 0000000..34e8de2
Binary files /dev/null and b/Code/C_Code/04.1.1_BreathingLED/BreathingLED differ
diff --git a/Code/C_Code/04.1.1_BreathingLED/BreathingLED.c b/Code/C_Code/04.1.1_BreathingLED/BreathingLED.c
new file mode 100644
index 0000000..36e1e3a
--- /dev/null
+++ b/Code/C_Code/04.1.1_BreathingLED/BreathingLED.c
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : BreathingLED.c
+* Description : A breathing LED
+* Author      : freenove
+* modification: 2016/06/14
+**********************************************************************/
+
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define ledPin    1 //Only GPIO18 can output PWM
+
+int main(void)
+{
+	int i;
+
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	
+	pinMode(ledPin, PWM_OUTPUT);//pwm output mode
+
+	while(1){
+		for(i=0;i<1024;i++){
+			pwmWrite(ledPin, i);
+			delay(2);
+		}
+		delay(300);
+		for(i=1023;i>=0;i--){
+			pwmWrite(ledPin, i);
+			delay(2);
+		}
+		delay(300);
+	}
+	return 0;
+}
+
diff --git a/Code/C_Code/05.1.1_ColorfulLED/ColorfulLED.c b/Code/C_Code/05.1.1_ColorfulLED/ColorfulLED.c
new file mode 100644
index 0000000..c393714
--- /dev/null
+++ b/Code/C_Code/05.1.1_ColorfulLED/ColorfulLED.c
@@ -0,0 +1,48 @@
+/**********************************************************************
+* Filename    : ColorfulLED.c
+* Description : A auto flash ColorfulLED
+* Author      : freenove
+* modification: 2016/06/14
+**********************************************************************/
+#include <wiringPi.h>
+#include <softPwm.h>
+#include <stdio.h>
+
+#define ledPinRed    0
+#define ledPinGreen  1
+#define ledPinBlue   2
+
+void ledInit(void)
+{
+	softPwmCreate(ledPinRed,  0, 100);//Creat SoftPWM pin
+	softPwmCreate(ledPinGreen,0, 100);
+	softPwmCreate(ledPinBlue, 0, 100);
+}
+
+void ledColorSet(int r_val, int g_val, int b_val)
+{
+	softPwmWrite(ledPinRed,   r_val);//Set the duty cycle 
+	softPwmWrite(ledPinGreen, g_val);
+	softPwmWrite(ledPinBlue,  b_val);
+}
+
+int main(void)
+{
+	int r,g,b;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	printf("Program is starting ...\n");
+	ledInit();
+
+	while(1){
+		r=random()%100;//get a random in (0,100)
+		g=random()%100;
+		b=random()%100;
+		ledColorSet(r,g,b);//set random as a duty cycle value 
+		printf("r=%d,  g=%d,  b=%d \n",r,g,b);
+		delay(300);
+	}
+	return 0;
+}
diff --git a/Code/C_Code/06.1.1_Doorbell/Doorbell b/Code/C_Code/06.1.1_Doorbell/Doorbell
new file mode 100644
index 0000000..8599b9c
Binary files /dev/null and b/Code/C_Code/06.1.1_Doorbell/Doorbell differ
diff --git a/Code/C_Code/06.1.1_Doorbell/Doorbell.c b/Code/C_Code/06.1.1_Doorbell/Doorbell.c
new file mode 100644
index 0000000..73d4a96
--- /dev/null
+++ b/Code/C_Code/06.1.1_Doorbell/Doorbell.c
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : Doorbell.c
+* Description : Controlling an buzzer by button.
+* Author      : freenove
+* modification: 2016/06/12
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define buzzerPin    0  	//define the buzzerPin
+#define buttonPin 1		//define the buttonPin
+
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	
+	pinMode(buzzerPin, OUTPUT); 
+	pinMode(buttonPin, INPUT);
+
+	pullUpDnControl(buttonPin, PUD_UP);  //pull up to high level
+	while(1){
+		
+		if(digitalRead(buttonPin) == LOW){ //button has pressed down
+			digitalWrite(buzzerPin, HIGH);   //buzzer on
+			printf("buzzer on...\n");
+		}
+		else {				//button has released 
+			digitalWrite(buzzerPin, LOW);   //buzzer off
+			printf("...buzzer off\n");
+		}
+	}
+
+	return 0;
+}
+
diff --git a/Code/C_Code/06.2.1_Alertor/Alertor.c b/Code/C_Code/06.2.1_Alertor/Alertor.c
new file mode 100644
index 0000000..932c4d1
--- /dev/null
+++ b/Code/C_Code/06.2.1_Alertor/Alertor.c
@@ -0,0 +1,50 @@
+/**********************************************************************
+* Filename    : Alertor.c
+* Description : Alarm by button.
+* Author      : freenove
+* modification: 2016/06/14
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <softTone.h>
+#include <math.h>
+
+#define buzzerPin    0  	//define the buzzerPin
+#define buttonPin 	 1		//define the buttonPin
+
+void alertor(int pin){
+	int x;
+	double sinVal, toneVal;
+	for(x=0;x<360;x++){ //frequency of the alarm along the sine wave change
+		sinVal = sin(x * (M_PI / 180));		//calculate the sine value
+		toneVal = 2000 + sinVal * 500;		//Add to the resonant frequency with a Weighted
+		softToneWrite(pin,toneVal);			//output PWM
+		delay(1);
+	}
+}
+void stopAlertor(int pin){
+	softToneWrite(pin,0);
+}
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}	
+	pinMode(buzzerPin, OUTPUT); 
+	pinMode(buttonPin, INPUT);
+	softToneCreate(buzzerPin);
+	pullUpDnControl(buttonPin, PUD_UP);  //pull up to high level
+	while(1){	
+		if(digitalRead(buttonPin) == LOW){ //button has pressed down
+			alertor(buzzerPin);   //buzzer on
+			printf("alertor on...\n");
+		}
+		else {				//button has released 
+			stopAlertor(buzzerPin);   //buzzer off
+			printf("...buzzer off\n");
+		}
+	}
+	return 0;
+}
+
diff --git a/Code/C_Code/06.2.1_Alertor/alertor b/Code/C_Code/06.2.1_Alertor/alertor
new file mode 100644
index 0000000..10ef2c2
Binary files /dev/null and b/Code/C_Code/06.2.1_Alertor/alertor differ
diff --git a/Code/C_Code/07.1.1_PCF8591/PCF8591 b/Code/C_Code/07.1.1_PCF8591/PCF8591
new file mode 100644
index 0000000..2b121f6
Binary files /dev/null and b/Code/C_Code/07.1.1_PCF8591/PCF8591 differ
diff --git a/Code/C_Code/07.1.1_PCF8591/PCF8591.c b/Code/C_Code/07.1.1_PCF8591/PCF8591.c
new file mode 100644
index 0000000..44816a0
--- /dev/null
+++ b/Code/C_Code/07.1.1_PCF8591/PCF8591.c
@@ -0,0 +1,32 @@
+/**********************************************************************
+* Filename    : PCF8591.c
+* Description : ADC and DAC
+* Author      : freenove
+* modification: 2016/06/14
+**********************************************************************/
+
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+
+#define address 0x48  		//pcf8591 default address
+#define pinbase 64			//any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+int main(void){
+	int value;
+	float voltage;
+	wiringPiSetup();
+	pcf8591Setup(pinbase,address);
+	
+	while(1){
+		value = analogRead(A0);  //read A0 pin
+		analogWrite(pinbase+0,value);
+		voltage = (float)value / 255.0 * 3.3;  // calculate voltage
+		printf("ADC value : %d  ,\tVoltage : %.2fV\n",value,voltage);
+		delay(100);
+	}
+}
diff --git a/Code/C_Code/08.1.1_Softlight/Softlight b/Code/C_Code/08.1.1_Softlight/Softlight
new file mode 100644
index 0000000..f178463
Binary files /dev/null and b/Code/C_Code/08.1.1_Softlight/Softlight differ
diff --git a/Code/C_Code/08.1.1_Softlight/Softlight.c b/Code/C_Code/08.1.1_Softlight/Softlight.c
new file mode 100644
index 0000000..1bf9451
--- /dev/null
+++ b/Code/C_Code/08.1.1_Softlight/Softlight.c
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : Softlight.c
+* Description : Potentiometer control LED
+* Author      : freenove
+* modification: 2016/06/18
+**********************************************************************/
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+#include <softPwm.h>
+
+#define address 0x48  		//pcf8591 default address
+#define pinbase 64			//any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+#define ledPin 0
+int main(void){
+	int value;
+	float voltage;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	softPwmCreate(ledPin,0,100);
+	pcf8591Setup(pinbase,address);
+	
+	while(1){
+		value = analogRead(A0);  //read A0 pin
+		softPwmWrite(ledPin,value*100/255);
+		voltage = (float)value / 255.0 * 3.3;  // calculate voltage
+		printf("ADC value : %d  ,\tVoltage : %.2fV\n",value,voltage);
+		delay(100);
+	}
+	return 0;
+}
diff --git a/Code/C_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight b/Code/C_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight
new file mode 100644
index 0000000..5f08e2a
Binary files /dev/null and b/Code/C_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight differ
diff --git a/Code/C_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.c b/Code/C_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.c
new file mode 100644
index 0000000..5d57c63
--- /dev/null
+++ b/Code/C_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.c
@@ -0,0 +1,45 @@
+/**********************************************************************
+* Filename    : ColorfulSoftlight.c
+* Description : Potentiometer control RGBLED
+* Author      : freenove
+* modification: 2016/07/03
+**********************************************************************/
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+#include <softPwm.h>
+
+#define address 0x48        //pcf8591 default address
+#define pinbase 64          //any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+#define ledRedPin 3         //define 3 pins of RGBLED
+#define ledGreenPin 2
+#define ledBluePin 0
+int main(void){
+    int val_Red,val_Green,val_Blue;
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    softPwmCreate(ledRedPin,0,100);     //creat 3 PMW output pins for RGBLED
+    softPwmCreate(ledGreenPin,0,100);
+    softPwmCreate(ledBluePin,0,100);
+    pcf8591Setup(pinbase,address);      //initialize PCF8591
+    
+    while(1){
+        val_Red = analogRead(A0);  //read 3 potentiometers
+        val_Green = analogRead(A1);
+        val_Blue = analogRead(A2);
+        softPwmWrite(ledRedPin,val_Red*100/255);    //map the read value of potentiometers into PWM value and output it
+        softPwmWrite(ledGreenPin,val_Green*100/255);
+        softPwmWrite(ledBluePin,val_Blue*100/255);
+        //print out the read ADC value
+        printf("ADC value val_Red: %d  ,\tval_Green: %d  ,\tval_Blue: %d \n",val_Red,val_Green,val_Blue);
+        delay(100);
+    }
+    return 0;
+}
diff --git a/Code/C_Code/10.1.1_Nightlamp/Nightlamp b/Code/C_Code/10.1.1_Nightlamp/Nightlamp
new file mode 100644
index 0000000..292f282
Binary files /dev/null and b/Code/C_Code/10.1.1_Nightlamp/Nightlamp differ
diff --git a/Code/C_Code/10.1.1_Nightlamp/Nightlamp.c b/Code/C_Code/10.1.1_Nightlamp/Nightlamp.c
new file mode 100644
index 0000000..9c1ece2
--- /dev/null
+++ b/Code/C_Code/10.1.1_Nightlamp/Nightlamp.c
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : Nightlamp.c
+* Description : Photoresistor control LED
+* Author      : freenove
+* modification: 2016/06/18
+**********************************************************************/
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+#include <softPwm.h>
+
+#define address 0x48  		//pcf8591 default address
+#define pinbase 64			//any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+#define ledPin 0
+int main(void){
+	int value;
+	float voltage;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	softPwmCreate(ledPin,0,100);
+	pcf8591Setup(pinbase,address);
+	
+	while(1){
+		value = analogRead(A0);  //read A0 pin
+		softPwmWrite(ledPin,value*100/255);
+		voltage = (float)value / 255.0 * 3.3;  // calculate voltage
+		printf("ADC value : %d  ,\tVoltage : %.2fV\n",value,voltage);
+		delay(100);
+	}
+	return 0;
+}
diff --git a/Code/C_Code/11.1.1_Thermometer/Thermometer b/Code/C_Code/11.1.1_Thermometer/Thermometer
new file mode 100644
index 0000000..324d080
Binary files /dev/null and b/Code/C_Code/11.1.1_Thermometer/Thermometer differ
diff --git a/Code/C_Code/11.1.1_Thermometer/Thermometer.c b/Code/C_Code/11.1.1_Thermometer/Thermometer.c
new file mode 100644
index 0000000..30f1792
--- /dev/null
+++ b/Code/C_Code/11.1.1_Thermometer/Thermometer.c
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : Thermometer.c
+* Description : A DIY Thermometer
+* Author      : freenove
+* modification: 2016/06/20
+**********************************************************************/
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+#include <math.h>
+
+#define address 0x48  		//pcf8591 default address
+#define pinbase 64			//any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+int main(void){
+	int adcValue;
+	float tempK,tempC;
+	float voltage,Rt;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	pcf8591Setup(pinbase,address);
+	while(1){
+		adcValue = analogRead(A0);  //read A0 pin	
+		voltage = (float)adcValue / 255.0 * 3.3;	// calculate voltage	
+		Rt = 10 * voltage / (3.3 - voltage);		//calculate resistance value of thermistor
+		tempK = 1/(1/(273.15 + 25) + log(Rt/10)/3950.0); //calculate temperature (Kelvin)
+		tempC = tempK -273.15;		//calculate temperature (Celsius)
+		printf("ADC value : %d  ,\tVoltage : %.2fV, \tTemperature : %.2fC\n",adcValue,voltage,tempC);
+		delay(100);
+	}
+	return 0;
+}
diff --git a/Code/C_Code/12.1.1_Joystick/Joystick b/Code/C_Code/12.1.1_Joystick/Joystick
new file mode 100644
index 0000000..933e079
Binary files /dev/null and b/Code/C_Code/12.1.1_Joystick/Joystick differ
diff --git a/Code/C_Code/12.1.1_Joystick/Joystick.c b/Code/C_Code/12.1.1_Joystick/Joystick.c
new file mode 100644
index 0000000..a2fc169
--- /dev/null
+++ b/Code/C_Code/12.1.1_Joystick/Joystick.c
@@ -0,0 +1,40 @@
+/**********************************************************************
+* Filename    : Joystick.c
+* Description : Read Joystick
+* Author      : freenove
+* modification: 2016/07/04
+**********************************************************************/
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+#include <softPwm.h>
+
+#define address 0x48        //pcf8591 default address
+#define pinbase 64          //any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+#define Z_Pin 1     //define pin for axis Z
+
+int main(void){
+    int val_X,val_Y,val_Z;
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    pinMode(Z_Pin,INPUT);       //set Z_Pin as input pin and pull-up mode
+    pullUpDnControl(Z_Pin,PUD_UP);
+    pcf8591Setup(pinbase,address);      //initialize PCF8591
+    
+    while(1){
+        val_Z = digitalRead(Z_Pin);  //read digital quality of axis Z
+        val_Y = analogRead(A1);      //read analog quality of axis X and Y
+        val_X = analogRead(A2);
+        printf("val_X: %d  ,\tval_Y: %d  ,\tval_Z: %d \n",val_X,val_Y,val_Z);
+        delay(100);
+    }
+    return 0;
+}
+
diff --git a/Code/C_Code/13.1.1_Motor/Motor b/Code/C_Code/13.1.1_Motor/Motor
new file mode 100644
index 0000000..7df7d28
Binary files /dev/null and b/Code/C_Code/13.1.1_Motor/Motor differ
diff --git a/Code/C_Code/13.1.1_Motor/Motor.c b/Code/C_Code/13.1.1_Motor/Motor.c
new file mode 100644
index 0000000..5a63b9b
--- /dev/null
+++ b/Code/C_Code/13.1.1_Motor/Motor.c
@@ -0,0 +1,69 @@
+/**********************************************************************
+* Filename    : Motor.c
+* Description : Control Motor by L293D
+* Author      : freenove
+* modification: 2016/06/18
+**********************************************************************/
+#include <wiringPi.h>
+#include <pcf8591.h>
+#include <stdio.h>
+#include <softPwm.h>
+#include <math.h>
+#include <stdlib.h>
+
+#define address 0x48  		//pcf8591 default address
+#define pinbase 64			//any number above 64
+#define A0 pinbase + 0
+#define A1 pinbase + 1
+#define A2 pinbase + 2
+#define A3 pinbase + 3
+
+#define motorPin1	2		//define the pin connected to L293D
+#define motorPin2	0
+#define enablePin	3
+//Map function: map the value from a range of mapping to another range.
+long map(long value,long fromLow,long fromHigh,long toLow,long toHigh){
+	return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow;
+}
+//motor function: determine the direction and speed of the motor according to the ADC 
+void motor(int ADC){
+	int value = ADC -128;
+	if(value>0){
+		digitalWrite(motorPin1,HIGH);
+		digitalWrite(motorPin2,LOW);
+		printf("turn Forward...\n");
+	}
+	else if (value<0){
+		digitalWrite(motorPin1,LOW);
+		digitalWrite(motorPin2,HIGH);
+		printf("turn Back...\n");
+	}
+	else {
+		digitalWrite(motorPin1,LOW); 
+		digitalWrite(motorPin2,LOW);
+		printf("Motor Stop...\n");
+	}
+	softPwmWrite(enablePin,map(abs(value),0,128,0,255));
+	printf("The PWM duty cycle is %d%%\n",abs(value)*100/127);//print the PMW duty cycle
+}
+int main(void){
+	int value;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	pinMode(enablePin,OUTPUT);//set mode for the pin
+	pinMode(motorPin1,OUTPUT);
+	pinMode(motorPin2,OUTPUT);
+	softPwmCreate(enablePin,0,100);//define PMW pin
+	pcf8591Setup(pinbase,address);//initialize PCF8591
+	
+	while(1){
+		value = analogRead(A0);  //read A0 pin
+		printf("ADC value : %d \n",value);
+		motor(value);		//start the motor
+		delay(100);
+	}
+	return 0;
+}
+
diff --git a/Code/C_Code/14.1.1_Relay/Relay b/Code/C_Code/14.1.1_Relay/Relay
new file mode 100644
index 0000000..64edd97
Binary files /dev/null and b/Code/C_Code/14.1.1_Relay/Relay differ
diff --git a/Code/C_Code/14.1.1_Relay/Relay.c b/Code/C_Code/14.1.1_Relay/Relay.c
new file mode 100644
index 0000000..8ec464e
--- /dev/null
+++ b/Code/C_Code/14.1.1_Relay/Relay.c
@@ -0,0 +1,62 @@
+/**********************************************************************
+* Filename    : Relay.c
+* Description : Button control Relay and Motor
+* Author      : freenove
+* modification: 2016/07/05
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define relayPin    0  	//define the relayPin
+#define buttonPin 1		//define the buttonPin
+int relayState=LOW;		//store the State of relay
+int buttonState=HIGH;	//store the State of button
+int lastbuttonState=HIGH;//store the lastState of button
+long lastChangeTime;	//store the change time of button state
+long captureTime=50;	//set the button state stable time
+int reading;
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring fairelay,print messageto screen
+		printf("setup wiringPi fairelay !");
+		return 1; 
+	}
+	printf("Program is starting...\n");
+	pinMode(relayPin, OUTPUT); 
+	pinMode(buttonPin, INPUT);
+	pullUpDnControl(buttonPin, PUD_UP);  //pull up to high level
+	while(1){
+		reading = digitalRead(buttonPin); //read the current state of button
+		if( reading != lastbuttonState){  //if the button state has changed ,record the time point
+			lastChangeTime = millis();
+		}
+		//if changing-state of the button last beyond the time we set,we considered that 
+		//the current button state is an effective change rather than a buffeting
+		if(millis() - lastChangeTime > captureTime){
+			//if button state is changed ,update the data.
+			if(reading != buttonState){
+				buttonState = reading;
+				//if the state is low ,the action is pressing
+				if(buttonState == LOW){
+					printf("Button is pressed!\n");
+					relayState = !relayState;
+					if(relayState){
+						printf("turn on relay ...\n");
+					}
+					else {
+						printf("turn off relay ...\n");
+					}
+				}
+				//if the state is high ,the action is releasing
+				else {
+					printf("Button is released!\n");
+				}
+			}
+		}
+		digitalWrite(relayPin,relayState);
+		lastbuttonState = reading;
+	}
+
+	return 0;
+}
+
diff --git a/Code/C_Code/15.1.1_Sweep/Sweep b/Code/C_Code/15.1.1_Sweep/Sweep
new file mode 100644
index 0000000..323192e
Binary files /dev/null and b/Code/C_Code/15.1.1_Sweep/Sweep differ
diff --git a/Code/C_Code/15.1.1_Sweep/Sweep.c b/Code/C_Code/15.1.1_Sweep/Sweep.c
new file mode 100644
index 0000000..dcdf96d
--- /dev/null
+++ b/Code/C_Code/15.1.1_Sweep/Sweep.c
@@ -0,0 +1,59 @@
+/**********************************************************************
+* Filename    : Sweep.c
+* Description : Servo sweep
+* Author      : freenove
+* modification: 2016/07/05
+**********************************************************************/
+#include <wiringPi.h>
+#include <softPwm.h>
+#include <stdio.h>
+#define OFFSET_MS 3     //Define the unit of servo pulse offset: 0.1ms
+#define SERVO_MIN_MS 5+OFFSET_MS        //define the pulse duration for minimum angle of servo
+#define SERVO_MAX_MS 25+OFFSET_MS       //define the pulse duration for maximum angle of servo
+
+#define servoPin    1       //define the GPIO number connected to servo
+long map(long value,long fromLow,long fromHigh,long toLow,long toHigh){
+    return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow;
+}
+void servoInit(int pin){        //initialization function for servo PMW pin
+    softPwmCreate(pin,  0, 200);
+}
+void servoWrite(int pin, int angle){    //Specif a certain rotation angle (0-180) for the servo
+    if(angle > 180)
+        angle = 180;
+    if(angle < 0)
+        angle = 0;
+    softPwmWrite(pin,map(angle,0,180,SERVO_MIN_MS,SERVO_MAX_MS));   
+}
+void servoWriteMS(int pin, int ms){     //specific the unit for pulse(5-25ms) with specific duration output by servo pin: 0.1ms
+    if(ms > SERVO_MAX_MS)
+        ms = SERVO_MAX_MS;
+    if(ms < SERVO_MIN_MS)
+        ms = SERVO_MIN_MS;
+    softPwmWrite(pin,ms);
+}
+
+int main(void)
+{
+    int i;
+    if(wiringPiSetup() == -1){ //when initialize wiring faiservo,print messageto screen
+        printf("setup wiringPi faiservo !");
+        return 1; 
+    }
+    printf("Program is starting ...\n");
+    servoInit(servoPin);        //initialize PMW pin of servo
+    while(1){
+        for(i=SERVO_MIN_MS;i<SERVO_MAX_MS;i++){  //make servo rotate from minimum angle to maximum angle
+            servoWriteMS(servoPin,i);
+            delay(10);
+        }
+        delay(500);
+        for(i=SERVO_MAX_MS;i>SERVO_MIN_MS;i--){  //make servo rotate from maximum angle to minimum angle
+            servoWriteMS(servoPin,i);
+            delay(10);
+        }
+        delay(500);
+    }
+    return 0;
+}
+
diff --git a/Code/C_Code/16.1.1_SteppingMotor/SteppingMotor b/Code/C_Code/16.1.1_SteppingMotor/SteppingMotor
new file mode 100644
index 0000000..079a06f
Binary files /dev/null and b/Code/C_Code/16.1.1_SteppingMotor/SteppingMotor differ
diff --git a/Code/C_Code/16.1.1_SteppingMotor/SteppingMotor.c b/Code/C_Code/16.1.1_SteppingMotor/SteppingMotor.c
new file mode 100644
index 0000000..8348463
--- /dev/null
+++ b/Code/C_Code/16.1.1_SteppingMotor/SteppingMotor.c
@@ -0,0 +1,62 @@
+/**********************************************************************
+* Filename    : SteppingMotor.c
+* Description : 
+* Author      : freenove
+* modification: 2016/07/07
+**********************************************************************/
+#include <stdio.h>
+#include <wiringPi.h>
+
+const int motorPins[]={1,4,5,6};    //define pins connected to four phase ABCD of stepper motor 
+const int CCWStep[]={0x01,0x02,0x04,0x08};  //define power supply order for coil for rotating anticlockwise 
+const int CWStep[]={0x08,0x04,0x02,0x01};   //define power supply order for coil for rotating clockwise
+//as for four phase stepping motor, four steps is a cycle. the function is used to drive the stepping motor clockwise or anticlockwise to take four steps
+void moveOnePeriod(int dir,int ms){
+    int i=0,j=0;
+    for (j=0;j<4;j++){  //cycle according to power supply order 
+        for (i=0;i<4;i++){  //assign to each pin, a total of 4 pins
+            if(dir == 1)    //power supply order clockwise
+                digitalWrite(motorPins[i],(CCWStep[j] == (1<<i)) ? HIGH : LOW);
+            else        //power supply order anticlockwise
+                digitalWrite(motorPins[i],(CWStep[j] == (1<<i)) ? HIGH : LOW);
+            printf("motorPin %d, %d \n",motorPins[i],digitalRead(motorPins[i]));
+        }
+        printf("Step cycle!\n");
+        if(ms<3)        //the delay can not be less than 3ms, otherwise it will exceed speed limit of the motor
+            ms=3;
+        delay(ms);
+    }
+}
+//continuous rotation function, the parameter steps specifies the rotation cycles, every four steps is a cycle
+void moveSteps(int dir, int ms, int steps){
+    int i;
+    for(i=0;i<steps;i++){
+        moveOnePeriod(dir,ms);
+    }
+}
+void motorStop(){   //function used to stop rotating
+    int i;
+    for(i=0;i<4;i++){
+        digitalWrite(motorPins[i],LOW);
+    }   
+}
+int main(void){
+    int i;
+
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    for(i=0;i<4;i++){
+        pinMode(motorPins[i],OUTPUT);
+    } 
+
+    while(1){
+        moveSteps(1,3,512);     //rotating   360° clockwise, a total of 2048 steps in a circle, namely, 512 cycles.
+        delay(500);
+        moveSteps(0,3,512);     //rotating 360° anticlockwise
+        delay(500);
+    }
+    return 0;
+}
+
diff --git a/Code/C_Code/17.1.1_LightWater02/LightWater02 b/Code/C_Code/17.1.1_LightWater02/LightWater02
new file mode 100644
index 0000000..10324b0
Binary files /dev/null and b/Code/C_Code/17.1.1_LightWater02/LightWater02 differ
diff --git a/Code/C_Code/17.1.1_LightWater02/LightWater02.c b/Code/C_Code/17.1.1_LightWater02/LightWater02.c
new file mode 100644
index 0000000..48656e0
--- /dev/null
+++ b/Code/C_Code/17.1.1_LightWater02/LightWater02.c
@@ -0,0 +1,46 @@
+/**********************************************************************
+* Filename    : LightWater02.c
+* Description : Control LED by 74HC595
+* Author      : freenove
+* modification: 2016/06/21
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <wiringShift.h>
+
+#define   dataPin   0   //DS Pin of 74HC595(Pin14)
+#define   latchPin  2   //ST_CP Pin of 74HC595(Pin12)
+#define   clockPin 3    //CH_CP Pin of 74HC595(Pin11)
+
+int main(void)
+{
+	int i;
+	unsigned char x;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	pinMode(dataPin,OUTPUT);
+	pinMode(latchPin,OUTPUT);
+	pinMode(clockPin,OUTPUT);
+	while(1){
+		x=0x01;
+		for(i=0;i<8;i++){
+			digitalWrite(latchPin,LOW);		// Output low level to latchPin
+			shiftOut(dataPin,clockPin,LSBFIRST,x);// Send serial data to 74HC595
+			digitalWrite(latchPin,HIGH); // Output high level to latchPin, and 74HC595 will update the data to the parallel output port.
+			x<<=1; // make the variable move one bit to left once, then the bright LED move one step to the left once.
+			delay(100);
+		}
+		x=0x80;
+		for(i=0;i<8;i++){
+			digitalWrite(latchPin,LOW);
+			shiftOut(dataPin,clockPin,LSBFIRST,x);
+			digitalWrite(latchPin,HIGH);
+			x>>=1;
+			delay(100);
+		}
+	}
+	return 0;
+}
+
diff --git a/Code/C_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay b/Code/C_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay
new file mode 100644
index 0000000..2c9fb65
Binary files /dev/null and b/Code/C_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay differ
diff --git a/Code/C_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.c b/Code/C_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.c
new file mode 100644
index 0000000..b276072
--- /dev/null
+++ b/Code/C_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.c
@@ -0,0 +1,43 @@
+/**********************************************************************
+* Filename    : SevenSegmentDisplay.c
+* Description : Control SevenSegmentDisplay by 74HC595
+* Author      : freenove
+* modification: 2016/06/24
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <wiringShift.h>
+
+#define   dataPin   0   //DS Pin of 74HC595(Pin14)
+#define   latchPin  2   //ST_CP Pin of 74HC595(Pin12)
+#define   clockPin 3    //CH_CP Pin of 74HC595(Pin11)
+//encoding for character 0-F of common anode SevenSegmentDisplay. 
+unsigned char num[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e};
+
+int main(void)
+{
+	int i;
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	pinMode(dataPin,OUTPUT);
+	pinMode(latchPin,OUTPUT);
+	pinMode(clockPin,OUTPUT);
+	while(1){
+		for(i=0;i<sizeof(num);i++){
+			digitalWrite(latchPin,LOW);
+			shiftOut(dataPin,clockPin,MSBFIRST,num[i]);//Output the figures and the highest level is transfered preferentially. 
+			digitalWrite(latchPin,HIGH);
+			delay(500);
+		}
+		for(i=0;i<sizeof(num);i++){
+			digitalWrite(latchPin,LOW);
+			shiftOut(dataPin,clockPin,MSBFIRST,num[i] & 0x7f);//Use the "&0x7f" to display the decimal point.
+			digitalWrite(latchPin,HIGH);
+			delay(500);
+		}
+	}
+	return 0;
+}
+
diff --git a/Code/C_Code/18.2.1_StopWatch/StopWatch.c b/Code/C_Code/18.2.1_StopWatch/StopWatch.c
new file mode 100644
index 0000000..765e7de
--- /dev/null
+++ b/Code/C_Code/18.2.1_StopWatch/StopWatch.c
@@ -0,0 +1,75 @@
+/**********************************************************************
+* Filename    : StopWatch.c
+* Description : Control 4_Digit_7_Segment_Display by 74HC595
+* Author      : freenove
+* modification: 2016/07/07
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <wiringShift.h>
+#include <signal.h>
+#include <unistd.h>
+#define     dataPin     5   //DS Pin of 74HC595(Pin14)
+#define     latchPin    4   //ST_CP Pin of 74HC595(Pin12)
+#define     clockPin    1    //CH_CP Pin of 74HC595(Pin11)
+const int digitPin[]={0,2,3,12};        // Define 7-segment display common pin
+// character 0-9 code of common anode 7-segment display 
+unsigned char num[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90};
+int counter = 0;    //variable counter,the number will be displayed by 7-segment display
+//Open one of the 7-segment display and close the remaining three, the parameter digit is optional for 1,2,4,8
+void selectDigit(int digit){    
+    digitalWrite(digitPin[0],((digit&0x08) == 0x08) ? LOW : HIGH);
+    digitalWrite(digitPin[1],((digit&0x04) == 0x04) ? LOW : HIGH);
+    digitalWrite(digitPin[2],((digit&0x02) == 0x02) ? LOW : HIGH);
+    digitalWrite(digitPin[3],((digit&0x01) == 0x01) ? LOW : HIGH);
+}
+void outData(int8_t data){      //function used to output data for 74HC595输出数据函数
+    digitalWrite(latchPin,LOW);
+    shiftOut(dataPin,clockPin,MSBFIRST,data);
+    digitalWrite(latchPin,HIGH);
+}
+void display(int dec){  //display function for 7-segment display
+    selectDigit(0x01);      //select the first, and display the single digit
+    outData(num[dec%10]);   
+    delay(1);               //display duration
+    selectDigit(0x02);      //select the second, and display the tens digit
+    outData(num[dec%100/10]);
+    delay(1);
+    selectDigit(0x04);      //select the third, and display the hundreds digit
+    outData(num[dec%1000/100]);
+    delay(1);
+    selectDigit(0x08);      //select the fourth, and display the thousands digit
+    outData(num[dec%10000/1000]);
+    delay(1);
+}
+void timer(int  sig){       //Timer function
+    if(sig == SIGALRM){   //If the signal is SIGALRM, the value of counter plus 1, and update the number displayed by 7-segment display
+        counter ++;         
+        alarm(1);           //set the next timer time
+        printf("counter : %d \n",counter);
+    }
+}
+int main(void)
+{
+    int i;
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    pinMode(dataPin,OUTPUT);        //set the pin connected to74HC595 for output mode
+    pinMode(latchPin,OUTPUT);
+    pinMode(clockPin,OUTPUT);
+    //set the pin connected to 7-segment display common end to output mode
+    for(i=0;i<4;i++){       
+        pinMode(digitPin[i],OUTPUT);
+        digitalWrite(digitPin[i],LOW);
+    }
+    signal(SIGALRM,timer);  //configure the timer
+    alarm(1);               //set the time of timer to 1s
+    while(1){
+        display(counter);   //display the number counter
+    }
+    return 0;
+}
+
+
diff --git a/Code/C_Code/18.2.1_StopWatch/a.out b/Code/C_Code/18.2.1_StopWatch/a.out
new file mode 100644
index 0000000..591eac7
Binary files /dev/null and b/Code/C_Code/18.2.1_StopWatch/a.out differ
diff --git a/Code/C_Code/19.1.1_LEDMatrix/0_F_code.txt b/Code/C_Code/19.1.1_LEDMatrix/0_F_code.txt
new file mode 100644
index 0000000..17b6df3
--- /dev/null
+++ b/Code/C_Code/19.1.1_LEDMatrix/0_F_code.txt
@@ -0,0 +1,17 @@
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // " "
+  0x00, 0x00, 0x21, 0x7F, 0x01, 0x00, 0x00, 0x00, // "1"
+  0x00, 0x00, 0x23, 0x45, 0x49, 0x31, 0x00, 0x00, // "2"
+  0x00, 0x00, 0x22, 0x49, 0x49, 0x36, 0x00, 0x00, // "3"
+  0x00, 0x00, 0x0E, 0x32, 0x7F, 0x02, 0x00, 0x00, // "4"
+  0x00, 0x00, 0x79, 0x49, 0x49, 0x46, 0x00, 0x00, // "5"
+  0x00, 0x00, 0x3E, 0x49, 0x49, 0x26, 0x00, 0x00, // "6"
+  0x00, 0x00, 0x60, 0x47, 0x48, 0x70, 0x00, 0x00, // "7"
+  0x00, 0x00, 0x36, 0x49, 0x49, 0x36, 0x00, 0x00, // "8"
+  0x00, 0x00, 0x32, 0x49, 0x49, 0x3E, 0x00, 0x00, // "9"
+  0x00, 0x00, 0x3E, 0x41, 0x41, 0x3E, 0x00, 0x00, // "0"
+  0x00, 0x00, 0x3F, 0x44, 0x44, 0x3F, 0x00, 0x00, // "A"
+  0x00, 0x00, 0x7F, 0x49, 0x49, 0x36, 0x00, 0x00, // "B"
+  0x00, 0x00, 0x3E, 0x41, 0x41, 0x22, 0x00, 0x00, // "C"
+  0x00, 0x00, 0x7F, 0x41, 0x41, 0x3E, 0x00, 0x00, // "D"
+  0x00, 0x00, 0x7F, 0x49, 0x49, 0x41, 0x00, 0x00, // "E"
+  0x00, 0x00, 0x7F, 0x48, 0x48, 0x40, 0x00, 0x00  // "F"
diff --git a/Code/C_Code/19.1.1_LEDMatrix/LEDMatrix b/Code/C_Code/19.1.1_LEDMatrix/LEDMatrix
new file mode 100644
index 0000000..c64c5cf
Binary files /dev/null and b/Code/C_Code/19.1.1_LEDMatrix/LEDMatrix differ
diff --git a/Code/C_Code/19.1.1_LEDMatrix/LEDMatrix.c b/Code/C_Code/19.1.1_LEDMatrix/LEDMatrix.c
new file mode 100644
index 0000000..c1883b3
--- /dev/null
+++ b/Code/C_Code/19.1.1_LEDMatrix/LEDMatrix.c
@@ -0,0 +1,77 @@
+/**********************************************************************
+* Filename    : LEDMatrix.c
+* Description : Control LEDMatrix by 74HC595
+* Author      : freenove
+* modification: 2016/06/24
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <wiringShift.h>
+
+#define   dataPin   0   //DS Pin of 74HC595(Pin14)
+#define   latchPin  2   //ST_CP Pin of 74HC595(Pin12)
+#define   clockPin 3    //SH_CP Pin of 74HC595(Pin11)
+// data of smiling face
+unsigned char pic[]={0x1c,0x22,0x51,0x45,0x45,0x51,0x22,0x1c};
+unsigned char data[]={  // data of "0-F"
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // " "
+    0x00, 0x00, 0x3E, 0x41, 0x41, 0x3E, 0x00, 0x00, // "0"
+    0x00, 0x00, 0x21, 0x7F, 0x01, 0x00, 0x00, 0x00, // "1"
+    0x00, 0x00, 0x23, 0x45, 0x49, 0x31, 0x00, 0x00, // "2"
+    0x00, 0x00, 0x22, 0x49, 0x49, 0x36, 0x00, 0x00, // "3"
+    0x00, 0x00, 0x0E, 0x32, 0x7F, 0x02, 0x00, 0x00, // "4"
+    0x00, 0x00, 0x79, 0x49, 0x49, 0x46, 0x00, 0x00, // "5"
+    0x00, 0x00, 0x3E, 0x49, 0x49, 0x26, 0x00, 0x00, // "6"
+    0x00, 0x00, 0x60, 0x47, 0x48, 0x70, 0x00, 0x00, // "7"
+    0x00, 0x00, 0x36, 0x49, 0x49, 0x36, 0x00, 0x00, // "8"
+    0x00, 0x00, 0x32, 0x49, 0x49, 0x3E, 0x00, 0x00, // "9"  
+    0x00, 0x00, 0x3F, 0x44, 0x44, 0x3F, 0x00, 0x00, // "A"
+    0x00, 0x00, 0x7F, 0x49, 0x49, 0x36, 0x00, 0x00, // "B"
+    0x00, 0x00, 0x3E, 0x41, 0x41, 0x22, 0x00, 0x00, // "C"
+    0x00, 0x00, 0x7F, 0x41, 0x41, 0x3E, 0x00, 0x00, // "D"
+    0x00, 0x00, 0x7F, 0x49, 0x49, 0x41, 0x00, 0x00, // "E"
+    0x00, 0x00, 0x7F, 0x48, 0x48, 0x40, 0x00, 0x00, // "F"
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // " "
+};
+int main(void)
+{
+    int i,j,k;
+    unsigned char x;
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    pinMode(dataPin,OUTPUT);
+    pinMode(latchPin,OUTPUT);
+    pinMode(clockPin,OUTPUT);
+    while(1){
+        for(j=0;j<500;j++){// Repeat enough times to display the smiling face a period of time
+            x=0x80;
+            for(i=0;i<8;i++){
+                digitalWrite(latchPin,LOW);
+                shiftOut(dataPin,clockPin,LSBFIRST,pic[i]);// first shift data of line information to the first stage 74HC959
+                shiftOut(dataPin,clockPin,LSBFIRST,~x);//then shift data of column information to the second stage 74HC959
+
+                digitalWrite(latchPin,HIGH);//Output data of two stage 74HC595 at the same time
+                x>>=1;// display the next column
+                delay(1);
+            }
+        }
+        for(k=0;k<sizeof(data)-8;k++){  //sizeof(data) total number of "0-F" columns 
+            for(j=0;j<20;j++){// times of repeated displaying LEDMatrix in every frame, the bigger the “j”, the longer the display time 
+               x=0x80;     // Set the column information to start from the first column
+                for(i=k;i<8+k;i++){
+                    digitalWrite(latchPin,LOW);
+                    shiftOut(dataPin,clockPin,LSBFIRST,data[i]);
+                    shiftOut(dataPin,clockPin,LSBFIRST,~x);
+                    digitalWrite(latchPin,HIGH);
+                    x>>=1;
+                    delay(1);
+                }
+            }
+        }
+    }
+    return 0;
+}
+
+
diff --git a/Code/C_Code/20.1.1_I2CLCD1602/I2CLCD1602.c b/Code/C_Code/20.1.1_I2CLCD1602/I2CLCD1602.c
new file mode 100644
index 0000000..cbab64b
--- /dev/null
+++ b/Code/C_Code/20.1.1_I2CLCD1602/I2CLCD1602.c
@@ -0,0 +1,75 @@
+/**********************************************************************
+* Filename    : I2CLCD1602.c
+* Description : Use the LCD display data
+* Author      : freenove
+* modification: 2016/06/25
+**********************************************************************/
+#include <stdlib.h>
+#include <stdio.h>
+#include <wiringPi.h>
+#include <pcf8574.h>
+#include <lcd.h>
+#include <time.h>
+
+#define pcf8574_address 0x27        // default I2C address of Pcf8574
+#define BASE 64         // BASE is not less than 64
+//////// Define the output pins of the PCF8574, which are directly connected to the LCD1602 pin.
+#define RS      BASE+0
+#define RW      BASE+1
+#define EN      BASE+2
+#define LED     BASE+3
+#define D4      BASE+4
+#define D5      BASE+5
+#define D6      BASE+6
+#define D7      BASE+7
+
+int lcdhd;// used to handle LCD
+void printCPUTemperature(){// sub function used to print CPU temperature
+    FILE *fp;
+    char str_temp[15];
+    float CPU_temp;
+    // CPU temperature data is stored in this directory.
+    fp=fopen("/sys/class/thermal/thermal_zone0/temp","r");
+    fgets(str_temp,15,fp);      // read file temp
+    CPU_temp = atof(str_temp)/1000.0;   // convert to Celsius degrees
+    printf("CPU's temperature : %.2f \n",CPU_temp);
+    lcdPosition(lcdhd,0,0);     // set the LCD cursor position to (0,0) 
+    lcdPrintf(lcdhd,"CPU:%.2fC",CPU_temp);// Display CPU temperature on LCD
+    fclose(fp);
+}
+void printDataTime(){//used to print system time 
+    time_t rawtime;
+    struct tm *timeinfo;
+    time(&rawtime);// get system time
+    timeinfo = localtime(&rawtime);// convert to local time
+    printf("%s \n",asctime(timeinfo));
+    lcdPosition(lcdhd,0,1);// set the LCD cursor position to (0,1) 
+    lcdPrintf(lcdhd,"Time:%d:%d:%d",timeinfo->tm_hour,timeinfo->tm_min,timeinfo->tm_sec);
+//Display system time on LCD
+}
+int main(void){
+    int i;
+
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    pcf8574Setup(BASE,pcf8574_address);// initialize PCF8574
+    for(i=0;i<8;i++){
+        pinMode(BASE+i,OUTPUT);     // set PCF8574 port to output mode
+    } 
+    digitalWrite(LED,HIGH);     // turn on LCD backlight
+    digitalWrite(RW,LOW);       // allow writing to LCD
+lcdhd = lcdInit(2,16,4,RS,EN,D4,D5,D6,D7,0,0,0,0);// initialize LCD and return “handle” used to handle LCD
+    if(lcdhd == -1){
+        printf("lcdInit failed !");
+        return 1;
+    }
+    while(1){
+        printCPUTemperature();// print CPU temperature
+        printDataTime();        // print system time
+        delay(1000);
+    }
+    return 0;
+}
+
diff --git a/Code/C_Code/20.1.1_I2CLCD1602/lcd b/Code/C_Code/20.1.1_I2CLCD1602/lcd
new file mode 100644
index 0000000..d5ff9da
Binary files /dev/null and b/Code/C_Code/20.1.1_I2CLCD1602/lcd differ
diff --git a/Code/C_Code/21.1.1_DHT11/DHT.cpp b/Code/C_Code/21.1.1_DHT11/DHT.cpp
new file mode 100644
index 0000000..ab5b380
--- /dev/null
+++ b/Code/C_Code/21.1.1_DHT11/DHT.cpp
@@ -0,0 +1,86 @@
+/**********************************************************************
+* Filename    : DHT.cpp
+* Description : DHT Temperature & Humidity Sensor library for Raspberry
+* Author      : freenove
+* modification: 2016/07/10
+**********************************************************************/
+#include "DHT.hpp"
+//Function: Read DHT sensor, store the original data in bits[]
+// return values:DHTLIB_OK   DHTLIB_ERROR_CHECKSUM  DHTLIB_ERROR_TIMEOUT
+int DHT::readSensor(int pin,int wakeupDelay){
+	int mask = 0x80;
+	int idx = 0;
+	int i ;
+	int32_t t;
+	for (i=0;i<5;i++){
+		bits[i] = 0;
+	}
+	pinMode(pin,OUTPUT);
+	digitalWrite(pin,LOW);
+	delay(wakeupDelay);
+	digitalWrite(pin,HIGH);
+	delayMicroseconds(40);
+	pinMode(pin,INPUT);
+	
+	int loopCnt = DHTLIB_TIMEOUT;
+	t = micros();
+	while(digitalRead(pin)==LOW){
+		if((micros() - t) > loopCnt){
+			return DHTLIB_ERROR_TIMEOUT;
+		}
+	}
+	loopCnt = DHTLIB_TIMEOUT;
+	t = micros();
+	while(digitalRead(pin)==HIGH){
+		if((micros() - t) > loopCnt){
+			return DHTLIB_ERROR_TIMEOUT;
+		}
+	}
+	for (i = 0; i<40;i++){
+		loopCnt = DHTLIB_TIMEOUT;
+		t = micros();
+		while(digitalRead(pin)==LOW){
+			if((micros() - t) > loopCnt)
+				return DHTLIB_ERROR_TIMEOUT;
+		}
+		t = micros();
+		loopCnt = DHTLIB_TIMEOUT;
+		while(digitalRead(pin)==HIGH){
+			if((micros() - t) > loopCnt){
+				return DHTLIB_ERROR_TIMEOUT;
+			}
+		}
+		if((micros() - t ) > 60){
+			bits[idx] |= mask;
+		}
+		mask >>= 1;
+		if(mask == 0){
+			mask = 0x80;
+			idx++;
+		}
+	}
+	pinMode(pin,OUTPUT);
+	digitalWrite(pin,HIGH);
+	return DHTLIB_OK;
+}
+//Function：Read DHT sensor, analyze the data of temperature and humidity
+//return：DHTLIB_OK   DHTLIB_ERROR_CHECKSUM  DHTLIB_ERROR_TIMEOUT
+int DHT::readDHT11(int pin){
+	int rv ; 
+	int8_t sum;
+	rv = readSensor(pin,DHTLIB_DHT11_WAKEUP);
+	if(rv != DHTLIB_OK){
+		humidity = DHTLIB_INVALID_VALUE;
+		temperature = DHTLIB_INVALID_VALUE;
+		return rv;
+	}
+	humidity = bits[0];
+	temperature = bits[2];
+	sum = bits[0] + bits[2];
+	if(bits[4] != sum)
+		return DHTLIB_ERROR_CHECKSUM;
+	return DHTLIB_OK;
+}
+
+
+
diff --git a/Code/C_Code/21.1.1_DHT11/DHT.hpp b/Code/C_Code/21.1.1_DHT11/DHT.hpp
new file mode 100644
index 0000000..6d780c7
--- /dev/null
+++ b/Code/C_Code/21.1.1_DHT11/DHT.hpp
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : DHT.hpp
+* Description : DHT Temperature & Humidity Sensor library for Raspberry
+* Author      : freenove
+* modification: 2016/07/10
+**********************************************************************/
+#ifndef _DHT_H_
+#define _DHT_H_
+
+#include <wiringPi.h>
+#include <stdio.h>
+#include <stdint.h>
+
+////read return flag of sensor
+#define DHTLIB_OK               0
+#define DHTLIB_ERROR_CHECKSUM   -1
+#define DHTLIB_ERROR_TIMEOUT    -2
+#define DHTLIB_INVALID_VALUE    -999
+
+#define DHTLIB_DHT11_WAKEUP     18
+#define DHTLIB_DHT_WAKEUP       1
+
+#define DHTLIB_TIMEOUT          100
+
+class DHT{      
+    public:
+        double humidity,temperature;    //use to store temperature and humidity data read
+        int readDHT11(int pin);     //read DHT11
+    private:
+        int bits[5];    //Buffer to receiver data
+        int readSensor(int pin,int wakeupDelay);    //
+        
+};
+
+
+
+
+#endif
diff --git a/Code/C_Code/21.1.1_DHT11/DHT.o b/Code/C_Code/21.1.1_DHT11/DHT.o
new file mode 100644
index 0000000..3ce1d43
Binary files /dev/null and b/Code/C_Code/21.1.1_DHT11/DHT.o differ
diff --git a/Code/C_Code/21.1.1_DHT11/DHT11 b/Code/C_Code/21.1.1_DHT11/DHT11
new file mode 100644
index 0000000..a7852a0
Binary files /dev/null and b/Code/C_Code/21.1.1_DHT11/DHT11 differ
diff --git a/Code/C_Code/21.1.1_DHT11/DHT11.cpp b/Code/C_Code/21.1.1_DHT11/DHT11.cpp
new file mode 100644
index 0000000..2cefc21
--- /dev/null
+++ b/Code/C_Code/21.1.1_DHT11/DHT11.cpp
@@ -0,0 +1,44 @@
+/**********************************************************************
+* Filename    : DHT11.cpp
+* Description : read the temperature and humidity data of DHT11
+* Author      : freenove
+* modification: 2016/07/10
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <stdint.h>
+#include "DHT.hpp"
+
+#define DHT11_Pin  0    //define the pin of sensor 
+
+int main(){
+    DHT dht;        //create a DHT class object
+    int chk,sumCnt;//chk:read the return value of sensor; sumCnt:times of reading sensor
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    while(1){
+        chk = dht.readDHT11(DHT11_Pin); //read DHT11 and get a return value. Then determine whether data read is normal according to the return value.
