Add invensense stuff in-tree.

Overhauled its .mk files as well as fixed some whitespace problems.

Conflicts:
	libsensors/Android.mk

75 files changed, 25203 insertions, 2 deletions

diff --git a/invensense/Android.mk b/invensense/Android.mk
new file mode 100644
index 0000000..9b79479
--- /dev/null
+++ b/invensense/Android.mk
@@ -0,0 +1 @@
+include $(call all-named-subdir-makefiles,mlsdk libinvensense_hal)
diff --git a/invensense/libinvensense_hal/Android.mk b/invensense/libinvensense_hal/Android.mk
new file mode 100644
index 0000000..dbcd799
--- /dev/null
+++ b/invensense/libinvensense_hal/Android.mk
@@ -0,0 +1,43 @@
+# Copyright (C) 2008 The Android Open Source Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# Modified 2011 by InvenSense, Inc
+
+LOCAL_PATH := $(call my-dir)
+
+# InvenSense fragment of the HAL
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := libinvensense_hal.$(TARGET_BOOTLOADER_BOARD_NAME)
+
+LOCAL_MODULE_TAGS := optional
+
+LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\" -Werror -Wall
+LOCAL_CFLAGS += -DCONFIG_MPU_SENSORS_MPU3050=1
+
+LOCAL_SRC_FILES := SensorBase.cpp MPLSensor.cpp
+
+LOCAL_C_INCLUDES := \
+	$(LOCAL_PATH)/../mlsdk/platform/include \
+	$(LOCAL_PATH)/../mlsdk/platform/include/linux \
+	$(LOCAL_PATH)/../mlsdk/platform/linux \
+	$(LOCAL_PATH)/../mlsdk/mllite \
+	$(LOCAL_PATH)/../mlsdk/mldmp \
+	$(LOCAL_PATH)/../mlsdk/external/aichi \
+	$(LOCAL_PATH)/../mlsdk/external/akmd
+
+LOCAL_SHARED_LIBRARIES := liblog libcutils libutils libdl libmllite libmlplatform
+LOCAL_CPPFLAGS := -DLINUX=1
+LOCAL_LDFLAGS := -rdynamic
+
+include $(BUILD_SHARED_LIBRARY)
diff --git a/invensense/libinvensense_hal/MPLSensor.cpp b/invensense/libinvensense_hal/MPLSensor.cpp
new file mode 100644
index 0000000..e80ce52
--- /dev/null
+++ b/invensense/libinvensense_hal/MPLSensor.cpp
@@ -0,0 +1,1304 @@
+/*
+ * Copyright (C) 2011 Invensense, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//#define LOG_NDEBUG 0
+//see also the EXTRA_VERBOSE define, below
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <float.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <stdlib.h>
+#include <sys/select.h>
+#include <dlfcn.h>
+#include <pthread.h>
+
+#include <cutils/log.h>
+#include <utils/KeyedVector.h>
+
+#include "MPLSensor.h"
+
+#include "math.h"
+#include "ml.h"
+#include "mlFIFO.h"
+#include "mlsl.h"
+#include "mlos.h"
+#include "ml_mputest.h"
+#include "ml_stored_data.h"
+#include "mldl_cfg.h"
+#include "mldl.h"
+
+#include "mpu.h"
+#include "accel.h"
+#include "compass.h"
+#include "kernel/timerirq.h"
+#include "kernel/mpuirq.h"
+#include "kernel/slaveirq.h"
+
+extern "C" {
+#include "mlsupervisor.h"
+}
+
+#include "mlcontrol.h"
+#include "sensor_params.h"
+
+#define EXTRA_VERBOSE (0)
+//#define FUNC_LOG ALOGV("%s", __PRETTY_FUNCTION__)
+#define FUNC_LOG
+#define VFUNC_LOG ALOGV_IF(EXTRA_VERBOSE, "%s", __PRETTY_FUNCTION__)
+/* this mask must turn on only the sensors that are present and managed by the MPL */
+#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL | INV_THREE_AXIS_COMPASS | INV_THREE_AXIS_GYRO)
+
+#define CALL_MEMBER_FN(pobject,ptrToMember)  ((pobject)->*(ptrToMember))
+
+/******************************************/
+
+/* Base values for the sensor list, these need to be in the order defined in MPLSensor.h */
+static struct sensor_t sSensorList[] =
+    { { "MPL Gyroscope", "Invensense", 1,
+         SENSORS_GYROSCOPE_HANDLE,
+         SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } },
+      { "MPL Accelerometer", "Invensense", 1,
+         SENSORS_ACCELERATION_HANDLE,
+         SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } },
+      { "MPL Magnetic Field", "Invensense", 1,
+         SENSORS_MAGNETIC_FIELD_HANDLE,
+         SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } },
+      { "MPL Orientation", "Invensense", 1,
+         SENSORS_ORIENTATION_HANDLE,
+         SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, 0, 0, 0, 0, { } },
+      { "MPL Rotation Vector", "Invensense", 1,
+         SENSORS_ROTATION_VECTOR_HANDLE,
+         SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } },
+      { "MPL Linear Acceleration", "Invensense", 1,
+         SENSORS_LINEAR_ACCEL_HANDLE,
+         SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } },
+      { "MPL Gravity", "Invensense", 1,
+         SENSORS_GRAVITY_HANDLE,
+         SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } },
+};
+
+static unsigned long long irq_timestamp = 0;
+/* ***************************************************************************
+ * MPL interface misc.
+ */
+//static pointer to the object that will handle callbacks
+static MPLSensor* gMPLSensor = NULL;
+
+/* we need to pass some callbacks to the MPL.  The mpl is a C library, so
+ * wrappers for the C++ callback implementations are required.
+ */
+extern "C" {
+//callback wrappers go here
+void mot_cb_wrapper(uint16_t val)
+{
+    if (gMPLSensor) {
+        gMPLSensor->cbOnMotion(val);
+    }
+}
+
+void procData_cb_wrapper()
+{
+    if(gMPLSensor) {
+        gMPLSensor->cbProcData();
+    }
+}
+
+} //end of extern C
+
+void setCallbackObject(MPLSensor* gbpt)
+{
+    gMPLSensor = gbpt;
+}
+
+
+/*****************************************************************************
+ * sensor class implementation
+ */
+
+#define GY_ENABLED ((1<<ID_GY) & enabled_sensors)
+#define A_ENABLED  ((1<<ID_A)  & enabled_sensors)
+#define O_ENABLED  ((1<<ID_O)  & enabled_sensors)
+#define M_ENABLED  ((1<<ID_M)  & enabled_sensors)
+#define LA_ENABLED ((1<<ID_LA) & enabled_sensors)
+#define GR_ENABLED ((1<<ID_GR) & enabled_sensors)
+#define RV_ENABLED ((1<<ID_RV) & enabled_sensors)
+
+MPLSensor::MPLSensor() :
+    SensorBase(NULL, NULL),
+            mNewData(0),
+            mDmpStarted(false),
+            mMasterSensorMask(INV_ALL_SENSORS),
+            mLocalSensorMask(ALL_MPL_SENSORS_NP), mPollTime(-1),
+            mCurFifoRate(-1), mHaveGoodMpuCal(false), mHaveGoodCompassCal(false),
+            mUseTimerIrqAccel(false), mUsetimerIrqCompass(true),
+            mUseTimerirq(false), mSampleCount(0),
+            mEnabled(0), mPendingMask(0)
+{
+    FUNC_LOG;
+    int mpu_int_fd;
+    char *port = NULL;
+
+    ALOGV_IF(EXTRA_VERBOSE, "MPLSensor constructor: numSensors = %d", numSensors);
+
+    pthread_mutex_init(&mMplMutex, NULL);
+
+    mForceSleep = false;
+
+    /* used for identifying whether 9axis is enabled or not             */
+    /* this variable will be changed in initMPL() when libmpl is loaded */
+    /* sensor list will be changed based on this variable               */
+    mNineAxisEnabled = false;
+
+    for (size_t i = 0; i < ARRAY_SIZE(mPollFds); i++) {
+        mPollFds[i].fd = -1;
+        mPollFds[i].events = 0;
+    }
+
+    pthread_mutex_lock(&mMplMutex);
+
+    mpu_int_fd = open("/dev/mpuirq", O_RDWR);
+    if (mpu_int_fd == -1) {
+        ALOGE("could not open the mpu irq device node");
+    } else {
+        fcntl(mpu_int_fd, F_SETFL, O_NONBLOCK);
+        mIrqFds.add(MPUIRQ_FD, mpu_int_fd);
+        mPollFds[MPUIRQ_FD].fd = mpu_int_fd;
+        mPollFds[MPUIRQ_FD].events = POLLIN;
+    }
+
+    accel_fd = open("/dev/accelirq", O_RDWR);
+    if (accel_fd == -1) {
+        ALOGE("could not open the accel irq device node");
+    } else {
+        fcntl(accel_fd, F_SETFL, O_NONBLOCK);
+        mIrqFds.add(ACCELIRQ_FD, accel_fd);
+        mPollFds[ACCELIRQ_FD].fd = accel_fd;
+        mPollFds[ACCELIRQ_FD].events = POLLIN;
+    }
+
+    timer_fd = open("/dev/timerirq", O_RDWR);
+    if (timer_fd == -1) {
+        ALOGE("could not open the timer irq device node");
+    } else {
+        fcntl(timer_fd, F_SETFL, O_NONBLOCK);
+        mIrqFds.add(TIMERIRQ_FD, timer_fd);
+        mPollFds[TIMERIRQ_FD].fd = timer_fd;
+        mPollFds[TIMERIRQ_FD].events = POLLIN;
+    }
+
+    data_fd = mpu_int_fd;
+
+    if ((accel_fd == -1) && (timer_fd != -1)) {
+        //no accel irq and timer available
+        mUseTimerIrqAccel = true;
+    }
+
+    memset(mPendingEvents, 0, sizeof(mPendingEvents));
+
+    mPendingEvents[RotationVector].version = sizeof(sensors_event_t);
+    mPendingEvents[RotationVector].sensor = ID_RV;
+    mPendingEvents[RotationVector].type = SENSOR_TYPE_ROTATION_VECTOR;
+
+    mPendingEvents[LinearAccel].version = sizeof(sensors_event_t);
+    mPendingEvents[LinearAccel].sensor = ID_LA;
+    mPendingEvents[LinearAccel].type = SENSOR_TYPE_LINEAR_ACCELERATION;
+
+    mPendingEvents[Gravity].version = sizeof(sensors_event_t);
+    mPendingEvents[Gravity].sensor = ID_GR;
+    mPendingEvents[Gravity].type = SENSOR_TYPE_GRAVITY;
+
+    mPendingEvents[Gyro].version = sizeof(sensors_event_t);
+    mPendingEvents[Gyro].sensor = ID_GY;
+    mPendingEvents[Gyro].type = SENSOR_TYPE_GYROSCOPE;
+
+    mPendingEvents[Accelerometer].version = sizeof(sensors_event_t);
+    mPendingEvents[Accelerometer].sensor = ID_A;
+    mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER;
+
+    mPendingEvents[MagneticField].version = sizeof(sensors_event_t);
+    mPendingEvents[MagneticField].sensor = ID_M;
+    mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD;
+    mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+    mPendingEvents[Orientation].version = sizeof(sensors_event_t);
+    mPendingEvents[Orientation].sensor = ID_O;
+    mPendingEvents[Orientation].type = SENSOR_TYPE_ORIENTATION;
+    mPendingEvents[Orientation].orientation.status
+            = SENSOR_STATUS_ACCURACY_HIGH;
+
+    mHandlers[RotationVector] = &MPLSensor::rvHandler;
+    mHandlers[LinearAccel] = &MPLSensor::laHandler;
+    mHandlers[Gravity] = &MPLSensor::gravHandler;
+    mHandlers[Gyro] = &MPLSensor::gyroHandler;
+    mHandlers[Accelerometer] = &MPLSensor::accelHandler;
+    mHandlers[MagneticField] = &MPLSensor::compassHandler;
+    mHandlers[Orientation] = &MPLSensor::orienHandler;
+
+    for (int i = 0; i < numSensors; i++)
+        mDelays[i] = 30000000LLU; // 30 ms by default
+
+    if (inv_serial_start(port) != INV_SUCCESS) {
+        ALOGE("Fatal Error : could not open MPL serial interface");
+    }
+
+    //initialize library parameters
+    initMPL();
+
+    //setup the FIFO contents
+    setupFIFO();
+
+
+    pthread_mutex_unlock(&mMplMutex);
+
+}
+
+MPLSensor::~MPLSensor()
+{
+    FUNC_LOG;
+    pthread_mutex_lock(&mMplMutex);
+    if (inv_dmp_stop() != INV_SUCCESS) {
+        ALOGW("Error: could not stop the DMP correctly.\n");
+    }
+
+    if (inv_dmp_close() != INV_SUCCESS) {
+        ALOGW("Error: could not close the DMP");
+    }
+
+    if (inv_serial_stop() != INV_SUCCESS) {
+        ALOGW("Error : could not close the serial port");
+    }
+    pthread_mutex_unlock(&mMplMutex);
+    pthread_mutex_destroy(&mMplMutex);
+}
+
+/* clear any data from our various filehandles */
+void MPLSensor::clearIrqData(bool* irq_set)
+{
+    unsigned int i;
+    int nread;
+    struct mpuirq_data irqdata;
+
+    poll(mPollFds, ARRAY_SIZE(mPollFds), 0); //check which ones need to be cleared
+
+    for (i = 0; i < ARRAY_SIZE(mPollFds); i++) {
+        int cur_fd = mPollFds[i].fd;
+        if (mPollFds[i].revents & POLLIN) {
+            nread = read(cur_fd, &irqdata, sizeof(irqdata));
+            if (nread > 0) {
+                irq_set[i] = true;
+                irq_timestamp = irqdata.irqtime;
+            }
+        }
+        mPollFds[i].revents = 0;
+    }
+}
+
+/* set the power states of the various sensors based on the bits set in the
+ * enabled_sensors parameter.
+ * this function modifies globalish state variables.  It must be called with the mMplMutex held. */
+void MPLSensor::setPowerStates(int enabled_sensors)
+{
+    FUNC_LOG;
+    bool irq_set[5] = { false, false, false, false, false };
+
+    do {
+
+        if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
+            mLocalSensorMask = ALL_MPL_SENSORS_NP;
+            break;
+        }
+
+        if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) {
+            mLocalSensorMask = 0;
+            break;
+        }
+
+        if (GY_ENABLED) {
+            mLocalSensorMask |= INV_THREE_AXIS_GYRO;
+        } else {
+            mLocalSensorMask &= ~INV_THREE_AXIS_GYRO;
+        }
+
+        if (A_ENABLED) {
+            mLocalSensorMask |= (INV_THREE_AXIS_ACCEL);
+        } else {
+            mLocalSensorMask &= ~(INV_THREE_AXIS_ACCEL);
+        }
+
+        if (M_ENABLED) {
+            mLocalSensorMask |= INV_THREE_AXIS_COMPASS;
+        } else {
+            mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS);
+        }
+
+    } while (0);
+
+    //record the new sensor state
+    inv_error_t rv;
+
+    unsigned long sen_mask = mLocalSensorMask & mMasterSensorMask;
+
+    bool changing_sensors = ((inv_get_dl_config()->requested_sensors
+            != sen_mask) && (sen_mask != 0));
+    bool restart = (!mDmpStarted) && (sen_mask != 0);
+
+    if (changing_sensors || restart) {
+
+        ALOGV_IF(EXTRA_VERBOSE, "cs:%d rs:%d ", changing_sensors, restart);
+
+        if (mDmpStarted) {
+            inv_dmp_stop();
+            clearIrqData(irq_set);
+            mDmpStarted = false;
+        }
+
+        if (sen_mask != inv_get_dl_config()->requested_sensors) {
+            rv = inv_set_mpu_sensors(sen_mask);
+            ALOGE_IF(rv != INV_SUCCESS,
+                    "error: unable to set MPL sensor power states (sens=%ld retcode = %d)",
+                    sen_mask, rv);
+        }
+
+        if (((mUsetimerIrqCompass && (sen_mask == INV_THREE_AXIS_COMPASS))
+                || (mUseTimerIrqAccel && (sen_mask & INV_THREE_AXIS_ACCEL)))
+                && ((sen_mask & INV_DMP_PROCESSOR) == 0)) {
+            ALOGV_IF(EXTRA_VERBOSE, "Allowing TimerIRQ");
+            mUseTimerirq = true;
+        } else {
+            if (mUseTimerirq) {
+                ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0);
+                clearIrqData(irq_set);
+            }
+            ALOGV_IF(EXTRA_VERBOSE, "Not allowing TimerIRQ");
+            mUseTimerirq = false;
+        }
+
+        if (!mDmpStarted) {
+            if (mHaveGoodMpuCal || mHaveGoodCompassCal) {
+                rv = inv_store_calibration();
+                ALOGE_IF(rv != INV_SUCCESS,
+                        "error: unable to store MPL calibration file");
+                mHaveGoodMpuCal = false;
+                mHaveGoodCompassCal = false;
+            }
+            rv = inv_dmp_start();
+            ALOGE_IF(rv != INV_SUCCESS, "unable to start dmp");
+            mDmpStarted = true;
+        }
+    }
+
+    //check if we should stop the DMP
+    if (mDmpStarted && (sen_mask == 0)) {
+        rv = inv_dmp_stop();
+        ALOGE_IF(rv != INV_SUCCESS, "error: unable to stop DMP (retcode = %d)",
+                rv);
+        if (mUseTimerirq) {
+            ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0);
+        }
+        clearIrqData(irq_set);
+
+        mDmpStarted = false;
+        mPollTime = -1;
+        mCurFifoRate = -1;
+    }
+
+}
+
+/**
+ * container function for all the calls we make once to set up the MPL.
+ */
+void MPLSensor::initMPL()
+{
+    FUNC_LOG;
+    inv_error_t result;
+    unsigned short bias_update_mask = 0xFFFF;
+
+    if (inv_dmp_open() != INV_SUCCESS) {
+        ALOGE("Fatal Error : could not open DMP correctly.\n");
+    }
+
+    result = inv_set_mpu_sensors(ALL_MPL_SENSORS_NP); //default to all sensors, also makes 9axis enable work
+    ALOGE_IF(result != INV_SUCCESS,
+            "Fatal Error : could not set enabled sensors.");
+
+    if (inv_load_calibration() != INV_SUCCESS) {
+        ALOGE("could not open MPL calibration file");
+    }
+
+    //check for the 9axis fusion library: if available load it and start 9x
+    void* h_dmp_lib=dlopen("libinvensense_mpl.so", RTLD_NOW);
+    if(h_dmp_lib) {
+        const char* error;
+        error = dlerror();
+        inv_error_t (*fp_inv_enable_9x_fusion)() =
+              (inv_error_t(*)()) dlsym(h_dmp_lib, "inv_enable_9x_fusion");
+        if((error = dlerror()) != NULL) {
+            ALOGE("%s %s", error, "inv_enable_9x_fusion");
+        } else if ((*fp_inv_enable_9x_fusion)() != INV_SUCCESS) {
+            ALOGE( "Warning : 9 axis sensor fusion not available "
+                  "- No compass detected.\n");
+        } else {
+            /*  9axis is loaded and enabled                            */
+            /*  this variable is used for coming up with sensor list   */
+            mNineAxisEnabled = true;
+        }
+    } else {
+        const char* error = dlerror();
+        ALOGE("libinvensense_mpl.so not found, 9x sensor fusion disabled (%s)",error);
+    }
+
+    if (inv_set_bias_update(bias_update_mask) != INV_SUCCESS) {
+        ALOGE("Error : Bias update function could not be set.\n");
+    }
+
+    if (inv_set_motion_interrupt(1) != INV_SUCCESS) {
+        ALOGE("Error : could not set motion interrupt");
+    }
+
+    if (inv_set_fifo_interrupt(1) != INV_SUCCESS) {
+        ALOGE("Error : could not set fifo interrupt");
+    }
+
+    result = inv_set_fifo_rate(6);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_set_fifo_rate returned %d\n", result);
+    }
+
+    setupCallbacks();
+
+}
+
+/** setup the fifo contents.
+ */
+void MPLSensor::setupFIFO()
+{
+    FUNC_LOG;
+    inv_error_t result;
+
+    result = inv_send_accel(INV_ALL, INV_32_BIT);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_send_accel returned %d\n", result);
+    }
+
+    result = inv_send_quaternion(INV_32_BIT);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_send_quaternion returned %d\n", result);
+    }
+
+    result = inv_send_linear_accel(INV_ALL, INV_32_BIT);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_send_linear_accel returned %d\n", result);
+    }
+
+    result = inv_send_linear_accel_in_world(INV_ALL, INV_32_BIT);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_send_linear_accel_in_world returned %d\n",
+             result);
+    }
+
+    result = inv_send_gravity(INV_ALL, INV_32_BIT);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_send_gravity returned %d\n", result);
+    }
+
+    result = inv_send_gyro(INV_ALL, INV_32_BIT);
+    if (result != INV_SUCCESS) {
+        ALOGE("Fatal error: inv_send_gyro returned %d\n", result);
+    }
+
+}
+
+/**
+ *  set up the callbacks that we use in all cases (outside of gestures, etc)
+ */
+void MPLSensor::setupCallbacks()
+{
+    FUNC_LOG;
+    if (inv_set_motion_callback(mot_cb_wrapper) != INV_SUCCESS) {
+        ALOGE("Error : Motion callback could not be set.\n");
+
+    }
+
+    if (inv_set_fifo_processed_callback(procData_cb_wrapper) != INV_SUCCESS) {
+        ALOGE("Error : Processed data callback could not be set.");
+
+    }
+}
+
+/**
+ * handle the motion/no motion output from the MPL.
+ */
+void MPLSensor::cbOnMotion(uint16_t val)
+{
+    FUNC_LOG;
+    //after the first no motion, the gyro should be calibrated well
+    if (val == 2) {
+        if ((inv_get_dl_config()->requested_sensors) & INV_THREE_AXIS_GYRO) {
+            //if gyros are on and we got a no motion, set a flag
+            // indicating that the cal file can be written.