+        sumCnt++;       //counting number of reading times
+        printf("The sumCnt is : %d \n",sumCnt);
+        switch(chk){
+            case DHTLIB_OK:     //if the return value is DHTLIB_OK, the data is normal.
+                printf("DHT11,OK! \n"); 
+                break;
+            case DHTLIB_ERROR_CHECKSUM:     //data check has errors
+                printf("DHTLIB_ERROR_CHECKSUM! \n");
+                break;
+            case DHTLIB_ERROR_TIMEOUT:      //reading DHT times out
+                printf("DHTLIB_ERROR_TIMEOUT! \n");
+                break;
+            case DHTLIB_INVALID_VALUE:      //other errors
+                printf("DHTLIB_INVALID_VALUE! \n");
+                break;
+        }
+        printf("Humidity is %.2f %%, \t Temperature is %.2f *C\n\n",dht.humidity,dht.temperature);
+        delay(1000);
+    }   
+    return 1;
+}
+
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Key.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Key.cpp
new file mode 100644
index 0000000..008853d
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Key.cpp
@@ -0,0 +1,61 @@
+/*
+|| @file Key.cpp
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include "Key.hpp"
+
+
+// default constructor
+Key::Key() {
+	kchar = NO_KEY;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+// constructor
+Key::Key(char userKeyChar) {
+	kchar = userKeyChar;
+	kcode = -1;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+
+void Key::key_update (char userKeyChar, KeyState userState, boolean userStatus) {
+	kchar = userKeyChar;
+	kstate = userState;
+	stateChanged = userStatus;
+}
+
+
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Key.hpp b/Code/C_Code/22.1.1_MatrixKeypad/Key.hpp
new file mode 100644
index 0000000..ede970a
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Key.hpp
@@ -0,0 +1,70 @@
+/*
+||
+|| @file Key.h
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEY_H
+#define KEY_H
+
+#include <wiringPi.h>
+
+#define boolean bool
+#define byte unsigned char 
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef unsigned int uint;
+typedef enum{ IDLE, PRESSED, HOLD, RELEASED } KeyState;
+
+const char NO_KEY = '\0';
+
+class Key {
+public:
+	// members
+	char kchar;
+	int kcode;
+	KeyState kstate;
+	boolean stateChanged;
+
+	// methods
+	Key();
+	Key(char userKeyChar);
+	void key_update(char userKeyChar, KeyState userState, boolean userStatus);
+
+private:
+
+};
+
+#endif
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad.cpp
new file mode 100644
index 0000000..cc6aaad
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad.cpp
@@ -0,0 +1,279 @@
+/*
+||
+|| @file Keypad.cpp
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include "Keypad.hpp"
+
+// <<constructor>> Allows custom keymap, pin configuration, and keypad sizes.
+Keypad::Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols) {
+	rowPins = row;
+	columnPins = col;
+	sizeKpd.rows = numRows;
+	sizeKpd.columns = numCols;
+
+	begin(userKeymap);
+	
+	setDebounceTime(50);
+	setHoldTime(500);
+	keypadEventListener = 0;
+
+	startTime = 0;
+	single_key = false;
+}
+
+// Let the user define a keymap - assume the same row/column count as defined in constructor
+void Keypad::begin(char *userKeymap) {
+    keymap = userKeymap;
+}
+
+// Returns a single key only. Retained for backwards compatibility.
+char Keypad::getKey() {
+	single_key = true;
+	if (getKeys() && key[0].stateChanged && (key[0].kstate==PRESSED)){
+		return key[0].kchar;
+	}
+	
+	single_key = false;
+	return NO_KEY;
+}
+
+// Populate the key list.
+bool Keypad::getKeys() {
+	bool keyActivity = false;
+
+	// Limit how often the keypad is scanned. This makes the loop() run 10 times as fast.
+	if ( (millis()-startTime)>debounceTime ) {
+		scanKeys();
+		keyActivity = updateList();
+		startTime = millis();
+	}
+	return keyActivity;
+}
+
+// Private : Hardware scan
+void Keypad::scanKeys() {
+	// Re-intialize the row pins. Allows sharing these pins with other hardware.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		pin_mode(rowPins[r],INPUT_PULLUP);
+	}
+
+	// bitMap stores ALL the keys that are being pressed.
+	for (byte c=0; c<sizeKpd.columns; c++) {
+		pin_mode(columnPins[c],OUTPUT);
+		pin_write(columnPins[c], LOW);	// Begin column pulse output.
+		for (byte r=0; r<sizeKpd.rows; r++) {
+			bitWrite(bitMap[r], c, !pin_read(rowPins[r]));  // keypress is active low so invert to high.
+		}
+		// Set pin to high impedance input. Effectively ends column pulse.
+		pin_write(columnPins[c],HIGH);
+		pin_mode(columnPins[c],INPUT);
+	}
+}
+
+// Manage the list without rearranging the keys. Returns true if any keys on the list changed state.
+bool Keypad::updateList() {
+	bool anyActivity = false;
+
+	// Delete any IDLE keys
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kstate==IDLE) {
+			key[i].kchar = NO_KEY;
+			key[i].kcode = -1;
+			key[i].stateChanged = false;
+		}
+	}
+
+	// Add new keys to empty slots in the key list.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		for (byte c=0; c<sizeKpd.columns; c++) {
+			boolean button = bitRead(bitMap[r],c);
+			char keyChar = keymap[r * sizeKpd.columns + c];
+			int keyCode = r * sizeKpd.columns + c;
+			int idx = findInList (keyCode);
+			// Key is already on the list so set its next state.
+			if (idx > -1)	{
+				nextKeyState(idx, button);
+			}
+			// Key is NOT on the list so add it.
+			if ((idx == -1) && button) {
+				for (byte i=0; i<LIST_MAX; i++) {
+					if (key[i].kchar==NO_KEY) {		// Find an empty slot or don't add key to list.
+						key[i].kchar = keyChar;
+						key[i].kcode = keyCode;
+						key[i].kstate = IDLE;		// Keys NOT on the list have an initial state of IDLE.
+						nextKeyState (i, button);
+						break;	// Don't fill all the empty slots with the same key.
+					}
+				}
+			}
+		}
+	}
+
+	// Report if the user changed the state of any key.
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].stateChanged) anyActivity = true;
+	}
+	return anyActivity;
+}
+
+// Private
+// This function is a state machine but is also used for debouncing the keys.
+void Keypad::nextKeyState(byte idx, boolean button) {
+	key[idx].stateChanged = false;
+	switch (key[idx].kstate) {
+		case IDLE:
+			if (button==CLOSED) {
+				transitionTo (idx, PRESSED);
+				holdTimer = millis(); }		// Get ready for next HOLD state.
+			break;
+		case PRESSED:
+			if ((millis()-holdTimer)>holdTime)	// Waiting for a key HOLD...
+				transitionTo (idx, HOLD);
+			else if (button==OPEN)				// or for a key to be RELEASED.
+				transitionTo (idx, RELEASED);
+			break;
+		case HOLD:
+			if (button==OPEN){
+				
+				transitionTo (idx, RELEASED);
+			}
+			break;
+		case RELEASED:
+			transitionTo (idx, IDLE);
+			break;
+	}
+}
+
+// New in 2.1
+bool Keypad::isPressed(char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if ( key[i].kchar == keyChar ) {
+			if ( (key[i].kstate == PRESSED) && key[i].stateChanged )
+				return true;
+		}
+	}
+	return false;	// Not pressed.
+}
+
+// Search by character for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kchar == keyChar) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// Search by code for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (int keyCode) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kcode == keyCode) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// New in 2.0
+char Keypad::waitForKey() {
+	char waitKey = NO_KEY;
+	while( (waitKey = getKey()) == NO_KEY );	// Block everything while waiting for a keypress.
+	return waitKey;
+}
+
+// Backwards compatibility function.
+KeyState Keypad::getState() {
+	return key[0].kstate;
+}
+
+// The end user can test for any changes in state before deciding
+// if any variables, etc. needs to be updated in their code.
+bool Keypad::keyStateChanged() {
+	return key[0].stateChanged;
+}
+
+// The number of keys on the key list, key[LIST_MAX], equals the number
+// of bytes in the key list divided by the number of bytes in a Key object.
+byte Keypad::numKeys() {
+	return sizeof(key)/sizeof(Key);
+}
+
+// Minimum debounceTime is 1 mS. Any lower *will* slow down the loop().
+void Keypad::setDebounceTime(uint debounce) {
+	debounce<1 ? debounceTime=1 : debounceTime=debounce;
+}
+
+void Keypad::setHoldTime(uint hold) {
+    holdTime = hold;
+}
+
+void Keypad::addEventListener(void (*listener)(char)){
+	keypadEventListener = listener;
+}
+
+void Keypad::transitionTo(byte idx, KeyState nextState) {
+	key[idx].kstate = nextState;
+	key[idx].stateChanged = true;
+
+	// Sketch used the getKey() function.
+	// Calls keypadEventListener only when the first key in slot 0 changes state.
+	if (single_key)  {
+	  	if ( (keypadEventListener!=NULL) && (idx==0) )  {
+			keypadEventListener(key[0].kchar);
+		}
+	}
+	// Sketch used the getKeys() function.
+	// Calls keypadEventListener on any key that changes state.
+	else {
+	  	if (keypadEventListener!=NULL)  {
+			keypadEventListener(key[idx].kchar);
+		}
+	}
+}
+
+void pin_mode(byte pinNum, byte mode) { 
+	if(mode == INPUT_PULLUP) {
+		pinMode(pinNum, INPUT); 
+		pullUpDnControl(pinNum,PUD_UP);
+	}
+	else{
+		pinMode(pinNum, mode);
+	}
+}
+void pin_write(byte pinNum, boolean level) { 
+	digitalWrite(pinNum, level); 
+}
+int  pin_read(byte pinNum) { 
+	return digitalRead(pinNum); 
+}
+
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad.hpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad.hpp
new file mode 100644
index 0000000..1d9e716
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad.hpp
@@ -0,0 +1,139 @@
+/*
+||
+|| @file Keypad.h
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEYPAD_H
+#define KEYPAD_H
+
+#include "Key.hpp"
+#include <wiringPi.h>
+#include <stdio.h>
+
+//#define NULL 			'\0'
+#define INPUT_PULLUP	0x02
+#define bitWrite(x,n,b)	(b ? (x |= 1<<n) : (x &= ~(1<<n)))
+#define bitRead(x,n)	((((x>>n)&1) == 1) ? 1 : 0)
+
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef char KeypadEvent;
+typedef unsigned int uint;
+typedef unsigned long ulong;
+
+// Made changes according to this post http://arduino.cc/forum/index.php?topic=58337.0
+// by Nick Gammon. Thanks for the input Nick. It actually saved 78 bytes for me. :)
+typedef struct {
+    byte rows;
+    byte columns;
+} KeypadSize;
+
+#define LIST_MAX 10		// Max number of keys on the active list.
+#define MAPSIZE 10		// MAPSIZE is the number of rows (times 16 columns)
+#define makeKeymap(x) ((char*)x)
+
+
+//class Keypad : public Key, public HAL_obj {
+class Keypad : public Key {
+public:
+
+	Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols);
+
+	uint bitMap[MAPSIZE];	// 10 row x 16 column array of bits. Except Due which has 32 columns.
+	Key key[LIST_MAX];
+	unsigned long holdTimer;
+
+	char getKey();
+	bool getKeys();
+	KeyState getState();
+	void begin(char *userKeymap);
+	bool isPressed(char keyChar);
+	void setDebounceTime(uint);
+	void setHoldTime(uint);
+	void addEventListener(void (*listener)(char));
+	int findInList(char keyChar);
+	int findInList(int keyCode);
+	char waitForKey();
+	bool keyStateChanged();
+	byte numKeys();
+
+private:
+	unsigned long startTime;
+	char *keymap;
+    byte *rowPins;
+    byte *columnPins;
+	KeypadSize sizeKpd;
+	uint debounceTime;
+	uint holdTime;
+	bool single_key;
+
+	void scanKeys();
+	bool updateList();
+	void nextKeyState(byte n, boolean button);
+	void transitionTo(byte n, KeyState nextState);
+	void (*keypadEventListener)(char);
+};
+
+//#define __PIN_MODE__PINWRITE__PINREAD__
+void pin_mode(byte pinNum, byte mode);
+void pin_write(byte pinNum, boolean level);
+int  pin_read(byte pinNum); 
+#endif
+
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added test to determine which header file to compile,
+|| |                                          WProgram.h or Arduino.h.
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : This library is a Finite State Machine every time a state changes
+|| |                                          the keypadEventListener will trigger, if set
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.cpp
new file mode 100644
index 0000000..9102c81
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.cpp
@@ -0,0 +1,293 @@
+/*
+||
+|| @file Keypad.cpp
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include "Keypad.hpp"
+
+// <<constructor>> Allows custom keymap, pin configuration, and keypad sizes.
+Keypad::Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols) {
+	rowPins = row;
+	columnPins = col;
+	sizeKpd.rows = numRows;
+	sizeKpd.columns = numCols;
+
+	begin(userKeymap);
+
+	setDebounceTime(10);
+	setHoldTime(500);
+	keypadEventListener = 0;
+
+	startTime = 0;
+	single_key = false;
+}
+
+// Let the user define a keymap - assume the same row/column count as defined in constructor
+void Keypad::begin(char *userKeymap) {
+    keymap = userKeymap;
+}
+
+// Returns a single key only. Retained for backwards compatibility.
+char Keypad::getKey() {
+	single_key = true;
+
+	if (getKeys() && key[0].stateChanged && (key[0].kstate==PRESSED))
+		return key[0].kchar;
+	
+	single_key = false;
+
+	return NO_KEY;
+}
+
+// Populate the key list.
+bool Keypad::getKeys() {
+	bool keyActivity = false;
+
+	// Limit how often the keypad is scanned. This makes the loop() run 10 times as fast.
+	if ( (millis()-startTime)>debounceTime ) {
+		scanKeys();
+		keyActivity = updateList();
+		startTime = millis();
+	}
+
+	return keyActivity;
+}
+
+// Private : Hardware scan
+void Keypad::scanKeys() {
+	// Re-intialize the row pins. Allows sharing these pins with other hardware.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		pin_mode(rowPins[r],INPUT_PULLUP);
+	}
+
+	// bitMap stores ALL the keys that are being pressed.
+	for (byte c=0; c<sizeKpd.columns; c++) {
+		pin_mode(columnPins[c],OUTPUT);
+		pin_write(columnPins[c], LOW);	// Begin column pulse output.
+		for (byte r=0; r<sizeKpd.rows; r++) {
+			bitWrite(bitMap[r], c, !pin_read(rowPins[r]));  // keypress is active low so invert to high.
+		}
+		// Set pin to high impedance input. Effectively ends column pulse.
+		pin_write(columnPins[c],HIGH);
+		pin_mode(columnPins[c],INPUT);
+	}
+}
+
+// Manage the list without rearranging the keys. Returns true if any keys on the list changed state.
+bool Keypad::updateList() {
+
+	bool anyActivity = false;
+
+	// Delete any IDLE keys
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kstate==IDLE) {
+			key[i].kchar = NO_KEY;
+			key[i].kcode = -1;
+			key[i].stateChanged = false;
+		}
+	}
+
+	// Add new keys to empty slots in the key list.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		for (byte c=0; c<sizeKpd.columns; c++) {
+			boolean button = bitRead(bitMap[r],c);
+			char keyChar = keymap[r * sizeKpd.columns + c];
+			int keyCode = r * sizeKpd.columns + c;
+			int idx = findInList (keyCode);
+			// Key is already on the list so set its next state.
+			if (idx > -1)	{
+				nextKeyState(idx, button);
+			}
+			// Key is NOT on the list so add it.
+			if ((idx == -1) && button) {
+				for (byte i=0; i<LIST_MAX; i++) {
+					if (key[i].kchar==NO_KEY) {		// Find an empty slot or don't add key to list.
+						key[i].kchar = keyChar;
+						key[i].kcode = keyCode;
+						key[i].kstate = IDLE;		// Keys NOT on the list have an initial state of IDLE.
+						nextKeyState (i, button);
+						break;	// Don't fill all the empty slots with the same key.
+					}
+				}
+			}
+		}
+	}
+
+	// Report if the user changed the state of any key.
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].stateChanged) anyActivity = true;
+	}
+
+	return anyActivity;
+}
+
+// Private
+// This function is a state machine but is also used for debouncing the keys.
+void Keypad::nextKeyState(byte idx, boolean button) {
+	key[idx].stateChanged = false;
+
+	switch (key[idx].kstate) {
+		case IDLE:
+			if (button==CLOSED) {
+				transitionTo (idx, PRESSED);
+				holdTimer = millis(); }		// Get ready for next HOLD state.
+			break;
+		case PRESSED:
+			if ((millis()-holdTimer)>holdTime)	// Waiting for a key HOLD...
+				transitionTo (idx, HOLD);
+			else if (button==OPEN)				// or for a key to be RELEASED.
+				transitionTo (idx, RELEASED);
+			break;
+		case HOLD:
+			if (button==OPEN)
+				transitionTo (idx, RELEASED);
+			break;
+		case RELEASED:
+			transitionTo (idx, IDLE);
+			break;
+	}
+}
+
+// New in 2.1
+bool Keypad::isPressed(char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if ( key[i].kchar == keyChar ) {
+			if ( (key[i].kstate == PRESSED) && key[i].stateChanged )
+				return true;
+		}
+	}
+	return false;	// Not pressed.
+}
+
+// Search by character for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kchar == keyChar) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// Search by code for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (int keyCode) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kcode == keyCode) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// New in 2.0
+char Keypad::waitForKey() {
+	char waitKey = NO_KEY;
+	while( (waitKey = getKey()) == NO_KEY );	// Block everything while waiting for a keypress.
+	return waitKey;
+}
+
+// Backwards compatibility function.
+KeyState Keypad::getState() {
+	return key[0].kstate;
+}
+
+// The end user can test for any changes in state before deciding
+// if any variables, etc. needs to be updated in their code.
+bool Keypad::keyStateChanged() {
+	return key[0].stateChanged;
+}
+
+// The number of keys on the key list, key[LIST_MAX], equals the number
+// of bytes in the key list divided by the number of bytes in a Key object.
+byte Keypad::numKeys() {
+	return sizeof(key)/sizeof(Key);
+}
+
+// Minimum debounceTime is 1 mS. Any lower *will* slow down the loop().
+void Keypad::setDebounceTime(uint debounce) {
+	debounce<1 ? debounceTime=1 : debounceTime=debounce;
+}
+
+void Keypad::setHoldTime(uint hold) {
+    holdTime = hold;
+}
+
+void Keypad::addEventListener(void (*listener)(char)){
+	keypadEventListener = listener;
+}
+
+void Keypad::transitionTo(byte idx, KeyState nextState) {
+	key[idx].kstate = nextState;
+	key[idx].stateChanged = true;
+
+	// Sketch used the getKey() function.
+	// Calls keypadEventListener only when the first key in slot 0 changes state.
+	if (single_key)  {
+	  	if ( (keypadEventListener!=NULL) && (idx==0) )  {
+			keypadEventListener(key[0].kchar);
+		}
+	}
+	// Sketch used the getKeys() function.
+	// Calls keypadEventListener on any key that changes state.
+	else {
+	  	if (keypadEventListener!=NULL)  {
+			keypadEventListener(key[idx].kchar);
+		}
+	}
+}
+
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added decision logic to compile WProgram.h or Arduino.h
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : Every time a state changes the keypadEventListener will trigger, if set.
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime. setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.hpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.hpp
new file mode 100644
index 0000000..c1aab49
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.hpp
@@ -0,0 +1,149 @@
+/*
+||
+|| @file Keypad.h
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEYPAD_H
+#define KEYPAD_H
+
+#include "utility/Key.hpp"
+#include <wiringPi.h>
+
+#define NULL 			0
+#define INPUT_PULLUP	0x02
+#define bitWrite(x,n,b)	(b ? (x |= b<<n) : (x &= ~(b<<n)))
+#define bitRead(x,n)	((((x>>n)&1) == 1) ? 1 : 0)
+
+
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef char KeypadEvent;
+typedef unsigned int uint;
+typedef unsigned long ulong;
+
+// Made changes according to this post http://arduino.cc/forum/index.php?topic=58337.0
+// by Nick Gammon. Thanks for the input Nick. It actually saved 78 bytes for me. :)
+typedef struct {
+    byte rows;
+    byte columns;
+} KeypadSize;
+
+#define LIST_MAX 10		// Max number of keys on the active list.
+#define MAPSIZE 10		// MAPSIZE is the number of rows (times 16 columns)
+#define makeKeymap(x) ((char*)x)
+
+
+//class Keypad : public Key, public HAL_obj {
+class Keypad : public Key {
+public:
+
+	Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols);
+
+	virtual void pin_mode(byte pinNum, byte mode) { 
+		if(mode == INPUT_PULLUP) {
+			pinMode(pinNum, INPUT); 
+			pullUpDnControl(pinNum,PUD_UP);
+		}
+		else{
+			pinMode(pinNum, mode);
+		}
+	}
+	virtual void pin_write(byte pinNum, boolean level) { digitalWrite(pinNum, level); }
+	virtual int  pin_read(byte pinNum) { return digitalRead(pinNum); }
+
+	uint bitMap[MAPSIZE];	// 10 row x 16 column array of bits. Except Due which has 32 columns.
+	Key key[LIST_MAX];
+	unsigned long holdTimer;
+
+	char getKey();
+	bool getKeys();
+	KeyState getState();
+	void begin(char *userKeymap);
+	bool isPressed(char keyChar);
+	void setDebounceTime(uint);
+	void setHoldTime(uint);
+	void addEventListener(void (*listener)(char));
+	int findInList(char keyChar);
+	int findInList(int keyCode);
+	char waitForKey();
+	bool keyStateChanged();
+	byte numKeys();
+
+private:
+	unsigned long startTime;
+	char *keymap;
+    byte *rowPins;
+    byte *columnPins;
+	KeypadSize sizeKpd;
+	uint debounceTime;
+	uint holdTime;
+	bool single_key;
+
+	void scanKeys();
+	bool updateList();
+	void nextKeyState(byte n, boolean button);
+	void transitionTo(byte n, KeyState nextState);
+	void (*keypadEventListener)(char);
+};
+
+
+
+#endif
+
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added test to determine which header file to compile,
+|| |                                          WProgram.h or Arduino.h.
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : This library is a Finite State Machine every time a state changes
+|| |                                          the keypadEventListener will trigger, if set
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.hpp.gch b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.hpp.gch
new file mode 100644
index 0000000..614e6e5
Binary files /dev/null and b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/Keypad.hpp.gch differ
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/keywords.txt b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/keywords.txt
new file mode 100644
index 0000000..e400940
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/keywords.txt
@@ -0,0 +1,38 @@
+# Keypad Library data types
+KeyState	KEYWORD1
+Keypad	KEYWORD1
+KeypadEvent	KEYWORD1
+
+# Keypad Library constants
+NO_KEY	LITERAL1
+IDLE	LITERAL1
+PRESSED	LITERAL1
+HOLD	LITERAL1
+RELEASED	LITERAL1
+
+# Keypad Library methods & functions
+addEventListener	KEYWORD2
+bitMap	KEYWORD2
+findKeyInList	KEYWORD2
+getKey	KEYWORD2
+getKeys	KEYWORD2
+getState	KEYWORD2
+holdTimer	KEYWORD2
+isPressed	KEYWORD2
+keyStateChanged	KEYWORD2
+numKeys	KEYWORD2
+pin_mode	KEYWORD2
+pin_write	KEYWORD2
+pin_read	KEYWORD2
+setDebounceTime	KEYWORD2
+setHoldTime	KEYWORD2
+waitForKey	KEYWORD2
+
+# this is a macro that converts 2d arrays to pointers
+makeKeymap	KEYWORD2
+
+# List of objects created in the example sketches.
+kpd	KEYWORD3
+keypad	KEYWORD3
+kbrd	KEYWORD3
+keyboard	KEYWORD3
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.cpp
new file mode 100644
index 0000000..008853d
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.cpp
@@ -0,0 +1,61 @@
+/*
+|| @file Key.cpp
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include "Key.hpp"
+
+
+// default constructor
+Key::Key() {
+	kchar = NO_KEY;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+// constructor
+Key::Key(char userKeyChar) {
+	kchar = userKeyChar;
+	kcode = -1;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+
+void Key::key_update (char userKeyChar, KeyState userState, boolean userStatus) {
+	kchar = userKeyChar;
+	kstate = userState;
+	stateChanged = userStatus;
+}
+
+
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.hpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.hpp
new file mode 100644
index 0000000..ede970a
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.hpp
@@ -0,0 +1,70 @@
+/*
+||
+|| @file Key.h
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEY_H
+#define KEY_H
+
+#include <wiringPi.h>
+
+#define boolean bool
+#define byte unsigned char 
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef unsigned int uint;
+typedef enum{ IDLE, PRESSED, HOLD, RELEASED } KeyState;
+
+const char NO_KEY = '\0';
+
+class Key {
+public:
+	// members
+	char kchar;
+	int kcode;
+	KeyState kstate;
+	boolean stateChanged;
+
+	// methods
+	Key();
+	Key(char userKeyChar);
+	void key_update(char userKeyChar, KeyState userState, boolean userStatus);
+
+private:
+
+};
+
+#endif
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.hpp.gch b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.hpp.gch
new file mode 100644
index 0000000..6a2d040
Binary files /dev/null and b/Code/C_Code/22.1.1_MatrixKeypad/Keypad/utility/Key.hpp.gch differ
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/HelloKeypad.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/HelloKeypad.cpp
new file mode 100644
index 0000000..08b3a0d
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/HelloKeypad.cpp
@@ -0,0 +1,37 @@
+/* @file HelloKeypad.pde
+|| @version 1.0
+|| @author Alexander Brevig
+|| @contact alexanderbrevig@gmail.com
+||
+|| @description
+|| | Demonstrates the simplest use of the matrix Keypad library.
+|| #
+*/
+#include "Keypad.hpp"
+#include <stdio.h>
+const byte ROWS = 4; //four rows
+const byte COLS = 3; //three columns
+char keys[ROWS][COLS] = {
+  {'1','2','3'},
+  {'4','5','6'},
+  {'7','8','9'},
+  {'*','0','#'}
+};
+byte rowPins[ROWS] = {5, 4, 3, 2}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {8, 7, 6}; //connect to the column pinouts of the keypad
+
+Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+
+void setup(){
+  //Serial.begin(9600);
+}
+  
+int main(){
+	while(1){
+		char key = keypad.getKey();
+
+		if (key){
+			printf("%s \n",key);
+		}
+	}
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.cpp
new file mode 100644
index 0000000..26cebc5
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.cpp
@@ -0,0 +1,308 @@
+/*
+||
+|| @file Keypad.cpp
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include "Keypad.hpp"
+
+// <<constructor>> Allows custom keymap, pin configuration, and keypad sizes.
+Keypad::Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols) {
+	rowPins = row;
+	columnPins = col;
+	sizeKpd.rows = numRows;
+	sizeKpd.columns = numCols;
+
+	begin(userKeymap);
+
+	setDebounceTime(10);
+	setHoldTime(500);
+	keypadEventListener = 0;
+
+	startTime = 0;
+	single_key = false;
+}
+
+// Let the user define a keymap - assume the same row/column count as defined in constructor
+void Keypad::begin(char *userKeymap) {
+    keymap = userKeymap;
+}
+
+// Returns a single key only. Retained for backwards compatibility.
+char Keypad::getKey() {
+	single_key = true;
+
+	if (getKeys() && key[0].stateChanged && (key[0].kstate==PRESSED))
+		return key[0].kchar;
+	
+	single_key = false;
+
+	return NO_KEY;
+}
+
+// Populate the key list.
+bool Keypad::getKeys() {
+	bool keyActivity = false;
+
+	// Limit how often the keypad is scanned. This makes the loop() run 10 times as fast.
+	if ( (millis()-startTime)>debounceTime ) {
+		scanKeys();
+		keyActivity = updateList();
+		startTime = millis();
+	}
+
+	return keyActivity;
+}
+
+// Private : Hardware scan
+void Keypad::scanKeys() {
+	// Re-intialize the row pins. Allows sharing these pins with other hardware.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		pin_mode(rowPins[r],INPUT_PULLUP);
+	}
+
+	// bitMap stores ALL the keys that are being pressed.
+	for (byte c=0; c<sizeKpd.columns; c++) {
+		pin_mode(columnPins[c],OUTPUT);
+		pin_write(columnPins[c], LOW);	// Begin column pulse output.
+		for (byte r=0; r<sizeKpd.rows; r++) {
+			bitWrite(bitMap[r], c, !pin_read(rowPins[r]));  // keypress is active low so invert to high.
+		}
+		// Set pin to high impedance input. Effectively ends column pulse.
+		pin_write(columnPins[c],HIGH);
+		pin_mode(columnPins[c],INPUT);
+	}
+}
+
+// Manage the list without rearranging the keys. Returns true if any keys on the list changed state.
+bool Keypad::updateList() {
+
+	bool anyActivity = false;
+
+	// Delete any IDLE keys
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kstate==IDLE) {
+			key[i].kchar = NO_KEY;
+			key[i].kcode = -1;
+			key[i].stateChanged = false;
+		}
+	}
+
+	// Add new keys to empty slots in the key list.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		for (byte c=0; c<sizeKpd.columns; c++) {
+			boolean button = bitRead(bitMap[r],c);
+			char keyChar = keymap[r * sizeKpd.columns + c];
+			int keyCode = r * sizeKpd.columns + c;
+			int idx = findInList (keyCode);
+			// Key is already on the list so set its next state.
+			if (idx > -1)	{
+				nextKeyState(idx, button);
+			}
+			// Key is NOT on the list so add it.
+			if ((idx == -1) && button) {
+				for (byte i=0; i<LIST_MAX; i++) {
+					if (key[i].kchar==NO_KEY) {		// Find an empty slot or don't add key to list.
+						key[i].kchar = keyChar;
+						key[i].kcode = keyCode;
+						key[i].kstate = IDLE;		// Keys NOT on the list have an initial state of IDLE.
+						nextKeyState (i, button);
+						break;	// Don't fill all the empty slots with the same key.
+					}
+				}
+			}
+		}
+	}
+
+	// Report if the user changed the state of any key.
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].stateChanged) anyActivity = true;
+	}
+
+	return anyActivity;
+}
+
+// Private
+// This function is a state machine but is also used for debouncing the keys.
+void Keypad::nextKeyState(byte idx, boolean button) {
+	key[idx].stateChanged = false;
+
+	switch (key[idx].kstate) {
+		case IDLE:
+			if (button==CLOSED) {
+				transitionTo (idx, PRESSED);
+				holdTimer = millis(); }		// Get ready for next HOLD state.
+			break;
+		case PRESSED:
+			if ((millis()-holdTimer)>holdTime)	// Waiting for a key HOLD...
+				transitionTo (idx, HOLD);
+			else if (button==OPEN)				// or for a key to be RELEASED.
+				transitionTo (idx, RELEASED);
+			break;
+		case HOLD:
+			if (button==OPEN)
+				transitionTo (idx, RELEASED);
+			break;
+		case RELEASED:
+			transitionTo (idx, IDLE);
+			break;
+	}
+}
+
+// New in 2.1
+bool Keypad::isPressed(char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if ( key[i].kchar == keyChar ) {
+			if ( (key[i].kstate == PRESSED) && key[i].stateChanged )
+				return true;
+		}
+	}
+	return false;	// Not pressed.
+}
+
+// Search by character for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kchar == keyChar) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// Search by code for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (int keyCode) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kcode == keyCode) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// New in 2.0
+char Keypad::waitForKey() {
+	char waitKey = NO_KEY;
+	while( (waitKey = getKey()) == NO_KEY );	// Block everything while waiting for a keypress.
+	return waitKey;
+}
+
+// Backwards compatibility function.
+KeyState Keypad::getState() {
+	return key[0].kstate;
+}
+
+// The end user can test for any changes in state before deciding
+// if any variables, etc. needs to be updated in their code.
+bool Keypad::keyStateChanged() {
+	return key[0].stateChanged;
+}
+
+// The number of keys on the key list, key[LIST_MAX], equals the number
+// of bytes in the key list divided by the number of bytes in a Key object.
+byte Keypad::numKeys() {
+	return sizeof(key)/sizeof(Key);
+}
+
+// Minimum debounceTime is 1 mS. Any lower *will* slow down the loop().
+void Keypad::setDebounceTime(uint debounce) {
+	debounce<1 ? debounceTime=1 : debounceTime=debounce;
+}
+
+void Keypad::setHoldTime(uint hold) {
+    holdTime = hold;
+}
+
+void Keypad::addEventListener(void (*listener)(char)){
+	keypadEventListener = listener;
+}
+
+void Keypad::transitionTo(byte idx, KeyState nextState) {
+	key[idx].kstate = nextState;
+	key[idx].stateChanged = true;
+
+	// Sketch used the getKey() function.
+	// Calls keypadEventListener only when the first key in slot 0 changes state.
+	if (single_key)  {
+	  	if ( (keypadEventListener!=NULL) && (idx==0) )  {
+			keypadEventListener(key[0].kchar);
+		}
+	}
+	// Sketch used the getKeys() function.
+	// Calls keypadEventListener on any key that changes state.
+	else {
+	  	if (keypadEventListener!=NULL)  {
+			keypadEventListener(key[idx].kchar);
+		}
+	}
+}
+
+void pin_mode(byte pinNum, byte mode) { 
+	if(mode == INPUT_PULLUP) {
+		pinMode(pinNum, INPUT); 
+		pullUpDnControl(pinNum,PUD_UP);
+	}
+	else{
+		pinMode(pinNum, mode);
+	}
+}
+void pin_write(byte pinNum, boolean level) { 
+	digitalWrite(pinNum, level); 
+}
+int  pin_read(byte pinNum) { 
+	return digitalRead(pinNum); 
+}
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added decision logic to compile WProgram.h or Arduino.h
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : Every time a state changes the keypadEventListener will trigger, if set.
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime. setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.hpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.hpp
new file mode 100644
index 0000000..a7926f5
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.hpp
@@ -0,0 +1,140 @@
+/*
+||
+|| @file Keypad.h
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEYPAD_H
+#define KEYPAD_H
+
+#include "utility/Key.hpp"
+#include <wiringPi.h>
+
+#define NULL 			0
+#define INPUT_PULLUP	0x02
+#define bitWrite(x,n,b)	(b ? (x |= b<<n) : (x &= ~(b<<n)))
+#define bitRead(x,n)	((((x>>n)&1) == 1) ? 1 : 0)
+
+
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef char KeypadEvent;
+typedef unsigned int uint;
+typedef unsigned long ulong;
+
+// Made changes according to this post http://arduino.cc/forum/index.php?topic=58337.0
+// by Nick Gammon. Thanks for the input Nick. It actually saved 78 bytes for me. :)
+typedef struct {
+    byte rows;
+    byte columns;
+} KeypadSize;
+
+#define LIST_MAX 10		// Max number of keys on the active list.
+#define MAPSIZE 10		// MAPSIZE is the number of rows (times 16 columns)
+#define makeKeymap(x) ((char*)x)
+
+
+//class Keypad : public Key, public HAL_obj {
+class Keypad : public Key {
+public:
+
+	Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols);
+
+	uint bitMap[MAPSIZE];	// 10 row x 16 column array of bits. Except Due which has 32 columns.
+	Key key[LIST_MAX];
+	unsigned long holdTimer;
+
+	char getKey();
+	bool getKeys();
+	KeyState getState();
+	void begin(char *userKeymap);
+	bool isPressed(char keyChar);
+	void setDebounceTime(uint);
+	void setHoldTime(uint);
+	void addEventListener(void (*listener)(char));
+	int findInList(char keyChar);
+	int findInList(int keyCode);
+	char waitForKey();
+	bool keyStateChanged();
+	byte numKeys();
+
+private:
+	unsigned long startTime;
+	char *keymap;
+    byte *rowPins;
+    byte *columnPins;
+	KeypadSize sizeKpd;
+	uint debounceTime;
+	uint holdTime;
+	bool single_key;
+
+	void scanKeys();
+	bool updateList();
+	void nextKeyState(byte n, boolean button);
+	void transitionTo(byte n, KeyState nextState);
+	void (*keypadEventListener)(char);
+};
+
+void pin_mode(byte pinNum, byte mode) ;
+
+void pin_write(byte pinNum, boolean level) ;
+int  pin_read(byte pinNum) ;
+
+#endif
+
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added test to determine which header file to compile,
+|| |                                          WProgram.h or Arduino.h.
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : This library is a Finite State Machine every time a state changes
+|| |                                          the keypadEventListener will trigger, if set
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.hpp.gch b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.hpp.gch
new file mode 100644
index 0000000..614e6e5
Binary files /dev/null and b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/Keypad.hpp.gch differ
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/CustomKeypad/CustomKeypad.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/CustomKeypad/CustomKeypad.ino
new file mode 100644
index 0000000..659c186
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/CustomKeypad/CustomKeypad.ino
@@ -0,0 +1,37 @@
+/* @file CustomKeypad.pde
+|| @version 1.0
+|| @author Alexander Brevig
+|| @contact alexanderbrevig@gmail.com
+||
+|| @description
+|| | Demonstrates changing the keypad size and key values.
+|| #
+*/
+#include <Keypad.h>
+
+const byte ROWS = 4; //four rows
+const byte COLS = 4; //four columns
+//define the cymbols on the buttons of the keypads
+char hexaKeys[ROWS][COLS] = {
+  {'0','1','2','3'},
+  {'4','5','6','7'},
+  {'8','9','A','B'},
+  {'C','D','E','F'}
+};
+byte rowPins[ROWS] = {3, 2, 1, 0}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {7, 6, 5, 4}; //connect to the column pinouts of the keypad
+
+//initialize an instance of class NewKeypad
+Keypad customKeypad = Keypad( makeKeymap(hexaKeys), rowPins, colPins, ROWS, COLS); 
+
+void setup(){
+  Serial.begin(9600);
+}
+  
+void loop(){
+  char customKey = customKeypad.getKey();
+  
+  if (customKey){
+    Serial.println(customKey);
+  }
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/DynamicKeypad/DynamicKeypad.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/DynamicKeypad/DynamicKeypad.ino
new file mode 100644
index 0000000..530b523
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/DynamicKeypad/DynamicKeypad.ino
@@ -0,0 +1,213 @@
+/* @file   DynamicKeypad.pde
+|| @version 1.2
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+||  07/11/12 - Re-modified (from DynamicKeypadJoe2) to use direct-connect kpds
+||  02/28/12 - Modified to use I2C i/o G. D. (Joe) Young
+||
+||
+|| @dificulty:  Intermediate
+||
+|| @description
+|| |    This is a demonstration of keypadEvents. It's used to switch between keymaps
+|| |    while using only one keypad.  The main concepts being demonstrated are:
+|| |
+|| |        Using the keypad events, PRESSED, HOLD and RELEASED to simplify coding.
+|| |        How to use setHoldTime() and why.
+|| |        Making more than one thing happen with the same key.
+|| |        Assigning and changing keymaps on the fly.
+|| |
+|| |    Another useful feature is also included with this demonstration although
+|| |    it's not really one of the concepts that I wanted to show you.  If you look
+|| |    at the code in the PRESSED event you will see that the first section of that
+|| |    code is used to scroll through three different letters on each key.  For
+|| |    example, pressing the '2' key will step through the letters 'd', 'e' and 'f'.
+|| |
+|| |
+|| |  Using the keypad events, PRESSED, HOLD and RELEASED to simplify coding
+|| |    Very simply, the PRESSED event occurs imediately upon detecting a pressed
+|| |    key and will not happen again until after a RELEASED event.  When the HOLD
+|| |    event fires it always falls between PRESSED and RELEASED.  However, it will
+|| |    only occur if a key has been pressed for longer than the setHoldTime() interval.
+|| |
+|| |  How to use setHoldTime() and why
+|| |    Take a look at keypad.setHoldTime(500) in the code.  It is used to set the
+|| |    time delay between a PRESSED event and the start of a HOLD event.  The value
+|| |    500 is in milliseconds (mS) and is equivalent to half a second.  After pressing
+|| |    a key for 500mS the HOLD event will fire and any code contained therein will be
+|| |    executed.  This event will stay active for as long as you hold the key except
+|| |    in the case of bug #1 listed above.
+|| |
+|| |  Making more than one thing happen with the same key.
+|| |    If you look under the PRESSED event (case PRESSED:) you will see that the '#'
+|| |    is used to print a new line, Serial.println().  But take a look at the first
+|| |    half of the HOLD event and you will see the same key being used to switch back
+|| |    and forth between the letter and number keymaps that were created with alphaKeys[4][5]
+|| |    and numberKeys[4][5] respectively.
+|| |
+|| |  Assigning and changing keymaps on the fly
+|| |    You will see that the '#' key has been designated to perform two different functions
+|| |    depending on how long you hold it down.  If you press the '#' key for less than the
+|| |    setHoldTime() then it will print a new line.  However, if you hold if for longer
+|| |    than that it will switch back and forth between numbers and letters.  You can see the
+|| |    keymap changes in the HOLD event.
+|| |
+|| |
+|| |  In addition...
+|| |      You might notice a couple of things that you won't find in the Arduino language
+|| |    reference.  The first would be #include <ctype.h>.  This is a standard library from
+|| |    the C programming language and though I don't normally demonstrate these types of
+|| |    things from outside the Arduino language reference I felt that its use here was
+|| |    justified by the simplicity that it brings to this sketch.
+|| |      That simplicity is provided by the two calls to isalpha(key) and isdigit(key).
+|| |    The first one is used to decide if the key that was pressed is any letter from a-z
+|| |    or A-Z and the second one decides if the key is any number from 0-9.  The return
+|| |    value from these two functions is either a zero or some positive number greater
+|| |    than zero.  This makes it very simple to test a key and see if it is a number or
+|| |    a letter.  So when you see the following:
+|| |
+|| |    if (isalpha(key))    // this tests to see if your key was a letter
+|| |
+|| |    And the following may be more familiar to some but it is equivalent:
+|| |
+|| |    if (isalpha(key) != 0)   // this tests to see if your key was a letter
+|| |
+|| |  And Finally...
+|| |    To better understand how the event handler affects your code you will need to remember
+|| |    that it gets called only when you press, hold or release a key.  However, once a key
+|| |    is pressed or held then the event handler gets called at the full speed of the loop().
+|| |
+|| #
+*/
+#include <Keypad.h>
+#include <ctype.h>
+
+const byte ROWS = 4; //four rows
+const byte COLS = 3; //three columns
+// Define the keymaps.  The blank spot (lower left) is the space character.
+char alphaKeys[ROWS][COLS] = {
+    { 'a','d','g' },
+    { 'j','m','p' },
+    { 's','v','y' },
+    { ' ','.','#' }
+};
+
+char numberKeys[ROWS][COLS] = {
+    { '1','2','3' },
+    { '4','5','6' },
+    { '7','8','9' },
+    { ' ','0','#' }
+};
+
+boolean alpha = false;   // Start with the numeric keypad.
+
+byte rowPins[ROWS] = {5, 4, 3, 2}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {8, 7, 6}; //connect to the column pinouts of the keypad
+
+// Create two new keypads, one is a number pad and the other is a letter pad.
+Keypad numpad( makeKeymap(numberKeys), rowPins, colPins, sizeof(rowPins), sizeof(colPins) );
+Keypad ltrpad( makeKeymap(alphaKeys), rowPins, colPins, sizeof(rowPins), sizeof(colPins) );
+
+
+unsigned long startTime;
+const byte ledPin = 13;                            // Use the LED on pin 13.
+
+void setup() {
+    Serial.begin(9600);
+    pinMode(ledPin, OUTPUT);
+    digitalWrite(ledPin, LOW);                 // Turns the LED on.
+    ltrpad.begin( makeKeymap(alphaKeys) );
+    numpad.begin( makeKeymap(numberKeys) );
+    ltrpad.addEventListener(keypadEvent_ltr);  // Add an event listener.
+    ltrpad.setHoldTime(500);                   // Default is 1000mS
+    numpad.addEventListener(keypadEvent_num);  // Add an event listener.
+    numpad.setHoldTime(500);                   // Default is 1000mS
+}
+
+char key;
+
+void loop() {
+
+    if( alpha )
+        key = ltrpad.getKey( );
+    else
+        key = numpad.getKey( );
+
+    if (alpha && millis()-startTime>100) {           // Flash the LED if we are using the letter keymap.
+        digitalWrite(ledPin,!digitalRead(ledPin));
+        startTime = millis();
+    }
+}
+
+static char virtKey = NO_KEY;      // Stores the last virtual key press. (Alpha keys only)
+static char physKey = NO_KEY;      // Stores the last physical key press. (Alpha keys only)
+static char buildStr[12];
+static byte buildCount;
+static byte pressCount;
+
+static byte kpadState;
+
+// Take care of some special events.
+
+void keypadEvent_ltr(KeypadEvent key) {
+    // in here when in alpha mode.
+    kpadState = ltrpad.getState( );
+    swOnState( key );
+} // end ltrs keypad events
+
+void keypadEvent_num( KeypadEvent key ) {
+    // in here when using number keypad
+    kpadState = numpad.getState( );
+    swOnState( key );
+} // end numbers keypad events
+
+void swOnState( char key ) {
+    switch( kpadState ) {
+        case PRESSED:
+            if (isalpha(key)) {              // This is a letter key so we're using the letter keymap.
+                if (physKey != key) {        // New key so start with the first of 3 characters.
+                    pressCount = 0;
+                    virtKey = key;
+                    physKey = key;
+                }
+                else {                       // Pressed the same key again...
+                    virtKey++;                   // so select the next character on that key.
+                    pressCount++;                // Tracks how many times we press the same key.
+                }
+                    if (pressCount > 2) {    // Last character reached so cycle back to start.
+                        pressCount = 0;
+                        virtKey = key;
+                    }
+                    Serial.print(virtKey);   // Used for testing.
+                }
+                if (isdigit(key) || key == ' ' || key == '.')
+                    Serial.print(key);
+                if (key == '#')
+                    Serial.println();
+                break;
+
+        case HOLD:
+            if (key == '#')  {               // Toggle between keymaps.
+                if (alpha == true)  {        // We are currently using a keymap with letters
+                    alpha = false;           // Now we want a keymap with numbers.
+                    digitalWrite(ledPin, LOW);
+                }
+                else  {                      // We are currently using a keymap with numbers
+                    alpha = true;            // Now we want a keymap with letters.
+                }
+            }
+            else  {                          // Some key other than '#' was pressed.
+                buildStr[buildCount++] = (isalpha(key)) ? virtKey : key;
+                buildStr[buildCount] = '\0';
+                Serial.println();
+                Serial.println(buildStr);
+            }
+            break;
+
+        case RELEASED:
+            if (buildCount >= sizeof(buildStr))  buildCount = 0;  // Our string is full. Start fresh.
+            break;
+    }  // end switch-case
+}// end switch on state function
+
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/EventKeypad/EventKeypad.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/EventKeypad/EventKeypad.ino
new file mode 100644
index 0000000..4c8d27e
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/EventKeypad/EventKeypad.ino
@@ -0,0 +1,73 @@
+/* @file EventSerialKeypad.pde
+ || @version 1.0
+ || @author Alexander Brevig
+ || @contact alexanderbrevig@gmail.com
+ ||
+ || @description
+ || | Demonstrates using the KeypadEvent.
+ || #
+ */
+#include <Keypad.h>
+
+const byte ROWS = 4; //four rows
+const byte COLS = 3; //three columns
+char keys[ROWS][COLS] = {
+    {'1','2','3'},
+    {'4','5','6'},
+    {'7','8','9'},
+    {'*','0','#'}
+};
+
+byte rowPins[ROWS] = {5, 4, 3, 2}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {8, 7, 6}; //connect to the column pinouts of the keypad
+
+Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+byte ledPin = 13; 
+
+boolean blink = false;
+boolean ledPin_state;
+
+void setup(){
+    Serial.begin(9600);
+    pinMode(ledPin, OUTPUT);              // Sets the digital pin as output.
+    digitalWrite(ledPin, HIGH);           // Turn the LED on.
+    ledPin_state = digitalRead(ledPin);   // Store initial LED state. HIGH when LED is on.
+    keypad.addEventListener(keypadEvent); // Add an event listener for this keypad
+}
+
+void loop(){
+    char key = keypad.getKey();
+
+    if (key) {
+        Serial.println(key);
+    }
+    if (blink){
+        digitalWrite(ledPin,!digitalRead(ledPin));    // Change the ledPin from Hi2Lo or Lo2Hi.
+        delay(100);
+    }
+}
+
+// Taking care of some special events.
+void keypadEvent(KeypadEvent key){
+    switch (keypad.getState()){
+    case PRESSED:
+        if (key == '#') {
+            digitalWrite(ledPin,!digitalRead(ledPin));
+            ledPin_state = digitalRead(ledPin);        // Remember LED state, lit or unlit.
+        }
+        break;
+
+    case RELEASED:
+        if (key == '*') {
+            digitalWrite(ledPin,ledPin_state);    // Restore LED state from before it started blinking.
+            blink = false;
+        }
+        break;
+
+    case HOLD:
+        if (key == '*') {
+            blink = true;    // Blink the LED when holding the * key.
+        }
+        break;
+    }
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/HelloKeypad/HelloKeypad.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/HelloKeypad/HelloKeypad.ino
new file mode 100644
index 0000000..261f044
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/HelloKeypad/HelloKeypad.ino
@@ -0,0 +1,35 @@
+/* @file HelloKeypad.pde
+|| @version 1.0
+|| @author Alexander Brevig
+|| @contact alexanderbrevig@gmail.com
+||
+|| @description
+|| | Demonstrates the simplest use of the matrix Keypad library.
+|| #
+*/
+#include <Keypad.h>
+
+const byte ROWS = 4; //four rows
+const byte COLS = 3; //three columns
+char keys[ROWS][COLS] = {
+  {'1','2','3'},
+  {'4','5','6'},
+  {'7','8','9'},
+  {'*','0','#'}
+};
+byte rowPins[ROWS] = {5, 4, 3, 2}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {8, 7, 6}; //connect to the column pinouts of the keypad
+
+Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+
+void setup(){
+  Serial.begin(9600);
+}
+  
+void loop(){
+  char key = keypad.getKey();
+  
+  if (key){
+    Serial.println(key);
+  }
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/HelloKeypad3/HelloKeypad3.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/HelloKeypad3/HelloKeypad3.ino
new file mode 100644
index 0000000..5605b72
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/HelloKeypad3/HelloKeypad3.ino
@@ -0,0 +1,68 @@
+#include <Keypad.h>
+
+
+const byte ROWS = 2; // use 4X4 keypad for both instances
+const byte COLS = 2;
+char keys[ROWS][COLS] = {
+  {'1','2'},
+  {'3','4'}
+};
+byte rowPins[ROWS] = {5, 4}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {7, 6}; //connect to the column pinouts of the keypad
+Keypad kpd( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+
+
+const byte ROWSR = 2;
+const byte COLSR = 2;
+char keysR[ROWSR][COLSR] = {
+  {'a','b'},
+  {'c','d'}
+};
+byte rowPinsR[ROWSR] = {3, 2}; //connect to the row pinouts of the keypad
+byte colPinsR[COLSR] = {7, 6}; //connect to the column pinouts of the keypad
+Keypad kpdR( makeKeymap(keysR), rowPinsR, colPinsR, ROWSR, COLSR );
+
+
+const byte ROWSUR = 4;
+const byte COLSUR = 1;
+char keysUR[ROWSUR][COLSUR] = {
+  {'M'},
+  {'A'},
+  {'R'},
+  {'K'}
+};
+// Digitran keypad, bit numbers of PCF8574 i/o port
+byte rowPinsUR[ROWSUR] = {5, 4, 3, 2}; //connect to the row pinouts of the keypad
+byte colPinsUR[COLSUR] = {8}; //connect to the column pinouts of the keypad
+
+Keypad kpdUR( makeKeymap(keysUR), rowPinsUR, colPinsUR, ROWSUR, COLSUR );
+
+
+void setup(){
+//  Wire.begin( );
+  kpdUR.begin( makeKeymap(keysUR) );
+  kpdR.begin( makeKeymap(keysR) );
+  kpd.begin( makeKeymap(keys) );
+  Serial.begin(9600);
+  Serial.println( "start" );
+}
+
+//byte alternate = false;
+char key, keyR, keyUR;
+void loop(){
+
+//  alternate = !alternate;
+  key = kpd.getKey( );
+  keyUR = kpdUR.getKey( );
+  keyR = kpdR.getKey( );
+
+  if (key){
+    Serial.println(key);
+  }
+  if( keyR ) {
+    Serial.println( keyR );
+  }
+  if( keyUR ) {
+    Serial.println( keyUR );
+  }
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/MultiKey/MultiKey.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/MultiKey/MultiKey.ino
new file mode 100644
index 0000000..850dc1a
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/MultiKey/MultiKey.ino
@@ -0,0 +1,78 @@
+/* @file MultiKey.ino
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | The latest version, 3.0, of the keypad library supports up to 10
+|| | active keys all being pressed at the same time. This sketch is an
+|| | example of how you can get multiple key presses from a keypad or
+|| | keyboard.
+|| #
+*/
+
+#include <Keypad.h>
+
+const byte ROWS = 4; //four rows
+const byte COLS = 3; //three columns
+char keys[ROWS][COLS] = {
+{'1','2','3'},
+{'4','5','6'},
+{'7','8','9'},
+{'*','0','#'}
+};
+byte rowPins[ROWS] = {5, 4, 3, 2}; //connect to the row pinouts of the kpd
+byte colPins[COLS] = {8, 7, 6}; //connect to the column pinouts of the kpd
+
+Keypad kpd = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+
+unsigned long loopCount;
+unsigned long startTime;
+String msg;
+
+
+void setup() {
+    Serial.begin(9600);
+    loopCount = 0;
+    startTime = millis();
+    msg = "";
+}
+
+
+void loop() {
+    loopCount++;
+    if ( (millis()-startTime)>5000 ) {
+        Serial.print("Average loops per second = ");
+        Serial.println(loopCount/5);
+        startTime = millis();
+        loopCount = 0;
+    }
+
+    // Fills kpd.key[ ] array with up-to 10 active keys.
+    // Returns true if there are ANY active keys.
+    if (kpd.getKeys())
+    {
+        for (int i=0; i<LIST_MAX; i++)   // Scan the whole key list.
+        {
+            if ( kpd.key[i].stateChanged )   // Only find keys that have changed state.
+            {
+                switch (kpd.key[i].kstate) {  // Report active key state : IDLE, PRESSED, HOLD, or RELEASED
+                    case PRESSED:
+                    msg = " PRESSED.";
+                break;
+                    case HOLD:
+                    msg = " HOLD.";
+                break;
+                    case RELEASED:
+                    msg = " RELEASED.";
+                break;
+                    case IDLE:
+                    msg = " IDLE.";
+                }
+                Serial.print("Key ");
+                Serial.print(kpd.key[i].kchar);
+                Serial.println(msg);
+            }
+        }
+    }
+}  // End loop
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/loopCounter/loopCounter.ino b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/loopCounter/loopCounter.ino
new file mode 100644
index 0000000..695e489
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/examples/loopCounter/loopCounter.ino
@@ -0,0 +1,46 @@
+#include <Keypad.h>
+
+
+const byte ROWS = 4; //four rows
+const byte COLS = 3; //three columns
+char keys[ROWS][COLS] = {
+	{'1','2','3'},
+	{'4','5','6'},
+	{'7','8','9'},
+	{'*','0','#'}
+};
+byte rowPins[ROWS] = {5, 4, 3, 2}; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {8, 7, 6}; //connect to the column pinouts of the keypad
+
+Keypad kpd = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+
+unsigned long loopCount = 0;
+unsigned long timer_t = 0;
+
+void setup(){
+	Serial.begin(9600);
+	
+	// Try playing with different debounceTime settings to see how it affects
+	// the number of times per second your loop will run. The library prevents
+	// setting it to anything below 1 millisecond.
+	kpd.setDebounceTime(10);	// setDebounceTime(mS)
+}
+
+void loop(){
+	char key = kpd.getKey();
+	
+	// Report the number of times through the loop in 1 second. This will give
+	// you a relative idea of just how much the debounceTime has changed the
+	// speed of your code. If you set a high debounceTime your loopCount will
+	// look good but your keypresses will start to feel sluggish.
+	if ((millis() - timer_t) > 1000) {
+		Serial.print("Your loop code ran ");
+		Serial.print(loopCount);
+		Serial.println(" times over the last second");
+		loopCount = 0;
+		timer_t = millis();
+	}
+	loopCount++;
+	if(key)
+		Serial.println(key);
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/keywords.txt b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/keywords.txt
new file mode 100644
index 0000000..e400940
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/keywords.txt
@@ -0,0 +1,38 @@
+# Keypad Library data types
+KeyState	KEYWORD1
+Keypad	KEYWORD1
+KeypadEvent	KEYWORD1
+
+# Keypad Library constants
+NO_KEY	LITERAL1
+IDLE	LITERAL1
+PRESSED	LITERAL1
+HOLD	LITERAL1
+RELEASED	LITERAL1
+
+# Keypad Library methods & functions
+addEventListener	KEYWORD2
+bitMap	KEYWORD2
+findKeyInList	KEYWORD2
+getKey	KEYWORD2
+getKeys	KEYWORD2
+getState	KEYWORD2
+holdTimer	KEYWORD2
+isPressed	KEYWORD2
+keyStateChanged	KEYWORD2
+numKeys	KEYWORD2
+pin_mode	KEYWORD2
+pin_write	KEYWORD2
+pin_read	KEYWORD2
+setDebounceTime	KEYWORD2
+setHoldTime	KEYWORD2
+waitForKey	KEYWORD2
+
+# this is a macro that converts 2d arrays to pointers
+makeKeymap	KEYWORD2
+
+# List of objects created in the example sketches.
+kpd	KEYWORD3
+keypad	KEYWORD3
+kbrd	KEYWORD3
+keyboard	KEYWORD3
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.cpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.cpp
new file mode 100644
index 0000000..008853d
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.cpp
@@ -0,0 +1,61 @@
+/*
+|| @file Key.cpp
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include "Key.hpp"
+
+
+// default constructor
+Key::Key() {
+	kchar = NO_KEY;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+// constructor
+Key::Key(char userKeyChar) {
+	kchar = userKeyChar;
+	kcode = -1;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+
+void Key::key_update (char userKeyChar, KeyState userState, boolean userStatus) {
+	kchar = userKeyChar;
+	kstate = userState;
+	stateChanged = userStatus;
+}
+
+
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.hpp b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.hpp
new file mode 100644
index 0000000..ede970a
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.hpp
@@ -0,0 +1,70 @@
+/*
+||
+|| @file Key.h
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEY_H
+#define KEY_H
+
+#include <wiringPi.h>
+
+#define boolean bool
+#define byte unsigned char 
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef unsigned int uint;
+typedef enum{ IDLE, PRESSED, HOLD, RELEASED } KeyState;
+
+const char NO_KEY = '\0';
+
+class Key {
+public:
+	// members
+	char kchar;
+	int kcode;
+	KeyState kstate;
+	boolean stateChanged;
+
+	// methods
+	Key();
+	Key(char userKeyChar);
+	void key_update(char userKeyChar, KeyState userState, boolean userStatus);
+
+private:
+
+};
+
+#endif
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.hpp.gch b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.hpp.gch
new file mode 100644
index 0000000..6a2d040
Binary files /dev/null and b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/Keypad/utility/Key.hpp.gch differ
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/MatrixKeyBoard b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/MatrixKeyBoard
new file mode 100644
index 0000000..97f6981
Binary files /dev/null and b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/MatrixKeyBoard differ
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/MatrixKeyBoard.c b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/MatrixKeyBoard.c
new file mode 100644
index 0000000..75e7404
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/Keypad_Bak/MatrixKeyBoard.c
@@ -0,0 +1,21 @@
+#include <wiringPi.h>
+#include <stdint.h>
+#include <stdio.h>
+//#include "Keypad.hpp"
+#define bitWrite(x,n,b)	(b ? (x |= 1<<n) : (x &= ~(1<<n)))
+#define bitRead(x,n)	((((x>>n)&1) == 1) ? 1 : 0)
+
+int main(){
+	unsigned char a=0x85,b=4,c=1;
+	char ch = 'A';
+	printf("a : %x\n",a);
+	printf("%d,%d \n",bitRead(a,7),bitRead(a,4));
+	
+	bitWrite(a,b,c);
+	bitWrite(a,2,0);
+	printf("a : %x\n",a);
+	printf("%d,%d \n",bitRead(a,7),bitRead(a,4));
+	
+	printf("char is %c ... \n",ch);
+	return 1;
+}
diff --git a/Code/C_Code/22.1.1_MatrixKeypad/MatrixKeypad.cpp b/Code/C_Code/22.1.1_MatrixKeypad/MatrixKeypad.cpp
new file mode 100644
index 0000000..ba9df96
--- /dev/null
+++ b/Code/C_Code/22.1.1_MatrixKeypad/MatrixKeypad.cpp
@@ -0,0 +1,38 @@
+/**********************************************************************
+* Filename    : MatrixKeypad.cpp
+* Description : obtain the key code of 4x4 Matrix Keypad
+* Author      : freenove
+* modification: 2016/07/10
+**********************************************************************/
+#include "Keypad.hpp"
+#include <stdio.h>
+const byte ROWS = 4; //four rows
+const byte COLS = 4; //four columns
+char keys[ROWS][COLS] = {  //key code
+  {'1','2','3','A'},
+  {'4','5','6','B'},
+  {'7','8','9','C'},
+  {'*','0','#','D'}
+};
+byte rowPins[ROWS] = {1, 4, 5, 6 }; //connect to the row pinouts of the keypad
+byte colPins[COLS] = {12,3, 2, 0 }; //connect to the column pinouts of the keypad
+//create Keypad object
+Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
+
+int main(){
+    printf("Program is starting ... \n");
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+	char key = 0;
+	keypad.setDebounceTime(50);
+    while(1){
+        key = keypad.getKey();  //get the state of keys
+        if (key){       //if a key is pressed, print out its key code
+            printf("You Pressed key :  %c \n",key);
+        }
+    }
+    return 1;
+}
+
diff --git a/Code/C_Code/23.1.1_SenseLED/SenseLED b/Code/C_Code/23.1.1_SenseLED/SenseLED
new file mode 100644
index 0000000..aabd0a4
Binary files /dev/null and b/Code/C_Code/23.1.1_SenseLED/SenseLED differ
diff --git a/Code/C_Code/23.1.1_SenseLED/SenseLED.c b/Code/C_Code/23.1.1_SenseLED/SenseLED.c
new file mode 100644
index 0000000..395e0c1
--- /dev/null
+++ b/Code/C_Code/23.1.1_SenseLED/SenseLED.c
@@ -0,0 +1,37 @@
+/**********************************************************************
+* Filename    : SenseLED.c
+* Description : Controlling an led by infrared Motion sensor.
+* Author      : freenove
+* modification: 2016/06/12
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+
+#define ledPin    1  	//define the ledPin
+#define sensorPin 0		//define the sensorPin
+
+int main(void)
+{
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	
+	pinMode(ledPin, OUTPUT); 
+	pinMode(sensorPin, INPUT);
+
+	while(1){
+		
+		if(digitalRead(sensorPin) == HIGH){ //sensor has pressed down
+			digitalWrite(ledPin, HIGH);   //led on
+			printf("led on...\n");
+		}
+		else {				//sensor has released 
+			digitalWrite(ledPin, LOW);   //led off
+			printf("...led off\n");
+		}
+	}
+
+	return 0;
+}
+
diff --git a/Code/C_Code/24.1.1_UltrasonicRanging/UltrasonicRanging b/Code/C_Code/24.1.1_UltrasonicRanging/UltrasonicRanging
new file mode 100644
index 0000000..e0f3ec9
Binary files /dev/null and b/Code/C_Code/24.1.1_UltrasonicRanging/UltrasonicRanging differ
diff --git a/Code/C_Code/24.1.1_UltrasonicRanging/UltrasonicRanging.c b/Code/C_Code/24.1.1_UltrasonicRanging/UltrasonicRanging.c
new file mode 100644
index 0000000..4cd1576
--- /dev/null
+++ b/Code/C_Code/24.1.1_UltrasonicRanging/UltrasonicRanging.c
@@ -0,0 +1,69 @@
+/**********************************************************************
+* Filename    : UltrasonicRanging.c
+* Description : Get distance from UltrasonicRanging
+* Author      : freenove
+* modification: 2016/07/14
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <sys/time.h>
+
+#define trigPin 4       
+#define echoPin 5
+#define MAX_DISTANCE 220        // define the maximum measured distance
+#define timeOut MAX_DISTANCE*60 // calculate timeout according to the maximum measured distance
+//function pulseIn: obtain pulse time of a pin
+int pulseIn(int pin, int level, int timeout);
+float getSonar(){   // get the measurement results of ultrasonic module,with unit: cm
+    long pingTime;
+    float distance;
+    digitalWrite(trigPin,HIGH); //trigPin send 10us high level 
+    delayMicroseconds(10);
+    digitalWrite(trigPin,LOW);
+    pingTime = pulseIn(echoPin,HIGH,timeOut);   //read plus time of echoPin
+    distance = (float)pingTime * 340.0 / 2.0 / 10000.0; // the sound speed is 340m/s,and calculate distance
+    return distance;
+}
+
+int main(){
+    printf("Program is starting ... \n");
+    if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+        printf("setup wiringPi failed !");
+        return 1; 
+    }
+    float distance = 0;
+    pinMode(trigPin,OUTPUT);
+    pinMode(echoPin,INPUT);
+    while(1){
+        distance = getSonar();
+        printf("The distance is : %.2f cm\n",distance);
+        delay(1000);
+    }   
+    return 1;
+}
+
+int pulseIn(int pin, int level, int timeout)
+{
+   struct timeval tn, t0, t1;
+   long micros;
+   gettimeofday(&t0, NULL);
+   micros = 0;
+   while (digitalRead(pin) != level)
+   {
+      gettimeofday(&tn, NULL);
+      if (tn.tv_sec > t0.tv_sec) micros = 1000000L; else micros = 0;
+      micros += (tn.tv_usec - t0.tv_usec);
+      if (micros > timeout) return 0;
+   }
+   gettimeofday(&t1, NULL);
+   while (digitalRead(pin) == level)
+   {
+      gettimeofday(&tn, NULL);
+      if (tn.tv_sec > t0.tv_sec) micros = 1000000L; else micros = 0;
+      micros = micros + (tn.tv_usec - t0.tv_usec);
+      if (micros > timeout) return 0;
+   }
+   if (tn.tv_sec > t1.tv_sec) micros = 1000000L; else micros = 0;
+   micros = micros + (tn.tv_usec - t1.tv_usec);
+   return micros;
+}
diff --git a/Code/C_Code/25.1.1_MPU6050/I2Cdev.cpp b/Code/C_Code/25.1.1_MPU6050/I2Cdev.cpp
new file mode 100644
index 0000000..49765ad
--- /dev/null
+++ b/Code/C_Code/25.1.1_MPU6050/I2Cdev.cpp
@@ -0,0 +1,427 @@
+// I2Cdev library collection - Main I2C device class
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
+//
+// Changelog:
+//     2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
+//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
+//     2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
+//     2011-10-03 - added automatic Arduino version detection for ease of use
+//     2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
+//     2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
+//     2011-08-03 - added optional timeout parameter to read* methods to easily change from default
+//     2011-08-02 - added support for 16-bit registers
+//                - fixed incorrect Doxygen comments on some methods
+//                - added timeout value for read operations (thanks mem @ Arduino forums)
+//     2011-07-30 - changed read/write function structures to return success or byte counts
+//                - made all methods static for multi-device memory savings
+//     2011-07-28 - initial 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.
+===============================================
+*/
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <linux/i2c-dev.h>
+#include "I2Cdev.h"
+
+/** Default constructor.
+ */
+I2Cdev::I2Cdev() {
+}
+
+/** Read a single bit from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitNum Bit position to read (0-7)
+ * @param data Container for single bit value
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
+    uint8_t b;
+    uint8_t count = readByte(devAddr, regAddr, &b, timeout);
+    *data = b & (1 << bitNum);
+    return count;
+}
+
+/** Read a single bit from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitNum Bit position to read (0-15)
+ * @param data Container for single bit value
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
+    uint16_t b;
+    uint8_t count = readWord(devAddr, regAddr, &b, timeout);
+    *data = b & (1 << bitNum);
+    return count;
+}
+
+/** Read multiple bits from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitStart First bit position to read (0-7)
+ * @param length Number of bits to read (not more than 8)
+ * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
+    // 01101001 read byte
+    // 76543210 bit numbers
+    //    xxx   args: bitStart=4, length=3
+    //    010   masked
+    //   -> 010 shifted
+    uint8_t count, b;
+    if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        b &= mask;
+        b >>= (bitStart - length + 1);
+        *data = b;
+    }
+    return count;
+}
+
+/** Read multiple bits from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitStart First bit position to read (0-15)
+ * @param length Number of bits to read (not more than 16)
+ * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
+ */
+int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
+    // 1101011001101001 read byte
+    // fedcba9876543210 bit numbers
+    //    xxx           args: bitStart=12, length=3
+    //    010           masked
+    //           -> 010 shifted
+    uint8_t count;
+    uint16_t w;
+    if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
+        uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        w &= mask;
+        w >>= (bitStart - length + 1);
+        *data = w;
+    }
+    return count;
+}
+
+/** Read single byte from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param data Container for byte value read from device
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
+    return readBytes(devAddr, regAddr, 1, data, timeout);
+}
+
+/** Read single word from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param data Container for word value read from device
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
+    return readWords(devAddr, regAddr, 1, data, timeout);
+}
+
+/** Read multiple bytes from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr First register regAddr to read from
+ * @param length Number of bytes to read
+ * @param data Buffer to store read data in
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Number of bytes read (-1 indicates failure)
+ */
+int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
+    int8_t count = 0;
+    int fd = open("/dev/i2c-1", O_RDWR);
+
+    if (fd < 0) {
+        fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
+        return(-1);
+    }
+    if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
+        fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
+        close(fd);
+        return(-1);
+    }
+    if (write(fd, &regAddr, 1) != 1) {
+        fprintf(stderr, "Failed to write reg: %s\n", strerror(errno));
+        close(fd);
+        return(-1);
+    }
+    count = read(fd, data, length);
+    if (count < 0) {
+        fprintf(stderr, "Failed to read device(%d): %s\n", count, ::strerror(errno));
+        close(fd);
+        return(-1);
+    } else if (count != length) {
+        fprintf(stderr, "Short read  from device, expected %d, got %d\n", length, count);
+        close(fd);
+        return(-1);
+    }
+    close(fd);
+
+    return count;
+}
+
+/** Read multiple words from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr First register regAddr to read from
+ * @param length Number of words to read
+ * @param data Buffer to store read data in
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Number of words read (0 indicates failure)
+ */
+int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
+    int8_t count = 0;
+
+    printf("ReadWords() not implemented\n");
+    // Use readBytes() and potential byteswap
+    *data = 0; // keep the compiler quiet
+
+    return count;
+}
+
+/** write a single bit in an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitNum Bit position to write (0-7)
+ * @param value New bit value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
+    uint8_t b;
+    readByte(devAddr, regAddr, &b);
+    b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
+    return writeByte(devAddr, regAddr, b);
+}
+
+/** write a single bit in a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitNum Bit position to write (0-15)
+ * @param value New bit value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
+    uint16_t w;
+    readWord(devAddr, regAddr, &w);
+    w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
+    return writeWord(devAddr, regAddr, w);
+}
+
+/** Write multiple bits in an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitStart First bit position to write (0-7)
+ * @param length Number of bits to write (not more than 8)
+ * @param data Right-aligned value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
+    //      010 value to write
+    // 76543210 bit numbers
+    //    xxx   args: bitStart=4, length=3
+    // 00011100 mask byte
+    // 10101111 original value (sample)
+    // 10100011 original & ~mask
+    // 10101011 masked | value
+    uint8_t b;
+    if (readByte(devAddr, regAddr, &b) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        data <<= (bitStart - length + 1); // shift data into correct position
+        data &= mask; // zero all non-important bits in data
+        b &= ~(mask); // zero all important bits in existing byte
+        b |= data; // combine data with existing byte
+        return writeByte(devAddr, regAddr, b);
+    } else {
+        return false;
+    }
+}
+
+/** Write multiple bits in a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitStart First bit position to write (0-15)
+ * @param length Number of bits to write (not more than 16)
+ * @param data Right-aligned value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
+    //              010 value to write
+    // fedcba9876543210 bit numbers
+    //    xxx           args: bitStart=12, length=3
+    // 0001110000000000 mask byte
+    // 1010111110010110 original value (sample)
+    // 1010001110010110 original & ~mask
+    // 1010101110010110 masked | value
+    uint16_t w;
+    if (readWord(devAddr, regAddr, &w) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        data <<= (bitStart - length + 1); // shift data into correct position
+        data &= mask; // zero all non-important bits in data
+        w &= ~(mask); // zero all important bits in existing word
+        w |= data; // combine data with existing word
+        return writeWord(devAddr, regAddr, w);
+    } else {
+        return false;
+    }
+}
+
+/** Write single byte to an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register address to write to
+ * @param data New byte value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
+    return writeBytes(devAddr, regAddr, 1, &data);
+}
+
+/** Write single word to a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register address to write to
+ * @param data New word value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
+    return writeWords(devAddr, regAddr, 1, &data);
+}
+
+/** Write multiple bytes to an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr First register address to write to
+ * @param length Number of bytes to write
+ * @param data Buffer to copy new data from
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
+    int8_t count = 0;
+    uint8_t buf[128];
+    int fd;
+
+    if (length > 127) {
+        fprintf(stderr, "Byte write count (%d) > 127\n", length);
+        return(FALSE);
+    }
+
+    fd = open("/dev/i2c-1", O_RDWR);
+    if (fd < 0) {
+        fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
+        return(FALSE);
+    }
+    if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
+        fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
+        close(fd);
+        return(FALSE);
+    }
+    buf[0] = regAddr;
+    memcpy(buf+1,data,length);
+    count = write(fd, buf, length+1);
+    if (count < 0) {
+        fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
+        close(fd);
+        return(FALSE);
+    } else if (count != length+1) {
+        fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
+        close(fd);
+        return(FALSE);
+    }
+    close(fd);
+
+    return TRUE;
+}
+
+/** Write multiple words to a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr First register address to write to
+ * @param length Number of words to write
+ * @param data Buffer to copy new data from
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
+    int8_t count = 0;
+    uint8_t buf[128];
+    int i, fd;
+
+    // Should do potential byteswap and call writeBytes() really, but that
+    // messes with the callers buffer
+
+    if (length > 63) {
+        fprintf(stderr, "Word write count (%d) > 63\n", length);
+        return(FALSE);
+    }
+
+    fd = open("/dev/i2c-1", O_RDWR);
+    if (fd < 0) {
+        fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
+        return(FALSE);
+    }
+    if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
+        fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
+        close(fd);
+        return(FALSE);
+    }
+    buf[0] = regAddr;
+    for (i = 0; i < length; i++) {
+        buf[i*2+1] = data[i] >> 8;
+        buf[i*2+2] = data[i];
+    }
+    count = write(fd, buf, length*2+1);
+    if (count < 0) {
+        fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
+        close(fd);
+        return(FALSE);
+    } else if (count != length*2+1) {
+        fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
+        close(fd);
+        return(FALSE);
+    }
+    close(fd);
+    return TRUE;
+}
+
+/** Default timeout value for read operations.
+ * Set this to 0 to disable timeout detection.
+ */
+uint16_t I2Cdev::readTimeout = 0;
+
diff --git a/Code/C_Code/25.1.1_MPU6050/I2Cdev.h b/Code/C_Code/25.1.1_MPU6050/I2Cdev.h
new file mode 100644
index 0000000..47581df
--- /dev/null
+++ b/Code/C_Code/25.1.1_MPU6050/I2Cdev.h
@@ -0,0 +1,77 @@
+// I2Cdev library collection - Main I2C device class header file
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
+//
+// Changelog:
+//     2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
+//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
+//     2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
+//     2011-10-03 - added automatic Arduino version detection for ease of use
+//     2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
+//     2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
+//     2011-08-03 - added optional timeout parameter to read* methods to easily change from default
+//     2011-08-02 - added support for 16-bit registers
+//                - fixed incorrect Doxygen comments on some methods
+//                - added timeout value for read operations (thanks mem @ Arduino forums)
+//     2011-07-30 - changed read/write function structures to return success or byte counts
+//                - made all methods static for multi-device memory savings
+//     2011-07-28 - initial 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 _I2CDEV_H_
+#define _I2CDEV_H_
+
+#ifndef TRUE
+#define TRUE	(1==1)
+#define FALSE	(0==1)
+#endif
+
+class I2Cdev {
+    public:
+        I2Cdev();
+        
+        static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
+
+        static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
+        static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
+        static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
+        static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
+        static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
+        static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
+        static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
+        static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
+
+        static uint16_t readTimeout;
+};
+
+#endif /* _I2CDEV_H_ */
diff --git a/Code/C_Code/25.1.1_MPU6050/MPU6050.cpp b/Code/C_Code/25.1.1_MPU6050/MPU6050.cpp
new file mode 100644
index 0000000..3bbad24
--- /dev/null
+++ b/Code/C_Code/25.1.1_MPU6050/MPU6050.cpp
@@ -0,0 +1,3147 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdint.h>
+#include "MPU6050.h"
+
+/** Default constructor, uses default I2C address.
+ * @see MPU6050_DEFAULT_ADDRESS
+ */
+MPU6050::MPU6050() {
+    devAddr = MPU6050_DEFAULT_ADDRESS;
+}
+
+/** Specific address constructor.
+ * @param address I2C address
+ * @see MPU6050_DEFAULT_ADDRESS
+ * @see MPU6050_ADDRESS_AD0_LOW
+ * @see MPU6050_ADDRESS_AD0_HIGH
+ */
+MPU6050::MPU6050(uint8_t address) {
+    devAddr = address;
+}
+
+/** Power on and prepare for general usage.
+ * This will activate the device and take it out of sleep mode (which must be done
+ * after start-up). This function also sets both the accelerometer and the gyroscope
+ * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
+ * the clock source to use the X Gyro for reference, which is slightly better than
+ * the default internal clock source.
+ */
+void MPU6050::initialize() {
+    setClockSource(MPU6050_CLOCK_PLL_XGYRO);
+    setFullScaleGyroRange(MPU6050_GYRO_FS_250);
+    setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
+    setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
+}
+
+/** Verify the I2C connection.
+ * Make sure the device is connected and responds as expected.
+ * @return True if connection is valid, false otherwise
+ */
+bool MPU6050::testConnection() {
+    return getDeviceID() == 0x34;
+}
+
+// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
+
+/** Get the auxiliary I2C supply voltage level.
+ * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
+ * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
+ * the MPU-6000, which does not have a VLOGIC pin.
+ * @return I2C supply voltage level (0=VLOGIC, 1=VDD)
+ */
+uint8_t MPU6050::getAuxVDDIOLevel() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+    return buffer[0];
+}
+/** Set the auxiliary I2C supply voltage level.
+ * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
+ * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
+ * the MPU-6000, which does not have a VLOGIC pin.
+ * @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
+ */
+void MPU6050::setAuxVDDIOLevel(uint8_t level) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+}
+
+// SMPLRT_DIV register
+
+/** Get gyroscope output rate divider.
+ * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
+ * Motion detection, and Free Fall detection are all based on the Sample Rate.
+ * The Sample Rate is generated by dividing the gyroscope output rate by
+ * SMPLRT_DIV:
+ *
+ * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+ *
+ * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
+ * 7), and 1kHz when the DLPF is enabled (see Register 26).
+ *
+ * Note: The accelerometer output rate is 1kHz. This means that for a Sample
+ * Rate greater than 1kHz, the same accelerometer sample may be output to the
+ * FIFO, DMP, and sensor registers more than once.
+ *
+ * For a diagram of the gyroscope and accelerometer signal paths, see Section 8
+ * of the MPU-6000/MPU-6050 Product Specification document.
+ *
+ * @return Current sample rate
+ * @see MPU6050_RA_SMPLRT_DIV
+ */
+uint8_t MPU6050::getRate() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+    return buffer[0];
+}
+/** Set gyroscope sample rate divider.
+ * @param rate New sample rate divider
+ * @see getRate()
+ * @see MPU6050_RA_SMPLRT_DIV
+ */
+void MPU6050::setRate(uint8_t rate) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+}
+
+// CONFIG register
+
+/** Get external FSYNC configuration.
+ * Configures the external Frame Synchronization (FSYNC) pin sampling. An
+ * external signal connected to the FSYNC pin can be sampled by configuring
+ * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
+ * strobes may be captured. The latched FSYNC signal will be sampled at the
+ * Sampling Rate, as defined in register 25. After sampling, the latch will
+ * reset to the current FSYNC signal state.
+ *
+ * The sampled value will be reported in place of the least significant bit in
+ * a sensor data register determined by the value of EXT_SYNC_SET according to
+ * the following table.
+ *
+ * <pre>
+ * EXT_SYNC_SET | FSYNC Bit Location
+ * -------------+-------------------
+ * 0            | Input disabled
+ * 1            | TEMP_OUT_L[0]
+ * 2            | GYRO_XOUT_L[0]
+ * 3            | GYRO_YOUT_L[0]
+ * 4            | GYRO_ZOUT_L[0]
+ * 5            | ACCEL_XOUT_L[0]
+ * 6            | ACCEL_YOUT_L[0]
+ * 7            | ACCEL_ZOUT_L[0]
+ * </pre>
+ *
+ * @return FSYNC configuration value
+ */
+uint8_t MPU6050::getExternalFrameSync() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set external FSYNC configuration.
+ * @see getExternalFrameSync()
+ * @see MPU6050_RA_CONFIG
+ * @param sync New FSYNC configuration value
+ */
+void MPU6050::setExternalFrameSync(uint8_t sync) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+}
+/** Get digital low-pass filter configuration.
+ * The DLPF_CFG parameter sets the digital low pass filter configuration. It
+ * also determines the internal sampling rate used by the device as shown in
+ * the table below.
+ *
+ * Note: The accelerometer output rate is 1kHz. This means that for a Sample
+ * Rate greater than 1kHz, the same accelerometer sample may be output to the
+ * FIFO, DMP, and sensor registers more than once.
+ *
+ * <pre>
+ *          |   ACCELEROMETER    |           GYROSCOPE
+ * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
+ * ---------+-----------+--------+-----------+--------+-------------
+ * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
+ * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
+ * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
+ * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
+ * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
+ * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
+ * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
+ * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
+ * </pre>
+ *
+ * @return DLFP configuration
+ * @see MPU6050_RA_CONFIG
+ * @see MPU6050_CFG_DLPF_CFG_BIT
+ * @see MPU6050_CFG_DLPF_CFG_LENGTH
+ */
+uint8_t MPU6050::getDLPFMode() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set digital low-pass filter configuration.
+ * @param mode New DLFP configuration setting
+ * @see getDLPFBandwidth()
+ * @see MPU6050_DLPF_BW_256
+ * @see MPU6050_RA_CONFIG
+ * @see MPU6050_CFG_DLPF_CFG_BIT
+ * @see MPU6050_CFG_DLPF_CFG_LENGTH
+ */
+void MPU6050::setDLPFMode(uint8_t mode) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+}
+
+// GYRO_CONFIG register
+
+/** Get full-scale gyroscope range.
+ * The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
+ * as described in the table below.
+ *
+ * <pre>
+ * 0 = +/- 250 degrees/sec
+ * 1 = +/- 500 degrees/sec
+ * 2 = +/- 1000 degrees/sec
+ * 3 = +/- 2000 degrees/sec
+ * </pre>
+ *
+ * @return Current full-scale gyroscope range setting
+ * @see MPU6050_GYRO_FS_250
+ * @see MPU6050_RA_GYRO_CONFIG
+ * @see MPU6050_GCONFIG_FS_SEL_BIT
+ * @see MPU6050_GCONFIG_FS_SEL_LENGTH
+ */
+uint8_t MPU6050::getFullScaleGyroRange() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set full-scale gyroscope range.
+ * @param range New full-scale gyroscope range value
+ * @see getFullScaleRange()
+ * @see MPU6050_GYRO_FS_250
+ * @see MPU6050_RA_GYRO_CONFIG
+ * @see MPU6050_GCONFIG_FS_SEL_BIT
+ * @see MPU6050_GCONFIG_FS_SEL_LENGTH
+ */
+void MPU6050::setFullScaleGyroRange(uint8_t range) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+}
+
+// ACCEL_CONFIG register
+
+/** Get self-test enabled setting for accelerometer X axis.
+ * @return Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+bool MPU6050::getAccelXSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Get self-test enabled setting for accelerometer X axis.
+ * @param enabled Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setAccelXSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+}
+/** Get self-test enabled value for accelerometer Y axis.
+ * @return Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+bool MPU6050::getAccelYSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Get self-test enabled value for accelerometer Y axis.
+ * @param enabled Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setAccelYSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+}
+/** Get self-test enabled value for accelerometer Z axis.
+ * @return Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+bool MPU6050::getAccelZSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Set self-test enabled value for accelerometer Z axis.
+ * @param enabled Self-test enabled value
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setAccelZSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+}
+/** Get full-scale accelerometer range.
+ * The FS_SEL parameter allows setting the full-scale range of the accelerometer
+ * sensors, as described in the table below.
+ *
+ * <pre>
+ * 0 = +/- 2g
+ * 1 = +/- 4g
+ * 2 = +/- 8g
+ * 3 = +/- 16g
+ * </pre>
+ *
+ * @return Current full-scale accelerometer range setting
+ * @see MPU6050_ACCEL_FS_2
+ * @see MPU6050_RA_ACCEL_CONFIG
+ * @see MPU6050_ACONFIG_AFS_SEL_BIT
+ * @see MPU6050_ACONFIG_AFS_SEL_LENGTH
+ */
+uint8_t MPU6050::getFullScaleAccelRange() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set full-scale accelerometer range.
+ * @param range New full-scale accelerometer range setting
+ * @see getFullScaleAccelRange()
+ */
+void MPU6050::setFullScaleAccelRange(uint8_t range) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
+}
+/** Get the high-pass filter configuration.
+ * The DHPF is a filter module in the path leading to motion detectors (Free
+ * Fall, Motion threshold, and Zero Motion). The high pass filter output is not
+ * available to the data registers (see Figure in Section 8 of the MPU-6000/
+ * MPU-6050 Product Specification document).
+ *
+ * The high pass filter has three modes:
+ *
+ * <pre>
+ *    Reset: The filter output settles to zero within one sample. This
+ *           effectively disables the high pass filter. This mode may be toggled
+ *           to quickly settle the filter.
+ *
+ *    On:    The high pass filter will pass signals above the cut off frequency.
+ *
+ *    Hold:  When triggered, the filter holds the present sample. The filter
+ *           output will be the difference between the input sample and the held
+ *           sample.
+ * </pre>
+ *
+ * <pre>
+ * ACCEL_HPF | Filter Mode | Cut-off Frequency
+ * ----------+-------------+------------------
+ * 0         | Reset       | None
+ * 1         | On          | 5Hz
+ * 2         | On          | 2.5Hz
+ * 3         | On          | 1.25Hz
+ * 4         | On          | 0.63Hz
+ * 7         | Hold        | None
+ * </pre>
+ *
+ * @return Current high-pass filter configuration
+ * @see MPU6050_DHPF_RESET
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+uint8_t MPU6050::getDHPFMode() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set the high-pass filter configuration.
+ * @param bandwidth New high-pass filter configuration
+ * @see setDHPFMode()
+ * @see MPU6050_DHPF_RESET
+ * @see MPU6050_RA_ACCEL_CONFIG
+ */
+void MPU6050::setDHPFMode(uint8_t bandwidth) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+}
+
+// FF_THR register
+
+/** Get free-fall event acceleration threshold.
+ * This register configures the detection threshold for Free Fall event
+ * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
+ * absolute value of the accelerometer measurements for the three axes are each
+ * less than the detection threshold. This condition increments the Free Fall
+ * duration counter (Register 30). The Free Fall interrupt is triggered when the
+ * Free Fall duration counter reaches the time specified in FF_DUR.
+ *
+ * For more details on the Free Fall detection interrupt, see Section 8.2 of the
+ * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
+ * 58 of this document.
+ *
+ * @return Current free-fall acceleration threshold value (LSB = 2mg)
+ * @see MPU6050_RA_FF_THR
+ */
+uint8_t MPU6050::getFreefallDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
+    return buffer[0];
+}
+/** Get free-fall event acceleration threshold.
+ * @param threshold New free-fall acceleration threshold value (LSB = 2mg)
+ * @see getFreefallDetectionThreshold()
+ * @see MPU6050_RA_FF_THR
+ */
+void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+}
+
+// FF_DUR register
+
+/** Get free-fall event duration threshold.
+ * This register configures the duration counter threshold for Free Fall event
+ * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
+ * of 1 LSB = 1 ms.
+ *
+ * The Free Fall duration counter increments while the absolute value of the
+ * accelerometer measurements are each less than the detection threshold
+ * (Register 29). The Free Fall interrupt is triggered when the Free Fall
+ * duration counter reaches the time specified in this register.
+ *
+ * For more details on the Free Fall detection interrupt, see Section 8.2 of
+ * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
+ * and 58 of this document.
+ *
+ * @return Current free-fall duration threshold value (LSB = 1ms)
+ * @see MPU6050_RA_FF_DUR
+ */
+uint8_t MPU6050::getFreefallDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
+    return buffer[0];
+}
+/** Get free-fall event duration threshold.
+ * @param duration New free-fall duration threshold value (LSB = 1ms)
+ * @see getFreefallDetectionDuration()
+ * @see MPU6050_RA_FF_DUR
+ */
+void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+}
+
+// MOT_THR register
+
+/** Get motion detection event acceleration threshold.
+ * This register configures the detection threshold for Motion interrupt
+ * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
+ * absolute value of any of the accelerometer measurements exceeds this Motion
+ * detection threshold. This condition increments the Motion detection duration
+ * counter (Register 32). The Motion detection interrupt is triggered when the
+ * Motion Detection counter reaches the time count specified in MOT_DUR
+ * (Register 32).
+ *
+ * The Motion interrupt will indicate the axis and polarity of detected motion
+ * in MOT_DETECT_STATUS (Register 97).
+ *
+ * For more details on the Motion detection interrupt, see Section 8.3 of the
+ * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
+ * 58 of this document.
+ *
+ * @return Current motion detection acceleration threshold value (LSB = 2mg)
+ * @see MPU6050_RA_MOT_THR
+ */
+uint8_t MPU6050::getMotionDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
+    return buffer[0];
+}
+/** Set free-fall event acceleration threshold.
+ * @param threshold New motion detection acceleration threshold value (LSB = 2mg)
+ * @see getMotionDetectionThreshold()
+ * @see MPU6050_RA_MOT_THR
+ */
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+}
+
+// MOT_DUR register
+
+/** Get motion detection event duration threshold.
+ * This register configures the duration counter threshold for Motion interrupt
+ * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
+ * of 1LSB = 1ms. The Motion detection duration counter increments when the
+ * absolute value of any of the accelerometer measurements exceeds the Motion
+ * detection threshold (Register 31). The Motion detection interrupt is
+ * triggered when the Motion detection counter reaches the time count specified
+ * in this register.
+ *
+ * For more details on the Motion detection interrupt, see Section 8.3 of the
+ * MPU-6000/MPU-6050 Product Specification document.
+ *
+ * @return Current motion detection duration threshold value (LSB = 1ms)
+ * @see MPU6050_RA_MOT_DUR
+ */
+uint8_t MPU6050::getMotionDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
+    return buffer[0];
+}
+/** Set motion detection event duration threshold.
+ * @param duration New motion detection duration threshold value (LSB = 1ms)
+ * @see getMotionDetectionDuration()
+ * @see MPU6050_RA_MOT_DUR
+ */
+void MPU6050::setMotionDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+}
+
+// ZRMOT_THR register
+
+/** Get zero motion detection event acceleration threshold.
+ * This register configures the detection threshold for Zero Motion interrupt
+ * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
+ * the absolute value of the accelerometer measurements for the 3 axes are each
+ * less than the detection threshold. This condition increments the Zero Motion
+ * duration counter (Register 34). The Zero Motion interrupt is triggered when
+ * the Zero Motion duration counter reaches the time count specified in
+ * ZRMOT_DUR (Register 34).
+ *
+ * Unlike Free Fall or Motion detection, Zero Motion detection triggers an
+ * interrupt both when Zero Motion is first detected and when Zero Motion is no
+ * longer detected.
+ *
+ * When a zero motion event is detected, a Zero Motion Status will be indicated
+ * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
+ * condition is detected, the status bit is set to 1. When a zero-motion-to-
+ * motion condition is detected, the status bit is set to 0.
+ *
+ * For more details on the Zero Motion detection interrupt, see Section 8.4 of
+ * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
+ * and 58 of this document.
+ *
+ * @return Current zero motion detection acceleration threshold value (LSB = 2mg)
+ * @see MPU6050_RA_ZRMOT_THR
+ */
+uint8_t MPU6050::getZeroMotionDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+    return buffer[0];
+}
+/** Set zero motion detection event acceleration threshold.
+ * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
+ * @see getZeroMotionDetectionThreshold()
+ * @see MPU6050_RA_ZRMOT_THR
+ */
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+}
+
+// ZRMOT_DUR register
+
+/** Get zero motion detection event duration threshold.
+ * This register configures the duration counter threshold for Zero Motion
+ * interrupt generation. The duration counter ticks at 16 Hz, therefore
+ * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
+ * increments while the absolute value of the accelerometer measurements are
+ * each less than the detection threshold (Register 33). The Zero Motion
+ * interrupt is triggered when the Zero Motion duration counter reaches the time
+ * count specified in this register.
+ *
+ * For more details on the Zero Motion detection interrupt, see Section 8.4 of
+ * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
+ * and 58 of this document.
+ *
+ * @return Current zero motion detection duration threshold value (LSB = 64ms)
+ * @see MPU6050_RA_ZRMOT_DUR
+ */
+uint8_t MPU6050::getZeroMotionDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+    return buffer[0];
+}
+/** Set zero motion detection event duration threshold.
+ * @param duration New zero motion detection duration threshold value (LSB = 1ms)
+ * @see getZeroMotionDetectionDuration()
+ * @see MPU6050_RA_ZRMOT_DUR
+ */
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+}
+
+// FIFO_EN register
+
+/** Get temperature FIFO enabled value.
+ * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
+ * 66) to be written into the FIFO buffer.
+ * @return Current temperature FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getTempFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set temperature FIFO enabled value.