+            mHaveGoodMpuCal = true;
+        }
+    }
+
+    return;
+}
+
+
+void MPLSensor::cbProcData()
+{
+    mNewData = 1;
+    mSampleCount++;
+}
+
+//these handlers transform mpl data into one of the Android sensor types
+//  scaling and coordinate transforms should be done in the handlers
+
+void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask,
+                             int index)
+{
+    VFUNC_LOG;
+    inv_error_t res;
+    res = inv_get_float_array(INV_GYROS, s->gyro.v);
+    s->gyro.v[0] = s->gyro.v[0] * M_PI / 180.0;
+    s->gyro.v[1] = s->gyro.v[1] * M_PI / 180.0;
+    s->gyro.v[2] = s->gyro.v[2] * M_PI / 180.0;
+    if (res == INV_SUCCESS)
+        *pending_mask |= (1 << index);
+}
+
+void MPLSensor::accelHandler(sensors_event_t* s, uint32_t* pending_mask,
+                              int index)
+{
+    //VFUNC_LOG;
+    inv_error_t res;
+    res = inv_get_float_array(INV_ACCELS, s->acceleration.v);
+    //res = inv_get_accel_float(s->acceleration.v);
+    s->acceleration.v[0] = s->acceleration.v[0] * 9.81;
+    s->acceleration.v[1] = s->acceleration.v[1] * 9.81;
+    s->acceleration.v[2] = s->acceleration.v[2] * 9.81;
+    if (res == INV_SUCCESS)
+        *pending_mask |= (1 << index);
+}
+
+int MPLSensor::estimateCompassAccuracy()
+{
+    inv_error_t res;
+    int rv;
+
+    res = inv_get_compass_accuracy(&rv);
+    if(rv >= SENSOR_STATUS_ACCURACY_MEDIUM) {
+         mHaveGoodCompassCal = true;
+    }
+    ALOGE_IF(res != INV_SUCCESS, "error returned from inv_get_compass_accuracy");
+
+    return rv;
+}
+
+void MPLSensor::compassHandler(sensors_event_t* s, uint32_t* pending_mask,
+                                int index)
+{
+    VFUNC_LOG;
+    inv_error_t res;
+
+    res = inv_get_float_array(INV_MAGNETOMETER, s->magnetic.v);
+
+    if (res != INV_SUCCESS) {
+        ALOGW(
+             "compass_handler inv_get_float_array(INV_MAGNETOMETER) returned %d",
+             res);
+    }
+
+    s->magnetic.status = estimateCompassAccuracy();
+
+    if (res == INV_SUCCESS)
+        *pending_mask |= (1 << index);
+}
+
+void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask,
+                           int index)
+{
+    VFUNC_LOG;
+    float quat[4];
+    float norm = 0;
+    inv_error_t r;
+
+    r = inv_get_float_array(INV_QUATERNION, quat);
+
+    if (r != INV_SUCCESS) {
+        *pending_mask &= ~(1 << index);
+        return;
+    } else {
+        *pending_mask |= (1 << index);
+    }
+
+    norm = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3]
+            + FLT_EPSILON;
+
+    if (norm > 1.0f) {
+        //renormalize
+        norm = sqrtf(norm);
+        float inv_norm = 1.0f / norm;
+        quat[1] = quat[1] * inv_norm;
+        quat[2] = quat[2] * inv_norm;
+        quat[3] = quat[3] * inv_norm;
+    }
+
+    if (quat[0] < 0.0) {
+        quat[1] = -quat[1];
+        quat[2] = -quat[2];
+        quat[3] = -quat[3];
+    }
+
+    s->gyro.v[0] = quat[1];
+    s->gyro.v[1] = quat[2];
+    s->gyro.v[2] = quat[3];
+
+}
+
+void MPLSensor::laHandler(sensors_event_t* s, uint32_t* pending_mask,
+                           int index)
+{
+    VFUNC_LOG;
+    inv_error_t res;
+    res = inv_get_float_array(INV_LINEAR_ACCELERATION, s->gyro.v);
+    s->gyro.v[0] *= 9.81;
+    s->gyro.v[1] *= 9.81;
+    s->gyro.v[2] *= 9.81;
+    if (res == INV_SUCCESS)
+        *pending_mask |= (1 << index);
+}
+
+void MPLSensor::gravHandler(sensors_event_t* s, uint32_t* pending_mask,
+                             int index)
+{
+    VFUNC_LOG;
+    inv_error_t res;
+    res = inv_get_float_array(INV_GRAVITY, s->gyro.v);
+    s->gyro.v[0] *= 9.81;
+    s->gyro.v[1] *= 9.81;
+    s->gyro.v[2] *= 9.81;
+    if (res == INV_SUCCESS)
+        *pending_mask |= (1 << index);
+}
+
+void MPLSensor::calcOrientationSensor(float *R, float *values)
+{
+    float tmp;
+
+    //Azimuth
+    if ((R[7] > 0.7071067f) || ((R[8] < 0) && (fabs(R[7]) > fabs(R[6])))) {
+        values[0] = (float) atan2f(-R[3], R[0]);
+    } else {
+        values[0] = (float) atan2f(R[1], R[4]);
+    }
+    values[0] *= 57.295779513082320876798154814105f;
+    if (values[0] < 0) {
+        values[0] += 360.0f;
+    }
+    //Pitch
+    tmp = R[7];
+    if (tmp > 1.0f)
+        tmp = 1.0f;
+    if (tmp < -1.0f)
+        tmp = -1.0f;
+    values[1] = -asinf(tmp) * 57.295779513082320876798154814105f;
+    if (R[8] < 0) {
+        values[1] = 180.0f - values[1];
+    }
+    if (values[1] > 180.0f) {
+        values[1] -= 360.0f;
+    }
+    //Roll
+    if ((R[7] > 0.7071067f)) {
+        values[2] = (float) atan2f(R[6], R[7]);
+    } else {
+        values[2] = (float) atan2f(R[6], R[8]);
+    }
+
+    values[2] *= 57.295779513082320876798154814105f;
+    if (values[2] > 90.0f) {
+        values[2] = 180.0f - values[2];
+    }
+    if (values[2] < -90.0f) {
+        values[2] = -180.0f - values[2];
+    }
+}
+
+void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask,
+                              int index) //note that this is the handler for the android 'orientation' sensor, not the mpl orientation output
+{
+    VFUNC_LOG;
+    inv_error_t res;
+    float rot_mat[9];
+
+    res = inv_get_float_array(INV_ROTATION_MATRIX, rot_mat);
+
+    calcOrientationSensor(rot_mat, s->orientation.v);
+
+    s->orientation.status = estimateCompassAccuracy();
+
+    if (res == INV_SUCCESS)
+        *pending_mask |= (1 << index);
+    else
+        ALOGW("orienHandler: data not valid (%d)", (int) res);
+
+}
+
+int MPLSensor::enable(int32_t handle, int en)
+{
+    FUNC_LOG;
+
+    int what = -1;
+
+    switch (handle) {
+    case ID_A:
+        what = Accelerometer;
+        break;
+    case ID_M:
+        what = MagneticField;
+        break;
+    case ID_O:
+        what = Orientation;
+        break;
+    case ID_GY:
+        what = Gyro;
+        break;
+    case ID_GR:
+        what = Gravity;
+        break;
+    case ID_RV:
+        what = RotationVector;
+        break;
+    case ID_LA:
+        what = LinearAccel;
+        break;
+    default: //this takes care of all the gestures
+        what = handle;
+        break;
+    }
+
+    if (uint32_t(what) >= numSensors)
+        return -EINVAL;
+
+    int newState = en ? 1 : 0;
+    int err = 0;
+
+    pthread_mutex_lock(&mMplMutex);
+    if ((uint32_t(newState) << what) != (mEnabled & (1 << what))) {
+        short flags = newState;
+        mEnabled &= ~(1 << what);
+        mEnabled |= (uint32_t(flags) << what);
+        ALOGV_IF(EXTRA_VERBOSE, "mEnabled = %x", mEnabled);
+        setPowerStates(mEnabled);
+        pthread_mutex_unlock(&mMplMutex);
+        if (!newState)
+            update_delay();
+        return err;
+    }
+    pthread_mutex_unlock(&mMplMutex);
+    return err;
+}
+
+int MPLSensor::setDelay(int32_t handle, int64_t ns)
+{
+    FUNC_LOG;
+    ALOGV_IF(EXTRA_VERBOSE,
+            " setDelay handle: %d rate %d", handle, (int) (ns / 1000000LL));
+    int what = -1;
+    switch (handle) {
+    case ID_A:
+        what = Accelerometer;
+        break;
+    case ID_M:
+        what = MagneticField;
+        break;
+    case ID_O:
+        what = Orientation;
+        break;
+    case ID_GY:
+        what = Gyro;
+        break;
+    case ID_GR:
+        what = Gravity;
+        break;
+    case ID_RV:
+        what = RotationVector;
+        break;
+    case ID_LA:
+        what = LinearAccel;
+        break;
+    default:
+        what = handle;
+        break;
+    }
+
+    if (uint32_t(what) >= numSensors)
+        return -EINVAL;
+
+    if (ns < 0)
+        return -EINVAL;
+
+    pthread_mutex_lock(&mMplMutex);
+    mDelays[what] = ns;
+    pthread_mutex_unlock(&mMplMutex);
+    return update_delay();
+}
+
+int MPLSensor::update_delay()
+{
+    FUNC_LOG;
+    int rv = 0;
+    bool irq_set[5];
+
+    pthread_mutex_lock(&mMplMutex);
+
+    if (mEnabled) {
+        uint64_t wanted = -1LLU;
+        for (int i = 0; i < numSensors; i++) {
+            if (mEnabled & (1 << i)) {
+                uint64_t ns = mDelays[i];
+                wanted = wanted < ns ? wanted : ns;
+            }
+        }
+
+        //Limit all rates to 100Hz max. 100Hz = 10ms = 10000000ns
+        if (wanted < 10000000LLU) {
+            wanted = 10000000LLU;
+        }
+
+        int rate = ((wanted) / 5000000LLU) - ((wanted % 5000000LLU == 0) ? 1
+                                                                         : 0); //mpu fifo rate is in increments of 5ms
+        if (rate == 0) //KLP disallow fifo rate 0
+            rate = 1;
+
+        if (rate != mCurFifoRate) {
+            inv_error_t res; // = inv_dmp_stop();
+            res = inv_set_fifo_rate(rate);
+            ALOGE_IF(res != INV_SUCCESS, "error setting FIFO rate");
+
+            mCurFifoRate = rate;
+            rv = (res == INV_SUCCESS);
+        }
+
+        if (((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0)) {
+            if (mUseTimerirq) {
+                ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0);
+                clearIrqData(irq_set);
+                if (inv_get_dl_config()->requested_sensors
+                        == INV_THREE_AXIS_COMPASS) {
+                    ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START,
+                          (unsigned long) (wanted / 1000000LLU));
+                    ALOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d",
+                            (int) (wanted / 1000000LLU));
+                } else {
+                    ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START,
+                          (unsigned long) inv_get_sample_step_size_ms());
+                    ALOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d",
+                            (int) inv_get_sample_step_size_ms());
+                }
+            }
+        }
+
+    }
+    pthread_mutex_unlock(&mMplMutex);
+    return rv;
+}
+
+/* return the current time in nanoseconds */
+int64_t MPLSensor::now_ns(void)
+{
+    //FUNC_LOG;
+    struct timespec ts;
+
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    return (int64_t) ts.tv_sec * 1000000000 + ts.tv_nsec;
+}
+
+int MPLSensor::readEvents(sensors_event_t* data, int count)
+{
+    //VFUNC_LOG;
+    bool irq_set[5] = { false, false, false, false, false };
+    inv_error_t rv;
+    if (count < 1)
+        return -EINVAL;
+    int numEventReceived = 0;
+
+    clearIrqData(irq_set);
+
+    pthread_mutex_lock(&mMplMutex);
+    if (mDmpStarted) {
+        rv = inv_update_data();
+        ALOGE_IF(rv != INV_SUCCESS, "inv_update_data error (code %d)", (int) rv);
+    }
+
+    else {
+        //probably just one extra read after shutting down
+        ALOGV_IF(EXTRA_VERBOSE,
+                "MPLSensor::readEvents called, but there's nothing to do.");
+    }
+
+    pthread_mutex_unlock(&mMplMutex);
+
+    if (!mNewData) {
+        ALOGV_IF(EXTRA_VERBOSE, "no new data");
+        return 0;
+    }
+    mNewData = 0;
+
+    /* google timestamp */
+    pthread_mutex_lock(&mMplMutex);
+    for (int i = 0; i < numSensors; i++) {
+        if (mEnabled & (1 << i)) {
+            CALL_MEMBER_FN(this,mHandlers[i])(mPendingEvents + i,
+                                              &mPendingMask, i);
+	    mPendingEvents[i].timestamp = irq_timestamp;
+        }
+    }
+
+    for (int j = 0; count && mPendingMask && j < numSensors; j++) {
+        if (mPendingMask & (1 << j)) {
+            mPendingMask &= ~(1 << j);
+            if (mEnabled & (1 << j)) {
+                *data++ = mPendingEvents[j];
+                count--;
+                numEventReceived++;
+            }
+        }
+
+    }
+
+    pthread_mutex_unlock(&mMplMutex);
+    return numEventReceived;
+}
+
+int MPLSensor::getFd() const
+{
+    return data_fd;
+}
+
+int MPLSensor::getAccelFd() const
+{
+    return accel_fd;
+}
+
+int MPLSensor::getTimerFd() const
+{
+    return timer_fd;
+}
+
+int MPLSensor::getPowerFd() const
+{
+    int hdl = (uintptr_t) inv_get_serial_handle();
+    return hdl;
+}
+
+int MPLSensor::getPollTime()
+{
+    return mPollTime;
+}
+
+bool MPLSensor::hasPendingEvents() const
+{
+    //if we are using the polling workaround, force the main loop to check for data every time
+    return (mPollTime != -1);
+}
+
+void MPLSensor::handlePowerEvent()
+{
+    VFUNC_LOG;
+    mpuirq_data irqd;
+
+    int fd = (uintptr_t) inv_get_serial_handle();
+    read(fd, &irqd, sizeof(irqd));
+
+    if (irqd.data == MPU_PM_EVENT_SUSPEND_PREPARE) {
+        //going to sleep
+        sleepEvent();
+    } else if (irqd.data == MPU_PM_EVENT_POST_SUSPEND) {
+        //waking up
+        wakeEvent();
+    }
+
+    ioctl(fd, MPU_PM_EVENT_HANDLED, 0);
+}
+
+void MPLSensor::sleepEvent()
+{
+    VFUNC_LOG;
+    pthread_mutex_lock(&mMplMutex);
+    if (mEnabled != 0) {
+        mForceSleep = true;
+        mOldEnabledMask = mEnabled;
+        setPowerStates(0);
+    }
+    pthread_mutex_unlock(&mMplMutex);
+}
+
+void MPLSensor::wakeEvent()
+{
+    VFUNC_LOG;
+    pthread_mutex_lock(&mMplMutex);
+    if (mForceSleep) {
+        setPowerStates((mOldEnabledMask | mEnabled));
+    }
+    mForceSleep = false;
+    pthread_mutex_unlock(&mMplMutex);
+}
+
+/** fill in the sensor list based on which sensors are configured.
+ *  return the number of configured sensors.
+ *  parameter list must point to a memory region of at least 7*sizeof(sensor_t)
+ *  parameter len gives the length of the buffer pointed to by list
+ */
+
+int MPLSensor::populateSensorList(struct sensor_t *list, size_t len)
+{
+    int numsensors;
+
+    if(len < 7*sizeof(sensor_t)) {
+        ALOGE("sensor list too small, not populating.");
+        return 0;
+    }
+
+    /* fill in the base values */
+    memcpy(list, sSensorList, sizeof (struct sensor_t) * 7);
+
+    /* first add gyro, accel and compass to the list */
+
+    /* fill in accel values                          */
+    unsigned short accelId = inv_get_accel_id();
+    if(accelId == 0) {
+       ALOGE("Can not get accel id");
+    }
+    fillAccel(accelId, list);
+
+    /* fill in compass values                        */
+    unsigned short compassId = inv_get_compass_id();
+    if(compassId == 0) {
+       ALOGE("Can not get compass id");
+    }
+    fillCompass(compassId, list);
+
+    /* fill in gyro values                           */
+    fillGyro(MPU_NAME, list);
+
+    if(mNineAxisEnabled)
+    {
+        numsensors = 7;
+        /* all sensors will be added to the list     */
+        /* fill in orientation values	             */
+        fillOrientation(list);
+
+        /* fill in rotation vector values	     */
+        fillRV(list);
+
+        /* fill in gravity values			     */
+        fillGravity(list);
+
+        /* fill in Linear accel values            */
+        fillLinearAccel(list);
+    } else {
+        /* no 9-axis sensors, zero fill that part of the list */
+        numsensors = 3;
+        memset(list+3, 0, 4*sizeof(struct sensor_t));
+    }
+
+    return numsensors;
+}
+
+void MPLSensor::fillAccel(unsigned char accel, struct sensor_t *list)
+{
+    switch (accel) {
+    case ACCEL_ID_LIS331:
+        list[Accelerometer].maxRange = ACCEL_LIS331_RANGE;
+        list[Accelerometer].resolution = ACCEL_LIS331_RESOLUTION;
+        list[Accelerometer].power = ACCEL_LIS331_POWER;
+        break;
+
+    case ACCEL_ID_LIS3DH:
+        list[Accelerometer].maxRange = ACCEL_LIS3DH_RANGE;
+        list[Accelerometer].resolution = ACCEL_LIS3DH_RESOLUTION;
+        list[Accelerometer].power = ACCEL_LIS3DH_POWER;
+        break;
+
+    case ACCEL_ID_KXSD9:
+        list[Accelerometer].maxRange = ACCEL_KXSD9_RANGE;
+        list[Accelerometer].resolution = ACCEL_KXSD9_RESOLUTION;
+        list[Accelerometer].power = ACCEL_KXSD9_POWER;
+        break;
+
+    case ACCEL_ID_KXTF9:
+        list[Accelerometer].maxRange = ACCEL_KXTF9_RANGE;
+        list[Accelerometer].resolution = ACCEL_KXTF9_RESOLUTION;
+        list[Accelerometer].power = ACCEL_KXTF9_POWER;
+        break;
+
+    case ACCEL_ID_BMA150:
+        list[Accelerometer].maxRange = ACCEL_BMA150_RANGE;
+        list[Accelerometer].resolution = ACCEL_BMA150_RESOLUTION;
+        list[Accelerometer].power = ACCEL_BMA150_POWER;
+        break;
+
+    case ACCEL_ID_BMA222:
+        list[Accelerometer].maxRange = ACCEL_BMA222_RANGE;
+        list[Accelerometer].resolution = ACCEL_BMA222_RESOLUTION;
+        list[Accelerometer].power = ACCEL_BMA222_POWER;
+        break;
+
+    case ACCEL_ID_BMA250:
+        list[Accelerometer].maxRange = ACCEL_BMA250_RANGE;
+        list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION;
+        list[Accelerometer].power = ACCEL_BMA250_POWER;
+        break;
+
+    case ACCEL_ID_ADXL34X:
+        list[Accelerometer].maxRange = ACCEL_ADXL34X_RANGE;
+        list[Accelerometer].resolution = ACCEL_ADXL34X_RESOLUTION;
+        list[Accelerometer].power = ACCEL_ADXL34X_POWER;
+        break;
+
+    case ACCEL_ID_MMA8450:
+        list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE;
+        list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE;
+        list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE;
+        break;
+
+    case ACCEL_ID_MMA845X:
+        list[Accelerometer].maxRange = ACCEL_MMA845X_RANGE;
+        list[Accelerometer].resolution = ACCEL_MMA845X_RESOLUTION;
+        list[Accelerometer].power = ACCEL_MMA845X_POWER;
+        break;
+
+    case ACCEL_ID_MPU6050:
+        list[Accelerometer].maxRange = ACCEL_MPU6050_RANGE;
+        list[Accelerometer].resolution = ACCEL_MPU6050_RESOLUTION;
+        list[Accelerometer].power = ACCEL_MPU6050_POWER;
+        break;
+    default:
+        ALOGE("unknown accel id -- accel params will be wrong.");
+        break;
+    }
+}
+
+void MPLSensor::fillCompass(unsigned char compass, struct sensor_t *list)
+{
+    switch (compass) {
+    case COMPASS_ID_AK8975:
+        list[MagneticField].maxRange = COMPASS_AKM8975_RANGE;
+        list[MagneticField].resolution = COMPASS_AKM8975_RESOLUTION;
+        list[MagneticField].power = COMPASS_AKM8975_POWER;
+        break;
+    case COMPASS_ID_AMI30X:
+        list[MagneticField].maxRange = COMPASS_AMI30X_RANGE;
+        list[MagneticField].resolution = COMPASS_AMI30X_RESOLUTION;
+        list[MagneticField].power = COMPASS_AMI30X_POWER;
+        break;
+    case COMPASS_ID_AMI306:
+        list[MagneticField].maxRange = COMPASS_AMI306_RANGE;
+        list[MagneticField].resolution = COMPASS_AMI306_RESOLUTION;
+        list[MagneticField].power = COMPASS_AMI306_POWER;
+        break;
+    case COMPASS_ID_YAS529:
+        list[MagneticField].maxRange = COMPASS_YAS529_RANGE;
+        list[MagneticField].resolution = COMPASS_AMI306_RESOLUTION;
+        list[MagneticField].power = COMPASS_AMI306_POWER;
+        break;
+    case COMPASS_ID_YAS530:
+        list[MagneticField].maxRange = COMPASS_YAS530_RANGE;
+        list[MagneticField].resolution = COMPASS_YAS530_RESOLUTION;
+        list[MagneticField].power = COMPASS_YAS530_POWER;
+        break;
+    case COMPASS_ID_HMC5883:
+        list[MagneticField].maxRange = COMPASS_HMC5883_RANGE;
+        list[MagneticField].resolution = COMPASS_HMC5883_RESOLUTION;
+        list[MagneticField].power = COMPASS_HMC5883_POWER;
+        break;
+    case COMPASS_ID_MMC314X:
+        list[MagneticField].maxRange = COMPASS_MMC314X_RANGE;
+        list[MagneticField].resolution = COMPASS_MMC314X_RESOLUTION;
+        list[MagneticField].power = COMPASS_MMC314X_POWER;
+        break;
+    case COMPASS_ID_HSCDTD002B:
+        list[MagneticField].maxRange = COMPASS_HSCDTD002B_RANGE;
+        list[MagneticField].resolution = COMPASS_HSCDTD002B_RESOLUTION;
+        list[MagneticField].power = COMPASS_HSCDTD002B_POWER;
+        break;
+    case COMPASS_ID_HSCDTD004A:
+        list[MagneticField].maxRange = COMPASS_HSCDTD004A_RANGE;
+        list[MagneticField].resolution = COMPASS_HSCDTD004A_RESOLUTION;
+        list[MagneticField].power = COMPASS_HSCDTD004A_POWER;
+        break;
+    default:
+        ALOGE("unknown compass id -- compass parameters will be wrong");
+    }
+}
+
+void MPLSensor::fillGyro(const char* gyro, struct sensor_t *list)
+{
+    if ((gyro != NULL) && (strcmp(gyro, "mpu3050") == 0)) {
+        list[Gyro].maxRange = GYRO_MPU3050_RANGE;
+        list[Gyro].resolution = GYRO_MPU3050_RESOLUTION;
+        list[Gyro].power = GYRO_MPU3050_POWER;
+    } else {
+        list[Gyro].maxRange = GYRO_MPU6050_RANGE;
+        list[Gyro].resolution = GYRO_MPU6050_RESOLUTION;
+        list[Gyro].power = GYRO_MPU6050_POWER;
+    }
+    return;
+}
+
+
+/* fillRV depends on values of accel and compass in the list	*/
+void MPLSensor::fillRV(struct sensor_t *list)
+{
+    /* compute power on the fly */
+    list[RotationVector].power = list[Gyro].power + list[Accelerometer].power
+            + list[MagneticField].power;
+    list[RotationVector].resolution = .00001;
+    list[RotationVector].maxRange = 1.0;
+    return;
+}
+
+void MPLSensor::fillOrientation(struct sensor_t *list)
+{
+    list[Orientation].power = list[Gyro].power + list[Accelerometer].power
+            + list[MagneticField].power;
+    list[Orientation].resolution = .00001;
+    list[Orientation].maxRange = 360.0;
+    return;
+}
+
+void MPLSensor::fillGravity( struct sensor_t *list)
+{
+    list[Gravity].power = list[Gyro].power + list[Accelerometer].power
+            + list[MagneticField].power;
+    list[Gravity].resolution = .00001;
+    list[Gravity].maxRange = 9.81;
+    return;
+}
+
+void MPLSensor::fillLinearAccel(struct sensor_t *list)
+{
+    list[Gravity].power = list[Gyro].power + list[Accelerometer].power
+            + list[MagneticField].power;
+    list[Gravity].resolution = list[Accelerometer].resolution;
+    list[Gravity].maxRange = list[Accelerometer].maxRange;
+    return;
+}
diff --git a/invensense/libinvensense_hal/MPLSensor.h b/invensense/libinvensense_hal/MPLSensor.h
new file mode 100644
index 0000000..052087d
--- /dev/null
+++ b/invensense/libinvensense_hal/MPLSensor.h
@@ -0,0 +1,142 @@
+/*
+ * Copyright (C) 2011 Invensense, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/*************Removed the gesture related info for Google check in : Meenakshi Ramamoorthi: May 31st *********/
+
+#ifndef ANDROID_MPL_SENSOR_H
+#define ANDROID_MPL_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+#include <poll.h>
+#include <utils/Vector.h>
+#include <utils/KeyedVector.h>
+#include "sensors.h"
+#include "SensorBase.h"
+
+/*****************************************************************************/
+/** MPLSensor implementation which fits into the HAL example for crespo provided
+ * * by Google.
+ * * WARNING: there may only be one instance of MPLSensor, ever.