+ * @param enabled New temperature FIFO enabled value
+ * @see getTempFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setTempFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope X-axis FIFO enabled value.
+ * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
+ * 68) to be written into the FIFO buffer.
+ * @return Current gyroscope X-axis FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getXGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope X-axis FIFO enabled value.
+ * @param enabled New gyroscope X-axis FIFO enabled value
+ * @see getXGyroFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setXGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope Y-axis FIFO enabled value.
+ * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
+ * 70) to be written into the FIFO buffer.
+ * @return Current gyroscope Y-axis FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getYGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope Y-axis FIFO enabled value.
+ * @param enabled New gyroscope Y-axis FIFO enabled value
+ * @see getYGyroFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setYGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope Z-axis FIFO enabled value.
+ * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
+ * 72) to be written into the FIFO buffer.
+ * @return Current gyroscope Z-axis FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getZGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope Z-axis FIFO enabled value.
+ * @param enabled New gyroscope Z-axis FIFO enabled value
+ * @see getZGyroFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setZGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+}
+/** Get accelerometer FIFO enabled value.
+ * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
+ * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
+ * written into the FIFO buffer.
+ * @return Current accelerometer FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getAccelFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set accelerometer FIFO enabled value.
+ * @param enabled New accelerometer FIFO enabled value
+ * @see getAccelFIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setAccelFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 2 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 2 to be written into the FIFO buffer.
+ * @return Current Slave 2 FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getSlave2FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 2 FIFO enabled value.
+ * @param enabled New Slave 2 FIFO enabled value
+ * @see getSlave2FIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setSlave2FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 1 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 1 to be written into the FIFO buffer.
+ * @return Current Slave 1 FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getSlave1FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 1 FIFO enabled value.
+ * @param enabled New Slave 1 FIFO enabled value
+ * @see getSlave1FIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setSlave1FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 0 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 0 to be written into the FIFO buffer.
+ * @return Current Slave 0 FIFO enabled value
+ * @see MPU6050_RA_FIFO_EN
+ */
+bool MPU6050::getSlave0FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 0 FIFO enabled value.
+ * @param enabled New Slave 0 FIFO enabled value
+ * @see getSlave0FIFOEnabled()
+ * @see MPU6050_RA_FIFO_EN
+ */
+void MPU6050::setSlave0FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+}
+
+// I2C_MST_CTRL register
+
+/** Get multi-master enabled value.
+ * Multi-master capability allows multiple I2C masters to operate on the same
+ * bus. In circuits where multi-master capability is required, set MULT_MST_EN
+ * to 1. This will increase current drawn by approximately 30uA.
+ *
+ * In circuits where multi-master capability is required, the state of the I2C
+ * bus must always be monitored by each separate I2C Master. Before an I2C
+ * Master can assume arbitration of the bus, it must first confirm that no other
+ * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
+ * MPU-60X0's bus arbitration detection logic is turned on, enabling it to
+ * detect when the bus is available.
+ *
+ * @return Current multi-master enabled value
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+bool MPU6050::getMultiMasterEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set multi-master enabled value.
+ * @param enabled New multi-master enabled value
+ * @see getMultiMasterEnabled()
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setMultiMasterEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+}
+/** Get wait-for-external-sensor-data enabled value.
+ * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
+ * delayed until External Sensor data from the Slave Devices are loaded into the
+ * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
+ * data (i.e. from gyro and accel) and external sensor data have been loaded to
+ * their respective data registers (i.e. the data is synced) when the Data Ready
+ * interrupt is triggered.
+ *
+ * @return Current wait-for-external-sensor-data enabled value
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+bool MPU6050::getWaitForExternalSensorEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+    return buffer[0];
+}
+/** Set wait-for-external-sensor-data enabled value.
+ * @param enabled New wait-for-external-sensor-data enabled value
+ * @see getWaitForExternalSensorEnabled()
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+}
+/** Get Slave 3 FIFO enabled value.
+ * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+ * associated with Slave 3 to be written into the FIFO buffer.
+ * @return Current Slave 3 FIFO enabled value
+ * @see MPU6050_RA_MST_CTRL
+ */
+bool MPU6050::getSlave3FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 3 FIFO enabled value.
+ * @param enabled New Slave 3 FIFO enabled value
+ * @see getSlave3FIFOEnabled()
+ * @see MPU6050_RA_MST_CTRL
+ */
+void MPU6050::setSlave3FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+}
+/** Get slave read/write transition enabled value.
+ * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
+ * read to the next slave read. If the bit equals 0, there will be a restart
+ * between reads. If the bit equals 1, there will be a stop followed by a start
+ * of the following read. When a write transaction follows a read transaction,
+ * the stop followed by a start of the successive write will be always used.
+ *
+ * @return Current slave read/write transition enabled value
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+bool MPU6050::getSlaveReadWriteTransitionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+    return buffer[0];
+}
+/** Set slave read/write transition enabled value.
+ * @param enabled New slave read/write transition enabled value
+ * @see getSlaveReadWriteTransitionEnabled()
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
+}
+/** Get I2C master clock speed.
+ * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
+ * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
+ * the following table:
+ *
+ * <pre>
+ * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
+ * ------------+------------------------+-------------------
+ * 0           | 348kHz                 | 23
+ * 1           | 333kHz                 | 24
+ * 2           | 320kHz                 | 25
+ * 3           | 308kHz                 | 26
+ * 4           | 296kHz                 | 27
+ * 5           | 286kHz                 | 28
+ * 6           | 276kHz                 | 29
+ * 7           | 267kHz                 | 30
+ * 8           | 258kHz                 | 31
+ * 9           | 500kHz                 | 16
+ * 10          | 471kHz                 | 17
+ * 11          | 444kHz                 | 18
+ * 12          | 421kHz                 | 19
+ * 13          | 400kHz                 | 20
+ * 14          | 381kHz                 | 21
+ * 15          | 364kHz                 | 22
+ * </pre>
+ *
+ * @return Current I2C master clock speed
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+uint8_t MPU6050::getMasterClockSpeed() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set I2C master clock speed.
+ * @reparam speed Current I2C master clock speed
+ * @see MPU6050_RA_I2C_MST_CTRL
+ */
+void MPU6050::setMasterClockSpeed(uint8_t speed) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
+}
+
+// I2C_SLV* registers (Slave 0-3)
+
+/** Get the I2C address of the specified slave (0-3).
+ * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
+ * operation, and if it is cleared, then it's a write operation. The remaining
+ * bits (6-0) are the 7-bit device address of the slave device.
+ *
+ * In read mode, the result of the read is placed in the lowest available 
+ * EXT_SENS_DATA register. For further information regarding the allocation of
+ * read results, please refer to the EXT_SENS_DATA register description
+ * (Registers 73 - 96).
+ *
+ * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
+ * characteristics, and so it has its own functions (getSlave4* and setSlave4*).
+ *
+ * I2C data transactions are performed at the Sample Rate, as defined in
+ * Register 25. The user is responsible for ensuring that I2C data transactions
+ * to and from each enabled Slave can be completed within a single period of the
+ * Sample Rate.
+ *
+ * The I2C slave access rate can be reduced relative to the Sample Rate. This
+ * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
+ * slave's access rate is reduced relative to the Sample Rate is determined by
+ * I2C_MST_DELAY_CTRL (Register 103).
+ *
+ * The processing order for the slaves is fixed. The sequence followed for
+ * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
+ * particular Slave is disabled it will be skipped.
+ *
+ * Each slave can either be accessed at the sample rate or at a reduced sample
+ * rate. In a case where some slaves are accessed at the Sample Rate and some
+ * slaves are accessed at the reduced rate, the sequence of accessing the slaves
+ * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
+ * be skipped if their access rate dictates that they should not be accessed
+ * during that particular cycle. For further information regarding the reduced
+ * access rate, please refer to Register 52. Whether a slave is accessed at the
+ * Sample Rate or at the reduced rate is determined by the Delay Enable bits in
+ * Register 103.
+ *
+ * @param num Slave number (0-3)
+ * @return Current address for specified slave
+ * @see MPU6050_RA_I2C_SLV0_ADDR
+ */
+uint8_t MPU6050::getSlaveAddress(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
+    return buffer[0];
+}
+/** Set the I2C address of the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param address New address for specified slave
+ * @see getSlaveAddress()
+ * @see MPU6050_RA_I2C_SLV0_ADDR
+ */
+void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
+    if (num > 3) return;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
+}
+/** Get the active internal register for the specified slave (0-3).
+ * Read/write operations for this slave will be done to whatever internal
+ * register address is stored in this MPU register.
+ *
+ * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
+ * characteristics, and so it has its own functions.
+ *
+ * @param num Slave number (0-3)
+ * @return Current active register for specified slave
+ * @see MPU6050_RA_I2C_SLV0_REG
+ */
+uint8_t MPU6050::getSlaveRegister(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
+    return buffer[0];
+}
+/** Set the active internal register for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param reg New active register for specified slave
+ * @see getSlaveRegister()
+ * @see MPU6050_RA_I2C_SLV0_REG
+ */
+void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
+    if (num > 3) return;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
+}
+/** Get the enabled value for the specified slave (0-3).
+ * When set to 1, this bit enables Slave 0 for data transfer operations. When
+ * cleared to 0, this bit disables Slave 0 from data transfer operations.
+ * @param num Slave number (0-3)
+ * @return Current enabled value for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveEnabled(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param enabled New enabled value for specified slave
+ * @see getSlaveEnabled()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
+}
+/** Get word pair byte-swapping enabled for the specified slave (0-3).
+ * When set to 1, this bit enables byte swapping. When byte swapping is enabled,
+ * the high and low bytes of a word pair are swapped. Please refer to
+ * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
+ * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
+ * registers in the order they were transferred.
+ *
+ * @param num Slave number (0-3)
+ * @return Current word pair byte-swapping enabled value for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
+    return buffer[0];
+}
+/** Set word pair byte-swapping enabled for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param enabled New word pair byte-swapping enabled value for specified slave
+ * @see getSlaveWordByteSwap()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
+}
+/** Get write mode for the specified slave (0-3).
+ * When set to 1, the transaction will read or write data only. When cleared to
+ * 0, the transaction will write a register address prior to reading or writing
+ * data. This should equal 0 when specifying the register address within the
+ * Slave device to/from which the ensuing data transaction will take place.
+ *
+ * @param num Slave number (0-3)
+ * @return Current write mode for specified slave (0 = register address + data, 1 = data only)
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveWriteMode(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
+    return buffer[0];
+}
+/** Set write mode for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
+ * @see getSlaveWriteMode()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
+}
+/** Get word pair grouping order offset for the specified slave (0-3).
+ * This sets specifies the grouping order of word pairs received from registers.
+ * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
+ * then odd register addresses) are paired to form a word. When set to 1, bytes
+ * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
+ * register addresses) are paired to form a word.
+ *
+ * @param num Slave number (0-3)
+ * @return Current word pair grouping order offset for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+    return buffer[0];
+}
+/** Set word pair grouping order offset for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param enabled New word pair grouping order offset for specified slave
+ * @see getSlaveWordGroupOffset()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
+    if (num > 3) return;
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
+}
+/** Get number of bytes to read for the specified slave (0-3).
+ * Specifies the number of bytes transferred to and from Slave 0. Clearing this
+ * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
+ * @param num Slave number (0-3)
+ * @return Number of bytes to read for specified slave
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
+    if (num > 3) return 0;
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set number of bytes to read for the specified slave (0-3).
+ * @param num Slave number (0-3)
+ * @param length Number of bytes to read for specified slave
+ * @see getSlaveDataLength()
+ * @see MPU6050_RA_I2C_SLV0_CTRL
+ */
+void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
+    if (num > 3) return;
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
+}
+
+// I2C_SLV* registers (Slave 4)
+
+/** Get the I2C address of Slave 4.
+ * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
+ * operation, and if it is cleared, then it's a write operation. The remaining
+ * bits (6-0) are the 7-bit device address of the slave device.
+ *
+ * @return Current address for Slave 4
+ * @see getSlaveAddress()
+ * @see MPU6050_RA_I2C_SLV4_ADDR
+ */
+uint8_t MPU6050::getSlave4Address() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+    return buffer[0];
+}
+/** Set the I2C address of Slave 4.
+ * @param address New address for Slave 4
+ * @see getSlave4Address()
+ * @see MPU6050_RA_I2C_SLV4_ADDR
+ */
+void MPU6050::setSlave4Address(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
+}
+/** Get the active internal register for the Slave 4.
+ * Read/write operations for this slave will be done to whatever internal
+ * register address is stored in this MPU register.
+ *
+ * @return Current active register for Slave 4
+ * @see MPU6050_RA_I2C_SLV4_REG
+ */
+uint8_t MPU6050::getSlave4Register() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
+    return buffer[0];
+}
+/** Set the active internal register for Slave 4.
+ * @param reg New active register for Slave 4
+ * @see getSlave4Register()
+ * @see MPU6050_RA_I2C_SLV4_REG
+ */
+void MPU6050::setSlave4Register(uint8_t reg) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+}
+/** Set new byte to write to Slave 4.
+ * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
+ * is set 1 (set to read), this register has no effect.
+ * @param data New byte to write to Slave 4
+ * @see MPU6050_RA_I2C_SLV4_DO
+ */
+void MPU6050::setSlave4OutputByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+}
+/** Get the enabled value for the Slave 4.
+ * When set to 1, this bit enables Slave 4 for data transfer operations. When
+ * cleared to 0, this bit disables Slave 4 from data transfer operations.
+ * @return Current enabled value for Slave 4
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+bool MPU6050::getSlave4Enabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for Slave 4.
+ * @param enabled New enabled value for Slave 4
+ * @see getSlave4Enabled()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4Enabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+}
+/** Get the enabled value for Slave 4 transaction interrupts.
+ * When set to 1, this bit enables the generation of an interrupt signal upon
+ * completion of a Slave 4 transaction. When cleared to 0, this bit disables the
+ * generation of an interrupt signal upon completion of a Slave 4 transaction.
+ * The interrupt status can be observed in Register 54.
+ *
+ * @return Current enabled value for Slave 4 transaction interrupts.
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+bool MPU6050::getSlave4InterruptEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for Slave 4 transaction interrupts.
+ * @param enabled New enabled value for Slave 4 transaction interrupts.
+ * @see getSlave4InterruptEnabled()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4InterruptEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+}
+/** Get write mode for Slave 4.
+ * When set to 1, the transaction will read or write data only. When cleared to
+ * 0, the transaction will write a register address prior to reading or writing
+ * data. This should equal 0 when specifying the register address within the
+ * Slave device to/from which the ensuing data transaction will take place.
+ *
+ * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+bool MPU6050::getSlave4WriteMode() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+    return buffer[0];
+}
+/** Set write mode for the Slave 4.
+ * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
+ * @see getSlave4WriteMode()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4WriteMode(bool mode) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+}
+/** Get Slave 4 master delay value.
+ * This configures the reduced access rate of I2C slaves relative to the Sample
+ * Rate. When a slave's access rate is decreased relative to the Sample Rate,
+ * the slave is accessed every:
+ *
+ *     1 / (1 + I2C_MST_DLY) samples
+ *
+ * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
+ * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
+ * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
+ * further information regarding the Sample Rate, please refer to register 25.
+ *
+ * @return Current Slave 4 master delay value
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+uint8_t MPU6050::getSlave4MasterDelay() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Slave 4 master delay value.
+ * @param delay New Slave 4 master delay value
+ * @see getSlave4MasterDelay()
+ * @see MPU6050_RA_I2C_SLV4_CTRL
+ */
+void MPU6050::setSlave4MasterDelay(uint8_t delay) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
+}
+/** Get last available byte read from Slave 4.
+ * This register stores the data read from Slave 4. This field is populated
+ * after a read transaction.
+ * @return Last available byte read from to Slave 4
+ * @see MPU6050_RA_I2C_SLV4_DI
+ */
+uint8_t MPU6050::getSlate4InputByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+    return buffer[0];
+}
+
+// I2C_MST_STATUS register
+
+/** Get FSYNC interrupt status.
+ * This bit reflects the status of the FSYNC interrupt from an external device
+ * into the MPU-60X0. This is used as a way to pass an external interrupt
+ * through the MPU-60X0 to the host application processor. When set to 1, this
+ * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
+ * (Register 55).
+ * @return FSYNC interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getPassthroughStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 4 transaction done status.
+ * Automatically sets to 1 when a Slave 4 transaction has completed. This
+ * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
+ * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
+ * I2C_SLV4_CTRL register (Register 52).
+ * @return Slave 4 transaction done status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave4IsDone() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+    return buffer[0];
+}
+/** Get master arbitration lost status.
+ * This bit automatically sets to 1 when the I2C Master has lost arbitration of
+ * the auxiliary I2C bus (an error condition). This triggers an interrupt if the
+ * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Master arbitration lost status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getLostArbitration() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 4 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 4 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave4Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 3 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 3 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave3Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 2 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 2 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave2Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 1 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 1 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave1Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 0 NACK status.
+ * This bit automatically sets to 1 when the I2C Master receives a NACK in a
+ * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
+ * bit in the INT_ENABLE register (Register 56) is asserted.
+ * @return Slave 0 NACK interrupt status
+ * @see MPU6050_RA_I2C_MST_STATUS
+ */
+bool MPU6050::getSlave0Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_PIN_CFG register
+
+/** Get interrupt logic level mode.
+ * Will be set 0 for active-high, 1 for active-low.
+ * @return Current interrupt mode (0=active-high, 1=active-low)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_LEVEL_BIT
+ */
+bool MPU6050::getInterruptMode() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt logic level mode.
+ * @param mode New interrupt mode (0=active-high, 1=active-low)
+ * @see getInterruptMode()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_LEVEL_BIT
+ */
+void MPU6050::setInterruptMode(bool mode) {
+   I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+}
+/** Get interrupt drive mode.
+ * Will be set 0 for push-pull, 1 for open-drain.
+ * @return Current interrupt drive mode (0=push-pull, 1=open-drain)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_OPEN_BIT
+ */
+bool MPU6050::getInterruptDrive() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt drive mode.
+ * @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
+ * @see getInterruptDrive()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_OPEN_BIT
+ */
+void MPU6050::setInterruptDrive(bool drive) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+}
+/** Get interrupt latch mode.
+ * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
+ * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
+ */
+bool MPU6050::getInterruptLatch() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt latch mode.
+ * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
+ * @see getInterruptLatch()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
+ */
+void MPU6050::setInterruptLatch(bool latch) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+}
+/** Get interrupt latch clear mode.
+ * Will be set 0 for status-read-only, 1 for any-register-read.
+ * @return Current latch clear mode (0=status-read-only, 1=any-register-read)
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
+ */
+bool MPU6050::getInterruptLatchClear() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt latch clear mode.
+ * @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
+ * @see getInterruptLatchClear()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
+ */
+void MPU6050::setInterruptLatchClear(bool clear) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+}
+/** Get FSYNC interrupt logic level mode.
+ * @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
+ * @see getFSyncInterruptMode()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
+ */
+bool MPU6050::getFSyncInterruptLevel() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+    return buffer[0];
+}
+/** Set FSYNC interrupt logic level mode.
+ * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
+ * @see getFSyncInterruptMode()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
+ */
+void MPU6050::setFSyncInterruptLevel(bool level) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+}
+/** Get FSYNC pin interrupt enabled setting.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled setting
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
+ */
+bool MPU6050::getFSyncInterruptEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set FSYNC pin interrupt enabled setting.
+ * @param enabled New FSYNC pin interrupt enabled setting
+ * @see getFSyncInterruptEnabled()
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
+ */
+void MPU6050::setFSyncInterruptEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+}
+/** Get I2C bypass enabled status.
+ * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
+ * 0, the host application processor will be able to directly access the
+ * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
+ * application processor will not be able to directly access the auxiliary I2C
+ * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
+ * bit[5]).
+ * @return Current I2C bypass enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
+ */
+bool MPU6050::getI2CBypassEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C bypass enabled status.
+ * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
+ * 0, the host application processor will be able to directly access the
+ * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
+ * application processor will not be able to directly access the auxiliary I2C
+ * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
+ * bit[5]).
+ * @param enabled New I2C bypass enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
+ */
+void MPU6050::setI2CBypassEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+}
+/** Get reference clock output enabled status.
+ * When this bit is equal to 1, a reference clock output is provided at the
+ * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
+ * further information regarding CLKOUT, please refer to the MPU-60X0 Product
+ * Specification document.
+ * @return Current reference clock output enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_CLKOUT_EN_BIT
+ */
+bool MPU6050::getClockOutputEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set reference clock output enabled status.
+ * When this bit is equal to 1, a reference clock output is provided at the
+ * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
+ * further information regarding CLKOUT, please refer to the MPU-60X0 Product
+ * Specification document.
+ * @param enabled New reference clock output enabled status
+ * @see MPU6050_RA_INT_PIN_CFG
+ * @see MPU6050_INTCFG_CLKOUT_EN_BIT
+ */
+void MPU6050::setClockOutputEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+}
+
+// INT_ENABLE register
+
+/** Get full interrupt enabled status.
+ * Full register byte for all interrupts, for quick reading. Each bit will be
+ * set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+uint8_t MPU6050::getIntEnabled() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
+    return buffer[0];
+}
+/** Set full interrupt enabled status.
+ * Full register byte for all interrupts, for quick reading. Each bit should be
+ * set 0 for disabled, 1 for enabled.
+ * @param enabled New interrupt enabled status
+ * @see getIntFreefallEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+void MPU6050::setIntEnabled(uint8_t enabled) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
+}
+/** Get Free Fall interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+bool MPU6050::getIntFreefallEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+    return buffer[0];
+}
+/** Set Free Fall interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntFreefallEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FF_BIT
+ **/
+void MPU6050::setIntFreefallEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
+}
+/** Get Motion Detection interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_MOT_BIT
+ **/
+bool MPU6050::getIntMotionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+    return buffer[0];
+}
+/** Set Motion Detection interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntMotionEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_MOT_BIT
+ **/
+void MPU6050::setIntMotionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+}
+/** Get Zero Motion Detection interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_ZMOT_BIT
+ **/
+bool MPU6050::getIntZeroMotionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+    return buffer[0];
+}
+/** Set Zero Motion Detection interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntZeroMotionEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_ZMOT_BIT
+ **/
+void MPU6050::setIntZeroMotionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+}
+/** Get FIFO Buffer Overflow interrupt enabled status.
+ * Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ **/
+bool MPU6050::getIntFIFOBufferOverflowEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+    return buffer[0];
+}
+/** Set FIFO Buffer Overflow interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntFIFOBufferOverflowEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ **/
+void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+}
+/** Get I2C Master interrupt enabled status.
+ * This enables any of the I2C Master interrupt sources to generate an
+ * interrupt. Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ **/
+bool MPU6050::getIntI2CMasterEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C Master interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntI2CMasterEnabled()
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ **/
+void MPU6050::setIntI2CMasterEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+}
+/** Get Data Ready interrupt enabled setting.
+ * This event occurs each time a write operation to all of the sensor registers
+ * has been completed. Will be set 0 for disabled, 1 for enabled.
+ * @return Current interrupt enabled status
+ * @see MPU6050_RA_INT_ENABLE
+ * @see MPU6050_INTERRUPT_DATA_RDY_BIT
+ */
+bool MPU6050::getIntDataReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+    return buffer[0];
+}
+/** Set Data Ready interrupt enabled status.
+ * @param enabled New interrupt enabled status
+ * @see getIntDataReadyEnabled()
+ * @see MPU6050_RA_INT_CFG
+ * @see MPU6050_INTERRUPT_DATA_RDY_BIT
+ */
+void MPU6050::setIntDataReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+}
+
+// INT_STATUS register
+
+/** Get full set of interrupt status bits.
+ * These bits clear to 0 after the register has been read. Very useful
+ * for getting multiple INT statuses, since each single bit read clears
+ * all of them because it has to read the whole byte.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ */
+uint8_t MPU6050::getIntStatus() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
+    return buffer[0];
+}
+/** Get Free Fall interrupt status.
+ * This bit automatically sets to 1 when a Free Fall interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_FF_BIT
+ */
+bool MPU6050::getIntFreefallStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+    return buffer[0];
+}
+/** Get Motion Detection interrupt status.
+ * This bit automatically sets to 1 when a Motion Detection interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_MOT_BIT
+ */
+bool MPU6050::getIntMotionStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+    return buffer[0];
+}
+/** Get Zero Motion Detection interrupt status.
+ * This bit automatically sets to 1 when a Zero Motion Detection interrupt has
+ * been generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_ZMOT_BIT
+ */
+bool MPU6050::getIntZeroMotionStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+    return buffer[0];
+}
+/** Get FIFO Buffer Overflow interrupt status.
+ * This bit automatically sets to 1 when a Free Fall interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ */
+bool MPU6050::getIntFIFOBufferOverflowStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+    return buffer[0];
+}
+/** Get I2C Master interrupt status.
+ * This bit automatically sets to 1 when an I2C Master interrupt has been
+ * generated. For a list of I2C Master interrupts, please refer to Register 54.
+ * The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ */
+bool MPU6050::getIntI2CMasterStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+    return buffer[0];
+}
+/** Get Data Ready interrupt status.
+ * This bit automatically sets to 1 when a Data Ready interrupt has been
+ * generated. The bit clears to 0 after the register has been read.
+ * @return Current interrupt status
+ * @see MPU6050_RA_INT_STATUS
+ * @see MPU6050_INTERRUPT_DATA_RDY_BIT
+ */
+bool MPU6050::getIntDataReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+    return buffer[0];
+}
+
+// ACCEL_*OUT_* registers
+
+/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
+ * FUNCTION NOT FULLY IMPLEMENTED YET.
+ * @param ax 16-bit signed integer container for accelerometer X-axis value
+ * @param ay 16-bit signed integer container for accelerometer Y-axis value
+ * @param az 16-bit signed integer container for accelerometer Z-axis value
+ * @param gx 16-bit signed integer container for gyroscope X-axis value
+ * @param gy 16-bit signed integer container for gyroscope Y-axis value
+ * @param gz 16-bit signed integer container for gyroscope Z-axis value
+ * @param mx 16-bit signed integer container for magnetometer X-axis value
+ * @param my 16-bit signed integer container for magnetometer Y-axis value
+ * @param mz 16-bit signed integer container for magnetometer Z-axis value
+ * @see getMotion6()
+ * @see getAcceleration()
+ * @see getRotation()
+ * @see MPU6050_RA_ACCEL_XOUT_H
+ */
+void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) {
+    getMotion6(ax, ay, az, gx, gy, gz);
+    // TODO: magnetometer integration
+}
+/** Get raw 6-axis motion sensor readings (accel/gyro).
+ * Retrieves all currently available motion sensor values.
+ * @param ax 16-bit signed integer container for accelerometer X-axis value
+ * @param ay 16-bit signed integer container for accelerometer Y-axis value
+ * @param az 16-bit signed integer container for accelerometer Z-axis value
+ * @param gx 16-bit signed integer container for gyroscope X-axis value
+ * @param gy 16-bit signed integer container for gyroscope Y-axis value
+ * @param gz 16-bit signed integer container for gyroscope Z-axis value
+ * @see getAcceleration()
+ * @see getRotation()
+ * @see MPU6050_RA_ACCEL_XOUT_H
+ */
+void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+    *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *az = (((int16_t)buffer[4]) << 8) | buffer[5];
+    *gx = (((int16_t)buffer[8]) << 8) | buffer[9];
+    *gy = (((int16_t)buffer[10]) << 8) | buffer[11];
+    *gz = (((int16_t)buffer[12]) << 8) | buffer[13];
+}
+/** Get 3-axis accelerometer readings.
+ * These registers store the most recent accelerometer measurements.
+ * Accelerometer measurements are written to these registers at the Sample Rate
+ * as defined in Register 25.
+ *
+ * The accelerometer measurement registers, along with the temperature
+ * measurement registers, gyroscope measurement registers, and external sensor
+ * data registers, are composed of two sets of registers: an internal register
+ * set and a user-facing read register set.
+ *
+ * The data within the accelerometer sensors' internal register set is always
+ * updated at the Sample Rate. Meanwhile, the user-facing read register set
+ * duplicates the internal register set's data values whenever the serial
+ * interface is idle. This guarantees that a burst read of sensor registers will
+ * read measurements from the same sampling instant. Note that if burst reads
+ * are not used, the user is responsible for ensuring a set of single byte reads
+ * correspond to a single sampling instant by checking the Data Ready interrupt.
+ *
+ * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
+ * (Register 28). For each full scale setting, the accelerometers' sensitivity
+ * per LSB in ACCEL_xOUT is shown in the table below:
+ *
+ * <pre>
+ * AFS_SEL | Full Scale Range | LSB Sensitivity
+ * --------+------------------+----------------
+ * 0       | +/- 2g           | 8192 LSB/mg
+ * 1       | +/- 4g           | 4096 LSB/mg
+ * 2       | +/- 8g           | 2048 LSB/mg
+ * 3       | +/- 16g          | 1024 LSB/mg
+ * </pre>
+ *
+ * @param x 16-bit signed integer container for X-axis acceleration
+ * @param y 16-bit signed integer container for Y-axis acceleration
+ * @param z 16-bit signed integer container for Z-axis acceleration
+ * @see MPU6050_RA_GYRO_XOUT_H
+ */
+void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+    *x = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *y = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *z = (((int16_t)buffer[4]) << 8) | buffer[5];
+}
+/** Get X-axis accelerometer reading.
+ * @return X-axis acceleration measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_ACCEL_XOUT_H
+ */
+int16_t MPU6050::getAccelerationX() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Y-axis accelerometer reading.
+ * @return Y-axis acceleration measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_ACCEL_YOUT_H
+ */
+int16_t MPU6050::getAccelerationY() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Z-axis accelerometer reading.
+ * @return Z-axis acceleration measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_ACCEL_ZOUT_H
+ */
+int16_t MPU6050::getAccelerationZ() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// TEMP_OUT_* registers
+
+/** Get current internal temperature.
+ * @return Temperature reading in 16-bit 2's complement format
+ * @see MPU6050_RA_TEMP_OUT_H
+ */
+int16_t MPU6050::getTemperature() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// GYRO_*OUT_* registers
+
+/** Get 3-axis gyroscope readings.
+ * These gyroscope measurement registers, along with the accelerometer
+ * measurement registers, temperature measurement registers, and external sensor
+ * data registers, are composed of two sets of registers: an internal register
+ * set and a user-facing read register set.
+ * The data within the gyroscope sensors' internal register set is always
+ * updated at the Sample Rate. Meanwhile, the user-facing read register set
+ * duplicates the internal register set's data values whenever the serial
+ * interface is idle. This guarantees that a burst read of sensor registers will
+ * read measurements from the same sampling instant. Note that if burst reads
+ * are not used, the user is responsible for ensuring a set of single byte reads
+ * correspond to a single sampling instant by checking the Data Ready interrupt.
+ *
+ * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
+ * (Register 27). For each full scale setting, the gyroscopes' sensitivity per
+ * LSB in GYRO_xOUT is shown in the table below:
+ *
+ * <pre>
+ * FS_SEL | Full Scale Range   | LSB Sensitivity
+ * -------+--------------------+----------------
+ * 0      | +/- 250 degrees/s  | 131 LSB/deg/s
+ * 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
+ * 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
+ * 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
+ * </pre>
+ *
+ * @param x 16-bit signed integer container for X-axis rotation
+ * @param y 16-bit signed integer container for Y-axis rotation
+ * @param z 16-bit signed integer container for Z-axis rotation
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_XOUT_H
+ */
+void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+    *x = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *y = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *z = (((int16_t)buffer[4]) << 8) | buffer[5];
+}
+/** Get X-axis gyroscope reading.
+ * @return X-axis rotation measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_XOUT_H
+ */
+int16_t MPU6050::getRotationX() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Y-axis gyroscope reading.
+ * @return Y-axis rotation measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_YOUT_H
+ */
+int16_t MPU6050::getRotationY() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Z-axis gyroscope reading.
+ * @return Z-axis rotation measurement in 16-bit 2's complement format
+ * @see getMotion6()
+ * @see MPU6050_RA_GYRO_ZOUT_H
+ */
+int16_t MPU6050::getRotationZ() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// EXT_SENS_DATA_* registers
+
+/** Read single byte from external sensor data register.
+ * These registers store data read from external sensors by the Slave 0, 1, 2,
+ * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
+ * I2C_SLV4_DI (Register 53).
+ *
+ * External sensor data is written to these registers at the Sample Rate as
+ * defined in Register 25. This access rate can be reduced by using the Slave
+ * Delay Enable registers (Register 103).
+ *
+ * External sensor data registers, along with the gyroscope measurement
+ * registers, accelerometer measurement registers, and temperature measurement
+ * registers, are composed of two sets of registers: an internal register set
+ * and a user-facing read register set.
+ *
+ * The data within the external sensors' internal register set is always updated
+ * at the Sample Rate (or the reduced access rate) whenever the serial interface
+ * is idle. This guarantees that a burst read of sensor registers will read
+ * measurements from the same sampling instant. Note that if burst reads are not
+ * used, the user is responsible for ensuring a set of single byte reads
+ * correspond to a single sampling instant by checking the Data Ready interrupt.
+ *
+ * Data is placed in these external sensor data registers according to
+ * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
+ * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
+ * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
+ * defined in Register 25) or delayed rate (if specified in Register 52 and
+ * 103). During each Sample cycle, slave reads are performed in order of Slave
+ * number. If all slaves are enabled with more than zero bytes to be read, the
+ * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
+ *
+ * Each enabled slave will have EXT_SENS_DATA registers associated with it by
+ * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
+ * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
+ * change the higher numbered slaves' associated registers. Furthermore, if
+ * fewer total bytes are being read from the external sensors as a result of
+ * such a change, then the data remaining in the registers which no longer have
+ * an associated slave device (i.e. high numbered registers) will remain in
+ * these previously allocated registers unless reset.
+ *
+ * If the sum of the read lengths of all SLVx transactions exceed the number of
+ * available EXT_SENS_DATA registers, the excess bytes will be dropped. There
+ * are 24 EXT_SENS_DATA registers and hence the total read lengths between all
+ * the slaves cannot be greater than 24 or some bytes will be lost.
+ *
+ * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
+ * information regarding the characteristics of Slave 4, please refer to
+ * Registers 49 to 53.
+ *
+ * EXAMPLE:
+ * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
+ * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
+ * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
+ * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
+ * will be associated with Slave 1. If Slave 2 is enabled as well, registers
+ * starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
+ *
+ * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
+ * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
+ * instead.
+ *
+ * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
+ * If a slave is disabled at any time, the space initially allocated to the
+ * slave in the EXT_SENS_DATA register, will remain associated with that slave.
+ * This is to avoid dynamic adjustment of the register allocation.
+ *
+ * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
+ * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
+ *
+ * This above is also true if one of the slaves gets NACKed and stops
+ * functioning.
+ *
+ * @param position Starting position (0-23)
+ * @return Byte read from register
+ */
+uint8_t MPU6050::getExternalSensorByte(int position) {
+    I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+    return buffer[0];
+}
+/** Read word (2 bytes) from external sensor data registers.
+ * @param position Starting position (0-21)
+ * @return Word read from register
+ * @see getExternalSensorByte()
+ */
+uint16_t MPU6050::getExternalSensorWord(int position) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Read double word (4 bytes) from external sensor data registers.
+ * @param position Starting position (0-20)
+ * @return Double word read from registers
+ * @see getExternalSensorByte()
+ */
+uint32_t MPU6050::getExternalSensorDWord(int position) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+    return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
+}
+
+// MOT_DETECT_STATUS register
+
+/** Get X-axis negative motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_XNEG_BIT
+ */
+bool MPU6050::getXNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get X-axis positive motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_XPOS_BIT
+ */
+bool MPU6050::getXPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get Y-axis negative motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_YNEG_BIT
+ */
+bool MPU6050::getYNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get Y-axis positive motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_YPOS_BIT
+ */
+bool MPU6050::getYPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get Z-axis negative motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_ZNEG_BIT
+ */
+bool MPU6050::getZNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get Z-axis positive motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_ZPOS_BIT
+ */
+bool MPU6050::getZPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get zero motion detection interrupt status.
+ * @return Motion detection status
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ * @see MPU6050_MOTION_MOT_ZRMOT_BIT
+ */
+bool MPU6050::getZeroMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+    return buffer[0];
+}
+
+// I2C_SLV*_DO register
+
+/** Write byte to Data Output container for specified slave.
+ * This register holds the output data written into Slave when Slave is set to
+ * write mode. For further information regarding Slave control, please
+ * refer to Registers 37 to 39 and immediately following.
+ * @param num Slave number (0-3)
+ * @param data Byte to write
+ * @see MPU6050_RA_I2C_SLV0_DO
+ */
+void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
+    if (num > 3) return;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+}
+
+// I2C_MST_DELAY_CTRL register
+
+/** Get external data shadow delay enabled status.
+ * This register is used to specify the timing of external sensor data
+ * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
+ * sensor data is delayed until all data has been received.
+ * @return Current external data shadow delay enabled status.
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
+ */
+bool MPU6050::getExternalShadowDelayEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
+    return buffer[0];
+}
+/** Set external data shadow delay enabled status.
+ * @param enabled New external data shadow delay enabled status.
+ * @see getExternalShadowDelayEnabled()
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
+ */
+void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+}
+/** Get slave delay enabled status.
+ * When a particular slave delay is enabled, the rate of access for the that
+ * slave device is reduced. When a slave's access rate is decreased relative to
+ * the Sample Rate, the slave is accessed every:
+ *
+ *     1 / (1 + I2C_MST_DLY) Samples
+ *
+ * This base Sample Rate in turn is determined by SMPLRT_DIV (register  * 25)
+ * and DLPF_CFG (register 26).
+ *
+ * For further information regarding I2C_MST_DLY, please refer to register 52.
+ * For further information regarding the Sample Rate, please refer to register 25.
+ *
+ * @param num Slave number (0-4)
+ * @return Current slave delay enabled status.
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
+ */
+bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
+    // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
+    if (num > 4) return 0;
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+    return buffer[0];
+}
+/** Set slave delay enabled status.
+ * @param num Slave number (0-4)
+ * @param enabled New slave delay enabled status.
+ * @see MPU6050_RA_I2C_MST_DELAY_CTRL
+ * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
+ */
+void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+}
+
+// SIGNAL_PATH_RESET register
+
+/** Reset gyroscope signal path.
+ * The reset will revert the signal path analog to digital converters and
+ * filters to their power up configurations.
+ * @see MPU6050_RA_SIGNAL_PATH_RESET
+ * @see MPU6050_PATHRESET_GYRO_RESET_BIT
+ */
+void MPU6050::resetGyroscopePath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+}
+/** Reset accelerometer signal path.
+ * The reset will revert the signal path analog to digital converters and
+ * filters to their power up configurations.
+ * @see MPU6050_RA_SIGNAL_PATH_RESET
+ * @see MPU6050_PATHRESET_ACCEL_RESET_BIT
+ */
+void MPU6050::resetAccelerometerPath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+}
+/** Reset temperature sensor signal path.
+ * The reset will revert the signal path analog to digital converters and
+ * filters to their power up configurations.
+ * @see MPU6050_RA_SIGNAL_PATH_RESET
+ * @see MPU6050_PATHRESET_TEMP_RESET_BIT
+ */
+void MPU6050::resetTemperaturePath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+}
+
+// MOT_DETECT_CTRL register
+
+/** Get accelerometer power-on delay.
+ * The accelerometer data path provides samples to the sensor registers, Motion
+ * detection, Zero Motion detection, and Free Fall detection modules. The
+ * signal path contains filters which must be flushed on wake-up with new
+ * samples before the detection modules begin operations. The default wake-up
+ * delay, of 4ms can be lengthened by up to 3ms. This additional delay is
+ * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
+ * any value above zero unless instructed otherwise by InvenSense. Please refer
+ * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
+ * further information regarding the detection modules.
+ * @return Current accelerometer power-on delay
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
+ */
+uint8_t MPU6050::getAccelerometerPowerOnDelay() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set accelerometer power-on delay.
+ * @param delay New accelerometer power-on delay (0-3)
+ * @see getAccelerometerPowerOnDelay()
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
+ */
+void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+}
+/** Get Free Fall detection counter decrement configuration.
+ * Detection is registered by the Free Fall detection module after accelerometer
+ * measurements meet their respective threshold conditions over a specified
+ * number of samples. When the threshold conditions are met, the corresponding
+ * detection counter increments by 1. The user may control the rate at which the
+ * detection counter decrements when the threshold condition is not met by
+ * configuring FF_COUNT. The decrement rate can be set according to the
+ * following table:
+ *
+ * <pre>
+ * FF_COUNT | Counter Decrement
+ * ---------+------------------
+ * 0        | Reset
+ * 1        | 1
+ * 2        | 2
+ * 3        | 4
+ * </pre>
+ *
+ * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
+ * reset the counter to 0. For further information on Free Fall detection,
+ * please refer to Registers 29 to 32.
+ *
+ * @return Current decrement configuration
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_FF_COUNT_BIT
+ */
+uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Free Fall detection counter decrement configuration.
+ * @param decrement New decrement configuration value
+ * @see getFreefallDetectionCounterDecrement()
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_FF_COUNT_BIT
+ */
+void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
+}
+/** Get Motion detection counter decrement configuration.
+ * Detection is registered by the Motion detection module after accelerometer
+ * measurements meet their respective threshold conditions over a specified
+ * number of samples. When the threshold conditions are met, the corresponding
+ * detection counter increments by 1. The user may control the rate at which the
+ * detection counter decrements when the threshold condition is not met by
+ * configuring MOT_COUNT. The decrement rate can be set according to the
+ * following table:
+ *
+ * <pre>
+ * MOT_COUNT | Counter Decrement
+ * ----------+------------------
+ * 0         | Reset
+ * 1         | 1
+ * 2         | 2
+ * 3         | 4
+ * </pre>
+ *
+ * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
+ * reset the counter to 0. For further information on Motion detection,
+ * please refer to Registers 29 to 32.
+ *
+ */
+uint8_t MPU6050::getMotionDetectionCounterDecrement() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Motion detection counter decrement configuration.
+ * @param decrement New decrement configuration value
+ * @see getMotionDetectionCounterDecrement()
+ * @see MPU6050_RA_MOT_DETECT_CTRL
+ * @see MPU6050_DETECT_MOT_COUNT_BIT
+ */
+void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
+}
+
+// USER_CTRL register
+
+/** Get FIFO enabled status.
+ * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
+ * cannot be written to or read from while disabled. The FIFO buffer's state
+ * does not change unless the MPU-60X0 is power cycled.
+ * @return Current FIFO enabled status
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_FIFO_EN_BIT
+ */
+bool MPU6050::getFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set FIFO enabled status.
+ * @param enabled New FIFO enabled status
+ * @see getFIFOEnabled()
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_FIFO_EN_BIT
+ */
+void MPU6050::setFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+}
+/** Get I2C Master Mode enabled status.
+ * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
+ * external sensor slave devices on the auxiliary I2C bus. When this bit is
+ * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
+ * driven by the primary I2C bus (SDA and SCL). This is a precondition to
+ * enabling Bypass Mode. For further information regarding Bypass Mode, please
+ * refer to Register 55.
+ * @return Current I2C Master Mode enabled status
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
+ */
+bool MPU6050::getI2CMasterModeEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C Master Mode enabled status.
+ * @param enabled New I2C Master Mode enabled status
+ * @see getI2CMasterModeEnabled()
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
+ */
+void MPU6050::setI2CMasterModeEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+}
+/** Switch from I2C to SPI mode (MPU-6000 only)
+ * If this is set, the primary SPI interface will be enabled in place of the
+ * disabled primary I2C interface.
+ */
+void MPU6050::switchSPIEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+}
+/** Reset the FIFO.
+ * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
+ * bit automatically clears to 0 after the reset has been triggered.
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_FIFO_RESET_BIT
+ */
+void MPU6050::resetFIFO() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
+}
+/** Reset the I2C Master.
+ * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
+ * This bit automatically clears to 0 after the reset has been triggered.
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
+ */
+void MPU6050::resetI2CMaster() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
+}
+/** Reset all sensor registers and signal paths.
+ * When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
+ * accelerometers, and temperature sensor). This operation will also clear the
+ * sensor registers. This bit automatically clears to 0 after the reset has been
+ * triggered.
+ *
+ * When resetting only the signal path (and not the sensor registers), please
+ * use Register 104, SIGNAL_PATH_RESET.
+ *
+ * @see MPU6050_RA_USER_CTRL
+ * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
+ */
+void MPU6050::resetSensors() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+}
+
+// PWR_MGMT_1 register
+
+/** Trigger a full device reset.
+ * A small delay of ~50ms may be desirable after triggering a reset.
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_DEVICE_RESET_BIT
+ */
+void MPU6050::reset() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+}
+/** Get sleep mode status.
+ * Setting the SLEEP bit in the register puts the device into very low power
+ * sleep mode. In this mode, only the serial interface and internal registers
+ * remain active, allowing for a very low standby current. Clearing this bit
+ * puts the device back into normal mode. To save power, the individual standby
+ * selections for each of the gyros should be used if any gyro axis is not used
+ * by the application.
+ * @return Current sleep mode enabled status
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_SLEEP_BIT
+ */
+bool MPU6050::getSleepEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+    return buffer[0];
+}
+/** Set sleep mode status.
+ * @param enabled New sleep mode enabled status
+ * @see getSleepEnabled()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_SLEEP_BIT
+ */
+void MPU6050::setSleepEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+}
+/** Get wake cycle enabled status.
+ * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
+ * between sleep mode and waking up to take a single sample of data from active
+ * sensors at a rate determined by LP_WAKE_CTRL (register 108).
+ * @return Current sleep mode enabled status
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CYCLE_BIT
+ */
+bool MPU6050::getWakeCycleEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+    return buffer[0];
+}
+/** Set wake cycle enabled status.
+ * @param enabled New sleep mode enabled status
+ * @see getWakeCycleEnabled()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CYCLE_BIT
+ */
+void MPU6050::setWakeCycleEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+}
+/** Get temperature sensor enabled status.
+ * Control the usage of the internal temperature sensor.
+ *
+ * Note: this register stores the *disabled* value, but for consistency with the
+ * rest of the code, the function is named and used with standard true/false
+ * values to indicate whether the sensor is enabled or disabled, respectively.
+ *
+ * @return Current temperature sensor enabled status
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_TEMP_DIS_BIT
+ */
+bool MPU6050::getTempSensorEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+    return buffer[0] == 0; // 1 is actually disabled here
+}
+/** Set temperature sensor enabled status.
+ * Note: this register stores the *disabled* value, but for consistency with the
+ * rest of the code, the function is named and used with standard true/false
+ * values to indicate whether the sensor is enabled or disabled, respectively.
+ *
+ * @param enabled New temperature sensor enabled status
+ * @see getTempSensorEnabled()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_TEMP_DIS_BIT
+ */
+void MPU6050::setTempSensorEnabled(bool enabled) {
+    // 1 is actually disabled here
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+}
+/** Get clock source setting.
+ * @return Current clock source setting
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CLKSEL_BIT
+ * @see MPU6050_PWR1_CLKSEL_LENGTH
+ */
+uint8_t MPU6050::getClockSource() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set clock source setting.
+ * An internal 8MHz oscillator, gyroscope based clock, or external sources can
+ * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
+ * or an external source is chosen as the clock source, the MPU-60X0 can operate
+ * in low power modes with the gyroscopes disabled.
+ *
+ * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
+ * However, it is highly recommended that the device be configured to use one of
+ * the gyroscopes (or an external clock source) as the clock reference for
+ * improved stability. The clock source can be selected according to the following table:
+ *
+ * <pre>
+ * CLK_SEL | Clock Source
+ * --------+--------------------------------------
+ * 0       | Internal oscillator
+ * 1       | PLL with X Gyro reference
+ * 2       | PLL with Y Gyro reference
+ * 3       | PLL with Z Gyro reference
+ * 4       | PLL with external 32.768kHz reference
+ * 5       | PLL with external 19.2MHz reference
+ * 6       | Reserved
+ * 7       | Stops the clock and keeps the timing generator in reset
+ * </pre>
+ *
+ * @param source New clock source setting
+ * @see getClockSource()
+ * @see MPU6050_RA_PWR_MGMT_1
+ * @see MPU6050_PWR1_CLKSEL_BIT
+ * @see MPU6050_PWR1_CLKSEL_LENGTH
+ */
+void MPU6050::setClockSource(uint8_t source) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
+}
+
+// PWR_MGMT_2 register
+
+/** Get wake frequency in Accel-Only Low Power Mode.
+ * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
+ * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
+ * the device will power off all devices except for the primary I2C interface,
+ * waking only the accelerometer at fixed intervals to take a single
+ * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
+ * as shown below:
+ *
+ * <pre>
+ * LP_WAKE_CTRL | Wake-up Frequency
+ * -------------+------------------
+ * 0            | 1.25 Hz
+ * 1            | 2.5 Hz
+ * 2            | 5 Hz
+ * 3            | 10 Hz
+ * <pre>
+ *
+ * For further information regarding the MPU-60X0's power modes, please refer to
+ * Register 107.
+ *
+ * @return Current wake frequency
+ * @see MPU6050_RA_PWR_MGMT_2
+ */
+uint8_t MPU6050::getWakeFrequency() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set wake frequency in Accel-Only Low Power Mode.
+ * @param frequency New wake frequency
+ * @see MPU6050_RA_PWR_MGMT_2
+ */
+void MPU6050::setWakeFrequency(uint8_t frequency) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+}
+
+/** Get X-axis accelerometer standby enabled status.
+ * If enabled, the X-axis will not gather or report data (or use power).
+ * @return Current X-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XA_BIT
+ */
+bool MPU6050::getStandbyXAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis accelerometer standby enabled status.
+ * @param New X-axis standby enabled status
+ * @see getStandbyXAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XA_BIT
+ */
+void MPU6050::setStandbyXAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+}
+/** Get Y-axis accelerometer standby enabled status.
+ * If enabled, the Y-axis will not gather or report data (or use power).
+ * @return Current Y-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YA_BIT
+ */
+bool MPU6050::getStandbyYAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis accelerometer standby enabled status.
+ * @param New Y-axis standby enabled status
+ * @see getStandbyYAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YA_BIT
+ */
+void MPU6050::setStandbyYAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+}
+/** Get Z-axis accelerometer standby enabled status.
+ * If enabled, the Z-axis will not gather or report data (or use power).
+ * @return Current Z-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZA_BIT
+ */
+bool MPU6050::getStandbyZAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis accelerometer standby enabled status.
+ * @param New Z-axis standby enabled status
+ * @see getStandbyZAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZA_BIT
+ */
+void MPU6050::setStandbyZAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+}
+/** Get X-axis gyroscope standby enabled status.
+ * If enabled, the X-axis will not gather or report data (or use power).
+ * @return Current X-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XG_BIT
+ */
+bool MPU6050::getStandbyXGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis gyroscope standby enabled status.
+ * @param New X-axis standby enabled status
+ * @see getStandbyXGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XG_BIT
+ */
+void MPU6050::setStandbyXGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+}
+/** Get Y-axis gyroscope standby enabled status.
+ * If enabled, the Y-axis will not gather or report data (or use power).
+ * @return Current Y-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YG_BIT
+ */
+bool MPU6050::getStandbyYGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis gyroscope standby enabled status.
+ * @param New Y-axis standby enabled status
+ * @see getStandbyYGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YG_BIT
+ */
+void MPU6050::setStandbyYGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+}
+/** Get Z-axis gyroscope standby enabled status.
+ * If enabled, the Z-axis will not gather or report data (or use power).
+ * @return Current Z-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZG_BIT
+ */
+bool MPU6050::getStandbyZGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis gyroscope standby enabled status.
+ * @param New Z-axis standby enabled status
+ * @see getStandbyZGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZG_BIT
+ */
+void MPU6050::setStandbyZGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+}
+
+// FIFO_COUNT* registers
+
+/** Get current FIFO buffer size.
+ * This value indicates the number of bytes stored in the FIFO buffer. This
+ * number is in turn the number of bytes that can be read from the FIFO buffer
+ * and it is directly proportional to the number of samples available given the
+ * set of sensor data bound to be stored in the FIFO (register 35 and 36).
+ * @return Current FIFO buffer size
+ */
+uint16_t MPU6050::getFIFOCount() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// FIFO_R_W register
+
+/** Get byte from FIFO buffer.
+ * This register is used to read and write data from the FIFO buffer. Data is
+ * written to the FIFO in order of register number (from lowest to highest). If
+ * all the FIFO enable flags (see below) are enabled and all External Sensor
+ * Data registers (Registers 73 to 96) are associated with a Slave device, the
+ * contents of registers 59 through 96 will be written in order at the Sample
+ * Rate.
+ *
+ * The contents of the sensor data registers (Registers 59 to 96) are written
+ * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
+ * in FIFO_EN (Register 35). An additional flag for the sensor data registers
+ * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
+ *
+ * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
+ * automatically set to 1. This bit is located in INT_STATUS (Register 58).
+ * When the FIFO buffer has overflowed, the oldest data will be lost and new
+ * data will be written to the FIFO.
+ *
+ * If the FIFO buffer is empty, reading this register will return the last byte
+ * that was previously read from the FIFO until new data is available. The user
+ * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
+ * empty.
+ *
+ * @return Byte from FIFO buffer
+ */
+uint8_t MPU6050::getFIFOByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+}
+/** Write byte to FIFO buffer.
+ * @see getFIFOByte()
+ * @see MPU6050_RA_FIFO_R_W
+ */
+void MPU6050::setFIFOByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+}
+
+// WHO_AM_I register
+
+/** Get Device ID.
+ * This register is used to verify the identity of the device (0b110100, 0x34).
+ * @return Device ID (6 bits only! should be 0x34)
+ * @see MPU6050_RA_WHO_AM_I
+ * @see MPU6050_WHO_AM_I_BIT
+ * @see MPU6050_WHO_AM_I_LENGTH
+ */
+uint8_t MPU6050::getDeviceID() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Device ID.
+ * Write a new ID into the WHO_AM_I register (no idea why this should ever be
+ * necessary though).
+ * @param id New device ID to set.
+ * @see getDeviceID()
+ * @see MPU6050_RA_WHO_AM_I
+ * @see MPU6050_WHO_AM_I_BIT
+ * @see MPU6050_WHO_AM_I_LENGTH
+ */
+void MPU6050::setDeviceID(uint8_t id) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+}
+
+// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+
+// XG_OFFS_TC register
+
+uint8_t MPU6050::getOTPBankValid() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setOTPBankValid(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+}
+int8_t MPU6050::getXGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setXGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// YG_OFFS_TC register
+
+int8_t MPU6050::getYGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setYGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// ZG_OFFS_TC register
+
+int8_t MPU6050::getZGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setZGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// X_FINE_GAIN register
+
+int8_t MPU6050::getXFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setXFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+}
+
+// Y_FINE_GAIN register
+
+int8_t MPU6050::getYFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setYFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+}
+
+// Z_FINE_GAIN register
+
+int8_t MPU6050::getZFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setZFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+}
+
+// XA_OFFS_* registers
+
+int16_t MPU6050::getXAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+}
+
+// YA_OFFS_* register
+
+int16_t MPU6050::getYAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+}
+
+// ZA_OFFS_* register
+
+int16_t MPU6050::getZAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+}
+
+// XG_OFFS_USR* registers
+
+int16_t MPU6050::getXGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+}
+
+// YG_OFFS_USR* register
+
+int16_t MPU6050::getYGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+}
+
+// ZG_OFFS_USR* register
+
+int16_t MPU6050::getZGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+}
+
+// INT_ENABLE register (DMP functions)
+
+bool MPU6050::getIntPLLReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntPLLReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+}
+bool MPU6050::getIntDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+}
+
+// DMP_INT_STATUS
+
+bool MPU6050::getDMPInt5Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt4Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt3Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt2Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt1Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt0Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_STATUS register (DMP functions)
+
+bool MPU6050::getIntPLLReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getIntDMPStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+
+// USER_CTRL register (DMP functions)
+
+bool MPU6050::getDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+}
+void MPU6050::resetDMP() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+}
+
+// BANK_SEL register
+
+void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
+    bank &= 0x1F;
+    if (userBank) bank |= 0x20;
+    if (prefetchEnabled) bank |= 0x40;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+}
+
+// MEM_START_ADDR register
+
+void MPU6050::setMemoryStartAddress(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+}
+
+// MEM_R_W register
+
+uint8_t MPU6050::readMemoryByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::writeMemoryByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+}
+void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    for (uint16_t i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) chunkSize = 256 - address;
+
+        // read the chunk of data as specified
+        I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+        
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) bank++;
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+}
+bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    uint8_t *verifyBuffer;
+    uint8_t *progBuffer = NULL; // Keep compiler quiet
+    uint16_t i;
+    uint8_t j;
+    if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    for (i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) chunkSize = 256 - address;
+        
+        if (useProgMem) {
+            // write the chunk of data as specified
+            for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
+        } else {
+            // write the chunk of data as specified
+            progBuffer = (uint8_t *)data + i;
+        }
+
+        I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+
+        // verify data if needed
+        if (verify && verifyBuffer) {
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+            I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+            if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
+                /*Serial.print("Block write verification error, bank ");
+                Serial.print(bank, DEC);
+                Serial.print(", address ");
+                Serial.print(address, DEC);
+                Serial.print("!\nExpected:");
+                for (j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (progBuffer[j] < 16) Serial.print("0");
+                    Serial.print(progBuffer[j], HEX);
+                }
+                Serial.print("\nReceived:");
+                for (uint8_t j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (verifyBuffer[i + j] < 16) Serial.print("0");
+                    Serial.print(verifyBuffer[i + j], HEX);
+                }
+                Serial.print("\n");*/
+                free(verifyBuffer);
+                if (useProgMem) free(progBuffer);
+                return false; // uh oh.
+            }
+        }
+
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) bank++;
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+    if (verify) free(verifyBuffer);
+    if (useProgMem) free(progBuffer);
+    return true;
+}
+bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
+    return writeMemoryBlock(data, dataSize, bank, address, verify, true);
+}
+bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
+    uint8_t *progBuffer = NULL, success, special;
+    uint16_t i, j;
+    if (useProgMem) {
+        progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
+    }
+
+    // config set data is a long string of blocks with the following structure:
+    // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+    uint8_t bank, offset, length;
+    for (i = 0; i < dataSize;) {
+        if (useProgMem) {
+            bank = pgm_read_byte(data + i++);
+            offset = pgm_read_byte(data + i++);
+            length = pgm_read_byte(data + i++);
+        } else {
+            bank = data[i++];
+            offset = data[i++];
+            length = data[i++];
+        }
+
+        // write data or perform special action
+        if (length > 0) {
+            // regular block of data to write
+            /*Serial.print("Writing config block to bank ");
+            Serial.print(bank);
+            Serial.print(", offset ");
+            Serial.print(offset);
+            Serial.print(", length=");
+            Serial.println(length);*/
+            if (useProgMem) {
+                if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
+                for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
+            } else {
+                progBuffer = (uint8_t *)data + i;
+            }
+            success = writeMemoryBlock(progBuffer, length, bank, offset, true);
+            i += length;
+        } else {
+            // special instruction
+            // NOTE: this kind of behavior (what and when to do certain things)
+            // is totally undocumented. This code is in here based on observed
+            // behavior only, and exactly why (or even whether) it has to be here
+            // is anybody's guess for now.
+            if (useProgMem) {
+                special = pgm_read_byte(data + i++);
+            } else {
+                special = data[i++];
+            }
+            /*Serial.print("Special command code ");
+            Serial.print(special, HEX);
+            Serial.println(" found...");*/
+            if (special == 0x01) {
+                // enable DMP-related interrupts
+                
+                //setIntZeroMotionEnabled(true);
+                //setIntFIFOBufferOverflowEnabled(true);
+                //setIntDMPEnabled(true);
+                I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32);  // single operation
+
+                success = true;
+            } else {
+                // unknown special command
+                success = false;
+            }
+        }
+        
+        if (!success) {
+            if (useProgMem) free(progBuffer);
+            return false; // uh oh
+        }
+    }
+    if (useProgMem) free(progBuffer);
+    return true;
+}
+bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
+    return writeDMPConfigurationSet(data, dataSize, true);
+}
+
+// DMP_CFG_1 register
+
+uint8_t MPU6050::getDMPConfig1() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig1(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+}
+
+// DMP_CFG_2 register
+
+uint8_t MPU6050::getDMPConfig2() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig2(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+}
diff --git a/Code/C_Code/25.1.1_MPU6050/MPU6050.h b/Code/C_Code/25.1.1_MPU6050/MPU6050.h
new file mode 100644
index 0000000..00d8dd8
--- /dev/null
+++ b/Code/C_Code/25.1.1_MPU6050/MPU6050.h
@@ -0,0 +1,988 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#ifndef _MPU6050_H_
+#define _MPU6050_H_
+
+#include "I2Cdev.h"
+//#include <avr/pgmspace.h>
+
+#define pgm_read_byte(p) (*(uint8_t *)(p))
+
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
+#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
+#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
+#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
+#define MPU6050_RA_XA_OFFS_L_TC     0x07
+#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
+#define MPU6050_RA_YA_OFFS_L_TC     0x09
+#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
+#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
+#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
+#define MPU6050_RA_XG_OFFS_USRL     0x14
+#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
+#define MPU6050_RA_YG_OFFS_USRL     0x16
+#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
+#define MPU6050_RA_ZG_OFFS_USRL     0x18
+#define MPU6050_RA_SMPLRT_DIV       0x19
+#define MPU6050_RA_CONFIG           0x1A
+#define MPU6050_RA_GYRO_CONFIG      0x1B
+#define MPU6050_RA_ACCEL_CONFIG     0x1C
+#define MPU6050_RA_FF_THR           0x1D
+#define MPU6050_RA_FF_DUR           0x1E
+#define MPU6050_RA_MOT_THR          0x1F
+#define MPU6050_RA_MOT_DUR          0x20
+#define MPU6050_RA_ZRMOT_THR        0x21
+#define MPU6050_RA_ZRMOT_DUR        0x22
+#define MPU6050_RA_FIFO_EN          0x23
+#define MPU6050_RA_I2C_MST_CTRL     0x24
+#define MPU6050_RA_I2C_SLV0_ADDR    0x25
+#define MPU6050_RA_I2C_SLV0_REG     0x26
+#define MPU6050_RA_I2C_SLV0_CTRL    0x27
+#define MPU6050_RA_I2C_SLV1_ADDR    0x28
+#define MPU6050_RA_I2C_SLV1_REG     0x29
+#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
+#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
+#define MPU6050_RA_I2C_SLV2_REG     0x2C
+#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
+#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
+#define MPU6050_RA_I2C_SLV3_REG     0x2F
+#define MPU6050_RA_I2C_SLV3_CTRL    0x30
+#define MPU6050_RA_I2C_SLV4_ADDR    0x31
+#define MPU6050_RA_I2C_SLV4_REG     0x32
+#define MPU6050_RA_I2C_SLV4_DO      0x33
+#define MPU6050_RA_I2C_SLV4_CTRL    0x34
+#define MPU6050_RA_I2C_SLV4_DI      0x35
+#define MPU6050_RA_I2C_MST_STATUS   0x36
+#define MPU6050_RA_INT_PIN_CFG      0x37
+#define MPU6050_RA_INT_ENABLE       0x38
+#define MPU6050_RA_DMP_INT_STATUS   0x39
+#define MPU6050_RA_INT_STATUS       0x3A
+#define MPU6050_RA_ACCEL_XOUT_H     0x3B
+#define MPU6050_RA_ACCEL_XOUT_L     0x3C
+#define MPU6050_RA_ACCEL_YOUT_H     0x3D
+#define MPU6050_RA_ACCEL_YOUT_L     0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L     0x40
+#define MPU6050_RA_TEMP_OUT_H       0x41
+#define MPU6050_RA_TEMP_OUT_L       0x42
+#define MPU6050_RA_GYRO_XOUT_H      0x43
+#define MPU6050_RA_GYRO_XOUT_L      0x44
+#define MPU6050_RA_GYRO_YOUT_H      0x45
+#define MPU6050_RA_GYRO_YOUT_L      0x46
+#define MPU6050_RA_GYRO_ZOUT_H      0x47
+#define MPU6050_RA_GYRO_ZOUT_L      0x48
+#define MPU6050_RA_EXT_SENS_DATA_00 0x49
+#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
+#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
+#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
+#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
+#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
+#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
+#define MPU6050_RA_EXT_SENS_DATA_07 0x50
+#define MPU6050_RA_EXT_SENS_DATA_08 0x51
+#define MPU6050_RA_EXT_SENS_DATA_09 0x52
+#define MPU6050_RA_EXT_SENS_DATA_10 0x53
+#define MPU6050_RA_EXT_SENS_DATA_11 0x54
+#define MPU6050_RA_EXT_SENS_DATA_12 0x55
+#define MPU6050_RA_EXT_SENS_DATA_13 0x56
+#define MPU6050_RA_EXT_SENS_DATA_14 0x57
+#define MPU6050_RA_EXT_SENS_DATA_15 0x58
+#define MPU6050_RA_EXT_SENS_DATA_16 0x59
+#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
+#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
+#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
+#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
+#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
+#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
+#define MPU6050_RA_EXT_SENS_DATA_23 0x60
+#define MPU6050_RA_MOT_DETECT_STATUS    0x61
+#define MPU6050_RA_I2C_SLV0_DO      0x63
+#define MPU6050_RA_I2C_SLV1_DO      0x64
+#define MPU6050_RA_I2C_SLV2_DO      0x65
+#define MPU6050_RA_I2C_SLV3_DO      0x66
+#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
+#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
+#define MPU6050_RA_MOT_DETECT_CTRL      0x69
+#define MPU6050_RA_USER_CTRL        0x6A
+#define MPU6050_RA_PWR_MGMT_1       0x6B
+#define MPU6050_RA_PWR_MGMT_2       0x6C
+#define MPU6050_RA_BANK_SEL         0x6D
+#define MPU6050_RA_MEM_START_ADDR   0x6E
+#define MPU6050_RA_MEM_R_W          0x6F
+#define MPU6050_RA_DMP_CFG_1        0x70
+#define MPU6050_RA_DMP_CFG_2        0x71
+#define MPU6050_RA_FIFO_COUNTH      0x72
+#define MPU6050_RA_FIFO_COUNTL      0x73
+#define MPU6050_RA_FIFO_R_W         0x74
+#define MPU6050_RA_WHO_AM_I         0x75
+
+#define MPU6050_TC_PWR_MODE_BIT     7
+#define MPU6050_TC_OFFSET_BIT       6
+#define MPU6050_TC_OFFSET_LENGTH    6
+#define MPU6050_TC_OTP_BNK_VLD_BIT  0
+
+#define MPU6050_VDDIO_LEVEL_VLOGIC  0
+#define MPU6050_VDDIO_LEVEL_VDD     1
+
+#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
+#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
+#define MPU6050_CFG_DLPF_CFG_BIT    2
+#define MPU6050_CFG_DLPF_CFG_LENGTH 3
+
+#define MPU6050_EXT_SYNC_DISABLED       0x0
+#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
+#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
+#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
+#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
+#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
+#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
+#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
+
+#define MPU6050_DLPF_BW_256         0x00
+#define MPU6050_DLPF_BW_188         0x01
+#define MPU6050_DLPF_BW_98          0x02
+#define MPU6050_DLPF_BW_42          0x03
+#define MPU6050_DLPF_BW_20          0x04
+#define MPU6050_DLPF_BW_10          0x05
+#define MPU6050_DLPF_BW_5           0x06
+
+#define MPU6050_GCONFIG_FS_SEL_BIT      4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
+
+#define MPU6050_GYRO_FS_250         0x00
+#define MPU6050_GYRO_FS_500         0x01
+#define MPU6050_GYRO_FS_1000        0x02
+#define MPU6050_GYRO_FS_2000        0x03
+
+#define MPU6050_ACONFIG_XA_ST_BIT           7
+#define MPU6050_ACONFIG_YA_ST_BIT           6
+#define MPU6050_ACONFIG_ZA_ST_BIT           5
+#define MPU6050_ACONFIG_AFS_SEL_BIT         4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
+#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
+#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
+
+#define MPU6050_ACCEL_FS_2          0x00
+#define MPU6050_ACCEL_FS_4          0x01
+#define MPU6050_ACCEL_FS_8          0x02
+#define MPU6050_ACCEL_FS_16         0x03
+
+#define MPU6050_DHPF_RESET          0x00
+#define MPU6050_DHPF_5              0x01
+#define MPU6050_DHPF_2P5            0x02
+#define MPU6050_DHPF_1P25           0x03
+#define MPU6050_DHPF_0P63           0x04
+#define MPU6050_DHPF_HOLD           0x07
+
+#define MPU6050_TEMP_FIFO_EN_BIT    7
+#define MPU6050_XG_FIFO_EN_BIT      6
+#define MPU6050_YG_FIFO_EN_BIT      5
+#define MPU6050_ZG_FIFO_EN_BIT      4
+#define MPU6050_ACCEL_FIFO_EN_BIT   3
+#define MPU6050_SLV2_FIFO_EN_BIT    2
+#define MPU6050_SLV1_FIFO_EN_BIT    1
+#define MPU6050_SLV0_FIFO_EN_BIT    0
+
+#define MPU6050_MULT_MST_EN_BIT     7
+#define MPU6050_WAIT_FOR_ES_BIT     6
+#define MPU6050_SLV_3_FIFO_EN_BIT   5
+#define MPU6050_I2C_MST_P_NSR_BIT   4
+#define MPU6050_I2C_MST_CLK_BIT     3
+#define MPU6050_I2C_MST_CLK_LENGTH  4
+
+#define MPU6050_CLOCK_DIV_348       0x0
+#define MPU6050_CLOCK_DIV_333       0x1
+#define MPU6050_CLOCK_DIV_320       0x2
+#define MPU6050_CLOCK_DIV_308       0x3
+#define MPU6050_CLOCK_DIV_296       0x4
+#define MPU6050_CLOCK_DIV_286       0x5
+#define MPU6050_CLOCK_DIV_276       0x6
+#define MPU6050_CLOCK_DIV_267       0x7
+#define MPU6050_CLOCK_DIV_258       0x8
+#define MPU6050_CLOCK_DIV_500       0x9
+#define MPU6050_CLOCK_DIV_471       0xA
+#define MPU6050_CLOCK_DIV_444       0xB
+#define MPU6050_CLOCK_DIV_421       0xC
+#define MPU6050_CLOCK_DIV_400       0xD
+#define MPU6050_CLOCK_DIV_381       0xE
+#define MPU6050_CLOCK_DIV_364       0xF
+
+#define MPU6050_I2C_SLV_RW_BIT      7
+#define MPU6050_I2C_SLV_ADDR_BIT    6
+#define MPU6050_I2C_SLV_ADDR_LENGTH 7
+#define MPU6050_I2C_SLV_EN_BIT      7
+#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
+#define MPU6050_I2C_SLV_REG_DIS_BIT 5
+#define MPU6050_I2C_SLV_GRP_BIT     4
+#define MPU6050_I2C_SLV_LEN_BIT     3
+#define MPU6050_I2C_SLV_LEN_LENGTH  4
+
+#define MPU6050_I2C_SLV4_RW_BIT         7
+#define MPU6050_I2C_SLV4_ADDR_BIT       6
+#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
+#define MPU6050_I2C_SLV4_EN_BIT         7
+#define MPU6050_I2C_SLV4_INT_EN_BIT     6
+#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
+#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
+#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
+
+#define MPU6050_MST_PASS_THROUGH_BIT    7
+#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
+#define MPU6050_MST_I2C_LOST_ARB_BIT    5
+#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
+#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
+#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
+#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
+#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
+
+#define MPU6050_INTCFG_INT_LEVEL_BIT        7
+#define MPU6050_INTCFG_INT_OPEN_BIT         6
+#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
+#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
+#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
+#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
+#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
+#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
+
+#define MPU6050_INTMODE_ACTIVEHIGH  0x00
+#define MPU6050_INTMODE_ACTIVELOW   0x01
+
+#define MPU6050_INTDRV_PUSHPULL     0x00
+#define MPU6050_INTDRV_OPENDRAIN    0x01
+
+#define MPU6050_INTLATCH_50USPULSE  0x00
+#define MPU6050_INTLATCH_WAITCLEAR  0x01
+
+#define MPU6050_INTCLEAR_STATUSREAD 0x00
+#define MPU6050_INTCLEAR_ANYREAD    0x01
+
+#define MPU6050_INTERRUPT_FF_BIT            7
+#define MPU6050_INTERRUPT_MOT_BIT           6
+#define MPU6050_INTERRUPT_ZMOT_BIT          5
+#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
+#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
+#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
+#define MPU6050_INTERRUPT_DMP_INT_BIT       1
+#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
+
+// TODO: figure out what these actually do
+// UMPL source code is not very obivous
+#define MPU6050_DMPINT_5_BIT            5
+#define MPU6050_DMPINT_4_BIT            4
+#define MPU6050_DMPINT_3_BIT            3
+#define MPU6050_DMPINT_2_BIT            2
+#define MPU6050_DMPINT_1_BIT            1
+#define MPU6050_DMPINT_0_BIT            0
+
+#define MPU6050_MOTION_MOT_XNEG_BIT     7
+#define MPU6050_MOTION_MOT_XPOS_BIT     6
+#define MPU6050_MOTION_MOT_YNEG_BIT     5
+#define MPU6050_MOTION_MOT_YPOS_BIT     4
+#define MPU6050_MOTION_MOT_ZNEG_BIT     3
+#define MPU6050_MOTION_MOT_ZPOS_BIT     2
+#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
+
+#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
+#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
+#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
+#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
+#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
+#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
+
+#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
+#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
+#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
+
+#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
+#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
+#define MPU6050_DETECT_FF_COUNT_BIT             3
+#define MPU6050_DETECT_FF_COUNT_LENGTH          2
+#define MPU6050_DETECT_MOT_COUNT_BIT            1
+#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
+
+#define MPU6050_DETECT_DECREMENT_RESET  0x0
+#define MPU6050_DETECT_DECREMENT_1      0x1
+#define MPU6050_DETECT_DECREMENT_2      0x2
+#define MPU6050_DETECT_DECREMENT_4      0x3
+
+#define MPU6050_USERCTRL_DMP_EN_BIT             7
+#define MPU6050_USERCTRL_FIFO_EN_BIT            6
+#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
+#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
+#define MPU6050_USERCTRL_DMP_RESET_BIT          3
+#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
+#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
+#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
+
+#define MPU6050_PWR1_DEVICE_RESET_BIT   7
+#define MPU6050_PWR1_SLEEP_BIT          6
+#define MPU6050_PWR1_CYCLE_BIT          5
+#define MPU6050_PWR1_TEMP_DIS_BIT       3
+#define MPU6050_PWR1_CLKSEL_BIT         2
+#define MPU6050_PWR1_CLKSEL_LENGTH      3
+
+#define MPU6050_CLOCK_INTERNAL          0x00
+#define MPU6050_CLOCK_PLL_XGYRO         0x01
+#define MPU6050_CLOCK_PLL_YGYRO         0x02
+#define MPU6050_CLOCK_PLL_ZGYRO         0x03
+#define MPU6050_CLOCK_PLL_EXT32K        0x04
+#define MPU6050_CLOCK_PLL_EXT19M        0x05
+#define MPU6050_CLOCK_KEEP_RESET        0x07
+
+#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
+#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
+#define MPU6050_PWR2_STBY_XA_BIT            5
+#define MPU6050_PWR2_STBY_YA_BIT            4
+#define MPU6050_PWR2_STBY_ZA_BIT            3
+#define MPU6050_PWR2_STBY_XG_BIT            2
+#define MPU6050_PWR2_STBY_YG_BIT            1
+#define MPU6050_PWR2_STBY_ZG_BIT            0
+
+#define MPU6050_WAKE_FREQ_1P25      0x0
+#define MPU6050_WAKE_FREQ_2P5       0x1
+#define MPU6050_WAKE_FREQ_5         0x2
+#define MPU6050_WAKE_FREQ_10        0x3
+
+#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
+#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
+#define MPU6050_BANKSEL_MEM_SEL_BIT         4
+#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
+
+#define MPU6050_WHO_AM_I_BIT        6
+#define MPU6050_WHO_AM_I_LENGTH     6
+
+#define MPU6050_DMP_MEMORY_BANKS        8
+#define MPU6050_DMP_MEMORY_BANK_SIZE    256
+#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
+
+// note: DMP code memory blocks defined at end of header file
+
+class MPU6050 {
+    public:
+        MPU6050();
+        MPU6050(uint8_t address);
+
+        void initialize();
+        bool testConnection();
+
+        // AUX_VDDIO register
+        uint8_t getAuxVDDIOLevel();
+        void setAuxVDDIOLevel(uint8_t level);
+
+        // SMPLRT_DIV register
+        uint8_t getRate();
+        void setRate(uint8_t rate);
+
+        // CONFIG register
+        uint8_t getExternalFrameSync();
+        void setExternalFrameSync(uint8_t sync);
+        uint8_t getDLPFMode();
+        void setDLPFMode(uint8_t bandwidth);
+
+        // GYRO_CONFIG register
+        uint8_t getFullScaleGyroRange();
+        void setFullScaleGyroRange(uint8_t range);
+
+        // 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 getXGyroOffset();
+        void setXGyroOffset(int8_t offset);
+
+        // YG_OFFS_TC register
+        int8_t getYGyroOffset();
+        void setYGyroOffset(int8_t offset);
+
+        // ZG_OFFS_TC register
+        int8_t getZGyroOffset();
+        void setZGyroOffset(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 getXGyroOffsetUser();
+        void setXGyroOffsetUser(int16_t offset);
+
+        // YG_OFFS_USR* register
+        int16_t getYGyroOffsetUser();
+        void setYGyroOffsetUser(int16_t offset);
+
+        // ZG_OFFS_USR* register
+        int16_t getZGyroOffsetUser();
+        void setZGyroOffsetUser(int16_t offset);
+        
+        // INT_ENABLE register (DMP functions)
+        bool getIntPLLReadyEnabled();
+        void setIntPLLReadyEnabled(bool enabled);
+        bool getIntDMPEnabled();
+        void setIntDMPEnabled(bool enabled);
+        
+        // DMP_INT_STATUS
+        bool getDMPInt5Status();
+        bool getDMPInt4Status();
+        bool getDMPInt3Status();
+        bool getDMPInt2Status();
+        bool getDMPInt1Status();
+        bool getDMPInt0Status();
+
+        // INT_STATUS register (DMP functions)
+        bool getIntPLLReadyStatus();
+        bool getIntDMPStatus();
+        
+        // USER_CTRL register (DMP functions)
+        bool getDMPEnabled();
+        void setDMPEnabled(bool enabled);
+        void resetDMP();
+        
+        // BANK_SEL register
+        void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
+        
+        // MEM_START_ADDR register
+        void setMemoryStartAddress(uint8_t address);
+        
+        // MEM_R_W register
+        uint8_t readMemoryByte();
+        void writeMemoryByte(uint8_t data);
+        void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
+        bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
+        bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
+
+        bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
+        bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
+
+        // DMP_CFG_1 register
+        uint8_t getDMPConfig1();
+        void setDMPConfig1(uint8_t config);
+
+        // DMP_CFG_2 register
+        uint8_t getDMPConfig2();
+        void setDMPConfig2(uint8_t config);
+
+        // special methods for MotionApps 2.0 implementation
+        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
+            uint8_t *dmpPacketBuffer;
+            uint16_t dmpPacketSize;
+
+            uint8_t dmpInitialize();
+            bool dmpPacketAvailable();
+
+            uint8_t dmpSetFIFORate(uint8_t fifoRate);
+            uint8_t dmpGetFIFORate();
+            uint8_t dmpGetSampleStepSizeMS();
+            uint8_t dmpGetSampleFrequency();
+            int32_t dmpDecodeTemperature(int8_t tempReg);
+            
+            // Register callbacks after a packet of FIFO data is processed
+            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+            uint8_t dmpRunFIFORateProcesses();
+            
+            // Setup FIFO for various output
+            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+            // Get Fixed Point data from FIFO
+            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
+            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
+            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
+            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
+            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
+            
+            uint8_t dmpGetEuler(float *data, Quaternion *q);
+            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
+
+            // Get Floating Point data from FIFO
+            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
+
+            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
+            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
+
+            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
+
+            uint8_t dmpInitFIFOParam();
+            uint8_t dmpCloseFIFO();
+            uint8_t dmpSetGyroDataSource(uint8_t source);
+            uint8_t dmpDecodeQuantizedAccel();
+            uint32_t dmpGetGyroSumOfSquare();
+            uint32_t dmpGetAccelSumOfSquare();
+            void dmpOverrideQuaternion(long *q);
+            uint16_t dmpGetFIFOPacketSize();
+        #endif
+
+        // special methods for MotionApps 4.1 implementation
+        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
+            uint8_t *dmpPacketBuffer;
+            uint16_t dmpPacketSize;
+
+            uint8_t dmpInitialize();
+            bool dmpPacketAvailable();
+
+            uint8_t dmpSetFIFORate(uint8_t fifoRate);
+            uint8_t dmpGetFIFORate();
+            uint8_t dmpGetSampleStepSizeMS();
+            uint8_t dmpGetSampleFrequency();
+            int32_t dmpDecodeTemperature(int8_t tempReg);
+            
+            // Register callbacks after a packet of FIFO data is processed
+            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+            uint8_t dmpRunFIFORateProcesses();
+            
+            // Setup FIFO for various output
+            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+            // Get Fixed Point data from FIFO
+            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
+            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
+            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
+            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
+            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
+            
+            uint8_t dmpGetEuler(float *data, Quaternion *q);
+            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
+
+            // Get Floating Point data from FIFO
+            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
+
+            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
+            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
+
+            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
+
+            uint8_t dmpInitFIFOParam();
+            uint8_t dmpCloseFIFO();
+            uint8_t dmpSetGyroDataSource(uint8_t source);
+            uint8_t dmpDecodeQuantizedAccel();
+            uint32_t dmpGetGyroSumOfSquare();
+            uint32_t dmpGetAccelSumOfSquare();
+            void dmpOverrideQuaternion(long *q);
+            uint16_t dmpGetFIFOPacketSize();
+        #endif
+
+    private:
+        uint8_t devAddr;
+        uint8_t buffer[14];
+};
+
+#endif /* _MPU6050_H_ */
diff --git a/Code/C_Code/25.1.1_MPU6050/MPU6050RAW.cpp b/Code/C_Code/25.1.1_MPU6050/MPU6050RAW.cpp
new file mode 100644
index 0000000..7961cf1
--- /dev/null
+++ b/Code/C_Code/25.1.1_MPU6050/MPU6050RAW.cpp
@@ -0,0 +1,45 @@
+/**********************************************************************
+* Filename    : MPU6050RAW.c
+* Description : Read the Raw data of MPU6050
+* Author      : freenove
+* modification: 2016/07/18
+**********************************************************************/
+#include <stdio.h>
+#include <stdint.h>
+#include <unistd.h>
+#include "I2Cdev.h"
+#include "MPU6050.h"
+
+MPU6050 accelgyro;      //instantiate a MPU6050 class object
+
+int16_t ax, ay, az;     //store acceleration data
+int16_t gx, gy, gz;     //store gyroscope data
+
+void setup() {
+    // initialize device
+    printf("Initializing I2C devices...\n");
+    accelgyro.initialize();     //initialize MPU6050
+
+    // verify connection
+    printf("Testing device connections...\n");
+    printf(accelgyro.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
+}
+
+void loop() {
+    // read raw accel/gyro measurements from device
+    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+    // display accel/gyro x/y/z values
+    printf("a/g: %6hd %6hd %6hd   %6hd %6hd %6hd\n",ax,ay,az,gx,gy,gz);
+    printf("a/g: %.2f g %.2f g %.2f g   %.2f d/s %.2f d/s %.2f d/s \n",(float)ax/16384,(float)ay/16384,(float)az/16384,
+        (float)gx/131,(float)gy/131,(float)gz/131);
+}
+
+int main()
+{
+    setup();
+    while(1){
+        loop();
+    }
+    return 0;
+}
+
diff --git a/Code/C_Code/25.1.1_MPU6050/mpu b/Code/C_Code/25.1.1_MPU6050/mpu
new file mode 100644
index 0000000..20f7fc0
Binary files /dev/null and b/Code/C_Code/25.1.1_MPU6050/mpu differ
diff --git a/Code/C_Code/27.2.1_LightWater03/LightWater03 b/Code/C_Code/27.2.1_LightWater03/LightWater03
new file mode 100644
index 0000000..b30bbbf
Binary files /dev/null and b/Code/C_Code/27.2.1_LightWater03/LightWater03 differ
diff --git a/Code/C_Code/27.2.1_LightWater03/LightWater03.c b/Code/C_Code/27.2.1_LightWater03/LightWater03.c
new file mode 100644
index 0000000..e375214
--- /dev/null
+++ b/Code/C_Code/27.2.1_LightWater03/LightWater03.c
@@ -0,0 +1,54 @@
+/**********************************************************************
+* Filename    : LightWater03.c
+* Description : Control LED by 74HC595 on the DIY circuit board
+* Author      : freenove
+* modification: 2016/08/16
+**********************************************************************/
+#include <wiringPi.h>
+#include <stdio.h>
+#include <wiringShift.h>
+#include <unistd.h>
+
+#define   dataPin   0   //DS Pin of 74HC595(Pin14)
+#define   latchPin  2   //ST_CP Pin of 74HC595(Pin12)
+#define   clockPin 3    //SH_CP Pin of 74HC595(Pin11)
+//Define an array to save the pulse width of LED. Output the signal to the 8 adjacent LEDs in order.
+const int pluseWidth[]={0,0,0,0,0,0,0,0,64,32,16,8,4,2,1,0,0,0,0,0,0,0,0};
+void outData(int8_t data){
+	digitalWrite(latchPin,LOW);
+	shiftOut(dataPin,clockPin,LSBFIRST,data);
+	digitalWrite(latchPin,HIGH);
+}
+int main(void)
+{
+	int i,j,index;	//index:current position in array pluseWidth
+	int moveSpeed = 100;	//move speed delay, the larger, the slower
+	long lastMove;			//Record the last time point of the move
+	if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
+		printf("setup wiringPi failed !");
+		return 1; 
+	}
+	pinMode(dataPin,OUTPUT);
+	pinMode(latchPin,OUTPUT);
+	pinMode(clockPin,OUTPUT);
+	index = 0;		//Starting from the array index 0
+	lastMove = millis();	//the start time
+	while(1){
+		if(millis() - lastMove > moveSpeed) { //speed control
+			lastMove = millis();	//Record the time point of the move
+			index++;		//move to next 
+			if(index > 15) index = 0; 	//index to 0
+		}
+		for(i=0;i<64;i++){		//The cycle of PWM is 64 cycles
+			int8_t data = 0;	//This loop of output data
+			for(j=0;j<8;j++){	//Calculate the output state of this loop
+				if(i < pluseWidth[index+j]){	//Calculate the LED state according to the pulse width 
+					data |= 0x01<<j ;	//Calculate the data
+				}				
+			}
+			outData(data);		//Send the data to 74HC595
+		}
+	}
+	return 0;
+}
+
diff --git a/Code/Python_Code/01.1.1_Blink/Blink.py b/Code/Python_Code/01.1.1_Blink/Blink.py
new file mode 100644
index 0000000..e0996b9
--- /dev/null
+++ b/Code/Python_Code/01.1.1_Blink/Blink.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : Blink.py
+# Description : Make an led blinking.
+# auther      : www.freenove.com
+# modification: 2016/06/07
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+ledPin = 11    # RPI Board pin11
+
+def setup():
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(ledPin, GPIO.OUT)   # Set ledPin's mode is output
+	GPIO.output(ledPin, GPIO.LOW) # Set ledPin low to off led
+	print 'using pin%d'%ledPin
+
+def loop():
+	while True:
+		GPIO.output(ledPin, GPIO.HIGH)  # led on
+		print '...led on'
+		time.sleep(1)	
+		GPIO.output(ledPin, GPIO.LOW) # led off
+		print 'led off...'
+		time.sleep(1)
+
+def destroy():
+	GPIO.output(ledPin, GPIO.LOW)     # led off
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/02.1.1_ButtonLED/ButtonLED.py b/Code/Python_Code/02.1.1_ButtonLED/ButtonLED.py
new file mode 100644
index 0000000..bcb53ec
--- /dev/null
+++ b/Code/Python_Code/02.1.1_ButtonLED/ButtonLED.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : ButtonLED.py
+# Description : Controlling an led by button.
+# Author      : freenove
+# modification: 2016/06/12
+########################################################################
+import RPi.GPIO as GPIO
+
+ledPin = 11    # define the ledPin
+buttonPin = 12    # define the buttonPin
+
+def setup():
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(ledPin, GPIO.OUT)   # Set ledPin's mode is output
+	GPIO.setup(buttonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)    # Set buttonPin's mode is input, and pull up to high level(3.3V)
+
+def loop():
+	while True:
+		if GPIO.input(buttonPin)==GPIO.LOW:
+			GPIO.output(ledPin,GPIO.HIGH)
+			print 'led on ...'
+		else :
+			GPIO.output(ledPin,GPIO.LOW)
+			print 'led off ...'		
+
+def destroy():
+	GPIO.output(ledPin, GPIO.LOW)     # led off
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/02.2.1_Tablelamp/Tablelamp.py b/Code/Python_Code/02.2.1_Tablelamp/Tablelamp.py
new file mode 100644
index 0000000..a5b70e0
--- /dev/null
+++ b/Code/Python_Code/02.2.1_Tablelamp/Tablelamp.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : Tablelamp.py
+# Description : a DIY MINI table lamp
+# Author      : freenove
+# modification: 2016/06/12
+########################################################################
+import RPi.GPIO as GPIO
+
+ledPin = 11    # define the ledPin
+buttonPin = 12    # define the buttonPin
+ledState = False
+
+def setup():
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(ledPin, GPIO.OUT)   # Set ledPin's mode is output
+	GPIO.setup(buttonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)    # Set buttonPin's mode is input, and pull up to high
+
+def buttonEvent(channel):#When the button is pressed, this function will be executed
+	global ledState 
+	print 'buttonEvent GPIO%d'%channel
+	ledState = not ledState
+	if ledState :
+		print 'Turn on LED ... '
+	else :
+		print 'Turn off LED ... '
+	GPIO.output(ledPin,ledState)
+	
+def loop():
+	#Button detect 
+	GPIO.add_event_detect(buttonPin,GPIO.FALLING,callback = buttonEvent,bouncetime=300)
+	while True:
+		pass
+				
+def destroy():
+	GPIO.output(ledPin, GPIO.LOW)     # led off
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/03.1.1_LightWater/LightWater.py b/Code/Python_Code/03.1.1_LightWater/LightWater.py
new file mode 100644
index 0000000..f0f3fc8
--- /dev/null
+++ b/Code/Python_Code/03.1.1_LightWater/LightWater.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : LightWater.py
+# Description : Display 10 LEDBar Graph
+# Author      : freenove
+# modification: 2016/06/13
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+ledPins = [11, 12, 13, 15, 16, 18, 22, 3, 5, 24]
+
+def setup():
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)        # Numbers GPIOs by physical location
+	for pin in ledPins:
+		GPIO.setup(pin, GPIO.OUT)   # Set all ledPins' mode is output
+		GPIO.output(pin, GPIO.HIGH) # Set all ledPins to high(+3.3V) to off led
+
+def loop():
+	while True:
+		for pin in ledPins:		#make led on from left to right
+			GPIO.output(pin, GPIO.LOW)	
+			time.sleep(0.1)
+			GPIO.output(pin, GPIO.HIGH)
+		for pin in ledPins[10:0:-1]:		#make led on from right to left
+			GPIO.output(pin, GPIO.LOW)	
+			time.sleep(0.1)
+			GPIO.output(pin, GPIO.HIGH)
+
+def destroy():
+	for pin in ledPins:
+		GPIO.output(pin, GPIO.HIGH)    # turn off all leds
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/04.1.1_BreathingLED/BreathingLED.py b/Code/Python_Code/04.1.1_BreathingLED/BreathingLED.py
new file mode 100644
index 0000000..1597e2c
--- /dev/null
+++ b/Code/Python_Code/04.1.1_BreathingLED/BreathingLED.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : BreathingLED.py
+# Description : A breathing LED
+# Author      : freenove
+# modification: 2016/06/14
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+LedPin = 12
+
+def setup():
+	global p
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(LedPin, GPIO.OUT)   # Set LedPin's mode is output
+	GPIO.output(LedPin, GPIO.LOW)  # Set LedPin to low
+
+	p = GPIO.PWM(LedPin, 1000)     # set Frequece to 1KHz
+	p.start(0)                     # Duty Cycle = 0
+
+def loop():
+	while True:
+		for dc in range(0, 101, 1):   # Increase duty cycle: 0~100
+			p.ChangeDutyCycle(dc)     # Change duty cycle
+			time.sleep(0.01)
+		time.sleep(1)
+		for dc in range(100, -1, -1): # Decrease duty cycle: 100~0
+			p.ChangeDutyCycle(dc)
+			time.sleep(0.01)
+		time.sleep(1)
+
+def destroy():
+	p.stop()
+	GPIO.output(LedPin, GPIO.LOW)    # turn off led
+	GPIO.cleanup()
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
diff --git a/Code/Python_Code/05.1.1_ColorfulLED/ColorfulLED.py b/Code/Python_Code/05.1.1_ColorfulLED/ColorfulLED.py
new file mode 100644
index 0000000..ccdcd5c
--- /dev/null
+++ b/Code/Python_Code/05.1.1_ColorfulLED/ColorfulLED.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : ColorfulLED.py
+# Description : A auto flash ColorfulLED
+# Author      : freenove
+# modification: 2016/06/15
+########################################################################
+import RPi.GPIO as GPIO
+import time
+import random
+
+pins = {'pin_R':11, 'pin_G':12, 'pin_B':13}  # pins is a dict
+
+def setup():
+	global p_R,p_G,p_B
+	print 'Program is starting ... '
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	for i in pins:
+		GPIO.setup(pins[i], GPIO.OUT)   # Set pins' mode is output
+		GPIO.output(pins[i], GPIO.HIGH) # Set pins to high(+3.3V) to off led
+	p_R = GPIO.PWM(pins['pin_R'], 2000)  # set Frequece to 2KHz
+	p_G = GPIO.PWM(pins['pin_G'], 2000)
+	p_B = GPIO.PWM(pins['pin_B'], 2000)
+	p_R.start(0)      # Initial duty Cycle = 0
+	p_G.start(0)
+	p_B.start(0)
+
+def setColor(r_val,g_val,b_val):   
+	p_R.ChangeDutyCycle(r_val)     # Change duty cycle
+	p_G.ChangeDutyCycle(g_val)
+	p_B.ChangeDutyCycle(b_val)
+
+def loop():
+	while True :
+		r=random.randint(0,100)#get a random in (0,100)
+		g=random.randint(0,100)
+		b=random.randint(0,100)
+		setColor(r,g,b)#set random as a duty cycle value 
+		print 'r=%d, g=%d, b=%d '%(r ,g, b)
+		time.sleep(0.3)
+		
+def destroy():
+	p_R.stop()
+	p_G.stop()
+	p_B.stop()
+	GPIO.cleanup()
+	
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
diff --git a/Code/Python_Code/06.1.1_Doorbell/Doorbell.py b/Code/Python_Code/06.1.1_Doorbell/Doorbell.py
new file mode 100644
index 0000000..c038f9e
--- /dev/null
+++ b/Code/Python_Code/06.1.1_Doorbell/Doorbell.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : Doorbell.py
+# Description : Controlling an buzzer by button.
+# Author      : freenove
+# modification: 2016/06/12
+########################################################################
+import RPi.GPIO as GPIO
+
+buzzerPin = 11    # define the buzzerPin
+buttonPin = 12    # define the buttonPin
+
+def setup():
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(buzzerPin, GPIO.OUT)   # Set buzzerPin's mode is output
+	GPIO.setup(buttonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)    # Set buttonPin's mode is input, and pull up to high level(3.3V)
+
+def loop():
+	while True:
+		if GPIO.input(buttonPin)==GPIO.LOW:
+			GPIO.output(buzzerPin,GPIO.HIGH)
+			print 'buzzer on ...'
+		else :
+			GPIO.output(buzzerPin,GPIO.LOW)
+			print 'buzzer off ...'		