+ */
+
+class MPLSensor: public SensorBase
+{
+    typedef void (MPLSensor::*hfunc_t)(sensors_event_t*, uint32_t*, int);
+
+public:
+    MPLSensor();
+    virtual ~MPLSensor();
+
+    enum
+    {
+        Gyro=0,
+        Accelerometer,
+        MagneticField,
+        Orientation,
+        RotationVector,
+        LinearAccel,
+        Gravity,
+        numSensors
+    };
+
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int enable(int32_t handle, int enabled);
+    virtual int readEvents(sensors_event_t *data, int count);
+    virtual int getFd() const;
+    virtual int getAccelFd() const;
+    virtual int getTimerFd() const;
+    virtual int getPowerFd() const;
+    virtual int getPollTime();
+    virtual bool hasPendingEvents() const;
+    virtual void handlePowerEvent();
+    virtual void sleepEvent();
+    virtual void wakeEvent();
+    int populateSensorList(struct sensor_t *list, size_t len);
+    void cbOnMotion(uint16_t);
+    void cbProcData();
+
+protected:
+
+    void clearIrqData(bool* irq_set);
+    void setPowerStates(int enabledsensor);
+    void initMPL();
+    void setupFIFO();
+    void setupCallbacks();
+    void gyroHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void accelHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void compassHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void rvHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void laHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void gravHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void orienHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void calcOrientationSensor(float *Rx, float *Val);
+    int estimateCompassAccuracy();
+
+    int mNewData; //flag indicating that the MPL calculated new output values
+    int mDmpStarted;
+    long mMasterSensorMask;
+    long mLocalSensorMask;
+    int mPollTime;
+    int mCurFifoRate; //current fifo rate
+    bool mHaveGoodMpuCal; //flag indicating that the cal file can be written
+    bool mHaveGoodCompassCal;
+    bool mUseTimerIrqAccel;
+    bool mUsetimerIrqCompass;
+    bool mUseTimerirq;
+    struct pollfd mPollFds[4];
+    int mSampleCount;
+    pthread_mutex_t mMplMutex;
+    int64_t now_ns();
+    int64_t select_ns(unsigned long long time_set[]);
+
+    enum FILEHANDLES
+    {
+        MPUIRQ_FD, ACCELIRQ_FD, COMPASSIRQ_FD, TIMERIRQ_FD,
+    };
+
+private:
+
+    int update_delay();
+    int accel_fd;
+    int timer_fd;
+
+    uint32_t mEnabled;
+    uint32_t mPendingMask;
+    sensors_event_t mPendingEvents[numSensors];
+    uint64_t mDelays[numSensors];
+    hfunc_t mHandlers[numSensors];
+    bool mForceSleep;
+    long int mOldEnabledMask;
+    android::KeyedVector<int, int> mIrqFds;
+
+    /* added for dynamic get sensor list              */
+    bool mNineAxisEnabled;
+    void fillAccel(unsigned char accel, struct sensor_t *list);
+    void fillCompass(unsigned char compass, struct sensor_t *list);
+    void fillGyro(const char* gyro, struct sensor_t *list);
+    void fillRV(struct sensor_t *list);
+    void fillOrientation(struct sensor_t *list);
+    void fillGravity(struct sensor_t *list);
+    void fillLinearAccel(struct sensor_t *list);
+};
+
+void setCallbackObject(MPLSensor*);
+
+/*****************************************************************************/
+
+#endif  // ANDROID_MPL_SENSOR_H
diff --git a/invensense/libinvensense_hal/SensorBase.cpp b/invensense/libinvensense_hal/SensorBase.cpp
new file mode 100644
index 0000000..9cc1ee8
--- /dev/null
+++ b/invensense/libinvensense_hal/SensorBase.cpp
@@ -0,0 +1,129 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <string.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+
+#include <cutils/log.h>
+
+#include <linux/input.h>
+
+#include "SensorBase.h"
+
+/*****************************************************************************/
+
+SensorBase::SensorBase(
+        const char* dev_name,
+        const char* data_name)
+    : dev_name(dev_name), data_name(data_name),
+      dev_fd(-1), data_fd(-1)
+{
+    if (data_name) {
+        data_fd = openInput(data_name);
+    }
+}
+
+SensorBase::~SensorBase() {
+    if (data_fd >= 0) {
+        close(data_fd);
+    }
+    if (dev_fd >= 0) {
+        close(dev_fd);
+    }
+}
+
+int SensorBase::open_device() {
+    if (dev_fd<0 && dev_name) {
+        dev_fd = open(dev_name, O_RDONLY);
+        ALOGE_IF(dev_fd<0, "Couldn't open %s (%s)", dev_name, strerror(errno));
+    }
+    return 0;
+}
+
+int SensorBase::close_device() {
+    if (dev_fd >= 0) {
+        close(dev_fd);
+        dev_fd = -1;
+    }
+    return 0;
+}
+
+int SensorBase::getFd() const {
+    if (!data_name) {
+        return dev_fd;
+    }
+    return data_fd;
+}
+
+int SensorBase::setDelay(int32_t handle, int64_t ns) {
+    return 0;
+}
+
+bool SensorBase::hasPendingEvents() const {
+    return false;
+}
+
+int64_t SensorBase::getTimestamp() {
+    struct timespec t;
+    t.tv_sec = t.tv_nsec = 0;
+    clock_gettime(CLOCK_MONOTONIC, &t);
+    return int64_t(t.tv_sec)*1000000000LL + t.tv_nsec;
+}
+
+int SensorBase::openInput(const char* inputName) {
+    int fd = -1;
+    const char *dirname = "/dev/input";
+    char devname[PATH_MAX];
+    char *filename;
+    DIR *dir;
+    struct dirent *de;
+    dir = opendir(dirname);
+    if(dir == NULL)
+        return -1;
+    strcpy(devname, dirname);
+    filename = devname + strlen(devname);
+    *filename++ = '/';
+    while((de = readdir(dir))) {
+        if(de->d_name[0] == '.' &&
+                (de->d_name[1] == '\0' ||
+                        (de->d_name[1] == '.' && de->d_name[2] == '\0')))
+            continue;
+        strcpy(filename, de->d_name);
+        fd = open(devname, O_RDONLY);
+        if (fd>=0) {
+            char name[80];
+            if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {
+                name[0] = '\0';
+            }
+            if (!strcmp(name, inputName)) {
+                strcpy(input_name, filename);
+                break;
+            } else {
+                close(fd);
+                fd = -1;
+            }
+        }
+    }
+    closedir(dir);
+    ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName);
+    return fd;
+}
diff --git a/invensense/libinvensense_hal/SensorBase.h b/invensense/libinvensense_hal/SensorBase.h
new file mode 100644
index 0000000..bb4d055
--- /dev/null
+++ b/invensense/libinvensense_hal/SensorBase.h
@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSOR_BASE_H
+#define ANDROID_SENSOR_BASE_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+
+/*****************************************************************************/
+
+struct sensors_event_t;
+
+class SensorBase {
+protected:
+    const char* dev_name;
+    const char* data_name;
+    char        input_name[PATH_MAX];
+    int         dev_fd;
+    int         data_fd;
+
+    int openInput(const char* inputName);
+    static int64_t getTimestamp();
+
+
+    static int64_t timevalToNano(timeval const& t) {
+        return t.tv_sec*1000000000LL + t.tv_usec*1000;
+    }
+
+    int open_device();
+    int close_device();
+
+public:
+            SensorBase(
+                    const char* dev_name,
+                    const char* data_name);
+
+    virtual ~SensorBase();
+
+    virtual int readEvents(sensors_event_t* data, int count) = 0;
+    virtual bool hasPendingEvents() const;
+    virtual int getFd() const;
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int enable(int32_t handle, int enabled) = 0;
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_SENSOR_BASE_H
diff --git a/invensense/libinvensense_hal/sensor_params.h b/invensense/libinvensense_hal/sensor_params.h
new file mode 100644
index 0000000..4925ac4
--- /dev/null
+++ b/invensense/libinvensense_hal/sensor_params.h
@@ -0,0 +1,134 @@
+/*
+ * Copyright (C) 2011 Invensense, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef INV_SENSOR_PARAMS_H
+#define INV_SENSOR_PARAMS_H
+
+/* Physical parameters of the sensors supported by Invensense MPL */
+#define SENSORS_ROTATION_VECTOR_HANDLE  (ID_RV)
+#define SENSORS_LINEAR_ACCEL_HANDLE     (ID_LA)
+#define SENSORS_GRAVITY_HANDLE          (ID_GR)
+#define SENSORS_GYROSCOPE_HANDLE        (ID_GY)
+#define SENSORS_ACCELERATION_HANDLE     (ID_A)
+#define SENSORS_MAGNETIC_FIELD_HANDLE   (ID_M)
+#define SENSORS_ORIENTATION_HANDLE      (ID_O)
+/******************************************/
+//COMPASS_ID_AKM
+#define COMPASS_AKM8975_RANGE       (9830.0f)
+#define COMPASS_AKM8975_RESOLUTION  (0.285f)
+#define COMPASS_AKM8975_POWER       (10.0f)
+//COMPASS_ID_AMI30X
+#define COMPASS_AMI30X_RANGE        (5461.0f)
+#define COMPASS_AMI30X_RESOLUTION   (0.9f)
+#define COMPASS_AMI30X_POWER        (0.15f)
+//COMPASS_ID_AMI306
+#define COMPASS_AMI306_RANGE        (5461.0f)
+#define COMPASS_AMI306_RESOLUTION   (0.9f)
+#define COMPASS_AMI306_POWER        (0.15f)
+//COMPASS_ID_YAS529
+#define COMPASS_YAS529_RANGE        (19660.0f)
+#define COMPASS_YAS529_RESOLUTION   (0.012f)
+#define COMPASS_YAS529_POWER        (4.0f)
+//COMPASS_ID_YAS530
+#define COMPASS_YAS530_RANGE        (8001.0f)
+#define COMPASS_YAS530_RESOLUTION   (0.012f)
+#define COMPASS_YAS530_POWER        (4.0f)
+//COMPASS_ID_HMC5883
+#define COMPASS_HMC5883_RANGE       (10673.0f)
+#define COMPASS_HMC5883_RESOLUTION  (10.0f)
+#define COMPASS_HMC5883_POWER       (0.24f)
+//COMPASS_ID_LSM303DLH
+#define COMPASS_LSM303DLH_RANGE     (10240.0f)
+#define COMPASS_LSM303DLH_RESOLUTION    (1.0f)
+#define COMPASS_LSM303DLH_POWER     (1.0f)
+//COMPASS_ID_LSM303DLM
+#define COMPASS_LSM303DLM_RANGE     (10240.0f)
+#define COMPASS_LSM303DLM_RESOLUTION    (1.0f)
+#define COMPASS_LSM303DLM_POWER     (1.0f)
+//COMPASS_ID_MMC314X
+#define COMPASS_MMC314X_RANGE       (400.0f)
+#define COMPASS_MMC314X_RESOLUTION  (2.0f)
+#define COMPASS_MMC314X_POWER       (0.55f)
+//COMPASS_ID_HSCDTD002B
+#define COMPASS_HSCDTD002B_RANGE    (9830.0f)
+#define COMPASS_HSCDTD002B_RESOLUTION   (1.0f)
+#define COMPASS_HSCDTD002B_POWER    (1.0f)
+//COMPASS_ID_HSCDTD004A
+#define COMPASS_HSCDTD004A_RANGE    (9830.0f)
+#define COMPASS_HSCDTD004A_RESOLUTION   (1.0f)
+#define COMPASS_HSCDTD004A_POWER    (1.0f)
+/*******************************************/
+//ACCEL_ID_LIS331
+#define ACCEL_LIS331_RANGE      (2.480f*GRAVITY_EARTH)
+#define ACCEL_LIS331_RESOLUTION     (.001f*GRAVITY_EARTH)
+#define ACCEL_LIS331_POWER      (1.0f)
+//ACCEL_ID_LSM303DLX
+#define ACCEL_LSM303DLX_RANGE       (2.480f*GRAVITY_EARTH)
+#define ACCEL_LSM303DLX_RESOLUTION  (0.001f*GRAVITY_EARTH)
+#define ACCEL_LSM303DLX_POWER       (1.0f)
+//ACCEL_ID_LIS3DH
+#define ACCEL_LIS3DH_RANGE      (2.480f*GRAVITY_EARTH)
+#define ACCEL_LIS3DH_RESOLUTION     (0.001f*GRAVITY_EARTH)
+#define ACCEL_LIS3DH_POWER      (1.0f)
+//ACCEL_ID_KXSD9
+#define ACCEL_KXSD9_RANGE       (2.5006f*GRAVITY_EARTH)
+#define ACCEL_KXSD9_RESOLUTION      (0.001f*GRAVITY_EARTH)
+#define ACCEL_KXSD9_POWER       (1.0f)
+//ACCEL_ID_KXTF9
+#define ACCEL_KXTF9_RANGE       (1.0f*GRAVITY_EARTH)
+#define ACCEL_KXTF9_RESOLUTION      (0.033f*GRAVITY_EARTH)
+#define ACCEL_KXTF9_POWER       (0.35f)
+//ACCEL_ID_BMA150
+#define ACCEL_BMA150_RANGE      (2.0f*GRAVITY_EARTH)
+#define ACCEL_BMA150_RESOLUTION     (0.004f*GRAVITY_EARTH)
+#define ACCEL_BMA150_POWER      (0.2f)
+//ACCEL_ID_BMA222
+#define ACCEL_BMA222_RANGE      (2.0f*GRAVITY_EARTH)
+#define ACCEL_BMA222_RESOLUTION     (0.001f*GRAVITY_EARTH)
+#define ACCEL_BMA222_POWER      (0.1f)
+//ACCEL_ID_BMA250
+#define ACCEL_BMA250_RANGE      (2.0f*GRAVITY_EARTH)
+#define ACCEL_BMA250_RESOLUTION     (0.00391f*GRAVITY_EARTH)
+#define ACCEL_BMA250_POWER      (0.139f)
+//ACCEL_ID_ADXL34X
+#define ACCEL_ADXL34X_RANGE     (2.0f*GRAVITY_EARTH)
+#define ACCEL_ADXL34X_RESOLUTION    (0.001f*GRAVITY_EARTH)
+#define ACCEL_ADXL34X_POWER     (1.0f)
+//ACCEL_ID_MMA8450
+#define ACCEL_MMA8450_RANGE     (2.0f*GRAVITY_EARTH)
+#define ACCEL_MMA8450_RESOLUTION    (0.001f*GRAVITY_EARTH)
+#define ACCEL_MMA8450_POWER     (1.0f)
+//ACCEL_ID_MMA845X
+#define ACCEL_MMA845X_RANGE     (2.0f*GRAVITY_EARTH)
+#define ACCEL_MMA845X_RESOLUTION    (0.001f*GRAVITY_EARTH)
+#define ACCEL_MMA845X_POWER     (1.0f)
+//ACCEL_ID_MPU6050
+#define ACCEL_MPU6050_RANGE     (2.0f*GRAVITY_EARTH)
+#define ACCEL_MPU6050_RESOLUTION    (0.004f*GRAVITY_EARTH)
+#define ACCEL_MPU6050_POWER     (0.0f)
+/******************************************/
+//GYRO MPU3050
+#define RAD_P_DEG (3.14159f/180.0f)
+#define GYRO_MPU3050_RANGE      (2000.0f*RAD_P_DEG)
+#define GYRO_MPU3050_RESOLUTION     (32.8f*RAD_P_DEG)
+#define GYRO_MPU3050_POWER      (6.1f)
+//GYRO MPU6050
+#define GYRO_MPU6050_RANGE      (2000.0f*RAD_P_DEG)
+#define GYRO_MPU6050_RESOLUTION     (16.4f*RAD_P_DEG)
+#define GYRO_MPU6050_POWER      (5.5f)
+
+#endif
+
diff --git a/invensense/libinvensense_hal/sensors.h b/invensense/libinvensense_hal/sensors.h
new file mode 100644
index 0000000..730c14a
--- /dev/null
+++ b/invensense/libinvensense_hal/sensors.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSORS_H
+#define ANDROID_SENSORS_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include <linux/input.h>
+
+#include <hardware/hardware.h>
+#include <hardware/sensors.h>
+
+__BEGIN_DECLS
+
+/*****************************************************************************/
+
+#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
+
+#define ID_MPL_BASE (0)
+#define ID_GY (ID_MPL_BASE)
+#define ID_A  (ID_GY + 1)
+#define ID_M  (ID_A + 1)
+#define ID_O  (ID_M + 1)
+#define ID_RV (ID_O + 1)
+#define ID_LA (ID_RV + 1)
+#define ID_GR (ID_LA + 1)
+
+/*****************************************************************************/
+
+/*
+ * The SENSORS Module
+ */
+
+__END_DECLS
+
+#endif  // ANDROID_SENSORS_H
diff --git a/invensense/mlsdk/Android.mk b/invensense/mlsdk/Android.mk
new file mode 100644
index 0000000..230d4f0
--- /dev/null
+++ b/invensense/mlsdk/Android.mk
@@ -0,0 +1,80 @@
+LOCAL_PATH := $(call my-dir)
+
+include $(CLEAR_VARS)
+LOCAL_MODULE_TAGS := optional
+
+LOCAL_MODULE := libmlplatform
+
+LOCAL_CFLAGS := -D_REENTRANT -DLINUX -DANDROID
+LOCAL_CFLAGS += -DCONFIG_MPU_SENSORS_MPU3050
+
+LOCAL_C_INCLUDES := \
+	$(LOCAL_PATH)/platform/include \
+	$(LOCAL_PATH)/platform/include/linux \
+	$(LOCAL_PATH)/platform/linux \
+	$(LOCAL_PATH)/platform/linux/kernel \
+	$(LOCAL_PATH)/mllite
+
+LOCAL_SRC_FILES := \
+	platform/linux/mlos_linux.c \
+	platform/linux/mlsl_linux_mpu.c
+
+LOCAL_SHARED_LIBRARIES := liblog libm libutils libcutils
+include $(BUILD_SHARED_LIBRARY)
+
+
+include $(CLEAR_VARS)
+LOCAL_MODULE := libmllite
+LOCAL_MODULE_TAGS := optional
+
+LOCAL_CFLAGS := -DNDEBUG -D_REENTRANT -DLINUX -DANDROID
+LOCAL_CFLAGS += -DCONFIG_MPU_SENSORS_MPU3050
+LOCAL_CFLAGS += -DUNICODE -D_UNICODE -DSK_RELEASE
+LOCAL_CFLAGS += -DI2CDEV=\"/dev/mpu\"
+
+# optionally apply the compass filter. this is set in
+# BoardConfig.mk
+ifeq ($(BOARD_INVENSENSE_APPLY_COMPASS_NOISE_FILTER),true)
+	LOCAL_CFLAGS += -DAPPLY_COMPASS_FILTER
+endif
+
+LOCAL_C_INCLUDES := \
+	$(LOCAL_PATH)/mldmp \
+	$(LOCAL_PATH)/mllite \
+	$(LOCAL_PATH)/platform/include \
+	$(LOCAL_PATH)/platform/include/linux \
+	$(LOCAL_PATH)/mlutils \
+	$(LOCAL_PATH)/mlapps/common \
+	$(LOCAL_PATH)/mllite/akmd \
+	$(LOCAL_PATH)/platform/linux
+
+LOCAL_SRC_FILES := \
+	mllite/accel.c \
+	mllite/compass.c \
+	mllite/pressure.c \
+	mllite/mldl_cfg_mpu.c \
+	mllite/dmpDefault.c \
+	mllite/ml.c \
+	mllite/mlarray.c \
+	mllite/mlarray_legacy.c \
+	mllite/mlFIFO.c \
+	mllite/mlFIFOHW.c \
+	mllite/mlMathFunc.c \
+	mllite/ml_stored_data.c \
+	mllite/mlcontrol.c \
+	mllite/mldl.c \
+	mllite/mldmp.c \
+	mllite/mlstates.c \
+	mllite/mlsupervisor.c \
+	mllite/mlBiasNoMotion.c \
+	mllite/mlSetGyroBias.c \
+	mllite/ml_mputest.c \
+	mlutils/mputest.c \
+	mlutils/checksum.c
+
+ifeq ($(HARDWARE),M_HW)
+	LOCAL_SRC_FILES += mllite/accel/mantis.c
+endif
+
+LOCAL_SHARED_LIBRARIES := libm libutils libcutils liblog libmlplatform
+include $(BUILD_SHARED_LIBRARY)
diff --git a/invensense/mlsdk/mllite/accel.c b/invensense/mlsdk/mllite/accel.c
new file mode 100644
index 0000000..89d5080
--- /dev/null
+++ b/invensense/mlsdk/mllite/accel.c
@@ -0,0 +1,189 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: accel.c 4595 2011-01-25 01:43:03Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup ACCELDL
+ *  @brief  Motion Library - Accel Driver Layer.
+ *          Provides the interface to setup and handle an accel
+ *          connected to either the primary or the seconday I2C interface
+ *          of the gyroscope.
+ *
+ *  @{
+ *      @file   accel.c
+ *      @brief  Accel setup and handling methods.
+**/
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <string.h>
+
+#include "ml.h"
+#include "mlinclude.h"
+#include "dmpKey.h"
+#include "mlFIFO.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "mlMathFunc.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-accel"
+
+#define ACCEL_DEBUG 0
+
+/* --------------------- */
+/* - Global Variables. - */
+/* --------------------- */
+
+/* --------------------- */
+/* - Static Variables. - */
+/* --------------------- */
+
+/* --------------- */
+/* - Prototypes. - */
+/* --------------- */
+
+/* -------------- */
+/* - Externs.   - */
+/* -------------- */
+
+/* -------------- */
+/* - Functions. - */
+/* -------------- */
+
+/**
+ *  @brief  Used to determine if an accel is configured and
+ *          used by the MPL.
+ *  @return INV_SUCCESS if the accel is present.
+ */
+unsigned char inv_accel_present(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->accel &&
+        NULL != mldl_cfg->accel->resume &&
+        mldl_cfg->requested_sensors & INV_THREE_AXIS_ACCEL)
+        return TRUE;
+    else
+        return FALSE;
+}
+
+/**
+ *  @brief   Query the accel slave address.
+ *  @return  The 7-bit accel slave address.
+ */
+unsigned char inv_get_slave_addr(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->pdata)
+        return mldl_cfg->pdata->accel.address;
+    else
+        return 0;
+}
+
+/**
+ *  @brief   Get the ID of the accel in use.
+ *  @return  ID of the accel in use.
+ */
+unsigned short inv_get_accel_id(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->accel) {
+        return mldl_cfg->accel->id;
+    }
+    return ID_INVALID;
+}
+
+/**
+ *  @brief  Get a sample of accel data from the device.
+ *  @param  data
+ *              the buffer to store the accel raw data for
+ *              X, Y, and Z axes.
+ *  @return INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_get_accel_data(long *data)
+{
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    inv_error_t result;
+    unsigned char raw_data[2 * ACCEL_NUM_AXES];
+    long tmp[ACCEL_NUM_AXES];
+    int ii;
+    signed char *mtx = mldl_cfg->pdata->accel.orientation;
+    char accelId = mldl_cfg->accel->id;
+
+    if (NULL == data)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (mldl_cfg->accel->read_len > sizeof(raw_data))
+        return INV_ERROR_ASSERTION_FAILURE;
+
+    result = (inv_error_t) inv_mpu_read_accel(mldl_cfg,
+                                              inv_get_serial_handle(),
+                                              inv_get_serial_handle(),
+                                              raw_data);
+    if (result == INV_ERROR_ACCEL_DATA_NOT_READY) {
+        return result;
+    }
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    for (ii = 0; ii < ARRAY_SIZE(tmp); ii++) {
+        if (EXT_SLAVE_LITTLE_ENDIAN == mldl_cfg->accel->endian) {
+            tmp[ii] = (long)((signed char)raw_data[2 * ii + 1]) * 256;
+            tmp[ii] += (long)((unsigned char)raw_data[2 * ii]);
+        } else if ((EXT_SLAVE_BIG_ENDIAN == mldl_cfg->accel->endian) ||
+                   (EXT_SLAVE_FS16_BIG_ENDIAN == mldl_cfg->accel->endian)) {
+            tmp[ii] = (long)((signed char)raw_data[2 * ii]) * 256;
+            tmp[ii] += (long)((unsigned char)raw_data[2 * ii + 1]);
+            if (accelId == ACCEL_ID_KXSD9) {
+                tmp[ii] = (long)((short)(((unsigned short)tmp[ii])
+                                         + ((unsigned short)0x8000)));
+            }
+        } else if (EXT_SLAVE_FS8_BIG_ENDIAN == mldl_cfg->accel->endian) {
+            tmp[ii] = (long)((signed char)raw_data[ii]) * 256;
+        } else {
+            result = INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+        }
+    }
+
+    for (ii = 0; ii < ARRAY_SIZE(tmp); ii++) {
+        data[ii] = ((long)tmp[0] * mtx[3 * ii] +
+                    (long)tmp[1] * mtx[3 * ii + 1] +
+                    (long)tmp[2] * mtx[3 * ii + 2]);
+    }
+
+    //MPL_LOGI("ACCEL: %8ld, %8ld, %8ld\n", data[0], data[1], data[2]);
+    return result;
+}
+
+/**
+ *  @}
+ */
diff --git a/invensense/mlsdk/mllite/accel.h b/invensense/mlsdk/mllite/accel.h
new file mode 100644
index 0000000..d3fbc6a
--- /dev/null
+++ b/invensense/mlsdk/mllite/accel.h
@@ -0,0 +1,57 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: accel.h 4580 2011-01-22 03:19:23Z prao $
+ *
+ *******************************************************************************/
+
+#ifndef ACCEL_H
+#define ACCEL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+#include "mpu.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "accel_legacy.h"
+#endif
+
+    /* ------------ */
+    /* - Defines. - */
+    /* ------------ */
+
+    /* --------------- */
+    /* - Structures. - */
+    /* --------------- */
+
+    /* --------------------- */
+    /* - Function p-types. - */
+    /* --------------------- */
+
+    unsigned char inv_accel_present(void);
+    unsigned char inv_get_slave_addr(void);
+    inv_error_t inv_get_accel_data(long *data);
+    unsigned short inv_get_accel_id(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // ACCEL_H
diff --git a/invensense/mlsdk/mllite/compass.c b/invensense/mlsdk/mllite/compass.c
new file mode 100644
index 0000000..dcae0cd
--- /dev/null
+++ b/invensense/mlsdk/mllite/compass.c
@@ -0,0 +1,579 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: compass.c 5641 2011-06-14 02:10:02Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup COMPASSDL
+ *  @brief  Motion Library - Compass Driver Layer.
+ *          Provides the interface to setup and handle an compass
+ *          connected to either the primary or the seconday I2C interface
+ *          of the gyroscope.
+ *
+ *  @{
+ *      @file   compass.c
+ *      @brief  Compass setup and handling methods.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <string.h>
+#include <stdlib.h>
+#include "compass.h"
+
+#include "ml.h"
+#include "mlinclude.h"
+#include "dmpKey.h"
+#include "mlFIFO.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "mlMathFunc.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+#define COMPASS_DEBUG 0
+
+/* --------------------- */
+/* - Global Variables. - */
+/* --------------------- */
+
+/* --------------------- */
+/* - Static Variables. - */
+/* --------------------- */
+
+/* --------------- */
+/* - Prototypes. - */
+/* --------------- */
+
+/* -------------- */
+/* - Externs.   - */
+/* -------------- */
+
+/* -------------- */
+/* - Functions. - */
+/* -------------- */
+
+static float square(float data)
+{
+    return data * data;
+}
+
+static void adaptive_filter_init(struct yas_adaptive_filter *adap_filter, int len, float noise)
+{
+    int i;
+
+    adap_filter->num = 0;
+    adap_filter->index = 0;
+    adap_filter->noise = noise;
+    adap_filter->len = len;
+
+    for (i = 0; i < adap_filter->len; ++i) {
+        adap_filter->sequence[i] = 0;
+    }
+}
+
+static int cmpfloat(const void *p1, const void *p2)
+{
+    return *(float*)p1 - *(float*)p2;
+}
+
+
+static float adaptive_filter_filter(struct yas_adaptive_filter *adap_filter, float in)
+{
+    float avg, sum, median, sorted[YAS_DEFAULT_FILTER_LEN];
+    int i;
+
+    if (adap_filter->len <= 1) {
+        return in;
+    }
+    if (adap_filter->num < adap_filter->len) {
+        adap_filter->sequence[adap_filter->index++] = in;
+        adap_filter->num++;
+        return in;
+    }
+    if (adap_filter->len <= adap_filter->index) {
+        adap_filter->index = 0;
+    }
+    adap_filter->sequence[adap_filter->index++] = in;
+
+    avg = 0;
+    for (i = 0; i < adap_filter->len; i++) {
+        avg += adap_filter->sequence[i];
+    }
+    avg /= adap_filter->len;
+
+    memcpy(sorted, adap_filter->sequence, adap_filter->len * sizeof(float));
+    qsort(&sorted, adap_filter->len, sizeof(float), cmpfloat);
+    median = sorted[adap_filter->len/2];
+
+    sum = 0;
+    for (i = 0; i < adap_filter->len; i++) {
+        sum += square(avg - adap_filter->sequence[i]);
+    }
+    sum /= adap_filter->len;
+
+    if (sum <= adap_filter->noise) {
+        return median;
+    }
+
+    return ((in - avg) * (sum - adap_filter->noise) / sum + avg);
+}
+
+static void thresh_filter_init(struct yas_thresh_filter *thresh_filter, float threshold)
+{
+    thresh_filter->threshold = threshold;
+    thresh_filter->last = 0;
+}
+
+static float thresh_filter_filter(struct yas_thresh_filter *thresh_filter, float in)
+{
+    if (in < thresh_filter->last - thresh_filter->threshold
+            || thresh_filter->last + thresh_filter->threshold < in) {
+        thresh_filter->last = in;
+        return in;
+    }
+    else {
+        return thresh_filter->last;
+    }
+}
+
+static int init(yas_filter_handle_t *t)
+{
+    float noise[] = {
+        YAS_DEFAULT_FILTER_NOISE,
+        YAS_DEFAULT_FILTER_NOISE,
+        YAS_DEFAULT_FILTER_NOISE,
+    };
+    int i;
+
+    if (t == NULL) {
+        return -1;
+    }
+
+    for (i = 0; i < 3; i++) {
+        adaptive_filter_init(&t->adap_filter[i], YAS_DEFAULT_FILTER_LEN, noise[i]);
+        thresh_filter_init(&t->thresh_filter[i], YAS_DEFAULT_FILTER_THRESH);
+    }
+
+    return 0;
+}
+
+static int update(yas_filter_handle_t *t, float *input, float *output)
+{
+    int i;
+
+    if (t == NULL || input == NULL || output == NULL) {
+        return -1;
+    }
+
+    for (i = 0; i < 3; i++) {
+        output[i] = adaptive_filter_filter(&t->adap_filter[i], input[i]);
+        output[i] = thresh_filter_filter(&t->thresh_filter[i], output[i]);
+    }
+
+    return 0;
+}
+
+int yas_filter_init(yas_filter_if_s *f)
+{
+    if (f == NULL) {
+        return -1;
+    }
+    f->init = init;
+    f->update = update;
+
+    return 0;
+}
+
+/**
+ *  @brief  Used to determine if a compass is
+ *          configured and used by the MPL.
+ *  @return INV_SUCCESS if the compass is present.
+ */
+unsigned char inv_compass_present(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->compass &&
+        NULL != mldl_cfg->compass->resume &&
+        mldl_cfg->requested_sensors & INV_THREE_AXIS_COMPASS)
+        return TRUE;
+    else
+        return FALSE;
+}
+
+/**
+ *  @brief   Query the compass slave address.
+ *  @return  The 7-bit compass slave address.
+ */
+unsigned char inv_get_compass_slave_addr(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->pdata)
+        return mldl_cfg->pdata->compass.address;
+    else
+        return 0;
+}
+
+/**
+ *  @brief   Get the ID of the compass in use.
+ *  @return  ID of the compass in use.
+ */
+unsigned short inv_get_compass_id(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->compass) {
+        return mldl_cfg->compass->id;
+    }
+    return ID_INVALID;
+}
+
+/**
+ *  @brief  Get a sample of compass data from the device.
+ *  @param  data
+ *              the buffer to store the compass raw data for
+ *              X, Y, and Z axes.
+ *  @return INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_get_compass_data(long *data)
+{
+    inv_error_t result;
+    int ii;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    unsigned char *tmp = inv_obj.compass_raw_data;
+
+    if (mldl_cfg->compass->read_len > sizeof(inv_obj.compass_raw_data)) {
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION);
+        return INV_ERROR_INVALID_CONFIGURATION;
+    }
+
+    if (mldl_cfg->pdata->compass.bus == EXT_SLAVE_BUS_PRIMARY ||
+        !(mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)) {
+        /*--- read the compass sensor data.
+          The compass read function may return an INV_ERROR_COMPASS_* errors
+          when the data is not ready (read/refresh frequency mismatch) or
+          the internal data sampling timing of the device was not respected.