+
+def destroy():
+	GPIO.output(buzzerPin, GPIO.LOW)     # buzzer off
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/06.2.1_Alertor/Alertor.py b/Code/Python_Code/06.2.1_Alertor/Alertor.py
new file mode 100644
index 0000000..bbfb6e6
--- /dev/null
+++ b/Code/Python_Code/06.2.1_Alertor/Alertor.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : Alertor.py
+# Description : Alarm by button.
+# Author      : freenove
+# modification: 2016/06/14
+########################################################################
+import RPi.GPIO as GPIO
+import time
+import math
+
+buzzerPin = 11    # define the buzzerPin
+buttonPin = 12    # define the buttonPin
+
+def setup():
+	global p
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(buzzerPin, GPIO.OUT)   # Set buzzerPin's mode is output
+	GPIO.setup(buttonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)    # Set buttonPin's mode is input, and pull up to high level(3.3V)
+	p = GPIO.PWM(buzzerPin, 1)
+	p.start(0);
+	
+def loop():
+	while True:
+		if GPIO.input(buttonPin)==GPIO.LOW:
+			alertor()
+			print 'buzzer on ...'
+		else :
+			stopAlertor()
+			print 'buzzer off ...'		
+def alertor():
+	p.start(50)
+	for x in range(0,361):		#frequency of the alarm along the sine wave change
+		sinVal = math.sin(x * (math.pi / 180.0))		#calculate the sine value
+		toneVal = 2000 + sinVal * 500	#Add to the resonant frequency with a Weighted
+		p.ChangeFrequency(toneVal)		#output PWM
+		time.sleep(0.001)
+		
+def stopAlertor():
+	p.stop()
+			
+def destroy():
+	GPIO.output(buzzerPin, GPIO.LOW)     # buzzer off
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/07.1.1_PCF8591/PCF8591.py b/Code/Python_Code/07.1.1_PCF8591/PCF8591.py
new file mode 100644
index 0000000..c4c6cbf
--- /dev/null
+++ b/Code/Python_Code/07.1.1_PCF8591/PCF8591.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : PCF8591.py
+# Description : ADC and DAC
+# Author      : freenove
+# modification: 2016/06/18
+########################################################################
+import smbus
+import time
+
+address = 0x48	#default address of PCF8591
+bus=smbus.SMBus(1)
+cmd=0x40		#command
+
+def analogRead(chn):#read ADC value，chn:0,1,2,3
+	value = bus.read_byte_data(address,cmd+chn)
+	return value
+	
+def analogWrite(value):#write DAC value
+	bus.write_byte_data(address,cmd,value)	
+	
+def loop():
+	while True:
+		value = analogRead(0)	#read the ADC value of channel 0
+		analogWrite(value)		#write the DAC value
+		voltage = value / 255.0 * 3.3  #calculate the voltage value
+		print 'ADC Value : %d, Voltage : %.2f'%(value,voltage)
+		time.sleep(0.01)
+
+def destroy():
+	bus.close()
+	
+if __name__ == '__main__':
+	print 'Program is starting ... '
+	try:
+		loop()
+	except KeyboardInterrupt:
+		destroy()
+		
+	
diff --git a/Code/Python_Code/08.1.1_SoftLight/SoftLight.py b/Code/Python_Code/08.1.1_SoftLight/SoftLight.py
new file mode 100644
index 0000000..fed1222
--- /dev/null
+++ b/Code/Python_Code/08.1.1_SoftLight/SoftLight.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : Softlight.py
+# Description : Potentiometer control LED
+# Author      : freenove
+# modification: 2016/06/18
+########################################################################
+import RPi.GPIO as GPIO
+import smbus
+import time
+
+address = 0x48
+bus=smbus.SMBus(1)
+cmd=0x40
+ledPin = 11
+
+def analogRead(chn):
+	value = bus.read_byte_data(address,cmd+chn)
+	return value
+	
+def analogWrite(value):
+	bus.write_byte_data(address,cmd,value)	
+
+def setup():
+	global p
+	GPIO.setmode(GPIO.BOARD)
+	GPIO.setup(ledPin,GPIO.OUT)
+	GPIO.output(ledPin,GPIO.LOW)
+	
+	p = GPIO.PWM(ledPin,1000)
+	p.start(0)
+	
+def loop():
+	while True:
+		value = analogRead(0)		#read A0 pin 
+		p.ChangeDutyCycle(value*100/255)		#Convert ADC value to duty cycle of PWM 
+		voltage = value / 255.0 * 3.3			#calculate voltage
+		print 'ADC Value : %d, Voltage : %.2f'%(value,voltage)
+		time.sleep(0.01)
+
+def destroy():
+	bus.close()
+	GPIO.cleanup()
+	
+if __name__ == '__main__':
+	print 'Program is starting ... '
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:
+		destroy()
+		
+	
diff --git a/Code/Python_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.py b/Code/Python_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.py
new file mode 100644
index 0000000..4278aae
--- /dev/null
+++ b/Code/Python_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : Softlight.py
+# Description : Potentiometer control LED
+# Author      : freenove
+# modification: 2016/06/18
+########################################################################
+import RPi.GPIO as GPIO
+import smbus
+import time
+
+address = 0x48
+bus=smbus.SMBus(1)
+cmd=0x40
+
+ledRedPin = 15      #define 3 pins of RGBLED
+ledGreenPin = 13
+ledBluePin = 11
+
+def analogRead(chn):    #read ADC value
+    bus.write_byte(address,cmd+chn)
+    value = bus.read_byte(address)
+    value = bus.read_byte(address)
+    return value
+    
+def analogWrite(value):
+    bus.write_byte_data(address,cmd,value)  
+
+def setup():
+    global p_Red,p_Green,p_Blue
+    GPIO.setmode(GPIO.BOARD)
+    GPIO.setup(ledRedPin,GPIO.OUT)      #set 3 pins of RGBLED to output mode
+    GPIO.setup(ledGreenPin,GPIO.OUT)
+    GPIO.setup(ledBluePin,GPIO.OUT)
+    
+    p_Red = GPIO.PWM(ledRedPin,1000)    #configure PMW to 3 pins of RGBLED
+    p_Red.start(0)
+    p_Green = GPIO.PWM(ledGreenPin,1000)
+    p_Green.start(0)
+    p_Blue = GPIO.PWM(ledBluePin,1000)
+    p_Blue.start(0)
+    
+def loop():
+    while True:     
+        value_Red = analogRead(0)       #read ADC value of 3 potentiometers
+        value_Green = analogRead(1)
+        value_Blue = analogRead(2)
+        p_Red.ChangeDutyCycle(value_Red*100/255)  #map the read value of potentiometers into PWM value and output it 
+        p_Green.ChangeDutyCycle(value_Green*100/255)
+        p_Blue.ChangeDutyCycle(value_Blue*100/255)
+        #print read ADC value
+        print 'ADC Value value_Red: %d ,\tvlue_Green: %d ,\tvalue_Blue: %d'%(value_Red,value_Green,value_Blue)
+        time.sleep(0.01)
+
+def destroy():
+    bus.close()
+    GPIO.cleanup()
+    
+if __name__ == '__main__':
+    print 'Program is starting ... '
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:
+        destroy()
+
+		
+	
diff --git a/Code/Python_Code/10.1.1_Nightlamp/Nightlamp.py b/Code/Python_Code/10.1.1_Nightlamp/Nightlamp.py
new file mode 100644
index 0000000..86b28c5
--- /dev/null
+++ b/Code/Python_Code/10.1.1_Nightlamp/Nightlamp.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : Nightlamp.py
+# Description : Photoresistor control LED
+# Author      : freenove
+# modification: 2016/06/18
+########################################################################
+import RPi.GPIO as GPIO
+import smbus
+import time
+
+address = 0x48
+bus=smbus.SMBus(1)
+cmd=0x40
+ledPin = 11
+
+def analogRead(chn):
+	value = bus.read_byte_data(address,cmd+chn)
+	return value
+	
+def analogWrite(value):
+	bus.write_byte_data(address,cmd,value)	
+
+def setup():
+	global p
+	GPIO.setmode(GPIO.BOARD)
+	GPIO.setup(ledPin,GPIO.OUT)
+	GPIO.output(ledPin,GPIO.LOW)
+	
+	p = GPIO.PWM(ledPin,1000)
+	p.start(0)
+	
+def loop():
+	while True:
+		value = analogRead(0)
+		p.ChangeDutyCycle(value*100/255)
+		voltage = value / 255.0 * 3.3
+		print 'ADC Value : %d, Voltage : %.2f'%(value,voltage)
+		time.sleep(0.01)
+
+def destroy():
+	bus.close()
+	GPIO.cleanup()
+	
+if __name__ == '__main__':
+	print 'Program is starting ... '
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:
+		destroy()
+		
+	
diff --git a/Code/Python_Code/11.1.1_Thermometer/Thermometer.py b/Code/Python_Code/11.1.1_Thermometer/Thermometer.py
new file mode 100644
index 0000000..dd0259e
--- /dev/null
+++ b/Code/Python_Code/11.1.1_Thermometer/Thermometer.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : Thermometer.py
+# Description : A DIY Thermometer
+# Author      : freenove
+# modification: 2016/06/20
+########################################################################
+import RPi.GPIO as GPIO
+import smbus
+import time
+import math
+
+address = 0x48
+bus=smbus.SMBus(1)
+cmd=0x40
+
+def analogRead(chn):
+	value = bus.read_byte_data(address,cmd+chn)
+	return value
+	
+def analogWrite(value):
+	bus.write_byte_data(address,cmd,value)	
+	
+def setup():
+	GPIO.setmode(GPIO.BOARD)
+	
+def loop():
+	while True:
+		value = analogRead(0)		#read A0 pin
+		voltage = value / 255.0 * 3.3		#calculate voltage
+		Rt = 10 * voltage / (3.3 - voltage)	#calculate resistance value of thermistor
+		tempK = 1/(1/(273.15 + 25) + math.log(Rt/10)/3950.0) #calculate temperature (Kelvin)
+		tempC = tempK -273.15		#calculate temperature (Celsius)
+		print 'ADC Value : %d, Voltage : %.2f, Temperature : %.2f'%(value,voltage,tempC)
+		time.sleep(0.01)
+
+def destroy():
+	GPIO.cleanup()
+	
+if __name__ == '__main__':
+	print 'Program is starting ... '
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:
+		destroy()
+		
+	
diff --git a/Code/Python_Code/12.1.1_Joystick/Joystick.py b/Code/Python_Code/12.1.1_Joystick/Joystick.py
new file mode 100644
index 0000000..7dd455e
--- /dev/null
+++ b/Code/Python_Code/12.1.1_Joystick/Joystick.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : Joystick.py
+# Description : Read Joystick
+# Author      : freenove
+# modification: 2016/06/18
+########################################################################
+import RPi.GPIO as GPIO
+import smbus
+import time
+
+address = 0x48
+bus=smbus.SMBus(1)
+cmd=0x40
+Z_Pin = 12      #define pin for Z_Pin
+def analogRead(chn):        #read ADC value
+    bus.write_byte(address,cmd+chn)
+    value = bus.read_byte(address)
+    value = bus.read_byte(address)
+    #value = bus.read_byte_data(address,cmd+chn)
+    return value
+    
+def analogWrite(value):
+    bus.write_byte_data(address,cmd,value)  
+
+def setup():
+    global p_Red,p_Green,p_Blue
+    GPIO.setmode(GPIO.BOARD)        
+    GPIO.setup(Z_Pin,GPIO.IN,GPIO.PUD_UP)   #set Z_Pin to pull-up mode
+def loop():
+    while True:     
+        val_Z = GPIO.input(Z_Pin)       #read digital quality of axis Z
+        val_Y = analogRead(1)           #read analog quality of axis X and Y
+        val_X = analogRead(2)
+        print 'value_X: %d ,\tvlue_Y: %d ,\tvalue_Z: %d'%(val_X,val_Y,val_Z)
+        time.sleep(0.01)
+
+def destroy():
+    bus.close()
+    GPIO.cleanup()
+    
+if __name__ == '__main__':
+    print 'Program is starting ... '
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:
+        destroy()
+
+		
+	
diff --git a/Code/Python_Code/13.1.1_Motor/Motor.py b/Code/Python_Code/13.1.1_Motor/Motor.py
new file mode 100644
index 0000000..42c9e40
--- /dev/null
+++ b/Code/Python_Code/13.1.1_Motor/Motor.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : Motor.py
+# Description : Control Motor by L293D
+# Author      : freenove
+# modification: 2016/06/21
+########################################################################
+import RPi.GPIO as GPIO
+import smbus
+import time
+
+address = 0x48
+bus=smbus.SMBus(1)
+cmd=0x40
+# define the pin connected to L293D 
+motoRPin1 = 13
+motoRPin2 = 11
+enablePin = 15
+
+def analogRead(chn):
+    value = bus.read_byte_data(address,cmd+chn)
+    return value
+    
+def analogWrite(value):
+    bus.write_byte_data(address,cmd,value)  
+
+def setup():
+    global p
+    GPIO.setmode(GPIO.BOARD)    # set mode for pin
+    GPIO.setup(motoRPin1,GPIO.OUT)
+    GPIO.setup(motoRPin2,GPIO.OUT)
+    GPIO.setup(enablePin,GPIO.OUT)
+        
+    p = GPIO.PWM(enablePin,1000)# creat PWM
+    p.start(0)
+#mapNUM function: map the value from a range of mapping to another range.
+
+def mapNUM(value,fromLow,fromHigh,toLow,toHigh):
+    return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow
+#motor function: determine the direction and speed of the motor according to the ADC value to be input.
+def motor(ADC):
+    value = ADC -128
+    if (value > 0):
+        GPIO.output(motoRPin1,GPIO.HIGH)
+        GPIO.output(motoRPin2,GPIO.LOW)
+        print 'Turn Forward...'
+    elif (value < 0):
+        GPIO.output(motoRPin1,GPIO.LOW)
+        GPIO.output(motoRPin2,GPIO.HIGH)
+        print 'Turn Backward...'
+    else :
+        GPIO.output(motoRPin1,GPIO.LOW)
+        GPIO.output(motoRPin2,GPIO.LOW)
+        print 'Motor Stop...'
+    p.start(mapNUM(abs(value),0,128,0,100))
+    print 'The PWM duty cycle is %d%%\n'%(abs(value)*100/127)   #print PMW duty cycle.
+
+def loop():
+    while True:
+        value = analogRead(0)
+        print 'ADC Value : %d'%(value)
+        motor(value)
+        time.sleep(0.01)
+
+def destroy():
+    bus.close()
+    GPIO.cleanup()
+    
+if __name__ == '__main__':
+    print 'Program is starting ... '
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:
+        destroy()
+
diff --git a/Code/Python_Code/14.1.1_Relay/Relay.py b/Code/Python_Code/14.1.1_Relay/Relay.py
new file mode 100644
index 0000000..6dec590
--- /dev/null
+++ b/Code/Python_Code/14.1.1_Relay/Relay.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : Relay.py
+# Description : Button control Relay and Motor
+# Author      : freenove
+# modification: 2016/07/04
+########################################################################
+import RPi.GPIO as GPIO
+
+relayPin = 11    # define the relayPin
+buttonPin = 12    # define the buttonPin
+relayState = False
+
+def setup():
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(relayPin, GPIO.OUT)   # Set relayPin's mode is output
+	GPIO.setup(buttonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)    # Set buttonPin's mode is input, and pull up to high
+
+def buttonEvent(channel):
+	global relayState 
+	print 'buttonEvent GPIO%d'%channel
+	relayState = not relayState
+	if relayState :
+		print 'Turn on relay ... '
+	else :
+		print 'Turn off relay ... '
+	GPIO.output(relayPin,relayState)
+	
+def loop():
+	#Button detect 
+	GPIO.add_event_detect(buttonPin,GPIO.FALLING,callback = buttonEvent,bouncetime=300)
+	while True:
+		pass
+	
+def destroy():
+	GPIO.output(relayPin, GPIO.LOW)     # relay off
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/15.1.1_Sweep/Sweep.py b/Code/Python_Code/15.1.1_Sweep/Sweep.py
new file mode 100644
index 0000000..28c6e08
--- /dev/null
+++ b/Code/Python_Code/15.1.1_Sweep/Sweep.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : Sweep.py
+# Description : Servo sweep
+# Author      : freenove
+# modification: 2016/07/06
+########################################################################
+import RPi.GPIO as GPIO
+import time
+OFFSE_DUTY = 0.5        #define pulse offset of servo
+SERVO_MIN_DUTY = 2.5+OFFSE_DUTY     #define pulse duty cycle for minimum angle of servo
+SERVO_MAX_DUTY = 12.5+OFFSE_DUTY    #define pulse duty cycle for maximum angle of servo
+servoPin = 12
+
+def map( value, fromLow, fromHigh, toLow, toHigh):
+    return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow
+
+def setup():
+    global p
+    GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+    GPIO.setup(servoPin, GPIO.OUT)   # Set servoPin's mode is output
+    GPIO.output(servoPin, GPIO.LOW)  # Set servoPin to low
+
+    p = GPIO.PWM(servoPin, 50)     # set Frequece to 50Hz
+    p.start(0)                     # Duty Cycle = 0
+    
+def servoWrite(angle):      # make the servo rotate to specific angle (0-180 degrees) 
+    if(angle<0):
+        angle = 0
+    elif(angle > 180):
+        angle = 180
+    p.ChangeDutyCycle(map(angle,0,180,SERVO_MIN_DUTY,SERVO_MAX_DUTY))#map the angle to duty cycle and output it
+    
+def loop():
+    while True:
+        for dc in range(0, 181, 1):   #make servo rotate from 0° to 180°
+            servoWrite(dc)     # Write to servo
+            time.sleep(0.001)
+        time.sleep(0.5)
+        for dc in range(180, -1, -1): #make servo rotate from 180°to 0°
+            servoWrite(dc)
+            time.sleep(0.001)
+        time.sleep(0.5)
+
+def destroy():
+    p.stop()
+    GPIO.cleanup()
+
+if __name__ == '__main__':     #Program start from here
+    print 'Program is starting...'
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+        destroy()
diff --git a/Code/Python_Code/16.1.1_SteppingMotor/SteppingMotor.py b/Code/Python_Code/16.1.1_SteppingMotor/SteppingMotor.py
new file mode 100644
index 0000000..dcbf669
--- /dev/null
+++ b/Code/Python_Code/16.1.1_SteppingMotor/SteppingMotor.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : SteppingMotor.py
+# Description : 
+# Author      : freenove
+# modification: 2016/07/07
+########################################################################
+import RPi.GPIO as GPIO
+import time 
+
+motorPins = (12, 16, 18, 22)    #define pins connected to four phase ABCD of stepper motor
+CCWStep = (0x01,0x02,0x04,0x08) #define power supply order for coil for rotating anticlockwise 
+CWStep = (0x08,0x04,0x02,0x01)  #define power supply order for coil for rotating clockwise
+
+def setup():
+    print 'Program is starting...'
+    GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+    for pin in motorPins:
+        GPIO.setup(pin,GPIO.OUT)
+#as for four phase stepping motor, four steps is a cycle. the function is used to drive the stepping motor clockwise or anticlockwise to take four steps    
+def moveOnePeriod(direction,ms):    
+    for j in range(0,4,1):      #cycle for power supply order
+        for i in range(0,4,1):  #assign to each pin, a total of 4 pins
+            if (direction == 1):#power supply order clockwise
+                GPIO.output(motorPins[i],((CCWStep[j] == 1<<i) and GPIO.HIGH orGPIO.LOW))
+            else :              #power supply order anticlockwise
+                GPIO.output(motorPins[i],((CWStep[j] == 1<<i) and GPIO.HIGH or GPIO.LOW))
+        if(ms<3):       #the delay can not be less than 3ms, otherwise it will exceed speed limit of the motor
+            ms = 3
+        time.sleep(ms*0.001)    
+#continuous rotation function, the parameter steps specifies the rotation cycles, every four steps is a cycle
+def moveSteps(direction, ms, steps):
+    for i in range(steps):
+        moveOnePeriod(direction, ms)
+#function used to stop rotating
+def motorStop():
+    for i in range(0,4,1):
+        GPIO.output(motorPins[i],GPIO.LOW)
+            
+def loop():
+    while True:
+        moveSteps(1,3,512)  #rotating   360° clockwise, a total of 2048 steps in a circle, namely, 512 cycles.
+        time.sleep(0.5)
+        moveSteps(0,3,512)  #rotating 360° anticlockwise
+        time.sleep(0.5)
+
+def destroy():
+    GPIO.cleanup()             # Release resource
+
+if __name__ == '__main__':     # Program start from here
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+        destroy()
+
+
diff --git a/Code/Python_Code/17.1.1_LightWater02/LightWater02.py b/Code/Python_Code/17.1.1_LightWater02/LightWater02.py
new file mode 100644
index 0000000..97b7dce
--- /dev/null
+++ b/Code/Python_Code/17.1.1_LightWater02/LightWater02.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : LightWater02.py
+# Description : Control LED by 74HC595
+# Author      : freenove
+# modification: 2016/06/23
+########################################################################
+import RPi.GPIO as GPIO
+import time
+#Defines the data bit that is transmitted preferentially in the shiftOut function.
+LSBFIRST = 1
+MSBFIRST = 2
+#define the pins connect to 74HC595
+dataPin   = 11		#DS Pin of 74HC595(Pin14)
+latchPin  = 13		#ST_CP Pin of 74HC595(Pin12)
+clockPin = 15		#CH_CP Pin of 74HC595(Pin11)
+
+def setup():
+	GPIO.setmode(GPIO.BOARD)    # Number GPIOs by its physical location
+	GPIO.setup(dataPin, GPIO.OUT)
+	GPIO.setup(latchPin, GPIO.OUT)
+	GPIO.setup(clockPin, GPIO.OUT)
+#shiftOut function, use bit serial transmission. 
+def shiftOut(dPin,cPin,order,val):
+	for i in range(0,8):
+		GPIO.output(cPin,GPIO.LOW);
+		if(order == LSBFIRST):
+			GPIO.output(dPin,(0x01&(val>>i)==0x01) and GPIO.HIGH or GPIO.LOW)
+		elif(order == MSBFIRST):
+			GPIO.output(dPin,(0x80&(val<<i)==0x80) and GPIO.HIGH or GPIO.LOW)
+		GPIO.output(cPin,GPIO.HIGH);
+
+def loop():
+	while True:
+		x=0x01
+		for i in range(0,8):
+			GPIO.output(latchPin,GPIO.LOW)	#Output low level to latchPin
+			shiftOut(dataPin,clockPin,LSBFIRST,x)#Send serial data to 74HC595
+			GPIO.output(latchPin,GPIO.HIGH)#Output high level to latchPin, and 74HC595 will update the data to the parallel output port.
+			x<<=1# make the variable move one bit to left once, then the bright LED move one step to the left once.
+			time.sleep(0.1)
+		x=0x80
+		for i in range(0,8):
+			GPIO.output(latchPin,GPIO.LOW)
+			shiftOut(dataPin,clockPin,LSBFIRST,x)
+			GPIO.output(latchPin,GPIO.HIGH)
+			x>>=1
+			time.sleep(0.1)
+
+def destroy():   # When 'Ctrl+C' is pressed, the function is executed. 
+	GPIO.cleanup()
+
+if __name__ == '__main__': # Program starting from here 
+	print 'Program is starting...' 
+	setup() 
+	try:
+		loop()  
+	except KeyboardInterrupt:  
+		destroy()  
diff --git a/Code/Python_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.py b/Code/Python_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.py
new file mode 100644
index 0000000..d7200a2
--- /dev/null
+++ b/Code/Python_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : SevenSegmentDisplay.py
+# Description : Control SevenSegmentDisplay by 74HC595
+# Author      : freenove
+# modification: 2016/06/24
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+LSBFIRST = 1
+MSBFIRST = 2
+#define the pins connect to 74HC595
+dataPin   = 11		#DS Pin of 74HC595(Pin14)
+latchPin  = 13		#ST_CP Pin of 74HC595(Pin12)
+clockPin = 15		#CH_CP Pin of 74HC595(Pin11)
+#SevenSegmentDisplay display the character "0"- "F"successively
+num = [0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e]
+def setup():
+	GPIO.setmode(GPIO.BOARD)    # Number GPIOs by its physical location
+	GPIO.setup(dataPin, GPIO.OUT)
+	GPIO.setup(latchPin, GPIO.OUT)
+	GPIO.setup(clockPin, GPIO.OUT)
+	
+def shiftOut(dPin,cPin,order,val):
+	for i in range(0,8):
+		GPIO.output(cPin,GPIO.LOW);
+		if(order == LSBFIRST):
+			GPIO.output(dPin,(0x01&(val>>i)==0x01) and GPIO.HIGH or GPIO.LOW)
+		elif(order == MSBFIRST):
+			GPIO.output(dPin,(0x80&(val<<i)==0x80) and GPIO.HIGH or GPIO.LOW)
+		GPIO.output(cPin,GPIO.HIGH);
+
+def loop():
+	while True:
+		for i in range(0,len(num)):
+			GPIO.output(latchPin,GPIO.LOW)
+			shiftOut(dataPin,clockPin,MSBFIRST,num[i])#Output the figures and the highest level is transfered preferentially.
+			GPIO.output(latchPin,GPIO.HIGH)
+			time.sleep(0.5)
+		for i in range(0,len(num)):
+			GPIO.output(latchPin,GPIO.LOW)
+			shiftOut(dataPin,clockPin,MSBFIRST,num[i]&0x7f)#Use "&0x7f"to display the decimal point.
+			GPIO.output(latchPin,GPIO.HIGH)
+			time.sleep(0.5)
+
+def destroy():   # When 'Ctrl+C' is pressed, the function is executed. 
+	GPIO.cleanup()
+
+if __name__ == '__main__': # Program starting from here 
+	print 'Program is starting...' 
+	setup() 
+	try:
+		loop()  
+	except KeyboardInterrupt:  
+		destroy()  
diff --git a/Code/Python_Code/18.2.1_StopWatch/StopWatch.py b/Code/Python_Code/18.2.1_StopWatch/StopWatch.py
new file mode 100644
index 0000000..8409b4f
--- /dev/null
+++ b/Code/Python_Code/18.2.1_StopWatch/StopWatch.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : StopWatch.py
+# Description : Control 4_Digit_7_Segment_Display by 74HC595
+# Author      : freenove
+# modification: 2016/07/08
+########################################################################
+import RPi.GPIO as GPIO
+import time
+import threading
+
+LSBFIRST = 1
+MSBFIRST = 2
+#define the pins connect to 74HC595
+dataPin   = 18      #DS Pin of 74HC595(Pin14)
+latchPin  = 16      #ST_CP Pin of 74HC595(Pin12)
+clockPin = 12       #SH_CP Pin of 74HC595(Pin11)
+num = (0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90)
+digitPin = (19,15,13,11)    # Define the pin of 7-segment display common end
+counter = 0         # Variable counter, the number will be dislayed by 7-segment display
+t = 0               # defien the Timer object
+def setup():
+    GPIO.setmode(GPIO.BOARD)    # Number GPIOs by its physical location
+    GPIO.setup(dataPin, GPIO.OUT)       # Set pin mode to output
+    GPIO.setup(latchPin, GPIO.OUT)
+    GPIO.setup(clockPin, GPIO.OUT)
+    for pin in digitPin:
+        GPIO.setup(pin,GPIO.OUT)
+    
+def shiftOut(dPin,cPin,order,val):      
+    for i in range(0,8):
+        GPIO.output(cPin,GPIO.LOW);
+        if(order == LSBFIRST):
+            GPIO.output(dPin,(0x01&(val>>i)==0x01) and GPIO.HIGH or GPIO.LOW)
+        elif(order == MSBFIRST):
+            GPIO.output(dPin,(0x80&(val<<i)==0x80) and GPIO.HIGH or GPIO.LOW)
+        GPIO.output(cPin,GPIO.HIGH)
+            
+def outData(data):      #function used to output data for 74HC595
+    GPIO.output(latchPin,GPIO.LOW)
+    shiftOut(dataPin,clockPin,MSBFIRST,data)
+    GPIO.output(latchPin,GPIO.HIGH)
+    
+def selectDigit(digit): # Open one of the 7-segment display and close the remaining three, the parameter digit is optional for 1,2,4,8
+    GPIO.output(digitPin[0],GPIO.LOW if ((digit&0x08) == 0x08) else GPIO.HIGH)
+    GPIO.output(digitPin[1],GPIO.LOW if ((digit&0x04) == 0x04) else GPIO.HIGH)
+    GPIO.output(digitPin[2],GPIO.LOW if ((digit&0x02) == 0x02) else GPIO.HIGH)
+    GPIO.output(digitPin[3],GPIO.LOW if ((digit&0x01) == 0x01) else GPIO.HIGH)
+
+def display(dec):   #display function for 7-segment display
+    outData(0xff)   #eliminate residual display
+    selectDigit(0x01)   #Select the first, and display the single digit
+    outData(num[dec%10])
+    time.sleep(0.003)   #display duration
+    outData(0xff)
+    selectDigit(0x02)   # Select the second, and display the tens digit
+    outData(num[dec%100/10])
+    time.sleep(0.003)
+    outData(0xff)
+    selectDigit(0x04)   # Select the third, and display the hundreds digit
+    outData(num[dec%1000/100])
+    time.sleep(0.003)
+    outData(0xff)
+    selectDigit(0x08)   # Select the fourth, and display the thousands digit
+    outData(num[dec%10000/1000])
+    time.sleep(0.003)
+def timer():        #timer function
+    global counter
+    global t
+    t = threading.Timer(1.0,timer)      #reset time of timer to 1s
+    t.start()                           #Start timing
+    counter+=1                          
+    print "counter : %d"%counter
+    
+def loop():
+    global t
+    global counter
+    t = threading.Timer(1.0,timer)      #set the timer
+    t.start()                           # Start timing
+    while True:
+        display(counter)                # display the number counter
+        
+def destroy():   # When "Ctrl+C" is pressed, the function is executed. 
+    global t
+    GPIO.cleanup()      
+    t.cancel()      #cancel the timer
+
+if __name__ == '__main__': # Program starting from here 
+    print 'Program is starting...' 
+    setup() 
+    try:
+        loop()  
+    except KeyboardInterrupt:  
+        destroy()  
+ 
diff --git a/Code/Python_Code/19.1.1_LEDMatrix/LEDMatrix.py b/Code/Python_Code/19.1.1_LEDMatrix/LEDMatrix.py
new file mode 100644
index 0000000..9ee08f3
--- /dev/null
+++ b/Code/Python_Code/19.1.1_LEDMatrix/LEDMatrix.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : LEDMatrix.py
+# Description : Control LEDMatrix by 74HC595
+# Author      : freenove
+# modification: 2016/06/24
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+LSBFIRST = 1
+MSBFIRST = 2
+#define the pins connect to 74HC595
+dataPin   = 11      #DS Pin of 74HC595(Pin14)
+latchPin  = 13      #ST_CP Pin of 74HC595(Pin12)
+clockPin = 15       #SH_CP Pin of 74HC595(Pin11)
+pic = [0x1c,0x22,0x51,0x45,0x45,0x51,0x22,0x1c]# data of smiling face
+data = [#data of "0-F"
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, # " "
+    0x00, 0x00, 0x3E, 0x41, 0x41, 0x3E, 0x00, 0x00, # "0"
+    0x00, 0x00, 0x21, 0x7F, 0x01, 0x00, 0x00, 0x00, # "1"
+    0x00, 0x00, 0x23, 0x45, 0x49, 0x31, 0x00, 0x00, # "2"
+    0x00, 0x00, 0x22, 0x49, 0x49, 0x36, 0x00, 0x00, # "3"
+    0x00, 0x00, 0x0E, 0x32, 0x7F, 0x02, 0x00, 0x00, # "4"
+    0x00, 0x00, 0x79, 0x49, 0x49, 0x46, 0x00, 0x00, # "5"
+    0x00, 0x00, 0x3E, 0x49, 0x49, 0x26, 0x00, 0x00, # "6"
+    0x00, 0x00, 0x60, 0x47, 0x48, 0x70, 0x00, 0x00, # "7"
+    0x00, 0x00, 0x36, 0x49, 0x49, 0x36, 0x00, 0x00, # "8"
+    0x00, 0x00, 0x32, 0x49, 0x49, 0x3E, 0x00, 0x00, # "9"   
+    0x00, 0x00, 0x3F, 0x44, 0x44, 0x3F, 0x00, 0x00, # "A"
+    0x00, 0x00, 0x7F, 0x49, 0x49, 0x36, 0x00, 0x00, # "B"
+    0x00, 0x00, 0x3E, 0x41, 0x41, 0x22, 0x00, 0x00, # "C"
+    0x00, 0x00, 0x7F, 0x41, 0x41, 0x3E, 0x00, 0x00, # "D"
+    0x00, 0x00, 0x7F, 0x49, 0x49, 0x41, 0x00, 0x00, # "E"
+    0x00, 0x00, 0x7F, 0x48, 0x48, 0x40, 0x00, 0x00, # "F"
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, # " "
+]
+def setup():
+    GPIO.setmode(GPIO.BOARD)    # Number GPIOs by its physical location
+    GPIO.setup(dataPin, GPIO.OUT)
+    GPIO.setup(latchPin, GPIO.OUT)
+    GPIO.setup(clockPin, GPIO.OUT)
+    
+def shiftOut(dPin,cPin,order,val):
+    for i in range(0,8):
+        GPIO.output(cPin,GPIO.LOW);
+        if(order == LSBFIRST):
+            GPIO.output(dPin,(0x01&(val>>i)==0x01) and GPIO.HIGH or GPIO.LOW)
+        elif(order == MSBFIRST):
+            GPIO.output(dPin,(0x80&(val<<i)==0x80) and GPIO.HIGH or GPIO.LOW)
+        GPIO.output(cPin,GPIO.HIGH);
+
+def loop():
+    while True:
+        for j in range(0,500):# Repeat enough times to display the smiling face a period of time
+            x=0x80
+            for i in range(0,8):
+                GPIO.output(latchPin,GPIO.LOW)
+                shiftOut(dataPin,clockPin,LSBFIRST,pic[i]) #first shift data of line information to first stage 74HC959
+
+                shiftOut(dataPin,clockPin,LSBFIRST,~x) #then shift data of column information to second stage 74HC959
+                GPIO.output(latchPin,GPIO.HIGH)# Output data of two stage 74HC595 at the same time
+                time.sleep(0.001)# display the next column
+                x>>=1
+        for k in range(0,len(data)-8):#len(data) total number of "0-F" columns 
+            for j in range(0,20):# times of repeated displaying LEDMatrix in every frame, the bigger the "j", the longer the display time.
+                x=0x80      # Set the column information to start from the first column
+                for i in range(k,k+8):
+                    GPIO.output(latchPin,GPIO.LOW)
+                    shiftOut(dataPin,clockPin,LSBFIRST,data[i])
+                    shiftOut(dataPin,clockPin,LSBFIRST,~x)
+                    GPIO.output(latchPin,GPIO.HIGH)
+                    time.sleep(0.001)
+                    x>>=1
+def destroy():   # When 'Ctrl+C' is pressed, the function is executed. 
+    GPIO.cleanup()
+if __name__ == '__main__': # Program starting from here 
+    print 'Program is starting...' 
+    setup() 
+    try:
+        loop()  
+    except KeyboardInterrupt:  
+        destroy()  
+
diff --git a/Code/Python_Code/20.1.1_I2CLCD1602/Adafruit_LCD1602.py b/Code/Python_Code/20.1.1_I2CLCD1602/Adafruit_LCD1602.py
new file mode 100644
index 0000000..e783d43
--- /dev/null
+++ b/Code/Python_Code/20.1.1_I2CLCD1602/Adafruit_LCD1602.py
@@ -0,0 +1,202 @@
+from time import sleep
+
+
+class Adafruit_CharLCD(object):
+
+    # commands
+    LCD_CLEARDISPLAY        = 0x01
+    LCD_RETURNHOME          = 0x02
+    LCD_ENTRYMODESET        = 0x04
+    LCD_DISPLAYCONTROL      = 0x08
+    LCD_CURSORSHIFT         = 0x10
+    LCD_FUNCTIONSET         = 0x20
+    LCD_SETCGRAMADDR        = 0x40
+    LCD_SETDDRAMADDR        = 0x80
+
+    # flags for display entry mode
+    LCD_ENTRYRIGHT          = 0x00
+    LCD_ENTRYLEFT           = 0x02
+    LCD_ENTRYSHIFTINCREMENT = 0x01
+    LCD_ENTRYSHIFTDECREMENT = 0x00
+
+    # flags for display on/off control
+    LCD_DISPLAYON           = 0x04
+    LCD_DISPLAYOFF          = 0x00
+    LCD_CURSORON            = 0x02
+    LCD_CURSOROFF           = 0x00
+    LCD_BLINKON             = 0x01
+    LCD_BLINKOFF            = 0x00
+
+    # flags for display/cursor shift
+    LCD_DISPLAYMOVE         = 0x08
+    LCD_CURSORMOVE          = 0x00
+
+    # flags for display/cursor shift
+    LCD_DISPLAYMOVE         = 0x08
+    LCD_CURSORMOVE          = 0x00
+    LCD_MOVERIGHT           = 0x04
+    LCD_MOVELEFT            = 0x00
+
+    # flags for function set
+    LCD_8BITMODE            = 0x10
+    LCD_4BITMODE            = 0x00
+    LCD_2LINE               = 0x08
+    LCD_1LINE               = 0x00
+    LCD_5x10DOTS            = 0x04
+    LCD_5x8DOTS             = 0x00
+
+    def __init__(self, pin_rs=25, pin_e=24, pins_db=[23, 17, 21, 22], GPIO=None):
+        # Emulate the old behavior of using RPi.GPIO if we haven't been given
+        # an explicit GPIO interface to use
+        if not GPIO:
+            import RPi.GPIO as GPIO
+            GPIO.setwarnings(False)
+        self.GPIO = GPIO
+        self.pin_rs = pin_rs
+        self.pin_e = pin_e
+        self.pins_db = pins_db
+
+        self.GPIO.setmode(GPIO.BCM) #GPIO=None use Raspi PIN in BCM mode
+        self.GPIO.setup(self.pin_e, GPIO.OUT)
+        self.GPIO.setup(self.pin_rs, GPIO.OUT)
+
+        for pin in self.pins_db:
+            self.GPIO.setup(pin, GPIO.OUT)
+
+        self.write4bits(0x33)  # initialization
+        self.write4bits(0x32)  # initialization
+        self.write4bits(0x28)  # 2 line 5x7 matrix
+        self.write4bits(0x0C)  # turn cursor off 0x0E to enable cursor
+        self.write4bits(0x06)  # shift cursor right
+
+        self.displaycontrol = self.LCD_DISPLAYON | self.LCD_CURSOROFF | self.LCD_BLINKOFF
+
+        self.displayfunction = self.LCD_4BITMODE | self.LCD_1LINE | self.LCD_5x8DOTS
+        self.displayfunction |= self.LCD_2LINE
+
+        # Initialize to default text direction (for romance languages)
+        self.displaymode = self.LCD_ENTRYLEFT | self.LCD_ENTRYSHIFTDECREMENT
+        self.write4bits(self.LCD_ENTRYMODESET | self.displaymode)  # set the entry mode
+
+        self.clear()
+
+    def begin(self, cols, lines):
+        if (lines > 1):
+            self.numlines = lines
+            self.displayfunction |= self.LCD_2LINE
+
+    def home(self):
+        self.write4bits(self.LCD_RETURNHOME)  # set cursor position to zero
+        self.delayMicroseconds(3000)  # this command takes a long time!
+
+    def clear(self):
+        self.write4bits(self.LCD_CLEARDISPLAY)  # command to clear display
+        self.delayMicroseconds(3000)  # 3000 microsecond sleep, clearing the display takes a long time
+
+    def setCursor(self, col, row):
+        self.row_offsets = [0x00, 0x40, 0x14, 0x54]
+        if row > self.numlines:
+            row = self.numlines - 1  # we count rows starting w/0
+        self.write4bits(self.LCD_SETDDRAMADDR | (col + self.row_offsets[row]))
+
+    def noDisplay(self):
+        """ Turn the display off (quickly) """
+        self.displaycontrol &= ~self.LCD_DISPLAYON
+        self.write4bits(self.LCD_DISPLAYCONTROL | self.displaycontrol)
+
+    def display(self):
+        """ Turn the display on (quickly) """
+        self.displaycontrol |= self.LCD_DISPLAYON
+        self.write4bits(self.LCD_DISPLAYCONTROL | self.displaycontrol)
+
+    def noCursor(self):
+        """ Turns the underline cursor off """
+        self.displaycontrol &= ~self.LCD_CURSORON
+        self.write4bits(self.LCD_DISPLAYCONTROL | self.displaycontrol)
+
+    def cursor(self):
+        """ Turns the underline cursor on """
+        self.displaycontrol |= self.LCD_CURSORON
+        self.write4bits(self.LCD_DISPLAYCONTROL | self.displaycontrol)
+
+    def noBlink(self):
+        """ Turn the blinking cursor off """
+        self.displaycontrol &= ~self.LCD_BLINKON
+        self.write4bits(self.LCD_DISPLAYCONTROL | self.displaycontrol)
+
+    def blink(self):
+        """ Turn the blinking cursor on """
+        self.displaycontrol |= self.LCD_BLINKON
+        self.write4bits(self.LCD_DISPLAYCONTROL | self.displaycontrol)
+
+    def DisplayLeft(self):
+        """ These commands scroll the display without changing the RAM """
+        self.write4bits(self.LCD_CURSORSHIFT | self.LCD_DISPLAYMOVE | self.LCD_MOVELEFT)
+
+    def scrollDisplayRight(self):
+        """ These commands scroll the display without changing the RAM """
+        self.write4bits(self.LCD_CURSORSHIFT | self.LCD_DISPLAYMOVE | self.LCD_MOVERIGHT)
+
+    def leftToRight(self):
+        """ This is for text that flows Left to Right """
+        self.displaymode |= self.LCD_ENTRYLEFT
+        self.write4bits(self.LCD_ENTRYMODESET | self.displaymode)
+
+    def rightToLeft(self):
+        """ This is for text that flows Right to Left """
+        self.displaymode &= ~self.LCD_ENTRYLEFT
+        self.write4bits(self.LCD_ENTRYMODESET | self.displaymode)
+
+    def autoscroll(self):
+        """ This will 'right justify' text from the cursor """
+        self.displaymode |= self.LCD_ENTRYSHIFTINCREMENT
+        self.write4bits(self.LCD_ENTRYMODESET | self.displaymode)
+
+    def noAutoscroll(self):
+        """ This will 'left justify' text from the cursor """
+        self.displaymode &= ~self.LCD_ENTRYSHIFTINCREMENT
+        self.write4bits(self.LCD_ENTRYMODESET | self.displaymode)
+
+    def write4bits(self, bits, char_mode=False):
+        """ Send command to LCD """
+        self.delayMicroseconds(1000)  # 1000 microsecond sleep
+        bits = bin(bits)[2:].zfill(8)
+        self.GPIO.output(self.pin_rs, char_mode)
+        for pin in self.pins_db:
+            self.GPIO.output(pin, False)
+        for i in range(4):
+            if bits[i] == "1":
+                self.GPIO.output(self.pins_db[::-1][i], True)
+        self.pulseEnable()
+        for pin in self.pins_db:
+            self.GPIO.output(pin, False)
+        for i in range(4, 8):
+            if bits[i] == "1":
+                self.GPIO.output(self.pins_db[::-1][i-4], True)
+        self.pulseEnable()
+
+    def delayMicroseconds(self, microseconds):
+        seconds = microseconds / float(1000000)  # divide microseconds by 1 million for seconds
+        sleep(seconds)
+
+    def pulseEnable(self):
+        self.GPIO.output(self.pin_e, False)
+        self.delayMicroseconds(1)       # 1 microsecond pause - enable pulse must be > 450ns
+        self.GPIO.output(self.pin_e, True)
+        self.delayMicroseconds(1)       # 1 microsecond pause - enable pulse must be > 450ns
+        self.GPIO.output(self.pin_e, False)
+        self.delayMicroseconds(1)       # commands need > 37us to settle
+
+    def message(self, text):
+        """ Send string to LCD. Newline wraps to second line"""
+        for char in text:
+            if char == '\n':
+                self.write4bits(0xC0)  # next line
+            else:
+                self.write4bits(ord(char), True)
+
+
+if __name__ == '__main__':
+    lcd = Adafruit_CharLCD()
+    lcd.clear()
+    lcd.message("  Adafruit 16x2\n  Standard LCD")
\ No newline at end of file
diff --git a/Code/Python_Code/20.1.1_I2CLCD1602/Adafruit_LCD1602.pyc b/Code/Python_Code/20.1.1_I2CLCD1602/Adafruit_LCD1602.pyc
new file mode 100644
index 0000000..2e53d78
Binary files /dev/null and b/Code/Python_Code/20.1.1_I2CLCD1602/Adafruit_LCD1602.pyc differ
diff --git a/Code/Python_Code/20.1.1_I2CLCD1602/I2CLCD1602.py b/Code/Python_Code/20.1.1_I2CLCD1602/I2CLCD1602.py
new file mode 100644
index 0000000..e9e78e0
--- /dev/null
+++ b/Code/Python_Code/20.1.1_I2CLCD1602/I2CLCD1602.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : I2CLCD1602.py
+# Description : Use the LCD display data
+# Author      : freenove
+# modification: 2016/06/26
+########################################################################
+from PCF8574 import PCF8574_GPIO
+from Adafruit_LCD1602 import Adafruit_CharLCD
+
+from time import sleep, strftime
+from datetime import datetime
+ 
+def get_cpu_temp():     # get CPU temperature and store it into file "/sys/class/thermal/thermal_zone0/temp"
+    tmp = open('/sys/class/thermal/thermal_zone0/temp')
+    cpu = tmp.read()
+    tmp.close()
+    return '{:.2f}'.format( float(cpu)/1000 ) + ' C'
+ 
+def get_time_now():     # get system time
+    return datetime.now().strftime('    %H:%M:%S')
+    
+def loop():
+    mcp.output(3,1)     # turn on LCD backlight
+    lcd.begin(16,2)     # set number of LCD lines and columns
+    while(True):         
+        #lcd.clear()
+        lcd.setCursor(0,0)  # set cursor position
+        lcd.message( 'CPU: ' + get_cpu_temp()+'\n' )# display CPU temperature
+        lcd.message( get_time_now() )   # display the time
+        sleep(1)
+        
+def destroy():
+    lcd.clear()
+    
+address = 0x27  # I2C address of the PCF8574 chip.
+# Create PCF8574 GPIO adapter.
+mcp = PCF8574_GPIO(address)
+# Create LCD, passing in MCP GPIO adapter.
+lcd = Adafruit_CharLCD(pin_rs=0, pin_e=2, pins_db=[4,5,6,7], GPIO=mcp)
+
+if __name__ == '__main__':
+    print 'Program is starting ... '
+    try:
+        loop()
+    except KeyboardInterrupt:
+        destroy()
+
diff --git a/Code/Python_Code/20.1.1_I2CLCD1602/PCF8574.py b/Code/Python_Code/20.1.1_I2CLCD1602/PCF8574.py
new file mode 100644
index 0000000..9206f4a
--- /dev/null
+++ b/Code/Python_Code/20.1.1_I2CLCD1602/PCF8574.py
@@ -0,0 +1,78 @@
+########################################################################
+# Filename    : PCF8574.py
+# Description : PCF8574 as Raspberry GPIO
+# Author      : freenove
+# modification: 2016/06/26
+########################################################################
+import smbus
+import time
+class PCF8574_I2C(object):
+	OUPUT = 0
+	INPUT = 1
+	
+	def __init__(self,address):
+		# Note you need to change the bus number to 0 if running on a revision 1 Raspberry Pi.
+		self.bus = smbus.SMBus(1)
+		self.address = address
+		self.currentValue = 0
+		
+	def readByte(self):#Read PCF8574 all port of the data
+		#value = self.bus.read_byte(self.address)
+		return self.currentValue#value
+		
+	def writeByte(self,value):#Write data to PCF8574 port
+		self.currentValue = value
+		self.bus.write_byte(self.address,value)
+
+	def digitalRead(self,pin):#Read PCF8574 one port of the data
+		value = readByte()	
+		return (value&(1<<pin)==(1<<pin)) and 1 or 0
+		
+	def digitalWrite(self,pin,newvalue):#Write data to PCF8574 one port
+		value = self.currentValue #bus.read_byte(address)
+		if(newvalue == 1):
+			value |= (1<<pin)
+		elif (newvalue == 0):
+			value &= ~(1<<pin)
+		self.writeByte(value)	
+
+def loop():
+	mcp = PCF8574_I2C(0x27)
+	while True:
+		#mcp.writeByte(0xff)
+		mcp.digitalWrite(3,1)
+		print 'Is 0xff? %x'%(mcp.readByte())
+		time.sleep(1)
+		mcp.writeByte(0x00)
+		#mcp.digitalWrite(7,1)
+		print 'Is 0x00? %x'%(mcp.readByte())
+		time.sleep(1)
+		
+class PCF8574_GPIO(object):#Standardization function interface
+	OUT = 0
+	IN = 1
+	BCM = 0
+	BOARD = 0
+	def __init__(self,address):
+		self.chip = PCF8574_I2C(address)
+		self.address = address
+	def setmode(self,mode):#PCF8574 port belongs to two-way IO, do not need to set the input and output model
+		pass
+	def setup(self,pin,mode):
+		pass
+	def input(self,pin):#Read PCF8574 one port of the data
+		return self.chip.digitalRead(pin)
+	def output(self,pin,value):#Write data to PCF8574 one port
+		self.chip.digitalWrite(pin,value)
+		
+def destroy():
+	bus.close()
+	
+if __name__ == '__main__':
+	print 'Program is starting ... '
+	try:
+		loop()
+	except KeyboardInterrupt:
+		destroy()
+		
+	
diff --git a/Code/Python_Code/20.1.1_I2CLCD1602/PCF8574.pyc b/Code/Python_Code/20.1.1_I2CLCD1602/PCF8574.pyc
new file mode 100644
index 0000000..f06d07c
Binary files /dev/null and b/Code/Python_Code/20.1.1_I2CLCD1602/PCF8574.pyc differ
diff --git a/Code/Python_Code/21.1.1_DHT11/DHT11.py b/Code/Python_Code/21.1.1_DHT11/DHT11.py
new file mode 100644
index 0000000..faa9e04
--- /dev/null
+++ b/Code/Python_Code/21.1.1_DHT11/DHT11.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : DHT11.py
+# Description :	read the temperature and humidity data of DHT11
+# Author      : freenove
+# modification: 2016/07/11
+########################################################################
+import RPi.GPIO as GPIO
+import time
+import Freenove_DHT as DHT
+DHTPin = 11     #define the pin of DHT11
+
+def loop():
+    dht = DHT.DHT(DHTPin)   #create a DHT class object
+    sumCnt = 0              #number of reading times 
+    while(True):
+        sumCnt += 1         #counting number of reading times
+        chk = dht.readDHT11(DHTPin)     #read DHT11 and get a return value. Then determine whether data read is normal according to the return value.
+        print"The sumCnt is : %d, \t chk    : %d"%(sumCnt,chk)  
+        if (chk is dht.DHTLIB_OK):      #read DHT11 and get a return value. Then determine whether data read is normal according to the return value.
+            print"DHT11,OK!"        
+        elif(chk is dht.DHTLIB_ERROR_CHECKSUM): #data check has errors
+            print"DHTLIB_ERROR_CHECKSUM!!"
+        elif(chk is dht.DHTLIB_ERROR_TIMEOUT):  #reading DHT times out
+            print"DHTLIB_ERROR_TIMEOUT!"
+        else:               #other errors
+            print"Other error!"
+            
+        print"Humidity : %.2f, \t Temperature : %.2f \n"%(dht.humidity,dht.temperature)     
+        time.sleep(1)       
+        
+if __name__ == '__main__':
+    print 'Program is starting ... '
+    try:
+        loop()
+    except KeyboardInterrupt:
+        GPIO.cleanup()
+        exit()  
+
diff --git a/Code/Python_Code/21.1.1_DHT11/Freenove_DHT.py b/Code/Python_Code/21.1.1_DHT11/Freenove_DHT.py
new file mode 100644
index 0000000..f3f6d86
--- /dev/null
+++ b/Code/Python_Code/21.1.1_DHT11/Freenove_DHT.py
@@ -0,0 +1,103 @@
+#############################################################################
+# Filename    : Freenove_DHT.py
+# Description :	DHT Temperature & Humidity Sensor library for Raspberry
+# Author      : freenove
+# modification: 2016/07/11
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+class DHT(object):
+	DHTLIB_OK = 0
+	DHTLIB_ERROR_CHECKSUM = -1
+	DHTLIB_ERROR_TIMEOUT = -2
+	DHTLIB_INVALID_VALUE = -999
+	
+	DHTLIB_DHT11_WAKEUP = 0.018		#18ms
+	DHTLIB_TIMEOUT = 0.0001			#100us
+	
+	humidity = 0
+	temperature = 0
+	
+	def __init__(self,pin):
+		self.pin = pin
+		self.bits = [0,0,0,0,0]
+		GPIO.setmode(GPIO.BOARD)
+	#Read DHT sensor, store the original data in bits[]	
+	def readSensor(self,pin,wakeupDelay):
+		mask = 0x80
+		idx = 0
+		self.bits = [0,0,0,0,0]
+		GPIO.setup(pin,GPIO.OUT)
+		GPIO.output(pin,GPIO.LOW)
+		time.sleep(wakeupDelay)
+		GPIO.output(pin,GPIO.HIGH)
+		time.sleep(40*0.000001)
+		GPIO.setup(pin,GPIO.IN)
+		
+		loopCnt = self.DHTLIB_TIMEOUT
+		t = time.time()
+		while(GPIO.input(pin) == GPIO.LOW):
+			if((time.time() - t) > loopCnt):
+				return self.DHTLIB_ERROR_TIMEOUT
+		t = time.time()
+		while(GPIO.input(pin) == GPIO.HIGH):
+			if((time.time() - t) > loopCnt):
+				return self.DHTLIB_ERROR_TIMEOUT
+		for i in range(0,40,1):
+			t = time.time()
+			while(GPIO.input(pin) == GPIO.LOW):
+				if((time.time() - t) > loopCnt):
+					return self.DHTLIB_ERROR_TIMEOUT
+			t = time.time()
+			while(GPIO.input(pin) == GPIO.HIGH):
+				if((time.time() - t) > loopCnt):
+					return self.DHTLIB_ERROR_TIMEOUT		
+			if((time.time() - t) > 0.00005):	
+				self.bits[idx] |= mask
+			#print"t : %f"%(time.time()-t)
+			mask >>= 1
+			if(mask == 0):
+				mask = 0x80
+				idx += 1	
+		GPIO.setup(pin,GPIO.OUT)
+		GPIO.output(pin,GPIO.HIGH)
+		return self.DHTLIB_OK
+	#Read DHT sensor, analyze the data of temperature and humidity
+	def readDHT11(self,pin):
+		
+		rv = self.readSensor(pin,self.DHTLIB_DHT11_WAKEUP)
+		if (rv is not self.DHTLIB_OK):
+			self.humidity = self.DHTLIB_INVALID_VALUE
+			self.temperature = self.DHTLIB_INVALID_VALUE
+			return rv
+		self.humidity = self.bits[0]
+		self.temperature = self.bits[2]
+		sumChk = ((self.bits[0] + self.bits[2]) & 0xff)
+		if(self.bits[4] is not sumChk):
+			return self.DHTLIB_ERROR_CHECKSUM
+		return self.DHTLIB_OK
+		
+def loop():
+	dht = DHT(11)
+	sumCnt = 0
+	okCnt = 0
+	while(True):
+		sumCnt += 1
+		chk = dht.readDHT11(11)	
+		if (chk is 0):
+			okCnt += 1		
+		okRate = 100.0*okCnt/sumCnt;
+		print"sumCnt : %d, \t okRate : %.2f%% "%(sumCnt,okRate)		
+		print"chk : %d, \t Humidity : %.2f, \t Temperature : %.2f "%(chk,dht.humidity,dht.temperature)		
+		time.sleep(1)		
+		
+if __name__ == '__main__':
+	print 'Program is starting ... '
+	try:
+		loop()
+	except KeyboardInterrupt:
+		pass
+		exit()		
+		
+		
diff --git a/Code/Python_Code/21.1.1_DHT11/setup.py b/Code/Python_Code/21.1.1_DHT11/setup.py
new file mode 100644
index 0000000..e426364
--- /dev/null
+++ b/Code/Python_Code/21.1.1_DHT11/setup.py
@@ -0,0 +1,13 @@
+
+from setuptools import setup,find_packages
+
+setup(
+	name = "Freenove_DHT",
+	version = "V1.0.0",
+	description = "Read DHT Sensor",
+	author = "Freenove",
+	url = "http://www.freenove.com",
+	license = " ",
+	packages = find_packages(),
+	scripts = ["Freenove_DHT.py"],
+	)
diff --git a/Code/Python_Code/22.1.1_MatrixKeypad/Keypad.py b/Code/Python_Code/22.1.1_MatrixKeypad/Keypad.py
new file mode 100644
index 0000000..0f6bd5d
--- /dev/null
+++ b/Code/Python_Code/22.1.1_MatrixKeypad/Keypad.py
@@ -0,0 +1,207 @@
+########################################################################
+# Filename    : Keypad.py
+# Description : The module of matrix keypad 
+# Author      : freenove
+# modification: 2016/07/13
+########################################################################
+import RPi.GPIO as GPIO 
+import time
+#class Key：Define some of the properties of Key
+class Key(object):
+	NO_KEY = '\0'
+	#Defines the four states of Key
+	IDLE = 0
+	PRESSED = 1
+	HOLD = 2
+	RELEASED = 3
+	#define OPEN and CLOSED
+	OPEN = 0
+	CLOSED =1
+	#constructor
+	def __init__(self):
+		self.kchar = self.NO_KEY
+		self.kstate = self.IDLE
+		self.kcode = -1
+		self.stateChanged = False
+
+class Keypad(object):
+	NULL = '\0'
+	LIST_MAX = 10	#Max number of keys on the active list.
+	MAPSIZE = 10	#MAPSIZE is the number of rows (times 16 columns)
+	bitMap = [0]*MAPSIZE
+	key = [Key()]*LIST_MAX
+	holdTime = 500		#key hold time
+	holdTimer = 0
+	startTime = 0
+	#Allows custom keymap, pin configuration, and keypad sizes.
+	def __init__(self,usrKeyMap,row_Pins,col_Pins,num_Rows,num_Cols):
+		GPIO.setmode(GPIO.BOARD)
+		self.rowPins = row_Pins
+		self.colPins = col_Pins
+		self.numRows = num_Rows
+		self.numCols = num_Cols
+		
+		self.keymap = usrKeyMap
+		self.setDebounceTime(10)
+	#Returns a single key only. Retained for backwards compatibility.	
+	def getKey(self):
+		single_key = True
+		if(self.getKeys() and self.key[0].stateChanged and (self.key[0].kstate == self.key[0].PRESSED)):
+			return self.key[0].kchar
+		single_key = False
+		return self.key[0].NO_KEY
+	#Populate the key list.	
+	def getKeys(self):
+		keyActivity = False
+		#Limit how often the keypad is scanned.
+		if((time.time() - self.startTime) > self.debounceTime*0.001):
+			self.scanKeys()
+			keyActivity = self.updateList()
+			self.startTime = time.time()
+		return keyActivity
+	#Hardware scan ,the result store in bitMap	
+	def scanKeys(self):
+		#Re-intialize the row pins. Allows sharing these pins with other hardware.
+		for pin_r in self.rowPins:
+			GPIO.setup(pin_r,GPIO.IN,pull_up_down = GPIO.PUD_UP)
+		#bitMap stores ALL the keys that are being pressed.
+		for pin_c in self.colPins:
+			GPIO.setup(pin_c,GPIO.OUT)
+			GPIO.output(pin_c,GPIO.LOW)
+			for r in self.rowPins: #keypress is active low so invert to high.
+				self.bitMap[self.rowPins.index(r)] = self.bitWrite(self.bitMap[self.rowPins.index(r)],self.colPins.index(pin_c),not GPIO.input(r))
+			#Set pin to high impedance input. Effectively ends column pulse.
+			GPIO.output(pin_c,GPIO.HIGH)
+			GPIO.setup(pin_c,GPIO.IN)
+	#Manage the list without rearranging the keys. Returns true if any keys on the list changed state.		
+	def updateList(self):
+		anyActivity = False
+		kk = Key()
+		#Delete any IDLE keys
+		for i in range(self.LIST_MAX):
+			if(self.key[i].kstate == kk.IDLE):
+				self.key[i].kchar = kk.NO_KEY
+				self.key[i].kcode = -1
+				self.key[i].stateChanged = False
+		# Add new keys to empty slots in the key list.
+		for r in range(self.numRows):
+			for c in range(self.numCols):
+				button = self.bitRead(self.bitMap[r],c)
+				keyChar = self.keymap[r * self.numCols +c]
+				keyCode = r * self.numCols +c
+				idx = self.findInList(keyCode)
+				#Key is already on the list so set its next state.
+				if(idx > -1):
+					self.nextKeyState(idx,button)
+				#Key is NOT on the list so add it.
+				if((idx == -1) and button):
+					for i in range(self.LIST_MAX):
+						if(self.key[i].kchar == kk.NO_KEY):	#Find an empty slot or don't add key to list.
+							self.key[i].kchar = keyChar
+							self.key[i].kcode = keyCode
+							self.key[i].kstate = kk.IDLE	#Keys NOT on the list have an initial state of IDLE.
+							self.nextKeyState(i,button)
+							break	#Don't fill all the empty slots with the same key.
+		#Report if the user changed the state of any key.
+		for i in range(self.LIST_MAX):
+			if(self.key[i].stateChanged):
+				anyActivity = True
+		return anyActivity		
+	#This function is a state machine but is also used for debouncing the keys.	
+	def nextKeyState(self,idx, button):
+		self.key[idx].stateChanged = False
+		kk = Key()
+		if(self.key[idx].kstate == kk.IDLE):
+			if(button == kk.CLOSED):
+				self.transitionTo(idx,kk.PRESSED)
+				self.holdTimer = time.time()	#Get ready for next HOLD state.
+		elif(self.key[idx].kstate == kk.PRESSED):
+			if((time.time() - self.holdTimer) > self.holdTime*0.001):	#Waiting for a key HOLD...	
+				self.transitionTo(idx,kk.HOLD)
+			elif(button == kk.OPEN):		# or for a key to be RELEASED.
+				self.transitionTo(idx,kk.RELEASED)
+		elif(self.key[idx].kstate == kk.HOLD):
+			if(button == kk.OPEN):
+				self.transitionTo(idx,kk.RELEASED)
+		elif(self.key[idx].kstate == kk.RELEASED):
+			self.transitionTo(idx,kk.IDLE)
+			
+	def transitionTo(self,idx,nextState):
+		self.key[idx].kstate = nextState
+		self.key[idx].stateChanged = True
+	#Search by code for a key in the list of active keys.
+	#Returns -1 if not found or the index into the list of active keys.
+	def findInList(self,keyCode):
+		for i in range(self.LIST_MAX):
+			if(self.key[i].kcode == keyCode):
+				return i
+		return -1
+	#set Debounce Time,	The default is 50ms					
+	def setDebounceTime(self,ms):
+		self.debounceTime = ms
+	#set HoldTime,The default is 500ms
+	def setHoldTime(self,ms):
+		self.holdTime = ms
+	#	
+	def isPressed(keyChar):
+		for i in range(self.LIST_MAX):
+			if(self.key[i].kchar == keyChar):
+				if(self.key[i].kstate == self.self.key[i].PRESSED and self.key[i].stateChanged):
+					return True
+		return False
+	#			
+	def waitForKey():
+		kk = Key()
+		waitKey = kk.NO_KEY
+		while(waitKey == kk.NO_KEY):
+			waitKey = getKey()
+		return waitKey
+	
+	def getState():
+		return self.key[0].kstate
+	#	
+	def keyStateChanged():
+		return self.key[0].stateChanged
+	
+	def bitWrite(self,x,n,b):
+		if(b):
+			x |= (1<<n)
+		else:
+			x &=(~(1<<n))
+		return x
+	def bitRead(self,x,n):
+		if((x>>n)&1 == 1):
+			return True
+		else:
+			return False
+
+#######################EXAMPLE##################################		
+ROWS = 4
+COLS = 4
+keys = 	[	'1','2','3','A',
+			'4','5','6','B',
+			'7','8','9','C',
+			'*','0','#','D'		]
+rowsPins = [12,16,18,22]
+colsPins = [19,15,13,11]	
+
+def loop():
+	keypad = Keypad.Keypad(keys,rowsPins,colsPins,ROWS,COLS)
+	keypad.setDebounceTime(50)
+	while(True):
+		key = keypad.getKey()
+		if(key != keypad.NULL):
+			print "You Pressed Key : %c "%(key) 
+			
+if __name__ == '__main__':     # Program start from here
+	print "Program is starting ... "
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		pass
+		GPIO.cleanup()	
+			
+			
+			
+			
+
diff --git a/Code/Python_Code/22.1.1_MatrixKeypad/MatrixKeypad.py b/Code/Python_Code/22.1.1_MatrixKeypad/MatrixKeypad.py
new file mode 100644
index 0000000..1f3cb48
--- /dev/null
+++ b/Code/Python_Code/22.1.1_MatrixKeypad/MatrixKeypad.py
@@ -0,0 +1,29 @@
+########################################################################
+# Filename    : MatrixKeypad.py
+# Description : obtain the key code of 4x4 Matrix Keypad
+# Author      : freenove
+# modification: 2016/07/13
+########################################################################
+import Keypad       #import module Keypad
+ROWS = 4        # number of rows of the Keypad
+COLS = 4        #number of columns of the Keypad
+keys =  [   '1','2','3','A',    #key code
+            '4','5','6','B',
+            '7','8','9','C',
+            '*','0','#','D'     ]
+rowsPins = [12,16,18,22]        #connect to the row pinouts of the keypad
+colsPins = [19,15,13,11]        #connect to the column pinouts of the keypad
+
+def loop():
+    keypad = Keypad.Keypad(keys,rowsPins,colsPins,ROWS,COLS)    #creat Keypad object
+    keypad.setDebounceTime(50)      #set the debounce time
+    while(True):
+        key = keypad.getKey()       #obtain the state of keys
+        if(key != keypad.NULL):     #if there is key pressed, print its key code.
+            print "You Pressed Key : %c "%(key) 
+            
+if __name__ == '__main__':     #Program start from here
+    print "Program is starting ... "
+    try:
+        loop()
+    except KeyboardInterrupt:  #When 'Ctrl+C' is pressed, exit the program.      GPIO.cleanup()  
diff --git a/Code/Python_Code/23.1.1_SenseLED/SenseLED.py b/Code/Python_Code/23.1.1_SenseLED/SenseLED.py
new file mode 100644
index 0000000..625f395
--- /dev/null
+++ b/Code/Python_Code/23.1.1_SenseLED/SenseLED.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : SenseLED.py
+# Description : Controlling an led by infrared Motion sensor.
+# Author      : freenove
+# modification: 2016/06/12
+########################################################################
+import RPi.GPIO as GPIO
+
+ledPin = 12    # define the ledPin
+sensorPin = 11    # define the sensorPin
+
+def setup():
+	print 'Program is starting...'
+	GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
+	GPIO.setup(ledPin, GPIO.OUT)   # Set ledPin's mode is output
+	GPIO.setup(sensorPin, GPIO.IN)    # Set sensorPin's mode is input
+
+def loop():
+	while True:
+		if GPIO.input(sensorPin)==GPIO.HIGH:
+			GPIO.output(ledPin,GPIO.HIGH)
+			print 'led on ...'
+		else :
+			GPIO.output(ledPin,GPIO.LOW)
+			print 'led off ...'		
+
+def destroy():
+	GPIO.cleanup()                     # Release resource
+
+if __name__ == '__main__':     # Program start from here
+	setup()
+	try:
+		loop()
+	except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+		destroy()
+
diff --git a/Code/Python_Code/24.1.1_UtrasonicRanging/UtrasonicRanging.py b/Code/Python_Code/24.1.1_UtrasonicRanging/UtrasonicRanging.py
new file mode 100644
index 0000000..b7858fb
--- /dev/null
+++ b/Code/Python_Code/24.1.1_UtrasonicRanging/UtrasonicRanging.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : UltrasonicRanging.py
+# Description : Get distance from UltrasonicRanging.
+# Author      : freenove
+# modification: 2016/07/15
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+trigPin = 16
+echoPin = 18
+MAX_DISTANCE = 220          #define the maximum measured distance
+timeOut = MAX_DISTANCE*60   #calculate timeout according to the maximum measured distance
+
+def pulseIn(pin,level,timeOut): # function pulseIn: obtain pulse time of a pin
+    t0 = time.time()
+    while(GPIO.input(pin) != level):
+        if((time.time() - t0) > timeOut*0.000001):
+            return 0;
+    t0 = time.time()
+    while(GPIO.input(pin) == level):
+        if((time.time() - t0) > timeOut*0.000001):
+            return 0;
+    pulseTime = (time.time() - t0)*1000000
+    return pulseTime
+    
+def getSonar():     #get the measurement results of ultrasonic module,with unit: cm
+    GPIO.output(trigPin,GPIO.HIGH)      #make trigPin send 10us high level 
+    time.sleep(0.00001)     #10us
+    GPIO.output(trigPin,GPIO.LOW)
+    pingTime = pulseIn(echoPin,GPIO.HIGH,timeOut)   #read plus time of echoPin
+    distance = pingTime * 340.0 / 2.0 / 10000.0     # the sound speed is 340m/s, and calculate distance
+    return distance
+    
+def setup():
+    print 'Program is starting...'
+    GPIO.setmode(GPIO.BOARD)       #numbers GPIOs by physical location
+    GPIO.setup(trigPin, GPIO.OUT)   #
+    GPIO.setup(echoPin, GPIO.IN)    #
+
+def loop():
+    GPIO.setup(11,GPIO.IN)
+    while(True):
+        distance = getSonar()
+        print "The distance is : %.2f cm"%(distance)
+        time.sleep(1)
+        
+if __name__ == '__main__':     #program start from here
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:  #when 'Ctrl+C' is pressed, the program will exit
+        GPIO.cleanup()         #release resource
+
+
+	
diff --git a/Code/Python_Code/25.1.1_MPU6050/LICENSE b/Code/Python_Code/25.1.1_MPU6050/LICENSE
new file mode 100644
index 0000000..2f78a9a
--- /dev/null
+++ b/Code/Python_Code/25.1.1_MPU6050/LICENSE
@@ -0,0 +1,24 @@
+The MIT License (MIT)
+
+MPU6050 Python I2C Class
+
+Copyright (c) 2015 Geir Istad
+
+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.
+
diff --git a/Code/Python_Code/25.1.1_MPU6050/MPU6050.py b/Code/Python_Code/25.1.1_MPU6050/MPU6050.py
new file mode 100644
index 0000000..4accc0e
--- /dev/null
+++ b/Code/Python_Code/25.1.1_MPU6050/MPU6050.py
@@ -0,0 +1,946 @@
+__author__ = 'Geir Istad'
+"""
+MPU6050 Python I2C Class
+Copyright (c) 2015 Geir Istad
+
+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.
+
+
+Code based on
+I2Cdev library collection - MPU6050 I2C device class
+by Jeff Rowberg <jeff@rowberg.net>
+============================================
+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.
+===============================================
+"""
+
+import math
+import ctypes
+import time
+import smbus
+import csv
+from MPUConstants import MPUConstants as C
+from Quaternion import Quaternion as Q
+from Quaternion import XYZVector as V
+
+
+class MPU6050:
+    __buffer = [0] * 14
+    __debug = False
+    __DMP_packet_size = 0
+    __dev_id = 0
+    __bus = None
+
+    def __init__(self, a_bus=1, a_address=C.MPU6050_DEFAULT_ADDRESS,
+                 a_xAOff=None, a_yAOff=None, a_zAOff=None, a_xGOff=None,
+                 a_yGOff=None, a_zGOff=None, a_debug=False):
+        self.__dev_id = a_address
+        # Connect to num 1 SMBus
+        self.__bus = smbus.SMBus(a_bus)
+        # Set clock source to gyro
+        self.set_clock_source(C.MPU6050_CLOCK_PLL_XGYRO)
+        # Set accelerometer range
+        self.set_full_scale_accel_range(C.MPU6050_ACCEL_FS_2)
+        # Set gyro range
+        self.set_full_scale_gyro_range(C.MPU6050_GYRO_FS_250)
+        # Take the MPU out of time.sleep mode
+        self.wake_up()
+        # Set offsets
+        if a_xAOff:
+            self.set_x_accel_offset(a_xAOff)
+        if a_yAOff:
+            self.set_y_accel_offset(a_yAOff)
+        if a_zAOff:
+            self.set_z_accel_offset(a_zAOff)
+        if a_xGOff:
+            self.set_x_gyro_offset(a_xGOff)
+        if a_yGOff:
+            self.set_y_gyro_offset(a_yGOff)
+        if a_zGOff:
+            self.set_z_gyro_offset(a_zGOff)
+        self.__debug = a_debug
+
+    # Core bit and byte operations
+    def read_bit(self, a_reg_add, a_bit_position):
+        return self.read_bits(a_reg_add, a_bit_position, 1)
+
+    def write_bit(self, a_reg_add, a_bit_num, a_bit):
+        byte = self.__bus.read_byte_data(self.__dev_id, a_reg_add)
+        if a_bit:
+            byte |= 1 << a_bit_num
+        else:
+            byte &= ~(1 << a_bit_num)
+        self.__bus.write_byte_data(
+            self.__dev_id, a_reg_add, ctypes.c_int8(byte).value)
+
+    def read_bits(self, a_reg_add, a_bit_start, a_length):
+        byte = self.__bus.read_byte_data(self.__dev_id, a_reg_add)
+        mask = ((1 << a_length) - 1) << (a_bit_start - a_length + 1)
+        byte &= mask
+        byte >>= a_bit_start - a_length + 1
+        return byte
+
+    def write_bits(self, a_reg_add, a_bit_start, a_length, a_data):
+        byte = self.__bus.read_byte_data(self.__dev_id, a_reg_add)
+        mask = ((1 << a_length) - 1) << (a_bit_start - a_length + 1)
+        # Get data in position and zero all non-important bits in data
+        a_data <<= a_bit_start - a_length + 1
+        a_data &= mask
+        # Clear all important bits in read byte and combine with data
+        byte &= ~mask
+        byte = byte | a_data
+        # Write the data to the I2C device
+        self.__bus.write_byte_data(
+            self.__dev_id, a_reg_add, ctypes.c_int8(byte).value)
+
+    def read_memory_byte(self):
+        return self.__bus.read_byte_data(self.__dev_id, C.MPU6050_RA_MEM_R_W)
+
+    def read_bytes(self, a_data_list, a_address, a_length):
+        if a_length > len(a_data_list):
+            print('read_bytes, length of passed list too short')
+            return a_data_list
+        # Attempt to use the built in read bytes function in the adafruit lib
+        # a_data_list = self.__bus.read_i2c_block_data(self.__dev_id, a_address,
+        #                                             a_length)
+        # Attempt to bypass adafruit lib
+        #a_data_list = self.__mpu.bus.read_i2c_block_data(0x68, a_address, a_length)
+        #print('data' + str(a_data_list))
+        for x in xrange(0, a_length):
+            a_data_list[x] = self.__bus.read_byte_data(self.__dev_id,
+                                                       a_address + x)
+        return a_data_list
+
+    def write_memory_block(self, a_data_list, a_data_size, a_bank, a_address,
+                           a_verify):
+        success = True
+        self.set_memory_bank(a_bank)
+        self.set_memory_start_address(a_address)
+
+        # For each a_data_item we want to write it to the board to a certain
+        # memory bank and address
+        for i in range(0, a_data_size):
+            # Write each data to memory
+            self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_MEM_R_W,
+                                       a_data_list[i])
+
+            if a_verify:
+                self.set_memory_bank(a_bank)
+                self.set_memory_start_address(a_address)
+                verify_data = self.__bus.read_byte_data(self.__dev_id,
+                                                        C.MPU6050_RA_MEM_R_W)
+                if verify_data != a_data_list[i]:
+                    success = False
+
+            # If we've filled the bank, change the memory bank
+            if a_address == 255:
+                a_address = 0
+                a_bank += 1
+                self.set_memory_bank(a_bank)
+            else:
+                a_address += 1
+
+            # Either way update the memory address
+            self.set_memory_start_address(a_address)
+
+        return success
+
+    def wake_up(self):
+        self.write_bit(
+            C.MPU6050_RA_PWR_MGMT_1, C.MPU6050_PWR1_SLEEP_BIT, 0)
+
+    def set_clock_source(self, a_source):
+        self.write_bits(C.MPU6050_RA_PWR_MGMT_1, C.MPU6050_PWR1_CLKSEL_BIT,
+                        C.MPU6050_PWR1_CLKSEL_LENGTH, a_source)
+
+    def set_full_scale_gyro_range(self, a_data):
+        self.write_bits(C.MPU6050_RA_GYRO_CONFIG,
+                        C.MPU6050_GCONFIG_FS_SEL_BIT,
+                        C.MPU6050_GCONFIG_FS_SEL_LENGTH, a_data)
+
+    def set_full_scale_accel_range(self, a_data):
+        self.write_bits(C.MPU6050_RA_ACCEL_CONFIG,
+                        C.MPU6050_ACONFIG_AFS_SEL_BIT,
+                        C.MPU6050_ACONFIG_AFS_SEL_LENGTH, a_data)
+
+    def reset(self):
+        self.write_bit(C.MPU6050_RA_PWR_MGMT_1,
+                       C.MPU6050_PWR1_DEVICE_RESET_BIT, 1)
+
+    def set_sleep_enabled(self, a_enabled):
+        set_bit = 0
+        if a_enabled:
+            set_bit = 1
+        self.write_bit(C.MPU6050_RA_PWR_MGMT_1,
+                       C.MPU6050_PWR1_SLEEP_BIT, set_bit)
+
+    def set_memory_bank(self, a_bank, a_prefetch_enabled=False,
+                        a_user_bank=False):
+        a_bank &= 0x1F
+        if a_user_bank:
+            a_bank |= 0x20
+        if a_prefetch_enabled:
+            a_bank |= 0x20
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_BANK_SEL, a_bank)
+
+    def set_memory_start_address(self, a_address):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_MEM_START_ADDR, a_address)
+
+    def get_x_gyro_offset_TC(self):
+        return self.read_bits(C.MPU6050_RA_XG_OFFS_TC,
+                              C.MPU6050_TC_OFFSET_BIT,
+                              C.MPU6050_TC_OFFSET_LENGTH)
+
+    def set_x_gyro_offset_TC(self, a_offset):
+        self.write_bits(C.MPU6050_RA_XG_OFFS_TC,
+                        C.MPU6050_TC_OFFSET_BIT,
+                        C.MPU6050_TC_OFFSET_LENGTH, a_offset)
+
+    def get_y_gyro_offset_TC(self):
+        return self.read_bits(C.MPU6050_RA_YG_OFFS_TC,
+                              C.MPU6050_TC_OFFSET_BIT,
+                              C.MPU6050_TC_OFFSET_LENGTH)
+
+    def set_y_gyro_offset_TC(self, a_offset):
+        self.write_bits(C.MPU6050_RA_YG_OFFS_TC,
+                        C.MPU6050_TC_OFFSET_BIT,
+                        C.MPU6050_TC_OFFSET_LENGTH, a_offset)
+
+    def get_z_gyro_offset_TC(self):
+        return self.read_bits(C.MPU6050_RA_ZG_OFFS_TC,
+                              C.MPU6050_TC_OFFSET_BIT,
+                              C.MPU6050_TC_OFFSET_LENGTH)
+
+    def set_z_gyro_offset_TC(self, a_offset):
+        self.write_bits(C.MPU6050_RA_ZG_OFFS_TC,
+                        C.MPU6050_TC_OFFSET_BIT,
+                        C.MPU6050_TC_OFFSET_LENGTH, a_offset)
+
+    def set_slave_address(self, a_num, a_address):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_I2C_SLV0_ADDR + a_num * 3, a_address)
+
+    def set_I2C_master_mode_enabled(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_I2C_MST_EN_BIT, bit)
+
+    def reset_I2C_master(self):
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_I2C_MST_RESET_BIT, 1)
+
+    def write_prog_memory_block(self, a_data_list, a_data_size, a_bank=0,
+                                a_address=0, a_verify=True):
+        return self.write_memory_block(a_data_list, a_data_size, a_bank,
+                                       a_address, a_verify)
+
+    def write_DMP_configuration_set(self, a_data_list, a_data_size):
+        index = 0
+        while index < a_data_size:
+            bank = a_data_list[index]
+            offset = a_data_list[index + 1]
+            length = a_data_list[index + 2]
+            index += 3
+            success = False
+
+            # Normal case
+            if length > 0:
+                data_selection = list()
+                for subindex in range(0, length):
+                    data_selection.append(a_data_list[index + subindex])
+                success = self.write_memory_block(data_selection, length, bank,
+                                                  offset, True)
+                index += length
+            # Special undocumented case
+            else:
+                special = a_data_list[index]
+                index += 1
+                if special == 0x01:
+                    # TODO Figure out if write8 can return True/False
+                    success = self.__bus.write_byte_data(
+                        self.__dev_id, C.MPU6050_RA_INT_ENABLE, 0x32)
+
+            if success == False:
+                # TODO implement error messagemajigger
+                return False
+                pass
+        return True
+
+    def write_prog_dmp_configuration(self, a_data_list, a_data_size):
+        return self.write_DMP_configuration_set(a_data_list, a_data_size)
+
+    def set_int_enable(self, a_enabled):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_INT_ENABLE, a_enabled)
+
+    def set_rate(self, a_rate):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_SMPLRT_DIV, a_rate)
+
+    def set_external_frame_sync(self, a_sync):
+        self.write_bits(C.MPU6050_RA_CONFIG,
+                        C.MPU6050_CFG_EXT_SYNC_SET_BIT,
+                        C.MPU6050_CFG_EXT_SYNC_SET_LENGTH, a_sync)
+
+    def set_DLF_mode(self, a_mode):
+        self.write_bits(C.MPU6050_RA_CONFIG, C.MPU6050_CFG_DLPF_CFG_BIT,
+                        C.MPU6050_CFG_DLPF_CFG_LENGTH, a_mode)
+
+    def get_DMP_config_1(self):
+        return self.__bus.read_byte_data(self.__dev_id, C.MPU6050_RA_DMP_CFG_1)
+
+    def set_DMP_config_1(self, a_config):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_DMP_CFG_1, a_config)
+
+    def get_DMP_config_2(self):
+        return self.__bus.read_byte_data(self.__dev_id, C.MPU6050_RA_DMP_CFG_2)
+
+    def set_DMP_config_2(self, a_config):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_DMP_CFG_2, a_config)
+
+    def set_OTP_bank_valid(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_XG_OFFS_TC,
+                       C.MPU6050_TC_OTP_BNK_VLD_BIT, bit)
+
+    def get_OTP_bank_valid(self):
+        return self.read_bit(C.MPU6050_RA_XG_OFFS_TC,
+                             C.MPU6050_TC_OTP_BNK_VLD_BIT)
+
+    def set_motion_detection_threshold(self, a_threshold):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_MOT_THR, a_threshold)
+
+    def set_zero_motion_detection_threshold(self, a_threshold):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_ZRMOT_THR, a_threshold)
+
+    def set_motion_detection_duration(self, a_duration):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_MOT_DUR, a_duration)
+
+    def set_zero_motion_detection_duration(self, a_duration):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_ZRMOT_DUR, a_duration)
+
+    def set_FIFO_enabled(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_FIFO_EN_BIT, bit)
+
+    def set_DMP_enabled(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_DMP_EN_BIT, bit)
+
+    def reset_DMP(self):
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_DMP_RESET_BIT, True)
+
+    def dmp_initialize(self):
+        # Reset the MPU
+        self.reset()
+        # time.Sleep a bit while resetting
+        time.sleep(50 / 1000)
+        # Disable time.sleep mode
+        self.set_sleep_enabled(0)
+
+        # get MPU hardware revision
+        if self.__debug:
+            print('Selecting user bank 16')
+        self.set_memory_bank(0x10, True, True)
+
+        if self.__debug:
+            print('Selecting memory byte 6')
+        self.set_memory_start_address(0x6)
+
+        if self.__debug:
+            print('Checking hardware revision')
+        HW_revision = self.read_memory_byte()
+        if self.__debug:
+            print('Revision @ user[16][6] = ' + hex(HW_revision))
+
+        if self.__debug:
+            print('Resetting memory bank selection to 0')
+        self.set_memory_bank(0)
+
+        # check OTP bank valid
+        # TODO Find out what OTP is
+        OTP_valid = self.get_OTP_bank_valid()
+        if self.__debug:
+            if OTP_valid:
+                print('OTP bank is valid')
+            else:
+                print('OTP bank is invalid')
+
+        # get X/Y/Z gyro offsets
+        if self.__debug:
+            print('Reading gyro offet TC values')
+        x_g_offset_TC = self.get_x_gyro_offset_TC()
+        y_g_offset_TC = self.get_y_gyro_offset_TC()
+        z_g_offset_TC = self.get_z_gyro_offset_TC()
+        if self.__debug:
+            print("X gyro offset = ", repr(x_g_offset_TC))
+            print("Y gyro offset = ", repr(y_g_offset_TC))
+            print("Z gyro offset = ", repr(z_g_offset_TC))
+
+        # setup weird slave stuff (?)
+        if self.__debug:
+            print('Setting slave 0 address to 0x7F')
+        self.set_slave_address(0, 0x7F)
+        if self.__debug:
+            print('Disabling I2C Master mode')
+        self.set_I2C_master_mode_enabled(False)
+        if self.__debug:
+            print('Setting slave 0 address to 0x68 (self)')
+        self.set_slave_address(0, 0x68)
+        if self.__debug:
+            print('Resetting I2C Master control')
+        self.reset_I2C_master()
+        # Wait a bit for the device to register the changes
+        time.sleep(20 / 1000)
+
+        # load DMP code into memory banks
+        if self.__debug:
+            print('Writing DMP code to MPU memory banks ' +
+                  repr(C.MPU6050_DMP_CODE_SIZE) + ' bytes')
+        if self.write_prog_memory_block(C.dmpMemory, C.MPU6050_DMP_CODE_SIZE):
+            # TODO Check if we've actually verified this
+            if self.__debug:
+                print('Success! DMP code written and verified')
+
+            # Write DMP configuration
+            if self.__debug:
+                print('Writing DMP configuration to MPU memory banks ' +
+                      repr(C.MPU6050_DMP_CONFIG_SIZE) + ' bytes in config')
+            if self.write_prog_dmp_configuration(C.dmpConfig,
+                                                 C.MPU6050_DMP_CONFIG_SIZE):
+                if self.__debug:
+                    print('Success! DMP configuration written and verified.')
+                    print('Setting clock source to Z gyro')
+                self.set_clock_source(C.MPU6050_CLOCK_PLL_ZGYRO)
+
+                if self.__debug:
+                    print('Setting DMP and FIFO_OFLOW interrupts enabled')
+                self.set_int_enable(0x12)
+
+                if self.__debug:
+                    print('Setting sample rate to 200Hz')
+                self.set_rate(4)
+
+                if self.__debug:
+                    print('Setting external frame sync to TEMP_OUT_L[0]')
+                self.set_external_frame_sync(C.MPU6050_EXT_SYNC_TEMP_OUT_L)
+
+                if self.__debug:
+                    print('Setting DLPF bandwidth to 42Hz')
+                self.set_DLF_mode(C.MPU6050_DLPF_BW_42)
+
+                if self.__debug:
+                    print('Setting gyro sensitivity to +/- 2000 deg/sec')
+                self.set_full_scale_gyro_range(C.MPU6050_GYRO_FS_2000)
+
+                if self.__debug:
+                    print('Setting DMP configuration bytes (function unknown)')
+                self.set_DMP_config_1(0x03)
+                self.set_DMP_config_2(0x00)
+
+                if self.__debug:
+                    print('Clearing OTP Bank flag')
+                self.set_OTP_bank_valid(False)
+
+                if self.__debug:
+                    print('Setting X/Y/Z gyro offset TCs to previous values')
+                self.set_x_gyro_offset_TC(x_g_offset_TC)
+                self.set_y_gyro_offset_TC(y_g_offset_TC)
+                self.set_z_gyro_offset_TC(z_g_offset_TC)
+
+                # Uncomment this to zero offsets when dmp_initialize is called
+                # if self.__debug:
+                #    print('Setting X/Y/Z gyro user offsets to zero')
+                # self.set_x_gyro_offset(0)
+                # self.set_y_gyro_offset(0)
+                # self.set_z_gyro_offset(0)
+
+                if self.__debug:
+                    print('Writing final memory update 1/7 (function unknown)')
+                pos = 0
+                j = 0
+                dmp_update = [0] * 16
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Writing final memory update 2/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Resetting FIFO')
+                self.reset_FIFO()
+
+                if self.__debug:
+                    print('Reading FIFO count')
+                FIFO_count = self.get_FIFO_count()
+
+                if self.__debug:
+                    print('FIFO count: ' + repr(FIFO_count))
+
+                if self.__debug:
+                    print('Getting FIFO buffer')
+                FIFO_buffer = [0] * 128
+                FIFO_buffer = self.get_FIFO_bytes(FIFO_count)
+
+                if self.__debug:
+                    print('Setting motion detection threshold to 2')
+                self.set_motion_detection_threshold(2)
+
+                if self.__debug:
+                    print('Setting zero-motion detection threshold to 156')
+                self.set_zero_motion_detection_threshold(156)
+
+                if self.__debug:
+                    print('Setting motion detection duration to 80')
+                self.set_motion_detection_duration(80)
+
+                if self.__debug:
+                    print('Setting zero-motion detection duration to 0')
+                self.set_zero_motion_detection_duration(0)
+
+                if self.__debug:
+                    print('Resetting FIFO')
+                self.reset_FIFO()
+
+                if self.__debug:
+                    print('Enabling FIFO')
+                self.set_FIFO_enabled(True)
+
+                if self.__debug:
+                    print('Enabling DMP')
+                self.set_DMP_enabled(True)
+
+                if self.__debug:
+                    print('Resetting DMP')
+                self.reset_DMP()
+
+                if self.__debug:
+                    print('Writing final memory update 3/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Writing final memory update 4/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Writing final memory update 5/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Waiting for FIFO count > 2')
+                FIFO_count = self.get_FIFO_count()
+                while FIFO_count < 3:
+                    FIFO_count = self.get_FIFO_count()
+
+                if self.__debug:
+                    print('Current FIFO count = ' + repr(FIFO_count))
+                    print('Reading FIFO data')
+                FIFO_buffer = self.get_FIFO_bytes(FIFO_count)
+
+                if self.__debug:
+                    print('Reading interrupt status')
+                MPU_int_status = self.get_int_status()
+
+                if self.__debug:
+                    print('Current interrupt status = ' + hex(MPU_int_status))
+                    print('Writing final memory update 6/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Waiting for FIFO count > 2')
+                FIFO_count = self.get_FIFO_count()
+                while FIFO_count < 3:
+                    FIFO_count = self.get_FIFO_count()
+
+                if self.__debug:
+                    print('Current FIFO count = ' + repr(FIFO_count))
+                    print('Reading FIFO count')
+                FIFO_buffer = self.get_FIFO_bytes(FIFO_count)
+
+                if self.__debug:
+                    print('Reading interrupt status')
+                MPU_int_status = self.get_int_status()
+
+                if self.__debug:
+                    print('Current interrupt status = ' + hex(MPU_int_status))
+                    print('Writing final memory update 7/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('DMP is good to go! Finally.')