+          Returning the error code will make the sensor fusion supervisor
+          ignore this compass data sample. ---*/
+        result = (inv_error_t) inv_mpu_read_compass(mldl_cfg,
+                                                    inv_get_serial_handle(),
+                                                    inv_get_serial_handle(),
+                                                    tmp);
+        if (result) {
+            if (COMPASS_DEBUG) {
+                MPL_LOGV("inv_mpu_read_compass returned %d\n", result);
+            }
+            return result;
+        }
+        for (ii = 0; ii < 3; ii++) {
+            if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->compass->endian)
+                data[ii] =
+                    ((long)((signed char)tmp[2 * ii]) << 8) + tmp[2 * ii + 1];
+            else
+                data[ii] =
+                    ((long)((signed char)tmp[2 * ii + 1]) << 8) + tmp[2 * ii];
+        }
+
+        inv_obj.compass_overunder = (int)tmp[6];
+
+    } else {
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 ||             \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+        result = inv_get_external_sensor_data(data, 3);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+        {
+            static unsigned char first = TRUE;
+            // one-off write to AKM
+            if (first) {
+                unsigned char regs[] = {
+                    // beginning Mantis register for one-off slave R/W
+                    MPUREG_I2C_SLV4_ADDR,
+                    // the slave to write to
+                    mldl_cfg->pdata->compass.address,
+                    // the register to write to
+                    /*mldl_cfg->compass->trigger->reg */ 0x0A,
+                    // the value to write
+                    /*mldl_cfg->compass->trigger->value */ 0x01,
+                    // enable the write
+                    0xC0
+                };
+                result =
+                    inv_serial_write(inv_get_serial_handle(), mldl_cfg->addr,
+                                     ARRAY_SIZE(regs), regs);
+                first = FALSE;
+            } else {
+                unsigned char regs[] = {
+                    MPUREG_I2C_SLV4_CTRL,
+                    0xC0
+                };
+                result =
+                    inv_serial_write(inv_get_serial_handle(), mldl_cfg->addr,
+                                     ARRAY_SIZE(regs), regs);
+            }
+        }
+#endif
+#else
+        return INV_ERROR_INVALID_CONFIGURATION;
+#endif                          // CONFIG_MPU_SENSORS_xxxx
+    }
+    data[0] = inv_q30_mult(data[0], inv_obj.compass_asa[0]);
+    data[1] = inv_q30_mult(data[1], inv_obj.compass_asa[1]);
+    data[2] = inv_q30_mult(data[2], inv_obj.compass_asa[2]);
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Sets the compass bias.
+ *  @param  bias
+ *              Compass bias, length 3. Scale is micro Tesla's * 2^16.
+ *              Frame is mount frame which may be different from body frame.
+ *  @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise.
+ */
+inv_error_t inv_set_compass_bias(long *bias)
+{
+    inv_error_t result = INV_SUCCESS;
+    long biasC[3];
+    struct mldl_cfg *mldlCfg = inv_get_dl_config();
+
+    inv_obj.compass_bias[0] = bias[0];
+    inv_obj.compass_bias[1] = bias[1];
+    inv_obj.compass_bias[2] = bias[2];
+
+    // Find Bias in units of the raw data scaled by 2^16 in chip mounting frame
+    biasC[0] =
+        (long)(bias[0] * (1LL << 30) / inv_obj.compass_sens) +
+        inv_obj.init_compass_bias[0] * (1L << 16);
+    biasC[1] =
+        (long)(bias[1] * (1LL << 30) / inv_obj.compass_sens) +
+        inv_obj.init_compass_bias[1] * (1L << 16);
+    biasC[2] =
+        (long)(bias[2] * (1LL << 30) / inv_obj.compass_sens) +
+        inv_obj.init_compass_bias[2] * (1L << 16);
+
+    if (inv_dmpkey_supported(KEY_CPASS_BIAS_X)) {
+        unsigned char reg[4];
+        long biasB[3];
+        signed char *orC = mldlCfg->pdata->compass.orientation;
+
+        // Now transform to body frame
+        biasB[0] = biasC[0] * orC[0] + biasC[1] * orC[1] + biasC[2] * orC[2];
+        biasB[1] = biasC[0] * orC[3] + biasC[1] * orC[4] + biasC[2] * orC[5];
+        biasB[2] = biasC[0] * orC[6] + biasC[1] * orC[7] + biasC[2] * orC[8];
+
+        result =
+            inv_set_mpu_memory(KEY_CPASS_BIAS_X, 4,
+                               inv_int32_to_big8(biasB[0], reg));
+        result =
+            inv_set_mpu_memory(KEY_CPASS_BIAS_Y, 4,
+                               inv_int32_to_big8(biasB[1], reg));
+        result =
+            inv_set_mpu_memory(KEY_CPASS_BIAS_Z, 4,
+                               inv_int32_to_big8(biasB[2], reg));
+    }
+    return result;
+}
+
+/**
+ *  @brief  Write a single register on the compass slave device, regardless
+ *          of the bus it is connected to and the MPU's configuration.
+ *  @param  reg
+ *              the register to write to on the slave compass device.
+ *  @param  val
+ *              the value to write.
+ *  @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise.
+ */
+inv_error_t inv_compass_write_reg(unsigned char reg, unsigned char val)
+{
+    struct ext_slave_config config;
+    unsigned char data[2];
+    inv_error_t result;
+
+    data[0] = reg;
+    data[1] = val;
+
+    config.key = MPU_SLAVE_WRITE_REGISTERS;
+    config.len = 2;
+    config.apply = TRUE;
+    config.data = data;
+
+    result = inv_mpu_config_compass(inv_get_dl_config(),
+                                    inv_get_serial_handle(),
+                                    inv_get_serial_handle(), &config);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ *  @brief  Read values from the compass slave device registers, regardless
+ *          of the bus it is connected to and the MPU's configuration.
+ *  @param  reg
+ *              the register to read from on the slave compass device.
+ *  @param  val
+ *              a buffer of 3 elements to store the values read from the
+ *              compass device.
+ *  @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise.
+ */
+inv_error_t inv_compass_read_reg(unsigned char reg, unsigned char *val)
+{
+    struct ext_slave_config config;
+    unsigned char data[2];
+    inv_error_t result;
+
+    data[0] = reg;
+
+    config.key = MPU_SLAVE_READ_REGISTERS;
+    config.len = 2;
+    config.apply = TRUE;
+    config.data = data;
+
+    result = inv_mpu_get_compass_config(inv_get_dl_config(),
+                                        inv_get_serial_handle(),
+                                        inv_get_serial_handle(), &config);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    *val = data[1];
+    return result;
+}
+
+/**
+ *  @brief  Read values from the compass slave device scale registers, regardless
+ *          of the bus it is connected to and the MPU's configuration.
+ *  @param  reg
+ *              the register to read from on the slave compass device.
+ *  @param  val
+ *              a buffer of 3 elements to store the values read from the
+ *              compass device.
+ *  @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise.
+ */
+inv_error_t inv_compass_read_scale(long *val)
+{
+    struct ext_slave_config config;
+    unsigned char data[3];
+    inv_error_t result;
+
+    config.key = MPU_SLAVE_READ_SCALE;
+    config.len = 3;
+    config.apply = TRUE;
+    config.data = data;
+
+    result = inv_mpu_get_compass_config(inv_get_dl_config(),
+                                        inv_get_serial_handle(),
+                                        inv_get_serial_handle(), &config);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    val[0] = ((data[0] - 128) << 22) + (1L << 30);
+    val[1] = ((data[1] - 128) << 22) + (1L << 30);
+    val[2] = ((data[2] - 128) << 22) + (1L << 30);
+    return result;
+}
+
+inv_error_t inv_set_compass_offset(void)
+{
+    struct ext_slave_config config;
+    unsigned char data[3];
+    inv_error_t result;
+
+    config.key = MPU_SLAVE_OFFSET_VALS;
+    config.len = 3;
+    config.apply = TRUE;
+    config.data = data;
+
+    if(inv_obj.flags[INV_COMPASS_OFFSET_VALID]) {
+        /* push stored values */
+        data[0] = (char)inv_obj.compass_offsets[0];
+        data[1] = (char)inv_obj.compass_offsets[1];
+        data[2] = (char)inv_obj.compass_offsets[2];
+        MPL_LOGI("push compass offsets %hhd, %hhd, %hhd", data[0], data[1], data[2]);
+        result = inv_mpu_config_compass(inv_get_dl_config(),
+                                        inv_get_serial_handle(),
+                                        inv_get_serial_handle(), &config);
+    } else {
+        /* compute new values and store them */
+        result = inv_mpu_get_compass_config(inv_get_dl_config(),
+                                            inv_get_serial_handle(),
+                                            inv_get_serial_handle(), &config);
+        MPL_LOGI("pulled compass offsets %hhd %hhd %hhd", data[0], data[1], data[2]);
+        if(result == INV_SUCCESS) {
+            inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 1;
+            inv_obj.compass_offsets[0] = data[0];
+            inv_obj.compass_offsets[1] = data[1];
+            inv_obj.compass_offsets[2] = data[2];
+        }
+    }
+
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+
+inv_error_t inv_compass_check_range(void)
+{
+    struct ext_slave_config config;
+    unsigned char data[3];
+    inv_error_t result;
+
+    config.key = MPU_SLAVE_RANGE_CHECK;
+    config.len = 3;
+    config.apply = TRUE;
+    config.data = data;
+
+    result = inv_mpu_get_compass_config(inv_get_dl_config(),
+                                        inv_get_serial_handle(),
+                                        inv_get_serial_handle(), &config);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    if(data[0] || data[1] || data[2]) {
+        /* some value clipped */
+        return INV_ERROR_COMPASS_DATA_ERROR;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ * @}
+ */
diff --git a/invensense/mlsdk/mllite/compass.h b/invensense/mlsdk/mllite/compass.h
new file mode 100644
index 0000000..f0bdb58
--- /dev/null
+++ b/invensense/mlsdk/mllite/compass.h
@@ -0,0 +1,92 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: compass.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef COMPASS_H
+#define COMPASS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+#include "mpu.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "compass_legacy.h"
+#endif
+    /* ------------ */
+    /* - Defines. - */
+    /* ------------ */
+
+#define YAS_MAX_FILTER_LEN (20)
+#define YAS_DEFAULT_FILTER_LEN (20)
+#define YAS_DEFAULT_FILTER_THRESH (300) /* 300 nT */
+#define YAS_DEFAULT_FILTER_NOISE (2000 * 2000) /* standard deviation 2000 nT */
+
+    /* --------------- */
+    /* - Structures. - */
+    /* --------------- */
+
+struct yas_adaptive_filter {
+    int num;
+    int index;
+    int len;
+    float noise;
+    float sequence[YAS_MAX_FILTER_LEN];
+};
+
+struct yas_thresh_filter {
+    float threshold;
+    float last;
+};
+
+typedef struct {
+    struct yas_adaptive_filter adap_filter[3];
+    struct yas_thresh_filter thresh_filter[3];
+} yas_filter_handle_t;
+
+typedef struct {
+    int (*init)(yas_filter_handle_t *t);
+    int (*update)(yas_filter_handle_t *t, float *input, float *output);
+} yas_filter_if_s;
+
+    /* --------------------- */
+    /* - Function p-types. - */
+    /* --------------------- */
+
+    unsigned char inv_compass_present(void);
+    unsigned char inv_get_compass_slave_addr(void);
+    inv_error_t inv_get_compass_data(long *data);
+    inv_error_t inv_set_compass_bias(long *bias);
+    unsigned short inv_get_compass_id(void);
+    inv_error_t inv_set_compass_offset(void);
+    inv_error_t inv_compass_check_range(void);
+    inv_error_t inv_compass_write_reg(unsigned char reg, unsigned char val);
+    inv_error_t inv_compass_read_reg(unsigned char reg, unsigned char *val);
+    inv_error_t inv_compass_read_scale(long *val);
+
+    int yas_filter_init(yas_filter_if_s *f);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // COMPASS_H
diff --git a/invensense/mlsdk/mllite/dmpDefault.c b/invensense/mlsdk/mllite/dmpDefault.c
new file mode 100644
index 0000000..e311d6d
--- /dev/null
+++ b/invensense/mlsdk/mllite/dmpDefault.c
@@ -0,0 +1,417 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/***************************************************************************** *
+ * $Id: dmpDefault.c 5627 2011-06-10 22:34:18Z nroyer $
+ ******************************************************************************/
+
+/* WARNING: autogenerated code, do not modify */
+/**
+ *  @defgroup DMPDEFAULT
+ *  @brief    Data and configuration for MLDmpDefaultOpen.
+ *
+ *  @{
+ *      @file   inv_setup_dmp.c
+ *      @brief  Data and configuration for MLDmpDefaultOpen.
+ */
+
+#include "mltypes.h"
+#include "dmpDefault.h"
+#include "dmpKey.h"
+#include "dmpmap.h"
+#include "ml.h"
+#include "mpu.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+
+#define CFG_25  703
+#define CFG_24  699
+#define CFG_26  707
+#define CFG_21  802
+#define CFG_20  645
+#define CFG_23  814
+#define CFG_TAP4  808
+#define CFG_TAP5  809
+#define CFG_TAP6  810
+#define CFG_1  783
+#define CFG_TAP0  802
+#define CFG_TAP1  804
+#define CFG_TAP2  805
+#define CFG_TAP3  806
+#define FCFG_AZ  878
+#define CFG_ORIENT_IRQ_1  715
+#define CFG_ORIENT_IRQ_2  738
+#define CFG_ORIENT_IRQ_3  743
+#define CFG_TAP_QUANTIZE  647
+#define FCFG_3  936
+#define CFG_TAP_CLEAR_STICKY  817
+#define FCFG_1  868
+#define CFG_ACCEL_FILTER  968
+#define FCFG_2  872
+#define CFG_3D  521
+#define CFG_3B  517
+#define CFG_3C  519
+#define FCFG_5  942
+#define FCFG_4  857
+#define FCFG_FSCALE  877
+#define CFG_TAP_JERK  639
+#define FCFG_6  996
+#define CFG_12  797
+#define FCFG_7  930
+#define CFG_14  790
+#define CFG_15  790
+#define CFG_16  815
+#define CFG_18  551
+#define CFG_6  823
+#define CFG_7  564
+#define CFG_4  526
+#define CFG_5  749
+#define CFG_3  515
+#define CFG_GYRO_SOURCE  777
+#define CFG_8  772
+#define CFG_9  778
+#define CFG_ORIENT_2  733
+#define CFG_ORIENT_1  713
+#define FCFG_ACCEL_INPUT  904
+#define CFG_TAP7  811
+#define CFG_TAP_SAVE_ACCB  687
+#define FCFG_ACCEL_INIT  831
+
+
+#define D_0_22  (22)
+#define D_0_24  (24)
+#define D_0_36  (36)
+#define D_0_52  (52)
+#define D_0_96  (96)
+#define D_0_104 (104)
+#define D_0_108 (108)
+#define D_0_163 (163)
+#define D_0_188 (188)
+#define D_0_192 (192)
+#define D_0_224 (224)
+#define D_0_228 (228)
+#define D_0_232 (232)
+#define D_0_236 (236)
+
+#define D_1_2 (256 + 2)
+#define D_1_4 (256 + 4)
+#define D_1_8 (256 + 8)
+#define D_1_10 (256 + 10)
+#define D_1_24 (256 + 24)
+#define D_1_28 (256 + 28)
+#define D_1_92 (256 + 92)
+#define D_1_96 (256 + 96)
+#define D_1_98 (256 + 98)
+#define D_1_106 (256 + 106)
+#define D_1_108 (256 + 108)
+#define D_1_112 (256 + 112)
+#define D_1_128 (256 + 144)
+#define D_1_152 (256 + 12)
+#define D_1_168 (256 + 168)
+#define D_1_175 (256 + 175)
+#define D_1_178 (256 + 178)
+#define D_1_236 (256 + 236)
+#define D_1_244 (256 + 244)
+
+
+static const tKeyLabel dmpTConfig[] = {
+    {KEY_CFG_25, CFG_25},
+    {KEY_CFG_24, CFG_24},
+    {KEY_CFG_26, CFG_26},
+    {KEY_CFG_21, CFG_21},
+    {KEY_CFG_20, CFG_20},
+    {KEY_CFG_23, CFG_23},
+    {KEY_CFG_TAP4, CFG_TAP4},
+    {KEY_CFG_TAP5, CFG_TAP5},
+    {KEY_CFG_TAP6, CFG_TAP6},
+    {KEY_CFG_1, CFG_1},
+    {KEY_CFG_TAP0, CFG_TAP0},
+    {KEY_CFG_TAP1, CFG_TAP1},
+    {KEY_CFG_TAP2, CFG_TAP2},
+    {KEY_CFG_TAP3, CFG_TAP3},
+    {KEY_FCFG_AZ, FCFG_AZ},
+    {KEY_CFG_ORIENT_IRQ_1, CFG_ORIENT_IRQ_1},
+    {KEY_CFG_ORIENT_IRQ_2, CFG_ORIENT_IRQ_2},
+    {KEY_CFG_ORIENT_IRQ_3, CFG_ORIENT_IRQ_3},
+    {KEY_CFG_TAP_QUANTIZE, CFG_TAP_QUANTIZE},
+    {KEY_FCFG_3, FCFG_3},
+    {KEY_CFG_TAP_CLEAR_STICKY, CFG_TAP_CLEAR_STICKY},
+    {KEY_FCFG_1, FCFG_1},
+    //{KEY_CFG_ACCEL_FILTER, CFG_ACCEL_FILTER},
+    {KEY_FCFG_2, FCFG_2},
+    {KEY_CFG_3D, CFG_3D},
+    {KEY_CFG_3B, CFG_3B},
+    {KEY_CFG_3C, CFG_3C},
+    {KEY_FCFG_5, FCFG_5},
+    {KEY_FCFG_4, FCFG_4},
+    {KEY_FCFG_FSCALE, FCFG_FSCALE},
+    {KEY_CFG_TAP_JERK, CFG_TAP_JERK},
+    {KEY_FCFG_6, FCFG_6},
+    {KEY_CFG_12, CFG_12},
+    {KEY_FCFG_7, FCFG_7},
+    {KEY_CFG_14, CFG_14},
+    {KEY_CFG_15, CFG_15},
+    {KEY_CFG_16, CFG_16},
+    {KEY_CFG_18, CFG_18},
+    {KEY_CFG_6, CFG_6},
+    {KEY_CFG_7, CFG_7},
+    {KEY_CFG_4, CFG_4},
+    {KEY_CFG_5, CFG_5},
+    {KEY_CFG_3, CFG_3},
+    {KEY_CFG_GYRO_SOURCE, CFG_GYRO_SOURCE},
+    {KEY_CFG_8, CFG_8},
+    {KEY_CFG_9, CFG_9},
+    {KEY_CFG_ORIENT_2, CFG_ORIENT_2},
+    {KEY_CFG_ORIENT_1, CFG_ORIENT_1},
+    {KEY_FCFG_ACCEL_INPUT, FCFG_ACCEL_INPUT},
+    {KEY_CFG_TAP7, CFG_TAP7},
+    {KEY_CFG_TAP_SAVE_ACCB, CFG_TAP_SAVE_ACCB},
+    {KEY_FCFG_ACCEL_INIT, FCFG_ACCEL_INIT},
+
+    {KEY_D_0_22, D_0_22},
+    {KEY_D_0_24, D_0_24},
+    {KEY_D_0_36, D_0_36},
+    {KEY_D_0_52, D_0_52},
+    {KEY_D_0_96, D_0_96},
+    {KEY_D_0_104, D_0_104},
+    {KEY_D_0_108, D_0_108},
+    {KEY_D_0_163, D_0_163},
+    {KEY_D_0_188, D_0_188},
+    {KEY_D_0_192, D_0_192},
+    {KEY_D_0_224, D_0_224},
+    {KEY_D_0_228, D_0_228},
+    {KEY_D_0_232, D_0_232},
+    {KEY_D_0_236, D_0_236},
+
+    {KEY_DMP_PREVPTAT, DMP_PREVPTAT},
+    {KEY_D_1_2, D_1_2},
+    {KEY_D_1_4, D_1_4},
+    {KEY_D_1_8, D_1_8},
+    {KEY_D_1_10, D_1_10},
+    {KEY_D_1_24, D_1_24},
+    {KEY_D_1_28, D_1_28},
+    {KEY_D_1_92, D_1_92},
+    {KEY_D_1_96, D_1_96},
+    {KEY_D_1_98, D_1_98},
+    {KEY_D_1_106, D_1_106},
+    {KEY_D_1_108, D_1_108},
+    {KEY_D_1_112, D_1_112},
+    {KEY_D_1_128, D_1_128},
+    {KEY_D_1_152, D_1_152},
+    {KEY_D_1_168, D_1_168},
+    {KEY_D_1_175, D_1_175},
+    {KEY_D_1_178, D_1_178},
+    {KEY_D_1_236, D_1_236},
+    {KEY_D_1_244, D_1_244},
+
+    {KEY_DMP_TAPW_MIN, DMP_TAPW_MIN},
+    {KEY_DMP_TAP_THR_X, DMP_TAP_THX},
+    {KEY_DMP_TAP_THR_Y, DMP_TAP_THY},
+    {KEY_DMP_TAP_THR_Z, DMP_TAP_THZ},
+    {KEY_DMP_SH_TH_Y, DMP_SH_TH_Y},
+    {KEY_DMP_SH_TH_X, DMP_SH_TH_X},
+    {KEY_DMP_SH_TH_Z, DMP_SH_TH_Z},
+    {KEY_DMP_ORIENT, DMP_ORIENT}
+};
+
+#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
+static const unsigned short sConfig = 0x013f;
+#define SCD (1024)
+static const unsigned char dmpMemory[SCD] = {
+    0xfb, 0x00, 0x00, 0x3e, 0x00, 0x0b, 0x00, 0x36, 0x5a, 0xd6, 0x96, 0x06, 0x3f, 0xa3, 0x00, 0x00,
+    0x20, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x77, 0x8e, 0x00, 0x01, 0x00, 0x01,
+    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x03, 0xe8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7f, 0xff, 0xff, 0xfe, 0x80, 0x01,
+    0x02, 0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x03, 0x06, 0x00, 0x00, 0x05, 0x01, 0xe9, 0xa2, 0x0f,
+    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,
+    0x00, 0x00, 0x00, 0x3e, 0x00, 0x02, 0xb4, 0x8b, 0x00, 0x00, 0x7a, 0xdf, 0x00, 0x02, 0x5b, 0x2f,
+    0xfc, 0xba, 0xfa, 0x00, 0x01, 0x00, 0x80, 0x00, 0x02, 0x01, 0x80, 0x00, 0x03, 0x02, 0x80, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xb4, 0x8b, 0x00, 0x00, 0x7a, 0xdf, 0x00, 0x02, 0x5b, 0x2f,
+    0x00, 0x7d, 0x32, 0xba, 0x00, 0x0a, 0x1e, 0xd1, 0x00, 0x3a, 0xe8, 0x25, 0x00, 0x00, 0x00, 0x00,
+    0x3f, 0xd7, 0x96, 0x08, 0xff, 0xb3, 0x39, 0xf5, 0xfe, 0x11, 0x1b, 0x62, 0xfb, 0xf4, 0xb4, 0x52,
+    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,
+    0x0d, 0x68, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xd6, 0x00, 0x00, 0x27, 0x10,
+
+    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,
+    0x3e, 0x80, 0x00, 0x00, 0x3e, 0x80, 0x00, 0x00, 0x3e, 0x80, 0x00, 0x00, 0x12, 0x82, 0x2d, 0x90,
+    0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0xff, 0xff, 0x00, 0x05, 0x02, 0x00, 0x00, 0x0c,
+    0x00, 0x03, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x03, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 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, 0x20, 0x00, 0xff, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00,
+    0xff, 0xec, 0x3f, 0xc8, 0xff, 0xee, 0x00, 0x00, 0xff, 0xfe, 0x40, 0x00, 0xff, 0xff, 0xff, 0xc8,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xff, 0xff, 0xff, 0xff, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x03, 0x65, 0x00, 0x00, 0x00, 0x99, 0x00, 0x00, 0x02, 0xf5,
+
+    0x9e, 0xc5, 0xa3, 0x8a, 0x22, 0x8a, 0x6e, 0x8a, 0x56, 0x8a, 0x5e, 0x9f, 0xc1, 0x83, 0x06, 0x26,
+    0x46, 0x66, 0x0e, 0x2e, 0x4e, 0x6e, 0x9d, 0xc4, 0xad, 0x00, 0x2c, 0x54, 0x7c, 0xf9, 0xc5, 0xa3,
+    0xc1, 0xc3, 0x8f, 0x96, 0x19, 0xa6, 0x81, 0xda, 0x0c, 0xd9, 0x2e, 0xd8, 0xa3, 0x86, 0x31, 0x81,
+    0xa6, 0xd9, 0x30, 0x26, 0xd8, 0xd8, 0xfa, 0xc1, 0x8c, 0xc2, 0x99, 0xc5, 0xa3, 0x2d, 0x55, 0x7d,
+    0x81, 0x91, 0xac, 0x38, 0xad, 0x3a, 0xc3, 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, 0xfb, 0x9d, 0xad, 0x00, 0x8d, 0xae, 0x19, 0x81,
+    0xad, 0xd9, 0x01, 0xd8, 0xfa, 0xae, 0xda, 0x26, 0xd8, 0x8e, 0x91, 0x29, 0x83, 0xa7, 0xd9, 0xad,
+    0xad, 0xad, 0xad, 0xfb, 0x2a, 0xd8, 0xd8, 0xf9, 0xc0, 0xac, 0x89, 0x91, 0x3e, 0x5e, 0x76, 0xfb,
+    0xac, 0x2e, 0x2e, 0xf9, 0xc1, 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, 0xfa,
+    0xc0, 0x89, 0xac, 0x91, 0x2c, 0x4c, 0x6c, 0x8a, 0x9b, 0x2d, 0xd9, 0xd8, 0xd8, 0x51, 0xd9, 0xd8,
+    0xd8, 0x79, 0xd9, 0xd8, 0xd8, 0xf9, 0x9e, 0x88, 0xa3, 0x31, 0xda, 0xd8, 0xd8, 0x91, 0x2d, 0xd9,
+    0x28, 0xd8, 0x4d, 0xd9, 0x48, 0xd8, 0x6d, 0xd9, 0x68, 0xd8, 0xc1, 0x83, 0x93, 0x35, 0x3d, 0x80,
+    0x25, 0xda, 0xd8, 0xd8, 0x85, 0x69, 0xda, 0xd8, 0xd8, 0xf9, 0xc2, 0x93, 0x81, 0xa3, 0x28, 0x34,
+    0x3c, 0xfb, 0x91, 0xab, 0x8b, 0x18, 0xa3, 0x09, 0xd9, 0xab, 0x97, 0x0a, 0x91, 0x3c, 0xc0, 0x87,
+
+    0x9c, 0xc5, 0xa3, 0xdd, 0xf9, 0xa3, 0xa3, 0xa3, 0xa3, 0x95, 0xf9, 0xa3, 0xa3, 0xa3, 0x9d, 0xf9,
+    0xa3, 0xa3, 0xa3, 0xa3, 0xf9, 0x90, 0xa3, 0xa3, 0xa3, 0xa3, 0x91, 0xc3, 0x99, 0xf9, 0xa3, 0xa3,
+    0xa3, 0x98, 0xf9, 0xa3, 0xa3, 0xa3, 0xa3, 0x97, 0xa3, 0xa3, 0xa3, 0xa3, 0xfb, 0x9b, 0xa3, 0xa3,
+    0xdc, 0xc5, 0xa7, 0xf9, 0x26, 0x26, 0x26, 0xd8, 0xd8, 0xff, 0xd8, 0xd8, 0xd8, 0xd8, 0xd8, 0xc1,
+    0xc2, 0xc4, 0x81, 0xa0, 0x90, 0xfa, 0x2c, 0x80, 0x74, 0xfb, 0x70, 0xfa, 0x7c, 0xc0, 0x86, 0x98,
+    0xa8, 0xf9, 0xc9, 0x88, 0xa1, 0xfa, 0x0e, 0x97, 0x80, 0xf9, 0xa9, 0x2e, 0x2e, 0x2e, 0xaa, 0x2e,
+    0x2e, 0x2e, 0xfa, 0xaa, 0xc9, 0x2c, 0xcb, 0xa9, 0x4c, 0xcd, 0x6c, 0xf9, 0x89, 0xa5, 0xca, 0xcd,
+    0xcf, 0xc3, 0x9e, 0xa9, 0x3e, 0x5e, 0x7e, 0x85, 0xa5, 0x1a, 0x3e, 0x5e, 0xc2, 0xa5, 0x99, 0xfb,
+    0x08, 0x34, 0x5c, 0xf9, 0xa9, 0xc9, 0xcb, 0xcd, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97,
+    0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0xa9,
+    0xf9, 0x89, 0x26, 0x46, 0x66, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xaa, 0x98, 0x82, 0x87, 0x2d,
+    0x35, 0x3d, 0xc5, 0xa3, 0xc2, 0xc1, 0x97, 0x80, 0x4a, 0x4e, 0x4e, 0xa3, 0xfa, 0x48, 0xcd, 0xc9,
+    0xf9, 0xc4, 0xa9, 0x99, 0x83, 0x0d, 0x35, 0x5d, 0x89, 0xc5, 0xa3, 0x2d, 0x55, 0x7d, 0xc3, 0x93,
+    0xa3, 0x0e, 0x16, 0x1e, 0xa9, 0x2c, 0x54, 0x7c, 0xc0, 0xc2, 0x83, 0x97, 0xaf, 0x08, 0xc4, 0xa8,
+    0x11, 0xc1, 0x8f, 0xc5, 0xaf, 0x98, 0xf8, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xf9, 0xa3, 0x29,
+    0x55, 0x7d, 0xaf, 0x83, 0xc3, 0x93, 0xaf, 0xf8, 0x00, 0x28, 0x50, 0xc4, 0xc2, 0xc0, 0xf9, 0x97,
+};
+static tKeyLabel keys[NUM_KEYS];
+
+static unsigned short inv_setup_dmpGetAddress(unsigned short key)
+{
+    static int isSorted = 0;
+    if ( !isSorted ) {
+        int kk;
+        for (kk=0; kk<NUM_KEYS; ++kk) {
+            keys[ kk ].addr = 0xffff;
+            keys[ kk ].key = kk;
+        }
+        for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) {
+            keys[ dmpTConfig[kk].key ].addr = dmpTConfig[kk].addr;
+        }
+        isSorted = 1;
+    }
+    if ( key >= NUM_KEYS )
+        return 0xffff;
+    return keys[ key ].addr;
+}
+
+
+/**
+ *  @brief
+ *  @return INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_setup_dmp(void)
+{
+    inv_error_t result;
+    inv_set_get_address( inv_setup_dmpGetAddress );
+
+    result = inv_clock_source(MPU_CLK_SEL_PLLGYROZ);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_dl_cfg_sampling(MPU_FILTER_42HZ, 4);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_full_scale(2000.f);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_load_dmp(dmpMemory, SCD, sConfig);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_ignore_system_suspend(FALSE);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    if (inv_accel_present())
+    {
+        struct ext_slave_config config;
+        long odr;
+        config.key = MPU_SLAVE_CONFIG_ODR_SUSPEND;
+        config.len = sizeof(long);
+        config.apply = FALSE;
+        config.data = &odr;
+
+        odr = 0;
+        result = inv_mpu_config_accel(inv_get_dl_config(),
+                                  inv_get_serial_handle(),
+                                  inv_get_serial_handle(),
+                                  &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        config.key = MPU_SLAVE_CONFIG_ODR_RESUME;
+        odr = 200000;
+        result = inv_mpu_config_accel(inv_get_dl_config(),
+                                  inv_get_serial_handle(),
+                                  inv_get_serial_handle(),
+                                  &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        config.key = MPU_SLAVE_CONFIG_IRQ_SUSPEND;
+        odr = MPU_SLAVE_IRQ_TYPE_NONE;
+        result = inv_mpu_config_accel(inv_get_dl_config(),
+                                  inv_get_serial_handle(),
+                                  inv_get_serial_handle(),
+                                  &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        config.key = MPU_SLAVE_CONFIG_IRQ_RESUME;
+        odr = MPU_SLAVE_IRQ_TYPE_NONE;
+        result = inv_mpu_config_accel(inv_get_dl_config(),
+                         inv_get_serial_handle(),
+                         inv_get_serial_handle(),
+                         &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+    }
+
+    return result;
+}
+/**
+ * @}
+ */
+
diff --git a/invensense/mlsdk/mllite/dmpDefault.h b/invensense/mlsdk/mllite/dmpDefault.h
new file mode 100644
index 0000000..1fc7ca6
--- /dev/null
+++ b/invensense/mlsdk/mllite/dmpDefault.h
@@ -0,0 +1,42 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef ML_DMPDEFAULT_H__
+#define ML_DMPDEFAULT_H__
+
+/**
+ * @defgroup DEFAULT
+ * @brief Default DMP assembly listing header file
+ *
+ * @{
+ *      @file     inv_setup_dmp.c
+ *      @brief    Default DMP assembly listing header file
+ */
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+    inv_error_t inv_setup_dmp(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // ML_DMPDEFAULT_H__
diff --git a/invensense/mlsdk/mllite/dmpDefaultMantis.c b/invensense/mlsdk/mllite/dmpDefaultMantis.c
new file mode 100644
index 0000000..5282dd9
--- /dev/null
+++ b/invensense/mlsdk/mllite/dmpDefaultMantis.c
@@ -0,0 +1,467 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/* WARNING: autogenerated code, do not modify */
+/**
+ * @defgroup DMPDEFAULT
+ * @brief
+ *
+ * @{
+ * @file     inv_setup_dmpMantis.c
+ * @brief
+ *
+ *
+ */
+
+#include "mltypes.h"
+#include "dmpDefault.h"
+#include "dmpKey.h"
+#include "dmpmap.h"
+#include "mldl.h"
+
+#define CFG_25  1786
+#define CFG_24  1782
+#define CFG_26  1790
+#define CFG_21  1899
+#define CFG_20  1728
+#define CFG_23  1911
+#define CFG_TAP4  1905
+#define CFG_TAP5  1906
+#define CFG_TAP6  1907
+#define CFG_1  1865
+#define CFG_TAP0  1899
+#define CFG_TAP1  1901
+#define CFG_TAP2  1902
+#define CFG_TAP_SAVE_ACCB  1770
+#define CFG_ORIENT_IRQ_1  1798
+#define CFG_ORIENT_IRQ_2  1821
+#define CFG_ORIENT_IRQ_3  1826
+#define FCFG_MAG_VAL  774
+#define CFG_TAP_QUANTIZE  1730
+#define FCFG_3  936
+#define FCFG_1  891
+#define CFG_ACCEL_FILTER  1076
+#define FCFG_2  895
+#define CFG_3D  1629
+#define FCFG_7  902
+#define CFG_3C  1627
+#define FCFG_5  1030
+#define FCFG_4  880
+#define CFG_3B  1625
+#define CFG_TAP_JERK  1722
+#define FCFG_6  954
+#define CFG_12  1894
+#define CFG_TAP7  1908
+#define CFG_14  1871
+#define CFG_15  1876
+#define CFG_16  1912
+#define CFG_TAP_CLEAR_STICKY  1914
+#define CFG_6  1920
+#define CFG_7  1014
+#define CFG_4  1634
+#define CFG_5  1831
+#define CFG_3  1623
+#define CFG_GYRO_SOURCE  1859
+#define CFG_TAP3  1903
+#define CFG_EXTERNAL  1884
+#define CFG_8  1854
+#define CFG_9  1860
+#define CFG_ORIENT_2  1816
+#define CFG_ORIENT_1  1796
+#define CFG_MOTION_BIAS  1023
+#define FCFG_MAG_MOV  791
+#define TEMPLABEL  1491
+#define FCFG_ACCEL_INIT  847
+
+
+#define D_0_22  (22+512)
+#define D_0_24  (24+512)
+
+#define D_0_36  (36)
+#define D_0_52  (52)
+#define D_0_96  (96)
+#define D_0_104 (104)
+#define D_0_108 (108)
+#define D_0_163 (163)
+#define D_0_188 (188)
+#define D_0_192 (192)
+#define D_0_224 (224)
+#define D_0_228 (228)
+#define D_0_232 (232)
+#define D_0_236 (236)
+
+#define D_1_2 (256 + 2)
+#define D_1_4 (256 + 4)
+#define D_1_8 (256 + 8)
+#define D_1_10 (256 + 10)
+#define D_1_24 (256 + 24)
+#define D_1_28 (256 + 28)
+#define D_1_92 (256 + 92)
+#define D_1_96 (256 + 96)
+#define D_1_98 (256 + 98)
+#define D_1_106 (256 + 106)
+#define D_1_108 (256 + 108)
+#define D_1_112 (256 + 112)
+#define D_1_128 (256 + 144)
+#define D_1_152 (256 + 12)
+#define D_1_168 (256 + 168)
+#define D_1_175 (256 + 175)
+#define D_1_178 (256 + 178)
+#define D_1_236 (256 + 236)
+#define D_1_244 (256 + 244)
+#define D_2_12  (512+12)
+#define D_2_96  (512+96)
+#define D_2_108 (512+108)
+#define D_2_244 (512+244)
+#define D_2_248 (512+248)
+#define D_2_252 (512+252)
+
+#define CPASS_BIAS_X (35*16+4)
+#define CPASS_BIAS_Y (35*16+8)
+#define CPASS_BIAS_Z (35*16+12)
+#define CPASS_MTX_00 (36*16)
+#define CPASS_MTX_01 (36*16+4)
+#define CPASS_MTX_02 (36*16+8)
+#define CPASS_MTX_10 (36*16+12)
+#define CPASS_MTX_11 (37*16)
+#define CPASS_MTX_12 (37*16+4)
+#define CPASS_MTX_20 (37*16+8)
+#define CPASS_MTX_21 (37*16+12)
+#define CPASS_MTX_22 (43*16+12)
+#define D_ACT0    (40*16)
+#define D_ACSX   (40*16+4)
+#define D_ACSY   (40*16+8)
+#define D_ACSZ   (40*16+12)
+
+static const tKeyLabel dmpTConfig[] = {
+    {KEY_CFG_25, CFG_25},
+    {KEY_CFG_24, CFG_24},
+    {KEY_CFG_26, CFG_26},
+    {KEY_CFG_21, CFG_21},
+    {KEY_CFG_20, CFG_20},
+    {KEY_CFG_23, CFG_23},
+    {KEY_CFG_TAP4, CFG_TAP4},
+    {KEY_CFG_TAP5, CFG_TAP5},
+    {KEY_CFG_TAP6, CFG_TAP6},
+    {KEY_CFG_1, CFG_1},
+    {KEY_CFG_TAP0, CFG_TAP0},
+    {KEY_CFG_TAP1, CFG_TAP1},
+    {KEY_CFG_TAP2, CFG_TAP2},
+    {KEY_CFG_TAP_SAVE_ACCB, CFG_TAP_SAVE_ACCB},
+    {KEY_CFG_ORIENT_IRQ_1, CFG_ORIENT_IRQ_1},
+    {KEY_CFG_ORIENT_IRQ_2, CFG_ORIENT_IRQ_2},
+    {KEY_CFG_ORIENT_IRQ_3, CFG_ORIENT_IRQ_3},
+    {KEY_FCFG_MAG_VAL, FCFG_MAG_VAL},
+    {KEY_CFG_TAP_QUANTIZE, CFG_TAP_QUANTIZE},
+    {KEY_FCFG_3, FCFG_3},
+    {KEY_FCFG_1, FCFG_1},
+//    {KEY_CFG_ACCEL_FILTER, CFG_ACCEL_FILTER},
+    {KEY_FCFG_2, FCFG_2},
+    {KEY_CFG_3D, CFG_3D},
+    {KEY_FCFG_7, FCFG_7},
+    {KEY_CFG_3C, CFG_3C},
+    {KEY_FCFG_5, FCFG_5},
+    {KEY_FCFG_4, FCFG_4},
+    {KEY_CFG_3B, CFG_3B},
+    {KEY_CFG_TAP_JERK, CFG_TAP_JERK},
+    {KEY_FCFG_6, FCFG_6},
+    {KEY_CFG_12, CFG_12},
+    {KEY_CFG_TAP7, CFG_TAP7},
+    {KEY_CFG_14, CFG_14},
+    {KEY_CFG_15, CFG_15},
+    {KEY_CFG_16, CFG_16},
+    {KEY_CFG_TAP_CLEAR_STICKY, CFG_TAP_CLEAR_STICKY},
+    {KEY_CFG_6, CFG_6},
+    {KEY_CFG_7, CFG_7},
+    {KEY_CFG_4, CFG_4},
+    {KEY_CFG_5, CFG_5},
+    {KEY_CFG_3, CFG_3},
+    {KEY_CFG_GYRO_SOURCE, CFG_GYRO_SOURCE},
+    {KEY_CFG_TAP3, CFG_TAP3},
+    {KEY_CFG_EXTERNAL, CFG_EXTERNAL},
+    {KEY_CFG_8, CFG_8},
+    {KEY_CFG_9, CFG_9},
+    {KEY_CFG_ORIENT_2, CFG_ORIENT_2},
+    {KEY_CFG_ORIENT_1, CFG_ORIENT_1},
+    {KEY_CFG_MOTION_BIAS, CFG_MOTION_BIAS},
+    {KEY_FCFG_MAG_MOV, FCFG_MAG_MOV},
+//    {KEY_TEMPLABEL, TEMPLABEL},
+    {KEY_FCFG_ACCEL_INIT, FCFG_ACCEL_INIT},
+    {KEY_D_0_22, D_0_22},
+    {KEY_D_0_24, D_0_24},
+    {KEY_D_0_36, D_0_36},
+    {KEY_D_0_52, D_0_52},
+    {KEY_D_0_96, D_0_96},
+    {KEY_D_0_104, D_0_104},
+    {KEY_D_0_108, D_0_108},
+    {KEY_D_0_163, D_0_163},
+    {KEY_D_0_188, D_0_188},
+    {KEY_D_0_192, D_0_192},
+    {KEY_D_0_224, D_0_224},
+    {KEY_D_0_228, D_0_228},
+    {KEY_D_0_232, D_0_232},
+    {KEY_D_0_236, D_0_236},
+
+    {KEY_DMP_PREVPTAT, DMP_PREVPTAT},
+    {KEY_D_1_2, D_1_2},
+    {KEY_D_1_4, D_1_4},
+    {KEY_D_1_8, D_1_8},
+    {KEY_D_1_10, D_1_10},
+    {KEY_D_1_24, D_1_24},
+    {KEY_D_1_28, D_1_28},
+    {KEY_D_1_92, D_1_92},
+    {KEY_D_1_96, D_1_96},
+    {KEY_D_1_98, D_1_98},
+    {KEY_D_1_106, D_1_106},
+    {KEY_D_1_108, D_1_108},
+    {KEY_D_1_112, D_1_112},
+    {KEY_D_1_128, D_1_128},
+    {KEY_D_1_152, D_1_152},
+    {KEY_D_1_168, D_1_168},
+    {KEY_D_1_175, D_1_175},
+    {KEY_D_1_178, D_1_178},
+    {KEY_D_1_236, D_1_236},
+    {KEY_D_1_244, D_1_244},
+
+    {KEY_D_2_12,  D_2_12},
+    {KEY_D_2_96,  D_2_96},
+    {KEY_D_2_108, D_2_108},
+    {KEY_D_2_244, D_2_244},
+    {KEY_D_2_248, D_2_248},
+    {KEY_D_2_252, D_2_252},
+
+    {KEY_DMP_TAPW_MIN, DMP_TAPW_MIN},
+    {KEY_DMP_TAP_THR_X, DMP_TAP_THX},
+    {KEY_DMP_TAP_THR_Y, DMP_TAP_THY},
+    {KEY_DMP_TAP_THR_Z, DMP_TAP_THZ},
+    {KEY_DMP_SH_TH_Y, DMP_SH_TH_Y},
+    {KEY_DMP_SH_TH_X, DMP_SH_TH_X},
+    {KEY_DMP_SH_TH_Z, DMP_SH_TH_Z},
+    {KEY_DMP_ORIENT, DMP_ORIENT},
+
+    {KEY_CPASS_BIAS_X, CPASS_BIAS_X},
+    {KEY_CPASS_BIAS_Y, CPASS_BIAS_Y},
+    {KEY_CPASS_BIAS_Z, CPASS_BIAS_Z},
+    {KEY_CPASS_MTX_00, CPASS_MTX_00},
+    {KEY_CPASS_MTX_01, CPASS_MTX_01},
+    {KEY_CPASS_MTX_02, CPASS_MTX_02},
+    {KEY_CPASS_MTX_10, CPASS_MTX_10},
+    {KEY_CPASS_MTX_11, CPASS_MTX_11},
+    {KEY_CPASS_MTX_12, CPASS_MTX_12},
+    {KEY_CPASS_MTX_20, CPASS_MTX_20},
+    {KEY_CPASS_MTX_21, CPASS_MTX_21},
+    {KEY_CPASS_MTX_22, CPASS_MTX_22},
+    {KEY_D_ACT0, D_ACT0},
+    {KEY_D_ACSX, D_ACSX},
+    {KEY_D_ACSY, D_ACSY},
+    {KEY_D_ACSZ, D_ACSZ}
+};
+#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
+
+#define DMP_CODE_SIZE 1923
+
+static const unsigned char dmpMemory[DMP_CODE_SIZE] = {
+    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,
+    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,
+    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,
+
+    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, 0xc1,
+    0xc9, 0xc3, 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, 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, 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, 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, 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, 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
+};
+
+static unsigned short sStartAddress = 0x0300;
+
+
+static tKeyLabel keys[NUM_KEYS];
+
+static unsigned short inv_setup_dmpGetAddress( unsigned short key )
+{
+    static int isSorted = 0;
+    if ( !isSorted ) {
+        int kk;
+        for (kk=0; kk<NUM_KEYS; ++kk) {
+            keys[ kk ].addr = 0xffff;
+            keys[ kk ].key = kk;
+        }
+        for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) {
+            keys[ dmpTConfig[kk].key ].addr = dmpTConfig[kk].addr;
+        }
+        isSorted = 1;
+    }
+    if ( key >= NUM_KEYS )
+        return 0xffff;
+    return keys[ key ].addr;
+}
+
+/**
+ *  @brief
+ *  @return INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_setup_dmp(void)
+
+{
+    inv_error_t result;
+
+    inv_set_get_address(inv_setup_dmpGetAddress);
+    result = inv_clock_source(MPU_CLK_SEL_PLLGYROZ);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_dl_cfg_sampling(MPU_FILTER_42HZ, 4);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_full_scale(2000.f);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_load_dmp(dmpMemory, DMP_CODE_SIZE, sStartAddress);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_external_sync(MPU_EXT_SYNC_TEMP);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+/**
+ *@}
+ */
diff --git a/invensense/mlsdk/mllite/dmpKey.h b/invensense/mlsdk/mllite/dmpKey.h
new file mode 100644
index 0000000..0c5ab0a
--- /dev/null
+++ b/invensense/mlsdk/mllite/dmpKey.h
@@ -0,0 +1,432 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef DMPKEY_H__
+#define DMPKEY_H__
+
+#define KEY_CFG_25  0
+#define KEY_CFG_24                 (KEY_CFG_25+1)
+#define KEY_CFG_26                 (KEY_CFG_24+1)
+#define KEY_CFG_21                 (KEY_CFG_26+1)
+#define KEY_CFG_20                 (KEY_CFG_21+1)
+#define KEY_CFG_TAP4               (KEY_CFG_20+1)
+#define KEY_CFG_TAP5               (KEY_CFG_TAP4+1)
+#define KEY_CFG_TAP6               (KEY_CFG_TAP5+1)
+#define KEY_CFG_TAP7               (KEY_CFG_TAP6+1)
+#define KEY_CFG_TAP0               (KEY_CFG_TAP7+1)
+#define KEY_CFG_TAP1               (KEY_CFG_TAP0+1)
+#define KEY_CFG_TAP2               (KEY_CFG_TAP1+1)
+#define KEY_CFG_TAP3               (KEY_CFG_TAP2+1)
+#define KEY_CFG_TAP_QUANTIZE       (KEY_CFG_TAP3+1)
+#define KEY_CFG_TAP_JERK           (KEY_CFG_TAP_QUANTIZE+1)
+#define KEY_CFG_TAP_SAVE_ACCB      (KEY_CFG_TAP_JERK+1)
+#define KEY_CFG_TAP_CLEAR_STICKY   (KEY_CFG_TAP_SAVE_ACCB+1)
+#define KEY_FCFG_ACCEL_INPUT       (KEY_CFG_TAP_CLEAR_STICKY +1)
+#define KEY_FCFG_ACCEL_INIT        (KEY_FCFG_ACCEL_INPUT+1)
+#define KEY_CFG_23                 (KEY_FCFG_ACCEL_INIT+1)
+#define KEY_FCFG_1                 (KEY_CFG_23+1)
+#define KEY_FCFG_3                 (KEY_FCFG_1+1)
+#define KEY_FCFG_2                 (KEY_FCFG_3+1)
+#define KEY_CFG_3D                 (KEY_FCFG_2+1)
+#define KEY_CFG_3B                 (KEY_CFG_3D+1)
+#define KEY_CFG_3C                 (KEY_CFG_3B+1)
+#define KEY_FCFG_5                 (KEY_CFG_3C+1)
+#define KEY_FCFG_4                 (KEY_FCFG_5+1)
+#define KEY_FCFG_7                 (KEY_FCFG_4+1)
+#define KEY_FCFG_FSCALE            (KEY_FCFG_7+1)
+#define KEY_FCFG_AZ                (KEY_FCFG_FSCALE+1)
+#define KEY_FCFG_6                 (KEY_FCFG_AZ+1)
+#define KEY_FCFG_LSB4              (KEY_FCFG_6+1)
+#define KEY_CFG_12                 (KEY_FCFG_LSB4+1)
+#define KEY_CFG_14                 (KEY_CFG_12+1)
+#define KEY_CFG_15                 (KEY_CFG_14+1)
+#define KEY_CFG_16                 (KEY_CFG_15+1)
+#define KEY_CFG_18                 (KEY_CFG_16+1)
+#define KEY_CFG_6                  (KEY_CFG_18 + 1)
+#define KEY_CFG_7                  (KEY_CFG_6+1)
+#define KEY_CFG_4                  (KEY_CFG_7+1)
+#define KEY_CFG_5                  (KEY_CFG_4+1)
+#define KEY_CFG_2                  (KEY_CFG_5+1)
+#define KEY_CFG_3                  (KEY_CFG_2+1)
+#define KEY_CFG_1                  (KEY_CFG_3+1)
+#define KEY_CFG_EXTERNAL           (KEY_CFG_1+1)
+#define KEY_CFG_8                  (KEY_CFG_EXTERNAL+1)
+#define KEY_CFG_9                  (KEY_CFG_8+1)
+#define KEY_CFG_ORIENT_3           (KEY_CFG_9 + 1)
+#define KEY_CFG_ORIENT_2           (KEY_CFG_ORIENT_3 + 1)
+#define KEY_CFG_ORIENT_1           (KEY_CFG_ORIENT_2 + 1)
+#define KEY_CFG_GYRO_SOURCE        (KEY_CFG_ORIENT_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_1       (KEY_CFG_GYRO_SOURCE + 1)
+#define KEY_CFG_ORIENT_IRQ_2       (KEY_CFG_ORIENT_IRQ_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_3       (KEY_CFG_ORIENT_IRQ_2 + 1)
+#define KEY_FCFG_MAG_VAL           (KEY_CFG_ORIENT_IRQ_3 + 1)
+#define KEY_FCFG_MAG_MOV           (KEY_FCFG_MAG_VAL + 1)
+
+#define KEY_D_0_22                 (KEY_FCFG_MAG_MOV + 1)
+#define KEY_D_0_24                 (KEY_D_0_22+1)
+#define KEY_D_0_36                 (KEY_D_0_24+1)
+#define KEY_D_0_52                 (KEY_D_0_36+1)
+#define KEY_D_0_96                 (KEY_D_0_52+1)
+#define KEY_D_0_104                (KEY_D_0_96+1)
+#define KEY_D_0_108                (KEY_D_0_104+1)
+#define KEY_D_0_163                (KEY_D_0_108+1)
+#define KEY_D_0_188                (KEY_D_0_163+1)
+#define KEY_D_0_192                (KEY_D_0_188+1)
+#define KEY_D_0_224                (KEY_D_0_192+1)
+#define KEY_D_0_228                (KEY_D_0_224+1)
+#define KEY_D_0_232                (KEY_D_0_228+1)
+#define KEY_D_0_236                (KEY_D_0_232+1)
+
+#define KEY_DMP_PREVPTAT           (KEY_D_0_236+1)
+#define KEY_D_1_2                  (KEY_DMP_PREVPTAT+1)
+#define KEY_D_1_4                  (KEY_D_1_2 + 1)
+#define KEY_D_1_8                  (KEY_D_1_4 + 1)
+#define KEY_D_1_10                 (KEY_D_1_8+1)
+#define KEY_D_1_24                 (KEY_D_1_10+1)
+#define KEY_D_1_28                 (KEY_D_1_24+1)
+#define KEY_D_1_92                 (KEY_D_1_28+1)
+#define KEY_D_1_96                 (KEY_D_1_92+1)
+#define KEY_D_1_98                 (KEY_D_1_96+1)
+#define KEY_D_1_106                (KEY_D_1_98+1)
+#define KEY_D_1_108                (KEY_D_1_106+1)
+#define KEY_D_1_112                (KEY_D_1_108+1)
+#define KEY_D_1_128                (KEY_D_1_112+1)
+#define KEY_D_1_152                (KEY_D_1_128+1)
+#define KEY_D_1_168                (KEY_D_1_152+1)
+#define KEY_D_1_175                (KEY_D_1_168+1)
+#define KEY_D_1_178                (KEY_D_1_175+1)
+#define KEY_D_1_179                (KEY_D_1_178+1)
+#define KEY_D_1_236                (KEY_D_1_179+1)
+#define KEY_D_1_244                (KEY_D_1_236+1)