+                    print('Disabling DMP (you turn it on later)')
+                self.set_DMP_enabled(False)
+
+                if self.__debug:
+                    print('Setting up internal 42 byte DMP packet buffer')
+                self.__DMP_packet_size = 42
+
+                if self.__debug:
+                    print(
+                        'Resetting FIFO and clearing INT status one last time')
+                self.reset_FIFO()
+                self.get_int_status()
+
+            else:
+                if self.__debug:
+                    print('Configuration block loading failed')
+                return 2
+
+        else:
+            if self.__debug:
+                print('Main binary block loading failed')
+            return 1
+
+        if self.__debug:
+            print('DMP initialization was successful')
+        return 0
+
+    # Acceleration and gyro offset setters and getters
+    def set_x_accel_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XA_OFFS_H,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XA_OFFS_L_TC,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_y_accel_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YA_OFFS_H,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YA_OFFS_L_TC,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_z_accel_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZA_OFFS_H,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZA_OFFS_L_TC,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_x_gyro_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XG_OFFS_USRH,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XG_OFFS_USRL,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_y_gyro_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YG_OFFS_USRH,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YG_OFFS_USRL,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_z_gyro_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZG_OFFS_USRH,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZG_OFFS_USRL,
+                                   ctypes.c_int8(a_offset).value)
+
+    # Main interfacing functions to get raw data from MPU
+    def get_acceleration(self):
+        raw_data = self.__bus.read_i2c_block_data(self.__dev_id,
+                                                  C.MPU6050_RA_ACCEL_XOUT_H, 6)
+        accel = [0] * 3
+        accel[0] = ctypes.c_int16(raw_data[0] << 8 | raw_data[1]).value
+        accel[1] = ctypes.c_int16(raw_data[2] << 8 | raw_data[3]).value
+        accel[2] = ctypes.c_int16(raw_data[4] << 8 | raw_data[5]).value
+        return accel
+
+    def get_rotation(self):
+        raw_data = self.__bus.read_i2c_block_data(self.__dev_id,
+                                                  C.MPU6050_RA_GYRO_XOUT_H, 6)
+        gyro = [0] * 3
+        gyro[0] = ctypes.c_int16(raw_data[0] << 8 | raw_data[1]).value
+        gyro[1] = ctypes.c_int16(raw_data[2] << 8 | raw_data[3]).value
+        gyro[2] = ctypes.c_int16(raw_data[4] << 8 | raw_data[5]).value
+        return gyro
+
+    # Interfacing functions to get data from FIFO buffer
+    def DMP_get_FIFO_packet_size(self):
+        return self.__DMP_packet_size
+
+    def reset_FIFO(self):
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_FIFO_RESET_BIT, True)
+
+    def get_FIFO_count(self):
+        data = [0] * 2
+        data = self.read_bytes(data, C.MPU6050_RA_FIFO_COUNTH, 2)
+        return (data[0] << 8) | data[1]
+
+    def get_FIFO_bytes(self, a_FIFO_count):
+        return_list = list()
+        for index in range(0, a_FIFO_count):
+            return_list.append(
+                self.__bus.read_byte_data(self.__dev_id,
+                                          C.MPU6050_RA_FIFO_R_W))
+        return return_list
+
+    def get_int_status(self):
+        return self.__bus.read_byte_data(self.__dev_id,
+                                         C.MPU6050_RA_INT_STATUS)
+
+    # Data retrieval from received FIFO buffer
+    def DMP_get_quaternion_int16(self, a_FIFO_buffer):
+        w = ctypes.c_int16((a_FIFO_buffer[0] << 8) | a_FIFO_buffer[1]).value
+        x = ctypes.c_int16((a_FIFO_buffer[4] << 8) | a_FIFO_buffer[5]).value
+        y = ctypes.c_int16((a_FIFO_buffer[8] << 8) | a_FIFO_buffer[9]).value
+        z = ctypes.c_int16((a_FIFO_buffer[12] << 8) | a_FIFO_buffer[13]).value
+        return Q(w, x, y, z)
+
+    def DMP_get_quaternion(self, a_FIFO_buffer):
+        quat = self.DMP_get_quaternion_int16(a_FIFO_buffer)
+        w = quat.w / 16384.0
+        x = quat.x / 16384.0
+        y = quat.y / 16384.0
+        z = quat.z / 16384.0
+        return Q(w, x, y, z)
+
+    def DMP_get_acceleration_int16(self, a_FIFO_buffer):
+        x = ctypes.c_int16(a_FIFO_buffer[28] << 8 | a_FIFO_buffer[29]).value
+        y = ctypes.c_int16(a_FIFO_buffer[32] << 8 | a_FIFO_buffer[33]).value
+        z = ctypes.c_int16(a_FIFO_buffer[36] << 8 | a_FIFO_buffer[37]).value
+        return V(x, y, z)
+
+    def DMP_get_gravity(self, a_quat):
+        x = 2.0 * (a_quat.x * a_quat.z - a_quat.w * a_quat.y)
+        y = 2.0 * (a_quat.w * a_quat.x + a_quat.y * a_quat.z)
+        z = 1.0 * (a_quat.w * a_quat.w - a_quat.x * a_quat.x -
+                   a_quat.y * a_quat.y + a_quat.z * a_quat.z)
+        return V(x, y, z)
+
+    def DMP_get_linear_accel_int16(self, a_v_raw, a_grav):
+        x = ctypes.c_int16(a_v_raw.x - (a_grav.x*8192)).value
+        y = ctypes.c_int16(a_v_raw.y - (a_grav.y*8192)).value
+        y = ctypes.c_int16(a_v_raw.y - (a_grav.y*8192)).value
+        return V(x, y, z)
+
+    def DMP_get_euler(self, a_quat):
+        psi = math.atan2(2*a_quat.x*a_quat.y - 2*a_quat.w*a_quat.z,
+                         2*a_quat.w*a_quat.w + 2*a_quat.x*a_quat.x - 1)
+        theta = -asin(2*a_quat.x*a_quat.z + 2*a_quat.w*a_quat.y)
+        phi = math.atan2(2*a_quat.y*a_quat.z - 2*a_quat.w*a_quat.x,
+                         2*a_quat.w*a_quat.w + 2*a_quat.z*a_quat.z - 1)
+        return V(psi, theta, phi)
+
+    def DMP_get_roll_pitch_yaw(self, a_quat, a_grav_vect):
+        # roll: (tilt left/right, about X axis)
+        roll = math.atan(a_grav_vect.y /
+                         math.sqrt(a_grav_vect.x*a_grav_vect.x +
+                              a_grav_vect.z*a_grav_vect.z))
+        # pitch: (nose up/down, about Y axis)
+        pitch = math.atan(a_grav_vect.x /
+                          math.sqrt(a_grav_vect.y*a_grav_vect.y +
+                               a_grav_vect.z*a_grav_vect.z))
+        # yaw: (about Z axis)
+        yaw = math.atan2(2*a_quat.x*a_quat.y - 2*a_quat.w*a_quat.z,
+                         2*a_quat.w*a_quat.w + 2*a_quat.x*a_quat.x - 1)
+        return V(roll, pitch, yaw)
+
+    def DMP_get_euler_roll_pitch_yaw(self, a_quat, a_grav_vect):
+        rad_ypr = self.DMP_get_roll_pitch_yaw(a_quat, a_grav_vect)
+        roll = rad_ypr.x * (180.0/math.pi)
+        pitch = rad_ypr.y * (180.0/math.pi)
+        yaw = rad_ypr.z * (180.0/math.pi)
+        return V(roll, pitch, yaw)
+
+    def DMP_get_linear_accel(self, a_vector_raw, a_vect_grav):
+        x = a_vector_raw.x - a_vect_grav.x*8192
+        y = a_vector_raw.y - a_vect_grav.y*8192
+        z = a_vector_raw.z - a_vect_grav.z*8192
+        return V(x, y, z)
+
+
+class MPU6050IRQHandler:
+    __mpu = MPU6050
+    __FIFO_buffer = list()
+    __count = 0
+    __packet_size = None
+    __detected_error = False
+    __logging = False
+    __log_file = None
+    __csv_writer = None
+    __start_time = None
+    __debug = None
+
+    # def __init__(self, a_i2c_bus, a_device_address, a_x_accel_offset,
+    #             a_y_accel_offset, a_z_accel_offset, a_x_gyro_offset,
+    #             a_y_gyro_offset, a_z_gyro_offset, a_enable_debug_output):
+    #    self.__mpu = MPU6050(a_i2c_bus, a_device_address, a_x_accel_offset,
+    #                         a_y_accel_offset, a_z_accel_offset,
+    #                         a_x_gyro_offset, a_y_gyro_offset, a_z_gyro_offset,
+    #                         a_enable_debug_output)
+    def __init__(self, a_mpu, a_logging=False, a_log_file='log.csv',
+                 a_debug=False):
+        self.__mpu = a_mpu
+        self.__FIFO_buffer = [0]*64
+        self.__mpu.dmp_initialize()
+        self.__mpu.set_DMP_enabled(True)
+        self.__packet_size = self.__mpu.DMP_get_FIFO_packet_size()
+        mpu_int_status = self.__mpu.get_int_status()
+        if a_logging:
+            self.__start_time = time.clock()
+            self.__logging = True
+            self.__log_file = open(a_log_file, 'ab')
+            self.__csv_writer = csv.writer(self.__log_file, delimiter=',',
+                                           quotechar='|',
+                                           quoting=csv.QUOTE_MINIMAL)
+        self.__debug = a_debug
+
+    def action(self, channel):
+        if self.__detected_error:
+            # Clear FIFO and reset MPU
+            mpu_int_status = self.__mpu.get_int_status()
+            self.__mpu.reset_FIFO()
+            self.__detected_error = False
+            return
+
+        try:
+            FIFO_count = self.__mpu.get_FIFO_count()
+            mpu_int_status = self.__mpu.get_int_status()
+        except:
+            self.__detected_error = True
+            return
+
+        # If overflow is detected by status or fifo count we want to reset
+        if (FIFO_count == 1024) or (mpu_int_status & 0x10):
+            try:
+                self.__mpu.reset_FIFO()
+            except:
+                self.__detected_error = True
+                return
+
+        elif (mpu_int_status & 0x02):
+            # Wait until packet_size number of bytes are ready for reading,
+            # default is 42 bytes
+            while FIFO_count < self.__packet_size:
+                try:
+                    FIFO_count = self.__mpu.get_FIFO_count()
+                except:
+                    self.__detected_error = True
+                    return
+
+            while FIFO_count > self.__packet_size:
+
+                try:
+                    self.__FIFO_buffer = \
+                        self.__mpu.get_FIFO_bytes(self.__packet_size)
+                except:
+                    self.__detected_error = True
+                    return
+                accel = \
+                    self.__mpu.DMP_get_acceleration_int16(self.__FIFO_buffer)
+                quat = self.__mpu.DMP_get_quaternion_int16(self.__FIFO_buffer)
+                grav = self.__mpu.DMP_get_gravity(quat)
+                roll_pitch_yaw = self.__mpu.DMP_get_euler_roll_pitch_yaw(quat,
+                                                                         grav)
+                if self.__logging:
+                    delta_time = time.clock() - self.__start_time
+                    data_concat = ['%.4f' % delta_time] + \
+                        [accel.x, accel.y, accel.z] + \
+                        ['%.3f' % roll_pitch_yaw.x,
+                         '%.3f' % roll_pitch_yaw.y,
+                         '%.3f' % roll_pitch_yaw.z]
+                    self.__csv_writer.writerow(data_concat)
+
+                if (self.__debug) and (self.__count % 100 == 0):
+                    print('roll: ' + str(roll_pitch_yaw.x))
+                    print('pitch: ' + str(roll_pitch_yaw.y))
+                    print('yaw: ' + str(roll_pitch_yaw.z))
+                self.__count += 1
+                FIFO_count -= self.__packet_size
diff --git a/Code/Python_Code/25.1.1_MPU6050/MPU6050RAW.py b/Code/Python_Code/25.1.1_MPU6050/MPU6050RAW.py
new file mode 100644
index 0000000..5dd5ae0
--- /dev/null
+++ b/Code/Python_Code/25.1.1_MPU6050/MPU6050RAW.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+########################################################################
+# Filename    : MPU6050RAW.py
+# Description : Read the Raw data of MPU6050.
+# Author      : freenove
+# modification: 2016/07/18
+########################################################################
+import MPU6050 
+import time
+
+mpu = MPU6050.MPU6050()     #instantiate a MPU6050 class object
+accel = [0]*3               #store accelerometer data
+gyro = [0]*3                #store gyroscope data
+def setup():
+    mpu.dmp_initialize()    #initialize MPU6050
+    
+def loop():
+    while(True):
+        accel = mpu.get_acceleration()      #get accelerometer data
+        gyro = mpu.get_rotation()           #get gyroscope data
+        print"a/g:%d\t%d\t%d\t%d\t%d\t%d "%(accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2])
+        print"a/g:%.2f g\t%.2f g\t%.2f g\t%.2f d/s\t%.2f d/s\t%.2f d/s"%(accel[0]/16384.0,accel[1]/16384.0,
+            accel[2]/16384.0,gyro[0]/131.0,gyro[1]/131.0,gyro[2]/131.0)
+        time.sleep(0.1)
+        
+if __name__ == '__main__':     # Program start from here
+    print"Program is starting ... "
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed,the program will exit.
+        pass
+
diff --git a/Code/Python_Code/25.1.1_MPU6050/MPU6050_cal.py b/Code/Python_Code/25.1.1_MPU6050/MPU6050_cal.py
new file mode 100644
index 0000000..e73f0ed
--- /dev/null
+++ b/Code/Python_Code/25.1.1_MPU6050/MPU6050_cal.py
@@ -0,0 +1,186 @@
+from MPU6050 import MPU6050
+from SimplePID import SimplePID
+
+
+def avg_from_array(a_array):
+    sum = 0.0
+    for index in range(0, len(a_array)):
+        sum += a_array[index]
+
+    return sum/len(a_array)
+
+
+i2c_bus = 1
+device_address = 0x68
+# The offsets are different for each device and should be changed
+# accordingly using a calibration procedure
+x_accel_offset = 0
+y_accel_offset = 0
+z_accel_offset =0
+x_gyro_offset = 0
+y_gyro_offset = 0
+z_gyro_offset = 0
+enable_debug_output = True
+
+mpu = MPU6050(i2c_bus, device_address, x_accel_offset, y_accel_offset,
+              z_accel_offset, x_gyro_offset, y_gyro_offset, z_gyro_offset,
+              enable_debug_output)
+
+kp = 0.03125
+ki = 0.25
+kd = 0
+
+pidax = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+piday = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidaz = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidgx = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidgy = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidgz = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+
+accel_reading = mpu.get_acceleration()
+
+x_accel_reading = accel_reading[0]
+y_accel_reading = accel_reading[1]
+z_accel_reading = accel_reading[2]
+
+x_accel_avg = [0]*100
+y_accel_avg = [0]*100
+z_accel_avg = [0]*100
+
+x_accel_offset_avg = [0]*100
+y_accel_offset_avg = [0]*100
+z_accel_offset_avg = [0]*100
+
+axindex = 0
+ayindex = 0
+azindex = 0
+
+gyro_reading = mpu.get_rotation()
+
+x_gyro_reading = gyro_reading[0]
+y_gyro_reading = gyro_reading[1]
+z_gyro_reading = gyro_reading[2]
+
+x_gyro_avg = [0]*100
+y_gyro_avg = [0]*100
+z_gyro_avg = [0]*100
+
+x_gyro_offset_avg = [0]*100
+y_gyro_offset_avg = [0]*100
+z_gyro_offset_avg = [0]*100
+
+gxindex = 0
+gyindex = 0
+gzindex = 0
+
+try:
+    while True:
+        accel_reading = mpu.get_acceleration()
+        x_accel_reading = accel_reading[0]
+        y_accel_reading = accel_reading[1]
+        z_accel_reading = accel_reading[2]
+
+        gyro_reading = mpu.get_rotation()
+        x_gyro_reading = gyro_reading[0]
+        y_gyro_reading = gyro_reading[1]
+        z_gyro_reading = gyro_reading[2]
+
+        if pidax.check_time():
+            x_accel_offset = pidax.get_output_value(x_accel_reading)
+
+            mpu.set_x_accel_offset(int(x_accel_offset))
+
+            x_accel_avg[axindex] = x_accel_reading
+            x_accel_offset_avg[axindex] = x_accel_offset
+
+            axindex += 1
+            if axindex == len(x_accel_avg):
+                axindex = 0
+                print('x_avg_read: ' +
+                      str(avg_from_array(x_accel_avg)) +
+                      ' x_avg_offset: ' +
+                      str(avg_from_array(x_accel_offset_avg)))
+                print('y_avg_read: ' +
+                      str(avg_from_array(y_accel_avg)) +
+                      ' y_avg_offset: ' +
+                      str(avg_from_array(y_accel_offset_avg)))
+                print('z_avg_read: ' +
+                      str(avg_from_array(z_accel_avg)) +
+                      ' z_avg_offset: ' +
+                      str(avg_from_array(z_accel_offset_avg)))
+
+        if piday.check_time():
+            y_accel_offset = piday.get_output_value(y_accel_reading)
+
+            mpu.set_y_accel_offset(int(y_accel_offset))
+
+            y_accel_avg[ayindex] = y_accel_reading
+            y_accel_offset_avg[ayindex] = y_accel_offset
+
+            ayindex += 1
+            if ayindex == len(y_accel_avg):
+                ayindex = 0
+
+        if pidaz.check_time():
+            z_accel_offset = pidaz.get_output_value(z_accel_reading)
+
+            mpu.set_z_accel_offset(int(z_accel_offset))
+
+            z_accel_avg[azindex] = z_accel_reading
+            z_accel_offset_avg[azindex] = z_accel_offset
+
+            azindex += 1
+            if azindex == len(z_accel_avg):
+                azindex = 0
+
+        # Gyro calibration
+        if pidgx.check_time():
+            x_gyro_offset = pidgx.get_output_value(x_gyro_reading)
+
+            mpu.set_x_gyro_offset(int(x_gyro_offset))
+
+            x_gyro_avg[gxindex] = x_gyro_reading
+            x_gyro_offset_avg[gxindex] = x_gyro_offset
+
+            gxindex += 1
+            if gxindex == len(x_gyro_avg):
+                gxindex = 0
+                print('x_avg_read: ' +
+                      str(avg_from_array(x_gyro_avg)) +
+                      ' x_avg_offset: ' +
+                      str(avg_from_array(x_gyro_offset_avg)))
+                print('y_avg_read: ' +
+                      str(avg_from_array(y_gyro_avg)) +
+                      ' y_avg_offset: ' +
+                      str(avg_from_array(y_gyro_offset_avg)))
+                print('z_avg_read: ' +
+                      str(avg_from_array(z_gyro_avg)) +
+                      ' z_avg_offset: ' +
+                      str(avg_from_array(z_gyro_offset_avg)))
+
+        if pidgy.check_time():
+            y_gyro_offset = pidgy.get_output_value(y_gyro_reading)
+
+            mpu.set_y_gyro_offset(int(y_gyro_offset))
+
+            y_gyro_avg[gyindex] = y_gyro_reading
+            y_gyro_offset_avg[gyindex] = y_gyro_offset
+
+            gyindex += 1
+            if gyindex == len(y_gyro_avg):
+                gyindex = 0
+
+        if pidgz.check_time():
+            z_gyro_offset = pidgz.get_output_value(z_gyro_reading)
+
+            mpu.set_z_gyro_offset(int(z_gyro_offset))
+
+            z_gyro_avg[gzindex] = z_gyro_reading
+            z_gyro_offset_avg[gzindex] = z_gyro_offset
+
+            gzindex += 1
+            if gzindex == len(z_gyro_avg):
+                gzindex = 0
+
+except KeyboardInterrupt:
+    pass
diff --git a/Code/Python_Code/25.1.1_MPU6050/MPUConstants.py b/Code/Python_Code/25.1.1_MPU6050/MPUConstants.py
new file mode 100644
index 0000000..0387993
--- /dev/null
+++ b/Code/Python_Code/25.1.1_MPU6050/MPUConstants.py
@@ -0,0 +1,755 @@
+__author__ = 'Geir Istad'
+
+'''
+MPU6050 Python I2C Class
+Copyright (c) 2015 Geir Istad
+
+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.
+
+
+Code based on I2Cdev library collection - MPU6050 I2C device class
+by Jeff Rowberg <jeff@rowberg.net>
+============================================
+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.
+===============================================
+'''
+
+
+class MPUConstants:
+    # From MPU6050.h
+    MPU6050_ADDRESS_AD0_LOW = 0x68  # address pin low (GND), default
+    MPU6050_ADDRESS_AD0_HIGH = 0x69  # address pin high (VCC)
+    MPU6050_DEFAULT_ADDRESS = MPU6050_ADDRESS_AD0_LOW
+
+    # [7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+    MPU6050_RA_XG_OFFS_TC = 0x00
+    # [7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+    MPU6050_RA_YG_OFFS_TC = 0x01
+    # [7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+    MPU6050_RA_ZG_OFFS_TC = 0x02
+    # [7:0] X_FINE_GAIN
+    MPU6050_RA_X_FINE_GAIN = 0x03
+    # [7:0] Y_FINE_GAIN
+    MPU6050_RA_Y_FINE_GAIN = 0x04
+    # [7:0] Z_FINE_GAIN
+    MPU6050_RA_Z_FINE_GAIN = 0x05
+    # [15:0] XA_OFFS
+    MPU6050_RA_XA_OFFS_H = 0x06
+    MPU6050_RA_XA_OFFS_L_TC = 0x07
+    # [15:0] YA_OFFS
+    MPU6050_RA_YA_OFFS_H = 0x08
+    MPU6050_RA_YA_OFFS_L_TC = 0x09
+    # [15:0] ZA_OFFS
+    MPU6050_RA_ZA_OFFS_H = 0x0A
+    MPU6050_RA_ZA_OFFS_L_TC = 0x0B
+    # [15:0] XG_OFFS_USR
+    MPU6050_RA_XG_OFFS_USRH = 0x13
+    MPU6050_RA_XG_OFFS_USRL = 0x14
+    # [15:0] YG_OFFS_USR
+    MPU6050_RA_YG_OFFS_USRH = 0x15
+    MPU6050_RA_YG_OFFS_USRL = 0x16
+    # [15:0] ZG_OFFS_USR
+    MPU6050_RA_ZG_OFFS_USRH = 0x17
+    MPU6050_RA_ZG_OFFS_USRL = 0x18
+    MPU6050_RA_SMPLRT_DIV = 0x19
+    MPU6050_RA_CONFIG = 0x1A
+    MPU6050_RA_GYRO_CONFIG = 0x1B
+    MPU6050_RA_ACCEL_CONFIG = 0x1C
+    MPU6050_RA_FF_THR = 0x1D
+    MPU6050_RA_FF_DUR = 0x1E
+    MPU6050_RA_MOT_THR = 0x1F
+    MPU6050_RA_MOT_DUR = 0x20
+    MPU6050_RA_ZRMOT_THR = 0x21
+    MPU6050_RA_ZRMOT_DUR = 0x22
+    MPU6050_RA_FIFO_EN = 0x23
+    MPU6050_RA_I2C_MST_CTRL = 0x24
+    MPU6050_RA_I2C_SLV0_ADDR = 0x25
+    MPU6050_RA_I2C_SLV0_REG = 0x26
+    MPU6050_RA_I2C_SLV0_CTRL = 0x27
+    MPU6050_RA_I2C_SLV1_ADDR = 0x28
+    MPU6050_RA_I2C_SLV1_REG = 0x29
+    MPU6050_RA_I2C_SLV1_CTRL = 0x2A
+    MPU6050_RA_I2C_SLV2_ADDR = 0x2B
+    MPU6050_RA_I2C_SLV2_REG = 0x2C
+    MPU6050_RA_I2C_SLV2_CTRL = 0x2D
+    MPU6050_RA_I2C_SLV3_ADDR = 0x2E
+    MPU6050_RA_I2C_SLV3_REG = 0x2F
+    MPU6050_RA_I2C_SLV3_CTRL = 0x30
+    MPU6050_RA_I2C_SLV4_ADDR = 0x31
+    MPU6050_RA_I2C_SLV4_REG = 0x32
+    MPU6050_RA_I2C_SLV4_DO = 0x33
+    MPU6050_RA_I2C_SLV4_CTRL = 0x34
+    MPU6050_RA_I2C_SLV4_DI = 0x35
+    MPU6050_RA_I2C_MST_STATUS = 0x36
+    MPU6050_RA_INT_PIN_CFG = 0x37
+    MPU6050_RA_INT_ENABLE = 0x38
+    MPU6050_RA_DMP_INT_STATUS = 0x39
+    MPU6050_RA_INT_STATUS = 0x3A
+    MPU6050_RA_ACCEL_XOUT_H = 0x3B
+    MPU6050_RA_ACCEL_XOUT_L = 0x3C
+    MPU6050_RA_ACCEL_YOUT_H = 0x3D
+    MPU6050_RA_ACCEL_YOUT_L = 0x3E
+    MPU6050_RA_ACCEL_ZOUT_H = 0x3F
+    MPU6050_RA_ACCEL_ZOUT_L = 0x40
+    MPU6050_RA_TEMP_OUT_H = 0x41
+    MPU6050_RA_TEMP_OUT_L = 0x42
+    MPU6050_RA_GYRO_XOUT_H = 0x43
+    MPU6050_RA_GYRO_XOUT_L = 0x44
+    MPU6050_RA_GYRO_YOUT_H = 0x45
+    MPU6050_RA_GYRO_YOUT_L = 0x46
+    MPU6050_RA_GYRO_ZOUT_H = 0x47
+    MPU6050_RA_GYRO_ZOUT_L = 0x48
+    MPU6050_RA_EXT_SENS_DATA_00 = 0x49
+    MPU6050_RA_EXT_SENS_DATA_01 = 0x4A
+    MPU6050_RA_EXT_SENS_DATA_02 = 0x4B
+    MPU6050_RA_EXT_SENS_DATA_03 = 0x4C
+    MPU6050_RA_EXT_SENS_DATA_04 = 0x4D
+    MPU6050_RA_EXT_SENS_DATA_05 = 0x4E
+    MPU6050_RA_EXT_SENS_DATA_06 = 0x4F
+    MPU6050_RA_EXT_SENS_DATA_07 = 0x50
+    MPU6050_RA_EXT_SENS_DATA_08 = 0x51
+    MPU6050_RA_EXT_SENS_DATA_09 = 0x52
+    MPU6050_RA_EXT_SENS_DATA_10 = 0x53
+    MPU6050_RA_EXT_SENS_DATA_11 = 0x54
+    MPU6050_RA_EXT_SENS_DATA_12 = 0x55
+    MPU6050_RA_EXT_SENS_DATA_13 = 0x56
+    MPU6050_RA_EXT_SENS_DATA_14 = 0x57
+    MPU6050_RA_EXT_SENS_DATA_15 = 0x58
+    MPU6050_RA_EXT_SENS_DATA_16 = 0x59
+    MPU6050_RA_EXT_SENS_DATA_17 = 0x5A
+    MPU6050_RA_EXT_SENS_DATA_18 = 0x5B
+    MPU6050_RA_EXT_SENS_DATA_19 = 0x5C
+    MPU6050_RA_EXT_SENS_DATA_20 = 0x5D
+    MPU6050_RA_EXT_SENS_DATA_21 = 0x5E
+    MPU6050_RA_EXT_SENS_DATA_22 = 0x5F
+    MPU6050_RA_EXT_SENS_DATA_23 = 0x60
+    MPU6050_RA_MOT_DETECT_STATUS = 0x61
+    MPU6050_RA_I2C_SLV0_DO = 0x63
+    MPU6050_RA_I2C_SLV1_DO = 0x64
+    MPU6050_RA_I2C_SLV2_DO = 0x65
+    MPU6050_RA_I2C_SLV3_DO = 0x66
+    MPU6050_RA_I2C_MST_DELAY_CTRL = 0x67
+    MPU6050_RA_SIGNAL_PATH_RESET = 0x68
+    MPU6050_RA_MOT_DETECT_CTRL = 0x69
+    MPU6050_RA_USER_CTRL = 0x6A
+    MPU6050_RA_PWR_MGMT_1 = 0x6B
+    MPU6050_RA_PWR_MGMT_2 = 0x6C
+    MPU6050_RA_BANK_SEL = 0x6D
+    MPU6050_RA_MEM_START_ADDR = 0x6E
+    MPU6050_RA_MEM_R_W = 0x6F
+    MPU6050_RA_DMP_CFG_1 = 0x70
+    MPU6050_RA_DMP_CFG_2 = 0x71
+    MPU6050_RA_FIFO_COUNTH = 0x72
+    MPU6050_RA_FIFO_COUNTL = 0x73
+    MPU6050_RA_FIFO_R_W = 0x74
+    MPU6050_RA_WHO_AM_I = 0x75
+
+    MPU6050_TC_PWR_MODE_BIT = 7
+    MPU6050_TC_OFFSET_BIT = 6
+    MPU6050_TC_OFFSET_LENGTH = 6
+    MPU6050_TC_OTP_BNK_VLD_BIT = 0
+
+    MPU6050_VDDIO_LEVEL_VLOGIC = 0
+    MPU6050_VDDIO_LEVEL_VDD = 1
+
+    MPU6050_CFG_EXT_SYNC_SET_BIT = 5
+    MPU6050_CFG_EXT_SYNC_SET_LENGTH = 3
+    MPU6050_CFG_DLPF_CFG_BIT = 2
+    MPU6050_CFG_DLPF_CFG_LENGTH = 3
+
+    MPU6050_EXT_SYNC_DISABLED = 0x0
+    MPU6050_EXT_SYNC_TEMP_OUT_L = 0x1
+    MPU6050_EXT_SYNC_GYRO_XOUT_L = 0x2
+    MPU6050_EXT_SYNC_GYRO_YOUT_L = 0x3
+    MPU6050_EXT_SYNC_GYRO_ZOUT_L = 0x4
+    MPU6050_EXT_SYNC_ACCEL_XOUT_L = 0x5
+    MPU6050_EXT_SYNC_ACCEL_YOUT_L = 0x6
+    MPU6050_EXT_SYNC_ACCEL_ZOUT_L = 0x7
+
+    MPU6050_DLPF_BW_256 = 0x00
+    MPU6050_DLPF_BW_188 = 0x01
+    MPU6050_DLPF_BW_98 = 0x02
+    MPU6050_DLPF_BW_42 = 0x03
+    MPU6050_DLPF_BW_20 = 0x04
+    MPU6050_DLPF_BW_10 = 0x05
+    MPU6050_DLPF_BW_5 = 0x06
+
+    MPU6050_GCONFIG_FS_SEL_BIT = 4
+    MPU6050_GCONFIG_FS_SEL_LENGTH = 2
+
+    MPU6050_GYRO_FS_250 = 0x00
+    MPU6050_GYRO_FS_500 = 0x01
+    MPU6050_GYRO_FS_1000 = 0x02
+    MPU6050_GYRO_FS_2000 = 0x03
+
+    MPU6050_ACONFIG_XA_ST_BIT = 7
+    MPU6050_ACONFIG_YA_ST_BIT = 6
+    MPU6050_ACONFIG_ZA_ST_BIT = 5
+    MPU6050_ACONFIG_AFS_SEL_BIT = 4
+    MPU6050_ACONFIG_AFS_SEL_LENGTH = 2
+    MPU6050_ACONFIG_ACCEL_HPF_BIT = 2
+    MPU6050_ACONFIG_ACCEL_HPF_LENGTH = 3
+
+    MPU6050_ACCEL_FS_2 = 0x00
+    MPU6050_ACCEL_FS_4 = 0x01
+    MPU6050_ACCEL_FS_8 = 0x02
+    MPU6050_ACCEL_FS_16 = 0x03
+
+    MPU6050_DHPF_RESET = 0x00
+    MPU6050_DHPF_5 = 0x01
+    MPU6050_DHPF_2P5 = 0x02
+    MPU6050_DHPF_1P25 = 0x03
+    MPU6050_DHPF_0P63 = 0x04
+    MPU6050_DHPF_HOLD = 0x07
+
+    MPU6050_TEMP_FIFO_EN_BIT = 7
+    MPU6050_XG_FIFO_EN_BIT = 6
+    MPU6050_YG_FIFO_EN_BIT = 5
+    MPU6050_ZG_FIFO_EN_BIT = 4
+    MPU6050_ACCEL_FIFO_EN_BIT = 3
+    MPU6050_SLV2_FIFO_EN_BIT = 2
+    MPU6050_SLV1_FIFO_EN_BIT = 1
+    MPU6050_SLV0_FIFO_EN_BIT = 0
+
+    MPU6050_MULT_MST_EN_BIT = 7
+    MPU6050_WAIT_FOR_ES_BIT = 6
+    MPU6050_SLV_3_FIFO_EN_BIT = 5
+    MPU6050_I2C_MST_P_NSR_BIT = 4
+    MPU6050_I2C_MST_CLK_BIT = 3
+    MPU6050_I2C_MST_CLK_LENGTH = 4
+
+    MPU6050_CLOCK_DIV_348 = 0x0
+    MPU6050_CLOCK_DIV_333 = 0x1
+    MPU6050_CLOCK_DIV_320 = 0x2
+    MPU6050_CLOCK_DIV_308 = 0x3
+    MPU6050_CLOCK_DIV_296 = 0x4
+    MPU6050_CLOCK_DIV_286 = 0x5
+    MPU6050_CLOCK_DIV_276 = 0x6
+    MPU6050_CLOCK_DIV_267 = 0x7
+    MPU6050_CLOCK_DIV_258 = 0x8
+    MPU6050_CLOCK_DIV_500 = 0x9
+    MPU6050_CLOCK_DIV_471 = 0xA
+    MPU6050_CLOCK_DIV_444 = 0xB
+    MPU6050_CLOCK_DIV_421 = 0xC
+    MPU6050_CLOCK_DIV_400 = 0xD
+    MPU6050_CLOCK_DIV_381 = 0xE
+    MPU6050_CLOCK_DIV_364 = 0xF
+
+    MPU6050_I2C_SLV_RW_BIT = 7
+    MPU6050_I2C_SLV_ADDR_BIT = 6
+    MPU6050_I2C_SLV_ADDR_LENGTH = 7
+    MPU6050_I2C_SLV_EN_BIT = 7
+    MPU6050_I2C_SLV_BYTE_SW_BIT = 6
+    MPU6050_I2C_SLV_REG_DIS_BIT = 5
+    MPU6050_I2C_SLV_GRP_BIT = 4
+    MPU6050_I2C_SLV_LEN_BIT = 3
+    MPU6050_I2C_SLV_LEN_LENGTH = 4
+
+    MPU6050_I2C_SLV4_RW_BIT = 7
+    MPU6050_I2C_SLV4_ADDR_BIT = 6
+    MPU6050_I2C_SLV4_ADDR_LENGTH = 7
+    MPU6050_I2C_SLV4_EN_BIT = 7
+    MPU6050_I2C_SLV4_INT_EN_BIT = 6
+    MPU6050_I2C_SLV4_REG_DIS_BIT = 5
+    MPU6050_I2C_SLV4_MST_DLY_BIT = 4
+    MPU6050_I2C_SLV4_MST_DLY_LENGTH = 5
+
+    MPU6050_MST_PASS_THROUGH_BIT = 7
+    MPU6050_MST_I2C_SLV4_DONE_BIT = 6
+    MPU6050_MST_I2C_LOST_ARB_BIT = 5
+    MPU6050_MST_I2C_SLV4_NACK_BIT = 4
+    MPU6050_MST_I2C_SLV3_NACK_BIT = 3
+    MPU6050_MST_I2C_SLV2_NACK_BIT = 2
+    MPU6050_MST_I2C_SLV1_NACK_BIT = 1
+    MPU6050_MST_I2C_SLV0_NACK_BIT = 0
+
+    MPU6050_INTCFG_INT_LEVEL_BIT = 7
+    MPU6050_INTCFG_INT_OPEN_BIT = 6
+    MPU6050_INTCFG_LATCH_INT_EN_BIT = 5
+    MPU6050_INTCFG_INT_RD_CLEAR_BIT = 4
+    MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT = 3
+    MPU6050_INTCFG_FSYNC_INT_EN_BIT = 2
+    MPU6050_INTCFG_I2C_BYPASS_EN_BIT = 1
+    MPU6050_INTCFG_CLKOUT_EN_BIT = 0
+
+    MPU6050_INTMODE_ACTIVEHIGH = 0x00
+    MPU6050_INTMODE_ACTIVELOW = 0x01
+
+    MPU6050_INTDRV_PUSHPULL = 0x00
+    MPU6050_INTDRV_OPENDRAIN = 0x01
+
+    MPU6050_INTLATCH_50USPULSE = 0x00
+    MPU6050_INTLATCH_WAITCLEAR = 0x01
+
+    MPU6050_INTCLEAR_STATUSREAD = 0x00
+    MPU6050_INTCLEAR_ANYREAD = 0x01
+
+    MPU6050_INTERRUPT_FF_BIT = 7
+    MPU6050_INTERRUPT_MOT_BIT = 6
+    MPU6050_INTERRUPT_ZMOT_BIT = 5
+    MPU6050_INTERRUPT_FIFO_OFLOW_BIT = 4
+    MPU6050_INTERRUPT_I2C_MST_INT_BIT = 3
+    MPU6050_INTERRUPT_PLL_RDY_INT_BIT = 2
+    MPU6050_INTERRUPT_DMP_INT_BIT = 1
+    MPU6050_INTERRUPT_DATA_RDY_BIT = 0
+
+    # TODO: figure out what these actually do
+    # UMPL source code is not very obivous
+    MPU6050_DMPINT_5_BIT = 5
+    MPU6050_DMPINT_4_BIT = 4
+    MPU6050_DMPINT_3_BIT = 3
+    MPU6050_DMPINT_2_BIT = 2
+    MPU6050_DMPINT_1_BIT = 1
+    MPU6050_DMPINT_0_BIT = 0
+
+    MPU6050_MOTION_MOT_XNEG_BIT = 7
+    MPU6050_MOTION_MOT_XPOS_BIT = 6
+    MPU6050_MOTION_MOT_YNEG_BIT = 5
+    MPU6050_MOTION_MOT_YPOS_BIT = 4
+    MPU6050_MOTION_MOT_ZNEG_BIT = 3
+    MPU6050_MOTION_MOT_ZPOS_BIT = 2
+    MPU6050_MOTION_MOT_ZRMOT_BIT = 0
+
+    MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT = 7
+    MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT = 4
+    MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT = 3
+    MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT = 2
+    MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT = 1
+    MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT = 0
+
+    MPU6050_PATHRESET_GYRO_RESET_BIT = 2
+    MPU6050_PATHRESET_ACCEL_RESET_BIT = 1
+    MPU6050_PATHRESET_TEMP_RESET_BIT = 0
+
+    MPU6050_DETECT_ACCEL_ON_DELAY_BIT = 5
+    MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH = 2
+    MPU6050_DETECT_FF_COUNT_BIT = 3
+    MPU6050_DETECT_FF_COUNT_LENGTH = 2
+    MPU6050_DETECT_MOT_COUNT_BIT = 1
+    MPU6050_DETECT_MOT_COUNT_LENGTH = 2
+
+    MPU6050_DETECT_DECREMENT_RESET = 0x0
+    MPU6050_DETECT_DECREMENT_1 = 0x1
+    MPU6050_DETECT_DECREMENT_2 = 0x2
+    MPU6050_DETECT_DECREMENT_4 = 0x3
+
+    MPU6050_USERCTRL_DMP_EN_BIT = 7
+    MPU6050_USERCTRL_FIFO_EN_BIT = 6
+    MPU6050_USERCTRL_I2C_MST_EN_BIT = 5
+    MPU6050_USERCTRL_I2C_IF_DIS_BIT = 4
+    MPU6050_USERCTRL_DMP_RESET_BIT = 3
+    MPU6050_USERCTRL_FIFO_RESET_BIT = 2
+    MPU6050_USERCTRL_I2C_MST_RESET_BIT = 1
+    MPU6050_USERCTRL_SIG_COND_RESET_BIT = 0
+
+    MPU6050_PWR1_DEVICE_RESET_BIT = 7
+    MPU6050_PWR1_SLEEP_BIT = 6
+    MPU6050_PWR1_CYCLE_BIT = 5
+    MPU6050_PWR1_TEMP_DIS_BIT = 3
+    MPU6050_PWR1_CLKSEL_BIT = 2
+    MPU6050_PWR1_CLKSEL_LENGTH = 3
+
+    MPU6050_CLOCK_INTERNAL = 0x00
+    MPU6050_CLOCK_PLL_XGYRO = 0x01
+    MPU6050_CLOCK_PLL_YGYRO = 0x02
+    MPU6050_CLOCK_PLL_ZGYRO = 0x03
+    MPU6050_CLOCK_PLL_EXT32K = 0x04
+    MPU6050_CLOCK_PLL_EXT19M = 0x05
+    MPU6050_CLOCK_KEEP_RESET = 0x07
+
+    MPU6050_PWR2_LP_WAKE_CTRL_BIT = 7
+    MPU6050_PWR2_LP_WAKE_CTRL_LENGTH = 2
+    MPU6050_PWR2_STBY_XA_BIT = 5
+    MPU6050_PWR2_STBY_YA_BIT = 4
+    MPU6050_PWR2_STBY_ZA_BIT = 3
+    MPU6050_PWR2_STBY_XG_BIT = 2
+    MPU6050_PWR2_STBY_YG_BIT = 1
+    MPU6050_PWR2_STBY_ZG_BIT = 0
+
+    MPU6050_WAKE_FREQ_1P25 = 0x0
+    MPU6050_WAKE_FREQ_2P5 = 0x1
+    MPU6050_WAKE_FREQ_5 = 0x2
+    MPU6050_WAKE_FREQ_10 = 0x3
+
+    MPU6050_BANKSEL_PRFTCH_EN_BIT = 6
+    MPU6050_BANKSEL_CFG_USER_BANK_BIT = 5
+    MPU6050_BANKSEL_MEM_SEL_BIT = 4
+    MPU6050_BANKSEL_MEM_SEL_LENGTH = 5
+
+    MPU6050_WHO_AM_I_BIT = 6
+    MPU6050_WHO_AM_I_LENGTH = 6
+
+    MPU6050_DMP_MEMORY_BANKS = 8
+    MPU6050_DMP_MEMORY_BANK_SIZE = 256
+    MPU6050_DMP_MEMORY_CHUNK_SIZE = 16
+
+    # From MPU6050_6Axis_MotionApps20.h
+    MPU6050_DMP_CODE_SIZE = 1929  # dmpMemory[]
+    MPU6050_DMP_CONFIG_SIZE = 192  # dmpConfig[]
+    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                          |
+     * ================================================================================================ *
+     '''
+    # dmpMemory has size MPU6050_DMP_CODE_SIZE = 1929
+    dmpMemory = [
+        # 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]
+
+    # dmpConfig has size MPU6050_DMP_CONFIG_SIZE = 192
+    dmpConfig = [
+        #  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.
+
+    # dmpUpdates has size MPU6050_DMP_UPDATES_SIZE = 47
+    dmpUpdates = [
+        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]
diff --git a/Code/Python_Code/25.1.1_MPU6050/Quaternion.py b/Code/Python_Code/25.1.1_MPU6050/Quaternion.py
new file mode 100644
index 0000000..6f8b9bd
--- /dev/null
+++ b/Code/Python_Code/25.1.1_MPU6050/Quaternion.py
@@ -0,0 +1,135 @@
+__author__ = 'Geir Istad'
+"""
+MPU6050 Python I2C Class
+Copyright (c) 2015 Geir Istad
+
+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.
+
+
+Code based on
+I2Cdev library collection - 3D math helper
+by Jeff Rowberg <jeff@rowberg.net>
+============================================
+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.
+===============================================
+"""
+from math import sqrt
+
+
+class Quaternion:
+    w = 0.0
+    x = 0.0
+    y = 0.0
+    z = 0.0
+
+    def __init__(self, a_w=1.0, a_x=0.0, a_y=0.0, a_z=0.0):
+        self.w = a_w
+        self.x = a_x
+        self.y = a_y
+        self.z = a_z
+
+    def get_product(self, a_quat):
+        result = Quaternion(
+            self.w * a_quat.w - self.x * a_quat.x -
+            self.y * a_quat.y - self.z * a_quat.z,
+
+            self.w * a_quat.x + self.x * a_quat.w +
+            self.y * a_quat.z - self.z * a_quat.y,
+
+            self.w * a_quat.y - self.x * a_quat.z +
+            self.y * a_quat.w + self.z * a_quat.x,
+
+            self.w * a_quat.z + self.x * a_quat.y -
+            self.y * a_quat.x + self.z * a_quat.w)
+        return result
+
+    def get_conjugate(self):
+        result = Quaternion(self.w, -self.x, -self.y, -self.z)
+        return result
+
+    def get_magnitude(self):
+        return sqrt(self.w * self.w + self.x * self.x + self.y * self.y +
+                    self.z * self.z)
+
+    def normalize(self):
+        m = self.get_magnitude()
+        self.w = self.w / m
+        self.x = self.x / m
+        self.y = self.y / m
+        self.z = self.z / m
+
+    def get_normalized(self):
+        result = Quaternion(self.w, self.x, self.y, self.z)
+        result.normalize()
+        return result
+
+
+class XYZVector:
+    x = 0.0
+    y = 0.0
+    z = 0.0
+
+    def __init__(self, a_x=0.0, a_y=0.0, a_z=0.0):
+        self.x = a_x
+        self.y = a_y
+        self.z = a_z
+
+    def get_magnitude(self):
+        return sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
+
+    def normalize(self):
+        m = self.get_magnitude()
+        self.x = self.x / m
+        self.y = self.y / m
+        self.z = self.z / m
+
+    def get_normalized(self):
+        result = XYZVector(self.x, self.y, self.z)
+        result.normalize()
+        return result
+
+    def rotate(self, a_quat):
+        p = Quaternion(0.0, self.x, self.y, self.z)
+        p = a_quat.get_product(p)
+        p = p.get_product(a_quat.get_conjugate())
+        # By magic quaternion p is now [0, x', y', z']
+        self.x = p.x
+        self.y = p.y
+        self.z = p.z
+
+    def get_rotated(self, a_quat):
+        r = XYZVector(self.x, self.y, self.z)
+        r.rotate(a_quat)
+        return r
diff --git a/Code/Python_Code/27.2.1_LightWater03/LightWater03.py b/Code/Python_Code/27.2.1_LightWater03/LightWater03.py
new file mode 100644
index 0000000..07e6c66
--- /dev/null
+++ b/Code/Python_Code/27.2.1_LightWater03/LightWater03.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+#############################################################################
+# Filename    : LightWater03.py
+# Description : Control LED by 74HC595 on the DIY circuit board
+# Author      : freenove
+# modification: 2016/08/16
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+LSBFIRST = 1
+MSBFIRST = 2
+#define the pins connect to 74HC595
+dataPin   = 11		#DS Pin of 74HC595(Pin14)
+latchPin  = 13		#ST_CP Pin of 74HC595(Pin12)
+clockPin = 15		#SH_CP Pin of 74HC595(Pin11)
+#Define an array to save the pulse width of LED. Output the signal to the 8 adjacent LEDs in order.
+pluseWidth = [0,0,0,0,0,0,0,0,64,32,16,8,4,2,1,0,0,0,0,0,0,0,0]
+
+def setup():
+	GPIO.setmode(GPIO.BOARD)    # Number GPIOs by its physical location
+	GPIO.setup(dataPin, GPIO.OUT)
+	GPIO.setup(latchPin, GPIO.OUT)
+	GPIO.setup(clockPin, GPIO.OUT)
+	
+def shiftOut(dPin,cPin,order,val):
+	for i in range(0,8):
+		GPIO.output(cPin,GPIO.LOW);
+		if(order == LSBFIRST):
+			GPIO.output(dPin,(0x01&(val>>i)==0x01) and GPIO.HIGH or GPIO.LOW)
+		elif(order == MSBFIRST):
+			GPIO.output(dPin,(0x80&(val<<i)==0x80) and GPIO.HIGH or GPIO.LOW)
+		GPIO.output(cPin,GPIO.HIGH);
+		
+def outData(data):
+	GPIO.output(latchPin,GPIO.LOW)
+	shiftOut(dataPin,clockPin,LSBFIRST,data)
+	GPIO.output(latchPin,GPIO.HIGH)
+	
+def loop():
+	moveSpeed = 0.1	#move speed delay, the larger, the slower
+	index = 0		#Starting from the array index 0
+	lastMove = time.time()		#the start time
+	while True:
+		if(time.time() - lastMove > moveSpeed):	#speed control
+			lastMove = time.time()		#Record the time point of the move
+			index +=1			#move to next 
+			if(index > 15): 	#index to 0
+				index = 0
+			
+		for i in range(0,64):	#The cycle of PWM is 64 cycles
+			data = 0			#This loop of output data
+			for j in range(0,8):	#Calculate the output state of this loop
+				if(i < pluseWidth[j+index]):	#Calculate the LED state according to the pulse width 
+					data |= 1<<j	#Calculate the data
+			outData(data)			#Send the data to 74HC595
+
+def destroy():   # When 'Ctrl+C' is pressed, the function is executed. 
+	GPIO.cleanup()
+
+if __name__ == '__main__': # Program starting from here 
+	print 'Program is starting...' 
+	setup() 
+	try:
+		loop()  
+	except KeyboardInterrupt:  
+		destroy()  
diff --git a/Datasheet/74HC595.pdf b/Datasheet/74HC595.pdf
new file mode 100644
index 0000000..0dac860
Binary files /dev/null and b/Datasheet/74HC595.pdf differ
diff --git a/Datasheet/L293D.pdf b/Datasheet/L293D.pdf
new file mode 100644
index 0000000..3940da2
Binary files /dev/null and b/Datasheet/L293D.pdf differ
diff --git a/Datasheet/LCD1602.pdf b/Datasheet/LCD1602.pdf
new file mode 100644
index 0000000..053e6c0
Binary files /dev/null and b/Datasheet/LCD1602.pdf differ
diff --git a/Datasheet/MPU-6050 Product Specification.pdf b/Datasheet/MPU-6050 Product Specification.pdf
new file mode 100644
index 0000000..0b891ff
Binary files /dev/null and b/Datasheet/MPU-6050 Product Specification.pdf differ
diff --git a/Datasheet/MPU-6050 Register Map and Descriptions.pdf b/Datasheet/MPU-6050 Register Map and Descriptions.pdf
new file mode 100644
index 0000000..428baca
Binary files /dev/null and b/Datasheet/MPU-6050 Register Map and Descriptions.pdf differ
diff --git a/Datasheet/PCF8574_datasheet.pdf b/Datasheet/PCF8574_datasheet.pdf
new file mode 100644
index 0000000..699fa8d
Binary files /dev/null and b/Datasheet/PCF8574_datasheet.pdf differ
diff --git a/Datasheet/PCF8591_datasheet.pdf b/Datasheet/PCF8591_datasheet.pdf
new file mode 100644
index 0000000..2176cf9
Binary files /dev/null and b/Datasheet/PCF8591_datasheet.pdf differ
diff --git a/Tutorial.pdf b/Tutorial.pdf
new file mode 100644
index 0000000..31f0f4f
Binary files /dev/null and b/Tutorial.pdf differ
diff --git a/readme.txt b/readme.txt
new file mode 100644
index 0000000..7aa6bb0
--- /dev/null
+++ b/readme.txt
@@ -0,0 +1,43 @@
+  References for Freenove Ultimate Starter Kit for Raspberry
+
+References
+  The references for this product includes the following folders and files:
+    Datasheet     Datasheet of electronic components and modules 
+    Code      	  Code for Raspberry Pi
+    Readme.txt	  Instructions
+    Tutorial.pdf  Tutorial
+
+  You can click the green Clone or download button in this page, then click Download ZIP to get all these files in zip format. If you have any difficulties, you can send email to our support for help.
+
+Support
+  Freenove provides free and quick technical support, including but not limited to:
+    Quality problems of products
+    Problems in using products
+    Questions for learning and technology
+    Opinions and suggestions
+    Ideas and thoughts
+
+  Please send email to:
+    support@freenove.com
+  On working day, we usually reply to you within 24 hours.
+
+Copyright
+  Freenove reserves all rights to the book. No copies or plagiarizations are allowed for the purpose of commercial use. 
+  The code and circuit involved in this product are released as Creative Commons Attribution ShareAlike 3.0 (http://creativecommons.org/licenses/by-sa/3.0/legalcode). This means you can use them on your own derived works, in part or completely, as long as you also adopt the same license. 
+  Freenove brand and Freenove logo are copyright of Freenove Creative Technology Co., Ltd and cannot be used without formal permission.
+
+About
+  Freenove is an open-source electronics platform. Freenove is committed to helping customer quickly realize the creative idea and product prototypes, making it easy to get started for enthusiasts of programing and electronics and launching innovative open source products. Our services include:
+    Electronic components and modules
+    Learning kits for Arduino
+    Learning kits for Raspberry Pi
+    Learning kits for Technology
+    Robot kits
+    Auxiliary tools for creations
+
+  Our code and circuit are open source. You can obtain the details and the latest information through visiting the following web sites:
+    http://www.freenove.com
+    https://github.com/freenove
+
+  Your comments and suggestions are warmly welcomed, please send them to the following email address:
+    support@freenove.com