+#define KEY_D_2_12                 (KEY_D_1_244+1)
+#define KEY_D_2_96                 (KEY_D_2_12+1)
+#define KEY_D_2_108                (KEY_D_2_96+1)
+#define KEY_D_2_244                (KEY_D_2_108+1)
+#define KEY_D_2_248                (KEY_D_2_244+1)
+#define KEY_D_2_252                (KEY_D_2_248+1)
+
+// Compass Keys
+#define KEY_CPASS_BIAS_X            (KEY_D_2_252+1)
+#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X+1)
+#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y+1)
+#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z+1)
+#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00+1)
+#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01+1)
+#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02+1)
+#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10+1)
+#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11+1)
+#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12+1)
+#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20+1)
+#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21+1)
+
+// Mantis Keys
+#define KEY_CFG_MOTION_BIAS         (KEY_CPASS_MTX_22+1)
+
+#define KEY_DMP_TAPW_MIN           (KEY_CFG_MOTION_BIAS+1)
+#define KEY_DMP_TAP_THR_X          (KEY_DMP_TAPW_MIN+1)
+#define KEY_DMP_TAP_THR_Y          (KEY_DMP_TAP_THR_X+1)
+#define KEY_DMP_TAP_THR_Z          (KEY_DMP_TAP_THR_Y+1)
+#define KEY_DMP_SH_TH_Y            (KEY_DMP_TAP_THR_Z+1)
+#define KEY_DMP_SH_TH_X            (KEY_DMP_SH_TH_Y+1)
+#define KEY_DMP_SH_TH_Z            (KEY_DMP_SH_TH_X+1)
+#define KEY_DMP_ORIENT             (KEY_DMP_SH_TH_Z+1)
+#define KEY_D_ACT0                 (KEY_DMP_ORIENT+1)
+#define KEY_D_ACSX                 (KEY_D_ACT0+1)
+#define KEY_D_ACSY                 (KEY_D_ACSX+1)
+#define KEY_D_ACSZ                 (KEY_D_ACSY+1)
+
+// Pedometer Standalone only keys
+#define KEY_D_PEDSTD_BP_B          (KEY_D_ACSZ+1)
+#define KEY_D_PEDSTD_HP_A          (KEY_D_PEDSTD_BP_B+1)
+#define KEY_D_PEDSTD_HP_B          (KEY_D_PEDSTD_HP_A+1)
+#define KEY_D_PEDSTD_BP_A4         (KEY_D_PEDSTD_HP_B+1)
+#define KEY_D_PEDSTD_BP_A3         (KEY_D_PEDSTD_BP_A4+1)
+#define KEY_D_PEDSTD_BP_A2         (KEY_D_PEDSTD_BP_A3+1)
+#define KEY_D_PEDSTD_BP_A1         (KEY_D_PEDSTD_BP_A2+1)
+#define KEY_D_PEDSTD_INT_THRSH     (KEY_D_PEDSTD_BP_A1+1)
+#define KEY_D_PEDSTD_CLIP          (KEY_D_PEDSTD_INT_THRSH+1)
+#define KEY_D_PEDSTD_SB            (KEY_D_PEDSTD_CLIP+1)
+#define KEY_D_PEDSTD_SB_TIME       (KEY_D_PEDSTD_SB+1)
+#define KEY_D_PEDSTD_PEAKTHRSH     (KEY_D_PEDSTD_SB_TIME+1)
+#define KEY_D_PEDSTD_TIML          (KEY_D_PEDSTD_PEAKTHRSH+1)
+#define KEY_D_PEDSTD_TIMH          (KEY_D_PEDSTD_TIML+1)
+#define KEY_D_PEDSTD_PEAK          (KEY_D_PEDSTD_TIMH+1)
+#define KEY_D_PEDSTD_TIMECTR       (KEY_D_PEDSTD_PEAK+1)
+#define KEY_D_PEDSTD_STEPCTR       (KEY_D_PEDSTD_TIMECTR+1)
+#define KEY_D_PEDSTD_WALKTIME      (KEY_D_PEDSTD_STEPCTR+1)
+
+// EIS Keys
+#define KEY_P_EIS_FIFO_FOOTER      (KEY_D_PEDSTD_WALKTIME+1)
+#define KEY_P_EIS_FIFO_YSHIFT      (KEY_P_EIS_FIFO_FOOTER+1)
+#define KEY_P_EIS_DATA_RATE        (KEY_P_EIS_FIFO_YSHIFT+1)
+#define KEY_P_EIS_FIFO_XSHIFT      (KEY_P_EIS_DATA_RATE+1)
+#define KEY_P_EIS_FIFO_SYNC        (KEY_P_EIS_FIFO_XSHIFT+1)
+#define KEY_P_EIS_FIFO_ZSHIFT      (KEY_P_EIS_FIFO_SYNC+1)
+#define KEY_P_EIS_FIFO_READY       (KEY_P_EIS_FIFO_ZSHIFT+1)
+#define KEY_DMP_FOOTER             (KEY_P_EIS_FIFO_READY+1)
+#define KEY_DMP_INTX_HC            (KEY_DMP_FOOTER+1)
+#define KEY_DMP_INTX_PH            (KEY_DMP_INTX_HC+1)
+#define KEY_DMP_INTX_SH            (KEY_DMP_INTX_PH+1)
+#define KEY_DMP_AINV_SH            (KEY_DMP_INTX_SH +1)
+#define KEY_DMP_A_INV_XH           (KEY_DMP_AINV_SH+1)
+#define KEY_DMP_AINV_PH            (KEY_DMP_A_INV_XH+1)
+#define KEY_DMP_CTHX_H             (KEY_DMP_AINV_PH+1)
+#define KEY_DMP_CTHY_H             (KEY_DMP_CTHX_H+1)
+#define KEY_DMP_CTHZ_H             (KEY_DMP_CTHY_H+1)
+#define KEY_DMP_NCTHX_H            (KEY_DMP_CTHZ_H+1)
+#define KEY_DMP_NCTHY_H            (KEY_DMP_NCTHX_H+1)
+#define KEY_DMP_NCTHZ_H            (KEY_DMP_NCTHY_H+1)
+#define KEY_DMP_CTSQ_XH            (KEY_DMP_NCTHZ_H+1)
+#define KEY_DMP_CTSQ_YH            (KEY_DMP_CTSQ_XH+1)
+#define KEY_DMP_CTSQ_ZH            (KEY_DMP_CTSQ_YH+1)
+#define KEY_DMP_INTX_H             (KEY_DMP_CTSQ_ZH+1)
+#define KEY_DMP_INTY_H             (KEY_DMP_INTX_H+1)
+#define KEY_DMP_INTZ_H             (KEY_DMP_INTY_H+1)
+#define KEY_DMP_HPX_H              (KEY_DMP_INTZ_H+1)
+#define KEY_DMP_HPY_H              (KEY_DMP_HPX_H+1)
+#define KEY_DMP_HPZ_H              (KEY_DMP_HPY_H+1)
+
+// Stream Keys
+#define KEY_STREAM_P_GYRO_Z        (KEY_DMP_HPZ_H + 1)
+#define KEY_STREAM_P_GYRO_Y        (KEY_STREAM_P_GYRO_Z+1)
+#define KEY_STREAM_P_GYRO_X        (KEY_STREAM_P_GYRO_Y+1)
+#define KEY_STREAM_P_TEMP          (KEY_STREAM_P_GYRO_X+1)
+#define KEY_STREAM_P_AUX_Y         (KEY_STREAM_P_TEMP+1)
+#define KEY_STREAM_P_AUX_X         (KEY_STREAM_P_AUX_Y+1)
+#define KEY_STREAM_P_AUX_Z         (KEY_STREAM_P_AUX_X+1)
+#define KEY_STREAM_P_ACCEL_Y       (KEY_STREAM_P_AUX_Z+1)
+#define KEY_STREAM_P_ACCEL_X       (KEY_STREAM_P_ACCEL_Y+1)
+#define KEY_STREAM_P_FOOTER        (KEY_STREAM_P_ACCEL_X+1)
+#define KEY_STREAM_P_ACCEL_Z       (KEY_STREAM_P_FOOTER+1)
+
+#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z+1)
+
+    typedef struct {
+        unsigned short key;
+        unsigned short addr;
+    } tKeyLabel;
+
+#define DINA0A 0x0a
+#define DINA22 0x22
+#define DINA42 0x42
+#define DINA5A 0x5a
+
+#define DINA06 0x06
+#define DINA0E 0x0e
+#define DINA16 0x16
+#define DINA1E 0x1e
+#define DINA26 0x26
+#define DINA2E 0x2e
+#define DINA36 0x36
+#define DINA3E 0x3e
+#define DINA46 0x46
+#define DINA4E 0x4e
+#define DINA56 0x56
+#define DINA5E 0x5e
+#define DINA66 0x66
+#define DINA6E 0x6e
+#define DINA76 0x76
+#define DINA7E 0x7e
+
+#define DINA00 0x00
+#define DINA08 0x08
+#define DINA10 0x10
+#define DINA18 0x18
+#define DINA20 0x20
+#define DINA28 0x28
+#define DINA30 0x30
+#define DINA38 0x38
+#define DINA40 0x40
+#define DINA48 0x48
+#define DINA50 0x50
+#define DINA58 0x58
+#define DINA60 0x60
+#define DINA68 0x68
+#define DINA70 0x70
+#define DINA78 0x78
+
+#define DINA04 0x04
+#define DINA0C 0x0c
+#define DINA14 0x14
+#define DINA1C 0x1C
+#define DINA24 0x24
+#define DINA2C 0x2c
+#define DINA34 0x34
+#define DINA3C 0x3c
+#define DINA44 0x44
+#define DINA4C 0x4c
+#define DINA54 0x54
+#define DINA5C 0x5c
+#define DINA64 0x64
+#define DINA6C 0x6c
+#define DINA74 0x74
+#define DINA7C 0x7c
+
+#define DINA01 0x01
+#define DINA09 0x09
+#define DINA11 0x11
+#define DINA19 0x19
+#define DINA21 0x21
+#define DINA29 0x29
+#define DINA31 0x31
+#define DINA39 0x39
+#define DINA41 0x41
+#define DINA49 0x49
+#define DINA51 0x51
+#define DINA59 0x59
+#define DINA61 0x61
+#define DINA69 0x69
+#define DINA71 0x71
+#define DINA79 0x79
+
+#define DINA25 0x25
+#define DINA2D 0x2d
+#define DINA35 0x35
+#define DINA3D 0x3d
+#define DINA4D 0x4d
+#define DINA55 0x55
+#define DINA5D 0x5D
+#define DINA6D 0x6d
+#define DINA75 0x75
+#define DINA7D 0x7d
+
+#define DINC00 0x00
+#define DINC01 0x01
+#define DINC02 0x02
+#define DINC03 0x03
+#define DINC08 0x08
+#define DINC09 0x09
+#define DINC0A 0x0a
+#define DINC0B 0x0b
+#define DINC10 0x10
+#define DINC11 0x11
+#define DINC12 0x12
+#define DINC13 0x13
+#define DINC18 0x18
+#define DINC19 0x19
+#define DINC1A 0x1a
+#define DINC1B 0x1b
+
+#define DINC20 0x20
+#define DINC21 0x21
+#define DINC22 0x22
+#define DINC23 0x23
+#define DINC28 0x28
+#define DINC29 0x29
+#define DINC2A 0x2a
+#define DINC2B 0x2b
+#define DINC30 0x30
+#define DINC31 0x31
+#define DINC32 0x32
+#define DINC33 0x33
+#define DINC38 0x38
+#define DINC39 0x39
+#define DINC3A 0x3a
+#define DINC3B 0x3b
+
+#define DINC40 0x40
+#define DINC41 0x41
+#define DINC42 0x42
+#define DINC43 0x43
+#define DINC48 0x48
+#define DINC49 0x49
+#define DINC4A 0x4a
+#define DINC4B 0x4b
+#define DINC50 0x50
+#define DINC51 0x51
+#define DINC52 0x52
+#define DINC53 0x53
+#define DINC58 0x58
+#define DINC59 0x59
+#define DINC5A 0x5a
+#define DINC5B 0x5b
+
+#define DINC60 0x60
+#define DINC61 0x61
+#define DINC62 0x62
+#define DINC63 0x63
+#define DINC68 0x68
+#define DINC69 0x69
+#define DINC6A 0x6a
+#define DINC6B 0x6b
+#define DINC70 0x70
+#define DINC71 0x71
+#define DINC72 0x72
+#define DINC73 0x73
+#define DINC78 0x78
+#define DINC79 0x79
+#define DINC7A 0x7a
+#define DINC7B 0x7b
+
+#if defined CONFIG_MPU_SENSORS_MPU3050
+#define DINA80 0x80
+#define DINA90 0x90
+#define DINAA0 0xa0
+#define DINAC9 0xc9
+#define DINACB 0xcb
+#define DINACD 0xcd
+#define DINACF 0xcf
+#define DINAC8 0xc8
+#define DINACA 0xca
+#define DINACC 0xcc
+#define DINACE 0xce
+#define DINAD8 0xd8
+#define DINADD 0xdd
+#define DINAF8 0xf8
+#define DINAFE 0xfe
+#define DINAC0 0xc0
+#define DINAC1 0xc1
+#define DINAC2 0xc2
+#define DINAC3 0xc3
+#define DINAC4 0xc4
+#define DINAC5 0xc5
+#elif defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+	defined CONFIG_MPU_SENSORS_MPU6050B1
+
+#define DINA80 0x80
+#define DINA90 0x90
+#define DINAA0 0xa0
+#define DINAC9 0xc9
+#define DINACB 0xcb
+#define DINACD 0xcd
+#define DINACF 0xcf
+#define DINAC8 0xc8
+#define DINACA 0xca
+#define DINACC 0xcc
+#define DINACE 0xce
+#define DINAD8 0xd8
+#define DINADD 0xdd
+#define DINAF8 0xf0
+#define DINAFE 0xfe
+
+#define DINBF8 0xf8
+#define DINAC0 0xb0
+#define DINAC1 0xb1
+#define DINAC2 0xb4
+#define DINAC3 0xb5
+#define DINAC4 0xb8
+#define DINAC5 0xb9
+#define DINBC0 0xc0
+#define DINBC2 0xc2
+#define DINBC4 0xc4
+#define DINBC6 0xc6
+#else
+#error No CONFIG_MPU_SENSORS_xxxx has been defined.
+#endif
+
+
+#endif // DMPKEY_H__
diff --git a/invensense/mlsdk/mllite/dmpconfig.txt b/invensense/mlsdk/mllite/dmpconfig.txt
new file mode 100644
index 0000000..4643ed5
--- /dev/null
+++ b/invensense/mlsdk/mllite/dmpconfig.txt
@@ -0,0 +1,3 @@
+major version    =  1
+minor version    =  0
+startAddr        =  0
diff --git a/invensense/mlsdk/mllite/dmpmap.h b/invensense/mlsdk/mllite/dmpmap.h
new file mode 100644
index 0000000..cb53c7c
--- /dev/null
+++ b/invensense/mlsdk/mllite/dmpmap.h
@@ -0,0 +1,276 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef DMPMAP_H
+#define DMPMAP_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define DMP_PTAT    0
+#define DMP_XGYR    2
+#define DMP_YGYR    4
+#define DMP_ZGYR    6
+#define DMP_XACC    8
+#define DMP_YACC    10
+#define DMP_ZACC    12
+#define DMP_ADC1    14
+#define DMP_ADC2    16
+#define DMP_ADC3    18
+#define DMP_BIASUNC    20
+#define DMP_FIFORT    22
+#define DMP_INVGSFH    24
+#define DMP_INVGSFL    26
+#define DMP_1H    28
+#define DMP_1L    30
+#define DMP_BLPFSTCH    32
+#define DMP_BLPFSTCL    34
+#define DMP_BLPFSXH    36
+#define DMP_BLPFSXL    38
+#define DMP_BLPFSYH    40
+#define DMP_BLPFSYL    42
+#define DMP_BLPFSZH    44
+#define DMP_BLPFSZL    46
+#define DMP_BLPFMTC    48
+#define DMP_SMC    50
+#define DMP_BLPFMXH    52
+#define DMP_BLPFMXL    54
+#define DMP_BLPFMYH    56
+#define DMP_BLPFMYL    58
+#define DMP_BLPFMZH    60
+#define DMP_BLPFMZL    62
+#define DMP_BLPFC    64
+#define DMP_SMCTH    66
+#define DMP_0H2    68
+#define DMP_0L2    70
+#define DMP_BERR2H    72
+#define DMP_BERR2L    74
+#define DMP_BERR2NH    76
+#define DMP_SMCINC    78
+#define DMP_ANGVBXH    80
+#define DMP_ANGVBXL    82
+#define DMP_ANGVBYH    84
+#define DMP_ANGVBYL    86
+#define DMP_ANGVBZH    88
+#define DMP_ANGVBZL    90
+#define DMP_BERR1H    92
+#define DMP_BERR1L    94
+#define DMP_ATCH    96
+#define DMP_BIASUNCSF    98
+#define DMP_ACT2H    100
+#define DMP_ACT2L    102
+#define DMP_GSFH    104
+#define DMP_GSFL    106
+#define DMP_GH    108
+#define DMP_GL    110
+#define DMP_0_5H    112
+#define DMP_0_5L    114
+#define DMP_0_0H    116
+#define DMP_0_0L    118
+#define DMP_1_0H    120
+#define DMP_1_0L    122
+#define DMP_1_5H    124
+#define DMP_1_5L    126
+#define DMP_TMP1AH    128
+#define DMP_TMP1AL    130
+#define DMP_TMP2AH    132
+#define DMP_TMP2AL    134
+#define DMP_TMP3AH    136
+#define DMP_TMP3AL    138
+#define DMP_TMP4AH    140
+#define DMP_TMP4AL    142
+#define DMP_XACCW    144
+#define DMP_TMP5    146
+#define DMP_XACCB    148
+#define DMP_TMP8    150
+#define DMP_YACCB    152
+#define DMP_TMP9    154
+#define DMP_ZACCB    156
+#define DMP_TMP10    158
+#define DMP_DZH    160
+#define DMP_DZL    162
+#define DMP_XGCH    164
+#define DMP_XGCL    166
+#define DMP_YGCH    168
+#define DMP_YGCL    170
+#define DMP_ZGCH    172
+#define DMP_ZGCL    174
+#define DMP_YACCW    176
+#define DMP_TMP7    178
+#define DMP_AFB1H    180
+#define DMP_AFB1L    182
+#define DMP_AFB2H    184
+#define DMP_AFB2L    186
+#define DMP_MAGFBH    188
+#define DMP_MAGFBL    190
+#define DMP_QT1H    192
+#define DMP_QT1L    194
+#define DMP_QT2H    196
+#define DMP_QT2L    198
+#define DMP_QT3H    200
+#define DMP_QT3L    202
+#define DMP_QT4H    204
+#define DMP_QT4L    206
+#define DMP_CTRL1H    208
+#define DMP_CTRL1L    210
+#define DMP_CTRL2H    212
+#define DMP_CTRL2L    214
+#define DMP_CTRL3H    216
+#define DMP_CTRL3L    218
+#define DMP_CTRL4H    220
+#define DMP_CTRL4L    222
+#define DMP_CTRLS1    224
+#define DMP_CTRLSF1    226
+#define DMP_CTRLS2    228
+#define DMP_CTRLSF2    230
+#define DMP_CTRLS3    232
+#define DMP_CTRLSFNLL    234
+#define DMP_CTRLS4    236
+#define DMP_CTRLSFNL2    238
+#define DMP_CTRLSFNL    240
+#define DMP_TMP30    242
+#define DMP_CTRLSFJT    244
+#define DMP_TMP31    246
+#define DMP_TMP11    248
+#define DMP_CTRLSF2_2    250
+#define DMP_TMP12    252
+#define DMP_CTRLSF1_2    254
+#define DMP_PREVPTAT    256
+#define DMP_ACCZB    258
+#define DMP_ACCXB    264
+#define DMP_ACCYB    266
+#define DMP_1HB    272
+#define DMP_1LB    274
+#define DMP_0H    276
+#define DMP_0L    278
+#define DMP_ASR22H    280
+#define DMP_ASR22L    282
+#define DMP_ASR6H    284
+#define DMP_ASR6L    286
+#define DMP_TMP13    288
+#define DMP_TMP14    290
+#define DMP_FINTXH    292
+#define DMP_FINTXL    294
+#define DMP_FINTYH    296
+#define DMP_FINTYL    298
+#define DMP_FINTZH    300
+#define DMP_FINTZL    302
+#define DMP_TMP1BH    304
+#define DMP_TMP1BL    306
+#define DMP_TMP2BH    308
+#define DMP_TMP2BL    310
+#define DMP_TMP3BH    312
+#define DMP_TMP3BL    314
+#define DMP_TMP4BH    316
+#define DMP_TMP4BL    318
+#define DMP_STXG    320
+#define DMP_ZCTXG    322
+#define DMP_STYG    324
+#define DMP_ZCTYG    326
+#define DMP_STZG    328
+#define DMP_ZCTZG    330
+#define DMP_CTRLSFJT2    332
+#define DMP_CTRLSFJTCNT    334
+#define DMP_PVXG    336
+#define DMP_TMP15    338
+#define DMP_PVYG    340
+#define DMP_TMP16    342
+#define DMP_PVZG    344
+#define DMP_TMP17    346
+#define DMP_MNMFLAGH    352
+#define DMP_MNMFLAGL    354
+#define DMP_MNMTMH    356
+#define DMP_MNMTML    358
+#define DMP_MNMTMTHRH    360
+#define DMP_MNMTMTHRL    362
+#define DMP_MNMTHRH    364
+#define DMP_MNMTHRL    366
+#define DMP_ACCQD4H    368
+#define DMP_ACCQD4L    370
+#define DMP_ACCQD5H    372
+#define DMP_ACCQD5L    374
+#define DMP_ACCQD6H    376
+#define DMP_ACCQD6L    378
+#define DMP_ACCQD7H    380
+#define DMP_ACCQD7L    382
+#define DMP_ACCQD0H    384
+#define DMP_ACCQD0L    386
+#define DMP_ACCQD1H    388
+#define DMP_ACCQD1L    390
+#define DMP_ACCQD2H    392
+#define DMP_ACCQD2L    394
+#define DMP_ACCQD3H    396
+#define DMP_ACCQD3L    398
+#define DMP_XN2H    400
+#define DMP_XN2L    402
+#define DMP_XN1H    404
+#define DMP_XN1L    406
+#define DMP_YN2H    408
+#define DMP_YN2L    410
+#define DMP_YN1H    412
+#define DMP_YN1L    414
+#define DMP_YH    416
+#define DMP_YL    418
+#define DMP_B0H    420
+#define DMP_B0L    422
+#define DMP_A1H    424
+#define DMP_A1L    426
+#define DMP_A2H    428
+#define DMP_A2L    430
+#define DMP_SEM1    432
+#define DMP_FIFOCNT    434
+#define DMP_SH_TH_X    436
+#define DMP_PACKET    438
+#define DMP_SH_TH_Y    440
+#define DMP_FOOTER    442
+#define DMP_SH_TH_Z    444
+#define DMP_TEMP29    448
+#define DMP_TEMP30    450
+#define DMP_XACCB_PRE    452
+#define DMP_XACCB_PREL    454
+#define DMP_YACCB_PRE    456
+#define DMP_YACCB_PREL    458
+#define DMP_ZACCB_PRE    460
+#define DMP_ZACCB_PREL    462
+#define DMP_TMP22    464
+#define DMP_TAP_TIMER    466
+#define DMP_TAP_THX    468
+#define DMP_TAP_THY    472
+#define DMP_TAP_THZ    476
+#define DMP_TAPW_MIN    478
+#define DMP_TMP25    480
+#define DMP_TMP26    482
+#define DMP_TMP27    484
+#define DMP_TMP28    486
+#define DMP_ORIENT    488
+#define DMP_THRSH    490
+#define DMP_ENDIANH    492
+#define DMP_ENDIANL    494
+#define DMP_BLPFNMTCH    496
+#define DMP_BLPFNMTCL    498
+#define DMP_BLPFNMXH    500
+#define DMP_BLPFNMXL    502
+#define DMP_BLPFNMYH    504
+#define DMP_BLPFNMYL    506
+#define DMP_BLPFNMZH    508
+#define DMP_BLPFNMZL    510
+#ifdef __cplusplus
+}
+#endif
+#endif // DMPMAP_H
diff --git a/invensense/mlsdk/mllite/invensense.h b/invensense/mlsdk/mllite/invensense.h
new file mode 100644
index 0000000..586dd25
--- /dev/null
+++ b/invensense/mlsdk/mllite/invensense.h
@@ -0,0 +1,24 @@
+/** Main header file for Invensense's basic library.
+ */
+#include "accel.h"
+#include "compass.h"
+#include "dmpDefault.h"
+#include "dmpKey.h"
+#include "dmpmap.h"
+#include "ml.h"
+#include "mlBiasNoMotion.h"
+#include "mlFIFO.h"
+#include "mlFIFOHW.h"
+#include "mlMathFunc.h"
+#include "mlSetGyroBias.h"
+#include "ml_legacy.h"
+#include "ml_mputest.h"
+#include "ml_stored_data.h"
+#include "mlcontrol.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "mldmp.h"
+#include "mlinclude.h"
+#include "mlstates.h"
+#include "mlsupervisor.h"
+#include "pressure.h"
diff --git a/invensense/mlsdk/mllite/ml.c b/invensense/mlsdk/mllite/ml.c
new file mode 100644
index 0000000..3328edd
--- /dev/null
+++ b/invensense/mlsdk/mllite/ml.c
@@ -0,0 +1,1885 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ *
+ * $Id: ml.c 5642 2011-06-14 02:26:20Z mcaramello $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup ML
+ *  @brief  Motion Library APIs.
+ *          The Motion Library processes gyroscopes, accelerometers, and
+ *          compasses to provide a physical model of the movement for the
+ *          sensors.
+ *          The results of this processing may be used to control objects
+ *          within a user interface environment, detect gestures, track 3D
+ *          movement for gaming applications, and analyze the blur created
+ *          due to hand movement while taking a picture.
+ *
+ *  @{
+ *      @file   ml.c
+ *      @brief  The Motion Library APIs.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <string.h>
+
+#include "ml.h"
+#include "mldl.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "compass.h"
+#include "dmpKey.h"
+#include "dmpDefault.h"
+#include "mlstates.h"
+#include "mlFIFO.h"
+#include "mlFIFOHW.h"
+#include "mlMathFunc.h"
+#include "mlsupervisor.h"
+#include "mlmath.h"
+#include "mlcontrol.h"
+#include "mldl_cfg.h"
+#include "mpu.h"
+#include "accel.h"
+#include "mlos.h"
+#include "mlsl.h"
+#include "mlos.h"
+#include "mlBiasNoMotion.h"
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-ml"
+
+#define ML_MOT_TYPE_NONE 0
+#define ML_MOT_TYPE_NO_MOTION 1
+#define ML_MOT_TYPE_MOTION_DETECTED 2
+
+#define ML_MOT_STATE_MOVING 0
+#define ML_MOT_STATE_NO_MOTION 1
+#define ML_MOT_STATE_BIAS_IN_PROG 2
+
+#define _mlDebug(x)             //{x}
+
+/* Global Variables */
+const unsigned char mlVer[] = { INV_VERSION };
+
+struct inv_params_obj inv_params_obj = {
+    INV_BIAS_UPDATE_FUNC_DEFAULT,   // bias_mode
+    INV_ORIENTATION_MASK_DEFAULT,   // orientation_mask
+    INV_PROCESSED_DATA_CALLBACK_DEFAULT,    // fifo_processed_func
+    INV_ORIENTATION_CALLBACK_DEFAULT,   // orientation_cb_func
+    INV_MOTION_CALLBACK_DEFAULT,    // motion_cb_func
+    INV_STATE_SERIAL_CLOSED     // starting state
+};
+
+struct inv_obj_t inv_obj;
+void *g_mlsl_handle;
+
+typedef struct {
+    // These describe callbacks happening everythime a DMP interrupt is processed
+    int_fast8_t numInterruptProcesses;
+    // Array of function pointers, function being void function taking void
+    inv_obj_func processInterruptCb[MAX_INTERRUPT_PROCESSES];
+
+} tMLXCallbackInterrupt;        // MLX_callback_t
+
+tMLXCallbackInterrupt mlxCallbackInterrupt;
+
+/* --------------- */
+/* -  Functions. - */
+/* --------------- */
+
+inv_error_t inv_freescale_sensor_fusion_16bit(unsigned short orient);
+inv_error_t inv_freescale_sensor_fusion_8bit(unsigned short orient);
+unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
+
+/**
+ *  @brief  Open serial connection with the MPU device.
+ *          This is the entry point of the MPL and must be
+ *          called prior to any other function call.
+ *
+ *  @param  port     System handle for 'port' MPU device is found on.
+ *                   The significance of this parameter varies by
+ *                   platform. It is passed as 'port' to MLSLSerialOpen.
+ *
+ *  @return INV_SUCCESS or error code.
+ */
+inv_error_t inv_serial_start(char const *port)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+
+    if (inv_get_state() >= INV_STATE_SERIAL_OPENED)
+        return INV_SUCCESS;
+
+    result = inv_state_transition(INV_STATE_SERIAL_OPENED);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    result = inv_serial_open(port, &g_mlsl_handle);
+    if (INV_SUCCESS != result) {
+        (void)inv_state_transition(INV_STATE_SERIAL_CLOSED);
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  Close the serial communication.
+ *          This function needs to be called explicitly to shut down
+ *          the communication with the device.  Calling inv_dmp_close()
+ *          won't affect the established serial communication.
+ *  @return INV_SUCCESS; non-zero error code otherwise.
+ */
+inv_error_t inv_serial_stop(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() == INV_STATE_SERIAL_CLOSED)
+        return INV_SUCCESS;
+
+    result = inv_state_transition(INV_STATE_SERIAL_CLOSED);
+    if (INV_SUCCESS != result) {
+        MPL_LOGE("State Transition Failure in %s: %d\n", __func__, result);
+    }
+    result = inv_serial_close(g_mlsl_handle);
+    if (INV_SUCCESS != result) {
+        MPL_LOGE("Unable to close Serial Handle %s: %d\n", __func__, result);
+    }
+    return result;
+}
+
+/**
+ *  @brief  Get the serial file handle to the device.
+ *  @return The serial file handle.
+ */
+void *inv_get_serial_handle(void)
+{
+    INVENSENSE_FUNC_START;
+    return g_mlsl_handle;
+}
+
+/**
+ *  @brief  apply the choosen orientation and full scale range
+ *          for gyroscopes, accelerometer, and compass.
+ *  @return INV_SUCCESS if successful, a non-zero code otherwise.
+ */
+inv_error_t inv_apply_calibration(void)
+{
+    INVENSENSE_FUNC_START;
+    signed char gyroCal[9] = { 0 };
+    signed char accelCal[9] = { 0 };
+    signed char magCal[9] = { 0 };
+    float gyroScale = 2000.f;
+    float accelScale = 0.f;
+    float magScale = 0.f;
+
+    inv_error_t result;
+    int ii;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    for (ii = 0; ii < 9; ii++) {
+        gyroCal[ii] = mldl_cfg->pdata->orientation[ii];
+        if (NULL != mldl_cfg->accel){
+            accelCal[ii] = mldl_cfg->pdata->accel.orientation[ii];
+        }
+        if (NULL != mldl_cfg->compass){
+            magCal[ii] = mldl_cfg->pdata->compass.orientation[ii];
+        }
+    }
+
+    switch (mldl_cfg->full_scale) {
+    case MPU_FS_250DPS:
+        gyroScale = 250.f;
+        break;
+    case MPU_FS_500DPS:
+        gyroScale = 500.f;
+        break;
+    case MPU_FS_1000DPS:
+        gyroScale = 1000.f;
+        break;
+    case MPU_FS_2000DPS:
+        gyroScale = 2000.f;
+        break;
+    default:
+        MPL_LOGE("Unrecognized full scale setting for gyros : %02X\n",
+                 mldl_cfg->full_scale);
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    if (NULL != mldl_cfg->accel){
+        RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->accel->range, accelScale);
+        inv_obj.accel_sens = (long)(accelScale * 65536L);
+    /* sensitivity adjustment, typically = 2 (for +/- 2 gee) */
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+    inv_obj.accel_sens /= 32768 / mldl_cfg->accel_sens_trim;
+#else
+    inv_obj.accel_sens /= 2;
+#endif
+    }
+    if (NULL != mldl_cfg->compass){
+        RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->compass->range, magScale);
+        inv_obj.compass_sens = (long)(magScale * 32768);
+    }
+
+    if (inv_get_state() == INV_STATE_DMP_OPENED) {
+        result = inv_set_gyro_calibration(gyroScale, gyroCal);
+        if (INV_SUCCESS != result) {
+            MPL_LOGE("Unable to set Gyro Calibration\n");
+            return result;
+        }
+        if (NULL != mldl_cfg->accel){
+            result = inv_set_accel_calibration(accelScale, accelCal);
+            if (INV_SUCCESS != result) {
+                MPL_LOGE("Unable to set Accel Calibration\n");
+                return result;
+            }
+        }
+        if (NULL != mldl_cfg->compass){
+            result = inv_set_compass_calibration(magScale, magCal);
+            if (INV_SUCCESS != result) {
+                MPL_LOGE("Unable to set Mag Calibration\n");
+                return result;
+            }
+        }
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Setup the DMP to handle the accelerometer endianess.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_apply_endian_accel(void)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[4] = { 0 };
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    int endian = mldl_cfg->accel->endian;
+
+    if (mldl_cfg->pdata->accel.bus != EXT_SLAVE_BUS_SECONDARY) {
+        endian = EXT_SLAVE_BIG_ENDIAN;
+    }
+    switch (endian) {
+    case EXT_SLAVE_FS8_BIG_ENDIAN:
+    case EXT_SLAVE_FS16_BIG_ENDIAN:
+    case EXT_SLAVE_LITTLE_ENDIAN:
+        regs[0] = 0;
+        regs[1] = 64;
+        regs[2] = 0;
+        regs[3] = 0;
+        break;
+    case EXT_SLAVE_BIG_ENDIAN:
+    default:
+        regs[0] = 0;
+        regs[1] = 0;
+        regs[2] = 64;
+        regs[3] = 0;
+    }
+
+    return inv_set_mpu_memory(KEY_D_1_236, 4, regs);
+}
+
+/**
+ * @internal
+ * @brief   Initialize MLX data.  This should be called to setup the mlx
+ *          output buffers before any motion processing is done.
+ */
+void inv_init_ml(void)
+{
+    INVENSENSE_FUNC_START;
+    int ii;
+    long tmp[COMPASS_NUM_AXES];
+    // Set all values to zero by default
+    memset(&inv_obj, 0, sizeof(struct inv_obj_t));
+    memset(&mlxCallbackInterrupt, 0, sizeof(tMLXCallbackInterrupt));
+
+    inv_obj.compass_correction[0] = 1073741824L;
+    inv_obj.compass_correction_relative[0] = 1073741824L;
+    inv_obj.compass_disturb_correction[0] = 1073741824L;
+    inv_obj.compass_correction_offset[0] = 1073741824L;
+    inv_obj.relative_quat[0] = 1073741824L;
+
+    //Not used with the ST accelerometer
+    inv_obj.no_motion_threshold = 20;   // noMotionThreshold
+    //Not used with the ST accelerometer
+    inv_obj.motion_duration = 1536; // motionDuration
+
+    inv_obj.motion_state = INV_MOTION;  // Motion state
+
+    inv_obj.bias_update_time = 8000;
+    inv_obj.bias_calc_time = 2000;
+
+    inv_obj.internal_motion_state = ML_MOT_STATE_MOVING;
+
+    inv_obj.start_time = inv_get_tick_count();
+
+    inv_obj.compass_cal[0] = 322122560L;
+    inv_obj.compass_cal[4] = 322122560L;
+    inv_obj.compass_cal[8] = 322122560L;
+    inv_obj.compass_sens = 322122560L;  // Should only change when the sensor full-scale range (FSR) is changed.
+
+    for (ii = 0; ii < COMPASS_NUM_AXES; ii++) {
+        inv_obj.compass_scale[ii] = 65536L;
+        inv_obj.compass_test_scale[ii] = 65536L;
+        inv_obj.compass_bias_error[ii] = P_INIT;
+        inv_obj.init_compass_bias[ii] = 0;
+        inv_obj.compass_asa[ii] = (1L << 30);
+    }
+    if (inv_compass_read_scale(tmp) == INV_SUCCESS) {
+        for (ii = 0; ii < COMPASS_NUM_AXES; ii++)
+            inv_obj.compass_asa[ii] = tmp[ii];
+    }
+    inv_obj.got_no_motion_bias = 0;
+    inv_obj.got_compass_bias = 0;
+    inv_obj.compass_state = SF_UNCALIBRATED;
+    inv_obj.acc_state = SF_STARTUP_SETTLE;
+
+    inv_obj.got_init_compass_bias = 0;
+    inv_obj.resetting_compass = 0;
+
+    inv_obj.external_slave_callback = NULL;
+    inv_obj.compass_accuracy = 0;
+
+    inv_obj.factory_temp_comp = 0;
+    inv_obj.got_coarse_heading = 0;
+
+    inv_obj.compass_bias_ptr[0] = P_INIT;
+    inv_obj.compass_bias_ptr[4] = P_INIT;
+    inv_obj.compass_bias_ptr[8] = P_INIT;
+
+    inv_obj.gyro_bias_err = 1310720;
+
+    inv_obj.accel_lpf_gain = 1073744L;
+    inv_obj.no_motion_accel_threshold = 7000000L;
+}
+
+/**
+ * @internal
+ * @brief   This registers a function to be called for each time the DMP
+ *          generates an an interrupt.
+ *          It will be called after inv_register_fifo_rate_process() which gets called
+ *          every time the FIFO data is processed.
+ *          The FIFO does not have to be on for this callback.
+ * @param func Function to be called when a DMP interrupt occurs.
+ * @return INV_SUCCESS or non-zero error code.
+ */
+inv_error_t inv_register_dmp_interupt_cb(inv_obj_func func)
+{
+    INVENSENSE_FUNC_START;
+    // Make sure we have not filled up our number of allowable callbacks
+    if (mlxCallbackInterrupt.numInterruptProcesses <=
+        MAX_INTERRUPT_PROCESSES - 1) {
+        int kk;
+        // Make sure we haven't registered this function already
+        for (kk = 0; kk < mlxCallbackInterrupt.numInterruptProcesses; ++kk) {
+            if (mlxCallbackInterrupt.processInterruptCb[kk] == func) {
+                return INV_ERROR_INVALID_PARAMETER;
+            }
+        }
+        // Add new callback
+        mlxCallbackInterrupt.processInterruptCb[mlxCallbackInterrupt.
+                                                numInterruptProcesses] = func;
+        mlxCallbackInterrupt.numInterruptProcesses++;
+        return INV_SUCCESS;
+    }
+    return INV_ERROR_MEMORY_EXAUSTED;
+}
+
+/**
+ * @internal
+ * @brief This unregisters a function to be called for each DMP interrupt.
+ * @return INV_SUCCESS or non-zero error code.
+ */
+inv_error_t inv_unregister_dmp_interupt_cb(inv_obj_func func)
+{
+    INVENSENSE_FUNC_START;
+    int kk, jj;
+    // Make sure we haven't registered this function already
+    for (kk = 0; kk < mlxCallbackInterrupt.numInterruptProcesses; ++kk) {
+        if (mlxCallbackInterrupt.processInterruptCb[kk] == func) {
+            // FIXME, we may need a thread block here
+            for (jj = kk + 1; jj < mlxCallbackInterrupt.numInterruptProcesses;
+                 ++jj) {
+                mlxCallbackInterrupt.processInterruptCb[jj - 1] =
+                    mlxCallbackInterrupt.processInterruptCb[jj];
+            }
+            mlxCallbackInterrupt.numInterruptProcesses--;
+            return INV_SUCCESS;
+        }
+    }
+    return INV_ERROR_INVALID_PARAMETER;
+}
+
+/**
+ *  @internal
+ *  @brief  Run the recorded interrupt process callbacks in the event
+ *          of an interrupt.
+ */
+void inv_run_dmp_interupt_cb(void)
+{
+    int kk;
+    for (kk = 0; kk < mlxCallbackInterrupt.numInterruptProcesses; ++kk) {
+        if (mlxCallbackInterrupt.processInterruptCb[kk])
+            mlxCallbackInterrupt.processInterruptCb[kk] (&inv_obj);
+    }
+}
+
+/** @internal
+* Resets the Motion/No Motion state which should be called at startup and resume.
+*/
+inv_error_t inv_reset_motion(void)
+{
+    unsigned char regs[8];
+    inv_error_t result;
+
+    inv_obj.motion_state = INV_MOTION;
+    inv_obj.flags[INV_MOTION_STATE_CHANGE] = INV_MOTION;
+    inv_obj.no_motion_accel_time = inv_get_tick_count();
+#if defined CONFIG_MPU_SENSORS_MPU3050
+    regs[0] = DINAD8 + 2;
+    regs[1] = DINA0C;
+    regs[2] = DINAD8 + 1;
+    result = inv_set_mpu_memory(KEY_CFG_18, 3, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+#else
+#endif
+    regs[0] = (unsigned char)((inv_obj.motion_duration >> 8) & 0xff);
+    regs[1] = (unsigned char)(inv_obj.motion_duration & 0xff);
+    result = inv_set_mpu_memory(KEY_D_1_106, 2, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    memset(regs, 0, 8);
+    result = inv_set_mpu_memory(KEY_D_1_96, 8, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    result =
+        inv_set_mpu_memory(KEY_D_0_96, 4, inv_int32_to_big8(0x40000000, regs));
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    inv_set_motion_state(INV_MOTION);
+    return result;
+}
+
+/**
+ * @internal
+ * @brief   inv_start_bias_calc starts the bias calculation on the MPU.
+ */
+void inv_start_bias_calc(void)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_obj.suspend = 1;
+}
+
+/**
+ * @internal
+ * @brief   inv_stop_bias_calc stops the bias calculation on the MPU.
+ */
+void inv_stop_bias_calc(void)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_obj.suspend = 0;
+}
+
+/**
+ *  @brief  inv_update_data fetches data from the fifo and updates the
+ *          motion algorithms.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start() must have been called.
+ *
+ *  @note   Motion algorithm data is constant between calls to inv_update_data
+ *
+ * @return
+ * - INV_SUCCESS
+ * - Non-zero error code
+ */
+inv_error_t inv_update_data(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+    int_fast8_t got, ftry;
+    uint_fast8_t mpu_interrupt;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (inv_get_state() != INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    // Set the maximum number of FIFO packets we want to process
+    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) {
+        ftry = 100;             // Large enough to process all packets
+    } else {
+        ftry = 1;
+    }
+
+    // Go and process at most ftry number of packets, probably less than ftry
+    result = inv_read_and_process_fifo(ftry, &got);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    // Process all interrupts
+    mpu_interrupt = inv_get_interrupt_trigger(INTSRC_AUX1);
+    if (mpu_interrupt) {
+        inv_clear_interrupt_trigger(INTSRC_AUX1);
+    }
+    // Check if interrupt was from MPU
+    mpu_interrupt = inv_get_interrupt_trigger(INTSRC_MPU);
+    if (mpu_interrupt) {
+        inv_clear_interrupt_trigger(INTSRC_MPU);
+    }
+    // Take care of the callbacks that want to be notified when there was an MPU interrupt
+    if (mpu_interrupt) {
+        inv_run_dmp_interupt_cb();
+    }
+
+    result = inv_get_fifo_status();
+    return result;
+}
+
+/**
+ *  @brief  inv_check_flag returns the value of a flag.
+ *          inv_check_flag can be used to check a number of flags,
+ *          allowing users to poll flags rather than register callback
+ *          functions. If a flag is set to True when inv_check_flag is called,
+ *          the flag is automatically reset.
+ *          The flags are:
+ *          - INV_RAW_DATA_READY
+ *          Indicates that new raw data is available.
+ *          - INV_PROCESSED_DATA_READY
+ *          Indicates that new processed data is available.
+ *          - INV_GOT_GESTURE
+ *          Indicates that a gesture has been detected by the gesture engine.
+ *          - INV_MOTION_STATE_CHANGE
+ *          Indicates that a change has been made from motion to no motion,
+ *          or vice versa.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start() must have been called.
+ *
+ *  @param flag The flag to check.
+ *
+ * @return TRUE or FALSE state of the flag
+ */
+int inv_check_flag(int flag)
+{
+    INVENSENSE_FUNC_START;
+    int flagReturn = inv_obj.flags[flag];
+
+    inv_obj.flags[flag] = 0;
+    return flagReturn;
+}
+
+/**
+ *  @brief  Enable generation of the DMP interrupt when Motion or no-motion
+ *          is detected
+ *  @param on
+ *          Boolean to turn the interrupt on or off.
+ *  @return INV_SUCCESS or non-zero error code.
+ */
+inv_error_t inv_set_motion_interrupt(unsigned char on)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    unsigned char regs[2] = { 0 };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (on) {
+        result = inv_get_dl_cfg_int(BIT_DMP_INT_EN);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        inv_obj.interrupt_sources |= INV_INT_MOTION;
+    } else {
+        inv_obj.interrupt_sources &= ~INV_INT_MOTION;
+        if (!inv_obj.interrupt_sources) {
+            result = inv_get_dl_cfg_int(0);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+    }
+
+    if (on) {
+        regs[0] = DINAFE;
+    } else {
+        regs[0] = DINAD8;
+    }
+    result = inv_set_mpu_memory(KEY_CFG_7, 1, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ * Enable generation of the DMP interrupt when a FIFO packet is ready
+ *
+ * @param on Boolean to turn the interrupt on or off
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_set_fifo_interrupt(unsigned char on)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    unsigned char regs[2] = { 0 };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (on) {
+        result = inv_get_dl_cfg_int(BIT_DMP_INT_EN);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        inv_obj.interrupt_sources |= INV_INT_FIFO;
+    } else {
+        inv_obj.interrupt_sources &= ~INV_INT_FIFO;
+        if (!inv_obj.interrupt_sources) {
+            result = inv_get_dl_cfg_int(0);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+    }
+
+    if (on) {
+        regs[0] = DINAFE;
+    } else {
+        regs[0] = DINAD8;
+    }
+    result = inv_set_mpu_memory(KEY_CFG_6, 1, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ * @brief   Get the current set of DMP interrupt sources.
+ *          These interrupts are generated by the DMP and can be
+ *          routed to the MPU interrupt line via internal
+ *          settings.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ * @return  Currently enabled interrupt sources.  The possible interrupts are:
+ *          - INV_INT_FIFO,
+ *          - INV_INT_MOTION,
+ *          - INV_INT_TAP
+ */
+int inv_get_interrupts(void)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return 0;               // error
+
+    return inv_obj.interrupt_sources;
+}
+
+/**
+ *  @brief  Sets up the Accelerometer calibration and scale factor.
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion Application
+ *          Note" document provided.  Section 5, "Sensor Mounting Orientation"
+ *          offers a good coverage on the mounting matrices and explains how
+ *          to use them.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *  @pre    inv_dmp_start() must <b>NOT</b> have been called.
+ *
+ *  @see    inv_set_gyro_calibration().
+ *  @see    inv_set_compass_calibration().
+ *
+ *  @param[in]  range
+ *                  The range of the accelerometers in g's. An accelerometer
+ *                  that has a range of +2g's to -2g's should pass in 2.
+ *  @param[in]  orientation
+ *                  A 9 element matrix that represents how the accelerometers
+ *                  are oriented with respect to the device they are mounted
+ *                  in and the reference axis system.
+ *                  A typical set of values are {1, 0, 0, 0, 1, 0, 0, 0, 1}.
+ *                  This example corresponds to a 3 x 3 identity matrix.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_accel_calibration(float range, signed char *orientation)
+{
+    INVENSENSE_FUNC_START;
+    float cal[9];
+    float scale = range / 32768.f;
+    int kk;
+    unsigned long sf;
+    inv_error_t result;
+    unsigned char regs[4] = { 0, 0, 0, 0 };
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    /* Apply zero g-offset values */
+    if (ACCEL_ID_KXSD9 == mldl_cfg->accel->id) {
+        regs[0] = 0x80;
+        regs[1] = 0x0;
+        regs[2] = 0x80;
+        regs[3] = 0x0;
+    }
+
+    if (inv_dmpkey_supported(KEY_D_1_152)) {
+        result = inv_set_mpu_memory(KEY_D_1_152, 4, &regs[0]);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    if (scale == 0) {
+        inv_obj.accel_sens = 0;
+    }
+
+    if (mldl_cfg->accel->id) {
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+        unsigned char tmp[3] = { DINA0C, DINAC9, DINA2C };
+#else
+        unsigned char tmp[3] = { DINA4C, DINACD, DINA6C };
+#endif
+        struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+        unsigned char regs[3];
+        unsigned short orient;
+
+        for (kk = 0; kk < 9; ++kk) {
+            cal[kk] = scale * orientation[kk];
+            inv_obj.accel_cal[kk] = (long)(cal[kk] * (float)(1L << 30));
+        }
+
+        orient = inv_orientation_matrix_to_scalar(orientation);
+        regs[0] = tmp[orient & 3];
+        regs[1] = tmp[(orient >> 3) & 3];
+        regs[2] = tmp[(orient >> 6) & 3];
+        result = inv_set_mpu_memory(KEY_FCFG_2, 3, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        regs[0] = DINA26;
+        regs[1] = DINA46;
+#if defined CONFIG_MPU_SENSORS_MPU3050 || defined CONFIG_MPU_SENSORS_MPU6050A2
+        regs[2] = DINA66;
+#else
+        if (MPL_PROD_KEY(mldl_cfg->product_id, mldl_cfg->product_revision)
+                == MPU_PRODUCT_KEY_B1_E1_5)
+            regs[2] = DINA76;
+        else
+            regs[2] = DINA66;
+#endif
+        if (orient & 4)
+            regs[0] |= 1;
+        if (orient & 0x20)
+            regs[1] |= 1;
+        if (orient & 0x100)
+            regs[2] |= 1;
+
+        result = inv_set_mpu_memory(KEY_FCFG_7, 3, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        if (mldl_cfg->accel->id == ACCEL_ID_MMA845X) {
+            result = inv_freescale_sensor_fusion_16bit(orient);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        } else if (mldl_cfg->accel->id == ACCEL_ID_MMA8450) {
+            result = inv_freescale_sensor_fusion_8bit(orient);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+    }
+
+    if (inv_obj.accel_sens != 0) {
+        sf = (1073741824L / inv_obj.accel_sens);
+    } else {
+        sf = 0;
+    }
+    regs[0] = (unsigned char)((sf >> 8) & 0xff);
+    regs[1] = (unsigned char)(sf & 0xff);
+    result = inv_set_mpu_memory(KEY_D_0_108, 2, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  Sets up the Gyro calibration and scale factor.
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion Application
+ *          Note" document provided.  Section 5, "Sensor Mounting Orientation"
+ *          offers a good coverage on the mounting matrices and explains
+ *          how to use them.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *  @pre    inv_dmp_start() must have <b>NOT</b> been called.
+ *
+ *  @see    inv_set_accel_calibration().
+ *  @see    inv_set_compass_calibration().
+ *
+ *  @param[in]  range
+ *                  The range of the gyros in degrees per second. A gyro
+ *                  that has a range of +2000 dps to -2000 dps should pass in
+ *                  2000.
+ *  @param[in] orientation
+ *                  A 9 element matrix that represents how the gyro are oriented
+ *                  with respect to the device they are mounted in. A typical
+ *                  set of values are {1, 0, 0, 0, 1, 0, 0, 0, 1}. This
+ *                  example corresponds to a 3 x 3 identity matrix.
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_gyro_calibration(float range, signed char *orientation)
+{
+    INVENSENSE_FUNC_START;
+
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    int kk;
+    float scale;
+    inv_error_t result;
+
+    unsigned char regs[12] = { 0 };
+    unsigned char maxVal = 0;
+    unsigned char tmpPtr = 0;
+    unsigned char tmpSign = 0;
+    unsigned char i = 0;
+    int sf = 0;
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (mldl_cfg->gyro_sens_trim != 0) {
+        /* adjust the declared range to consider the gyro_sens_trim
+           of this part when different from the default (first dividend) */
+        range *= (32768.f / 250) / mldl_cfg->gyro_sens_trim;
+    }
+
+    scale = range / 32768.f;    // inverse of sensitivity for the given full scale range
+    inv_obj.gyro_sens = (long)(range * 32768L);
+
+    for (kk = 0; kk < 9; ++kk) {
+        inv_obj.gyro_cal[kk] = (long)(scale * orientation[kk] * (1L << 30));
+        inv_obj.gyro_orient[kk] = (long)((double)orientation[kk] * (1L << 30));
+    }
+
+    {
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+        unsigned char tmpD = DINA4C;
+        unsigned char tmpE = DINACD;
+        unsigned char tmpF = DINA6C;
+#else
+        unsigned char tmpD = DINAC9;
+        unsigned char tmpE = DINA2C;
+        unsigned char tmpF = DINACB;
+#endif
+        regs[3] = DINA36;
+        regs[4] = DINA56;
+        regs[5] = DINA76;
+
+        for (i = 0; i < 3; i++) {
+            maxVal = 0;
+            tmpSign = 0;
+            if (inv_obj.gyro_orient[0 + 3 * i] < 0)
+                tmpSign = 1;
+            if (ABS(inv_obj.gyro_orient[1 + 3 * i]) >
+                ABS(inv_obj.gyro_orient[0 + 3 * i])) {
+                maxVal = 1;
+                if (inv_obj.gyro_orient[1 + 3 * i] < 0)
+                    tmpSign = 1;
+            }
+            if (ABS(inv_obj.gyro_orient[2 + 3 * i]) >
+                ABS(inv_obj.gyro_orient[1 + 3 * i])) {
+                tmpSign = 0;
+                maxVal = 2;
+                if (inv_obj.gyro_orient[2 + 3 * i] < 0)
+                    tmpSign = 1;
+            }
+            if (maxVal == 0) {
+                regs[tmpPtr++] = tmpD;
+                if (tmpSign)
+                    regs[tmpPtr + 2] |= 0x01;
+            } else if (maxVal == 1) {
+                regs[tmpPtr++] = tmpE;
+                if (tmpSign)
+                    regs[tmpPtr + 2] |= 0x01;
+            } else {
+                regs[tmpPtr++] = tmpF;
+                if (tmpSign)
+                    regs[tmpPtr + 2] |= 0x01;
+            }
+        }
+        result = inv_set_mpu_memory(KEY_FCFG_1, 3, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_set_mpu_memory(KEY_FCFG_3, 3, &regs[3]);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        //sf = (gyroSens) * (0.5 * (pi/180) / 200.0) * 16384
+        inv_obj.gyro_sf =
+            (long)(((long long)inv_obj.gyro_sens * 767603923LL) / 1073741824LL);
+        result =
+            inv_set_mpu_memory(KEY_D_0_104, 4,
+                               inv_int32_to_big8(inv_obj.gyro_sf, regs));
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        if (inv_obj.gyro_sens != 0) {
+            sf = (long)((long long)23832619764371LL / inv_obj.gyro_sens);
+        } else {
+            sf = 0;
+        }
+
+        result = inv_set_mpu_memory(KEY_D_0_24, 4, inv_int32_to_big8(sf, regs));
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Sets up the Compass calibration and scale factor.
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion Application
+ *          Note" document provided.  Section 5, "Sensor Mounting Orientation"
+ *          offers a good coverage on the mounting matrices and explains
+ *          how to use them.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *  @pre    inv_dmp_start() must have <b>NOT</b> been called.
+ *
+ *  @see    inv_set_gyro_calibration().
+ *  @see    inv_set_accel_calibration().
+ *
+ *  @param[in] range
+ *                  The range of the compass.
+ *  @param[in] orientation
+ *                  A 9 element matrix that represents how the compass is
+ *                  oriented with respect to the device they are mounted in.
+ *                  A typical set of values are {1, 0, 0, 0, 1, 0, 0, 0, 1}.
+ *                  This example corresponds to a 3 x 3 identity matrix.
+ *                  The matrix describes how to go from the chip mounting to
+ *                  the body of the device.
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_compass_calibration(float range, signed char *orientation)
+{
+    INVENSENSE_FUNC_START;
+    float cal[9];
+    float scale = range / 32768.f;
+    int kk;
+    unsigned short compassId = 0;
+
+    compassId = inv_get_compass_id();
+
+    if ((compassId == COMPASS_ID_YAS529) || (compassId == COMPASS_ID_HMC5883)
+        || (compassId == COMPASS_ID_LSM303M)) {
+        scale /= 32.0f;
+    }
+
+    for (kk = 0; kk < 9; ++kk) {
+        cal[kk] = scale * orientation[kk];
+        inv_obj.compass_cal[kk] = (long)(cal[kk] * (float)(1L << 30));
+    }
+
+    inv_obj.compass_sens = (long)(scale * 1073741824L);
+
+    if (inv_dmpkey_supported(KEY_CPASS_MTX_00)) {
+        unsigned char reg0[4] = { 0, 0, 0, 0 };
+        unsigned char regp[4] = { 64, 0, 0, 0 };
+        unsigned char regn[4] = { 64 + 128, 0, 0, 0 };
+        unsigned char *reg;
+        int_fast8_t kk;
+        unsigned short keyList[9] =
+            { KEY_CPASS_MTX_00, KEY_CPASS_MTX_01, KEY_CPASS_MTX_02,
+            KEY_CPASS_MTX_10, KEY_CPASS_MTX_11, KEY_CPASS_MTX_12,
+            KEY_CPASS_MTX_20, KEY_CPASS_MTX_21, KEY_CPASS_MTX_22
+        };
+
+        for (kk = 0; kk < 9; ++kk) {
+
+            if (orientation[kk] == 1)
+                reg = regp;
+            else if (orientation[kk] == -1)
+                reg = regn;
+            else
+                reg = reg0;
+            inv_set_mpu_memory(keyList[kk], 4, reg);
+        }
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+* @internal
+* @brief Sets the Gyro Dead Zone based upon LPF filter settings and Control setup.
+*/
+inv_error_t inv_set_dead_zone(void)
+{
+    unsigned char reg;
+    inv_error_t result;
+    extern struct control_params cntrl_params;
+
+    if (cntrl_params.functions & INV_DEAD_ZONE) {
+        reg = 0x08;
+    } else {
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+        reg = 0;
+#else
+        if (inv_params_obj.bias_mode & INV_BIAS_FROM_LPF) {
+            reg = 0x2;
+        } else {
+            reg = 0;
+        }
+#endif
+    }
+
+    result = inv_set_mpu_memory(KEY_D_0_163, 1, &reg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ *  @brief  inv_set_bias_update is used to register which algorithms will be
+ *          used to automatically reset the gyroscope bias.
+ *          The engine INV_BIAS_UPDATE must be enabled for these algorithms to
+ *          run.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start()
+ *          must <b>NOT</b> have been called.
+ *
+ *  @param  function    A function or bitwise OR of functions that determine
+ *                      how the gyroscope bias will be automatically updated.
+ *                      Functions include:
+ *                      - INV_NONE or 0,
+ *                      - INV_BIAS_FROM_NO_MOTION,
+ *                      - INV_BIAS_FROM_GRAVITY,
+ *                      - INV_BIAS_FROM_TEMPERATURE,
+                    \ifnot UMPL
+ *                      - INV_BIAS_FROM_LPF,
+ *                      - INV_MAG_BIAS_FROM_MOTION,
+ *                      - INV_MAG_BIAS_FROM_GYRO,
+ *                      - INV_ALL.
+ *                   \endif
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_bias_update(unsigned short function)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[4];
+    long tmp[3] = { 0, 0, 0 };
+    inv_error_t result = INV_SUCCESS;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    /* do not allow progressive no motion bias tracker to run -
+       it's not fully debugged */
+    function &= ~INV_PROGRESSIVE_NO_MOTION; // FIXME, workaround
+    MPL_LOGV("forcing disable of PROGRESSIVE_NO_MOTION bias tracker\n");
+
+    // You must use EnableFastNoMotion() to get this feature
+    function &= ~INV_BIAS_FROM_FAST_NO_MOTION;
+
+    // You must use DisableFastNoMotion() to turn this feature off
+    if (inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION)
+        function |= INV_BIAS_FROM_FAST_NO_MOTION;
+
+    /*--- remove magnetic components from bias tracking
+          if there is no compass ---*/
+    if (!inv_compass_present()) {
+        function &= ~(INV_MAG_BIAS_FROM_GYRO | INV_MAG_BIAS_FROM_MOTION);
+    } else {
+        function &= ~(INV_BIAS_FROM_LPF);
+    }
+
+    // Enable function sets bias from no motion
+    inv_params_obj.bias_mode = function & (~INV_BIAS_FROM_NO_MOTION);
+
+    if (function & INV_BIAS_FROM_NO_MOTION) {
+        inv_enable_bias_no_motion();
+    } else {
+        inv_disable_bias_no_motion();
+    }
+
+    if (inv_params_obj.bias_mode & INV_BIAS_FROM_LPF) {
+        regs[0] = DINA80 + 2;
+        regs[1] = DINA2D;
+        regs[2] = DINA55;
+        regs[3] = DINA7D;
+    } else {
+        regs[0] = DINA80 + 7;
+        regs[1] = DINA2D;
+        regs[2] = DINA35;
+        regs[3] = DINA3D;
+    }
+    result = inv_set_mpu_memory(KEY_FCFG_5, 4, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_dead_zone();
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    if ((inv_params_obj.bias_mode & INV_BIAS_FROM_GRAVITY) &&
+        !inv_compass_present()) {
+        result = inv_set_gyro_data_source(INV_GYRO_FROM_QUATERNION);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    } else {
+        result = inv_set_gyro_data_source(INV_GYRO_FROM_RAW);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    inv_obj.factory_temp_comp = 0;  // FIXME, workaround
+    if ((mldl_cfg->offset_tc[0] != 0) ||
+        (mldl_cfg->offset_tc[1] != 0) || (mldl_cfg->offset_tc[2] != 0)) {
+        inv_obj.factory_temp_comp = 1;
+    }
+
+    if (inv_obj.factory_temp_comp == 0) {
+        if (inv_params_obj.bias_mode & INV_BIAS_FROM_TEMPERATURE) {
+            result = inv_set_gyro_temp_slope(inv_obj.temp_slope);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        } else {
+            result = inv_set_gyro_temp_slope(tmp);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+    } else {
+        inv_params_obj.bias_mode &= ~INV_LEARN_BIAS_FROM_TEMPERATURE;
+        MPL_LOGV("factory temperature compensation coefficients available - "
+                 "disabling INV_LEARN_BIAS_FROM_TEMPERATURE\n");
+    }
+
+    /*---- hard requirement for using bias tracking BIAS_FROM_GRAVITY, relying on
+           compass and accel data, is to have accelerometer data delivered in the
+           FIFO ----*/
+    if (((inv_params_obj.bias_mode & INV_BIAS_FROM_GRAVITY)
+         && inv_compass_present())
+        || (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_GYRO)
+        || (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_MOTION)) {
+        inv_send_accel(INV_ALL, INV_32_BIT);
+        inv_send_gyro(INV_ALL, INV_32_BIT);
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_motion_state is used to determine if the device is in
+ *          a 'motion' or 'no motion' state.
+ *          inv_get_motion_state returns INV_MOTION of the device is moving,
+ *          or INV_NO_MOTION if the device is not moving.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start()
+ *          must have been called.
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+int inv_get_motion_state(void)
+{
+    INVENSENSE_FUNC_START;
+    return inv_obj.motion_state;
+}
+
+/**
+ *  @brief  inv_set_no_motion_thresh is used to set the threshold for
+ *          detecting INV_NO_MOTION
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  thresh  A threshold scaled in degrees per second.
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_no_motion_thresh(float thresh)
+{
+    inv_error_t result = INV_SUCCESS;
+    unsigned char regs[4] = { 0 };
+    long tmp;
+    INVENSENSE_FUNC_START;
+
+    tmp = (long)(thresh * thresh * 2.045f);
+    if (tmp < 0) {
+        return INV_ERROR;
+    } else if (tmp > 8180000L) {
+        return INV_ERROR;
+    }
+    inv_obj.no_motion_threshold = tmp;
+
+    regs[0] = (unsigned char)(tmp >> 24);
+    regs[1] = (unsigned char)((tmp >> 16) & 0xff);
+    regs[2] = (unsigned char)((tmp >> 8) & 0xff);
+    regs[3] = (unsigned char)(tmp & 0xff);
+
+    result = inv_set_mpu_memory(KEY_D_1_108, 4, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_reset_motion();
+    return result;
+}
+
+/**
+ *  @brief  inv_set_no_motion_threshAccel is used to set the threshold for
+ *          detecting INV_NO_MOTION with accelerometers when Gyros have
+ *          been turned off
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  thresh  A threshold in g's scaled by 2^32
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_no_motion_threshAccel(long thresh)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_obj.no_motion_accel_threshold = thresh;
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_no_motion_time is used to set the time required for
+ *          detecting INV_NO_MOTION
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  time    A time in seconds.
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_no_motion_time(float time)
+{
+    inv_error_t result = INV_SUCCESS;
+    unsigned char regs[2] = { 0 };
+    long tmp;
+
+    INVENSENSE_FUNC_START;
+
+    tmp = (long)(time * 200);
+    if (tmp < 0) {
+        return INV_ERROR;
+    } else if (tmp > 65535L) {
+        return INV_ERROR;
+    }
+    inv_obj.motion_duration = (unsigned short)tmp;
+
+    regs[0] = (unsigned char)((inv_obj.motion_duration >> 8) & 0xff);
+    regs[1] = (unsigned char)(inv_obj.motion_duration & 0xff);
+    result = inv_set_mpu_memory(KEY_D_1_106, 2, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_reset_motion();
+    return result;
+}
+
+/**
+ *  @brief  inv_get_version is used to get the ML version.
+ *
+ *  @pre    inv_get_version can be called at any time.
+ *
+ *  @param  version     inv_get_version writes the ML version
+ *                      string pointer to version.
+ *
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_get_version(unsigned char **version)
+{
+    INVENSENSE_FUNC_START;
+
+    *version = (unsigned char *)mlVer;  //fixme we are wiping const
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief Check for the presence of the gyro sensor.
+ *
+ * This is not a physical check but a logical check and the value can change
+ * dynamically based on calls to inv_set_mpu_sensors().
+ *
+ * @return  TRUE if the gyro is enabled FALSE otherwise.
+ */
+int inv_get_gyro_present(void)
+{
+    return inv_get_dl_config()->requested_sensors & (INV_X_GYRO | INV_Y_GYRO |
+                                                     INV_Z_GYRO);
+}
+
+static unsigned short inv_row_2_scale(const signed char *row)
+{
+    unsigned short b;
+
+    if (row[0] > 0)
+        b = 0;
+    else if (row[0] < 0)
+        b = 4;
+    else if (row[1] > 0)
+        b = 1;
+    else if (row[1] < 0)
+        b = 5;
+    else if (row[2] > 0)
+        b = 2;
+    else if (row[2] < 0)
+        b = 6;
+    else
+        b = 7;                  // error
+    return b;
+}
+
+unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx)
+{
+    unsigned short scalar;
+    /*
+       XYZ  010_001_000 Identity Matrix
+       XZY  001_010_000
+       YXZ  010_000_001
+       YZX  000_010_001
+       ZXY  001_000_010
+       ZYX  000_001_010
+     */
+
+    scalar = inv_row_2_scale(mtx);
+    scalar |= inv_row_2_scale(mtx + 3) << 3;
+    scalar |= inv_row_2_scale(mtx + 6) << 6;
+
+    return scalar;
+}
+
+/* Setups up the Freescale 16-bit accel for Sensor Fusion
+* @param[in] orient A scalar representation of the orientation
+*  that describes how to go from the Chip Orientation
+*  to the Board Orientation often times called the Body Orientation in Invensense Documentation.
+*  inv_orientation_matrix_to_scalar() will turn the transformation matrix into this scalar.
+*/
+inv_error_t inv_freescale_sensor_fusion_16bit(unsigned short orient)
+{
+    unsigned char rr[3];
+    inv_error_t result;
+
+    orient = orient & 0xdb;
+    switch (orient) {
+    default:
+        // Typically 0x88
+        rr[0] = DINACC;
+        rr[1] = DINACF;
+        rr[2] = DINA0E;
+        break;
+    case 0x50:
+        rr[0] = DINACE;
+        rr[1] = DINA0E;
+        rr[2] = DINACD;
+        break;
+    case 0x81:
+        rr[0] = DINACE;
+        rr[1] = DINACB;
+        rr[2] = DINA0E;
+        break;
+    case 0x11:
+        rr[0] = DINACC;
+        rr[1] = DINA0E;
+        rr[2] = DINACB;
+        break;
+    case 0x42:
+        rr[0] = DINA0A;
+        rr[1] = DINACF;
+        rr[2] = DINACB;
+        break;
+    case 0x0a:
+        rr[0] = DINA0A;
+        rr[1] = DINACB;
+        rr[2] = DINACD;
+        break;
+    }
+    result = inv_set_mpu_memory(KEY_FCFG_AZ, 3, rr);
+    return result;
+}
+
+/* Setups up the Freescale 8-bit accel for Sensor Fusion
+* @param[in] orient A scalar representation of the orientation
+*  that describes how to go from the Chip Orientation
+*  to the Board Orientation often times called the Body Orientation in Invensense Documentation.
+*  inv_orientation_matrix_to_scalar() will turn the transformation matrix into this scalar.
+*/
+inv_error_t inv_freescale_sensor_fusion_8bit(unsigned short orient)
+{
+    unsigned char regs[27];
+    inv_error_t result;
+    uint_fast8_t kk;
+
+    orient = orient & 0xdb;
+    kk = 0;
+
+    regs[kk++] = DINAC3;
+    regs[kk++] = DINA90 + 14;
+    regs[kk++] = DINAA0 + 9;
+    regs[kk++] = DINA3E;
+    regs[kk++] = DINA5E;
+    regs[kk++] = DINA7E;
+
+    regs[kk++] = DINAC2;
+    regs[kk++] = DINAA0 + 9;
+    regs[kk++] = DINA90 + 9;
+    regs[kk++] = DINAF8 + 2;
+
+    switch (orient) {
+    default:
+        // Typically 0x88
+        regs[kk++] = DINACB;
+
+        regs[kk++] = DINA54;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+
+        regs[kk++] = DINACD;
+        break;
+    case 0x50:
+        regs[kk++] = DINACB;
+
+        regs[kk++] = DINACF;
+
+        regs[kk++] = DINA7C;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        break;
+    case 0x81:
+        regs[kk++] = DINA2C;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+
+        regs[kk++] = DINACD;
+
+        regs[kk++] = DINACB;
+        break;
+    case 0x11:
+        regs[kk++] = DINA2C;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINA28;
+        regs[kk++] = DINACB;
+        regs[kk++] = DINACF;
+        break;
+    case 0x42:
+        regs[kk++] = DINACF;
+        regs[kk++] = DINACD;
+
+        regs[kk++] = DINA7C;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        regs[kk++] = DINA78;
+        break;
+    case 0x0a:
+        regs[kk++] = DINACD;
+
+        regs[kk++] = DINA54;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+        regs[kk++] = DINA50;
+
+        regs[kk++] = DINACF;
+        break;
+    }
+
+    regs[kk++] = DINA90 + 7;
+    regs[kk++] = DINAF8 + 3;
+    regs[kk++] = DINAA0 + 9;
+    regs[kk++] = DINA0E;
+    regs[kk++] = DINA0E;
+    regs[kk++] = DINA0E;
+
+    regs[kk++] = DINAF8 + 1;    // filler
+
+    result = inv_set_mpu_memory(KEY_FCFG_FSCALE, kk, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+
+/**
+ * Controlls each sensor and each axis when the motion processing unit is
+ * running.  When it is not running, simply records the state for later.
+ *
+ * NOTE: In this version only full sensors controll is allowed.  Independent
+ * axis control will return an error.
+ *
+ * @param sensors Bit field of each axis desired to be turned on or off
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_set_mpu_sensors(unsigned long sensors)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char state = inv_get_state();
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    inv_error_t result = INV_SUCCESS;
+    unsigned short fifoRate;
+
+    if (state < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (((sensors & INV_THREE_AXIS_ACCEL) != INV_THREE_AXIS_ACCEL) &&
+        ((sensors & INV_THREE_AXIS_ACCEL) != 0)) {
+        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+    }
+    if (((sensors & INV_THREE_AXIS_ACCEL) != 0) &&
+        (mldl_cfg->pdata->accel.get_slave_descr == 0)) {
+        return INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED;
+    }
+
+    if (((sensors & INV_THREE_AXIS_COMPASS) != INV_THREE_AXIS_COMPASS) &&
+        ((sensors & INV_THREE_AXIS_COMPASS) != 0)) {
+        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+    }
+    if (((sensors & INV_THREE_AXIS_COMPASS) != 0) &&
+        (mldl_cfg->pdata->compass.get_slave_descr == 0)) {
+        return INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED;
+    }
+
+    if (((sensors & INV_THREE_AXIS_PRESSURE) != INV_THREE_AXIS_PRESSURE) &&
+        ((sensors & INV_THREE_AXIS_PRESSURE) != 0)) {
+        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+    }
+    if (((sensors & INV_THREE_AXIS_PRESSURE) != 0) &&
+        (mldl_cfg->pdata->pressure.get_slave_descr == 0)) {
+        return INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED;
+    }
+
+    /* DMP was off, and is turning on */
+    if (sensors & INV_DMP_PROCESSOR &&
+        !(mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)) {
+        struct ext_slave_config config;
+        long odr;
+        config.key = MPU_SLAVE_CONFIG_ODR_RESUME;
+        config.len = sizeof(long);
+        config.apply = (state == INV_STATE_DMP_STARTED);
+        config.data = &odr;
+
+        odr = (inv_mpu_get_sampling_rate_hz(mldl_cfg) * 1000);
+        result = inv_mpu_config_accel(mldl_cfg,
+                                      inv_get_serial_handle(),
+                                      inv_get_serial_handle(), &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        config.key = MPU_SLAVE_CONFIG_IRQ_RESUME;
+        odr = MPU_SLAVE_IRQ_TYPE_NONE;
+        result = inv_mpu_config_accel(mldl_cfg,
+                                      inv_get_serial_handle(),
+                                      inv_get_serial_handle(), &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        inv_init_fifo_hardare();
+    }
+
+    if (inv_obj.mode_change_func) {
+        result = inv_obj.mode_change_func(mldl_cfg->requested_sensors, sensors);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    /* Get the fifo rate before changing sensors so if we need to match it */
+    fifoRate = inv_get_fifo_rate();
+    mldl_cfg->requested_sensors = sensors;
+
+    /* inv_dmp_start will turn the sensors on */
+    if (state == INV_STATE_DMP_STARTED) {
+        result = inv_dl_start(sensors);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_reset_motion();
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_dl_stop(~sensors);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    inv_set_fifo_rate(fifoRate);
+
+    if (!(sensors & INV_DMP_PROCESSOR) && (sensors & INV_THREE_AXIS_ACCEL)) {
+        struct ext_slave_config config;
+        long data;
+
+        config.len = sizeof(long);
+        config.key = MPU_SLAVE_CONFIG_IRQ_RESUME;
+        config.apply = (state == INV_STATE_DMP_STARTED);
+        config.data = &data;
+        data = MPU_SLAVE_IRQ_TYPE_DATA_READY;
+        result = inv_mpu_config_accel(mldl_cfg,
+                                      inv_get_serial_handle(),
+                                      inv_get_serial_handle(), &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    return result;
+}
+
+void inv_set_mode_change(inv_error_t(*mode_change_func)
+                         (unsigned long, unsigned long))
+{
+    inv_obj.mode_change_func = mode_change_func;
+}
+
+/**
+* Mantis setup
+*/
+#ifdef CONFIG_MPU_SENSORS_MPU6050B1
+inv_error_t inv_set_mpu_6050_config()
+{
+    long temp;
+    inv_error_t result;
+    unsigned char big8[4];
+    unsigned char atc[4];
+    long s[3], s2[3];
+    int kk;
+    struct mldl_cfg *mldlCfg = inv_get_dl_config();
+
+    result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
+                             0x0d, 4, atc);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    temp = atc[3] & 0x3f;
+    if (temp >= 32)
+        temp = temp - 64;
+    temp = (temp << 21) | 0x100000;
+    temp += (1L << 29);
+    temp = -temp;
+    result = inv_set_mpu_memory(KEY_D_ACT0, 4, inv_int32_to_big8(temp, big8));
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    for (kk = 0; kk < 3; ++kk) {
+        s[kk] = atc[kk] & 0x3f;
+        if (s[kk] > 32)
+            s[kk] = s[kk] - 64;
+        s[kk] *= 2516582L;
+    }
+
+    for (kk = 0; kk < 3; ++kk) {
+        s2[kk] = mldlCfg->pdata->orientation[kk * 3] * s[0] +
+            mldlCfg->pdata->orientation[kk * 3 + 1] * s[1] +
+            mldlCfg->pdata->orientation[kk * 3 + 2] * s[2];
+    }
+    result = inv_set_mpu_memory(KEY_D_ACSX, 4, inv_int32_to_big8(s2[0], big8));
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_mpu_memory(KEY_D_ACSY, 4, inv_int32_to_big8(s2[1], big8));
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_mpu_memory(KEY_D_ACSZ, 4, inv_int32_to_big8(s2[2], big8));
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+#endif
+
+/**
+ * @}
+ */
diff --git a/invensense/mlsdk/mllite/ml.h b/invensense/mlsdk/mllite/ml.h
new file mode 100644
index 0000000..838cd49
--- /dev/null
+++ b/invensense/mlsdk/mllite/ml.h
@@ -0,0 +1,596 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ *
+ * $Id: ml.h 5653 2011-06-16 21:06:55Z nroyer $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup ML
+ *  @brief  The Motion Library processes gyroscopes and accelerometers to
+ *          provide a physical model of the movement of the sensors.
+ *          The results of this processing may be used to control objects
+ *          within a user interface environment, detect gestures, track 3D
+ *          movement for gaming applications, and analyze the blur created
+ *          due to hand movement while taking a picture.
+ *
+ *  @{
+ *      @file ml.h
+ *      @brief Header file for the Motion Library.
+**/
+
+#ifndef INV_H
+#define INV_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+#include "mldmp.h"
+#include "mlsl.h"
+#include "mpu.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "ml_legacy.h"
+#endif
+
+/* ------------ */
+/* - Defines. - */
+/* ------------ */
+
+/* - Module defines. - */
+
+/*************************************************************************/
+/*  Motion Library Vesion                                                */
+/*************************************************************************/
+
+#define INV_VERSION_MAJOR                 4
+#define INV_VERSION_MINOR                 0
+#define INV_VERSION_SUB_MINOR             0
+
+#define INV_VERSION_MAJOR_STR            "4"
+#define INV_VERSION_MINOR_STR            "0"
+#define INV_VERSION_SUB_MINOR_STR        "0"
+
+#define INV_VERSION_NONE                 ""
+#define INV_VERSION_PROTOTYPE            "ProtoA "
+#define INV_VERSION_ENGINEERING          "EngA "
+#define INV_VERSION_PRE_ALPHA            "Pre-Alpha "
+#define INV_VERSION_ALPHA                "Alpha "
+#define INV_VERSION_BETA                 "Beta "
+#define INV_VERSION_PRODUCTION           "Production "
+
+#ifndef INV_VERSION_TYPE
+#define INV_VERSION_TYPE INV_VERSION_NONE
+#endif
+
+#define INV_VERSION  "InvenSense MPL" " " \
+    "v" INV_VERSION_MAJOR_STR "." INV_VERSION_MINOR_STR "." INV_VERSION_SUB_MINOR_STR " " \
+    INV_VERSION_TYPE \
+    __DATE__ " " __TIME__
+
+/*************************************************************************/
+/*  Motion processing engines                                            */
+/*************************************************************************/
+#define INV_MOTION_DETECT                (0x0004)
+#define INV_BIAS_UPDATE                  (0x0008)
+#define INV_GESTURE                      (0x0020)
+#define INV_CONTROL                      (0x0040)
+#define INV_ORIENTATION                  (0x0100)
+#define INV_PEDOMETER                    (0x0200)
+#define INV_BASIC                        (INV_MOTION_DETECT | INV_BIAS_UPDATE)
+
+/*************************************************************************/
+/*  Data Source - Obsolete                                               */
+/*************************************************************************/
+#define INV_DATA_FIFO                    (0x1)
+#define INV_DATA_POLL                    (0x2)
+
+/*************************************************************************/
+/*  Interrupt Source                                                     */
+/*************************************************************************/
+#define INV_INT_MOTION                   (0x01)
+#define INV_INT_FIFO                     (0x02)
+#define INV_INT_TAP                      (0x04)
+#define INV_INT_ORIENTATION              (0x08)
+#define INV_INT_SHAKE_PITCH              (0x10)
+#define INV_INT_SHAKE_ROLL               (0x20)
+#define INV_INT_SHAKE_YAW                (0x40)
+
+/*************************************************************************/
+/*  Bias update functions                                                */
+/*************************************************************************/
+#define INV_BIAS_FROM_NO_MOTION          0x0001
+#define INV_BIAS_FROM_GRAVITY            0x0002
+#define INV_BIAS_FROM_TEMPERATURE        0x0004
+#define INV_BIAS_FROM_LPF                0x0008
+#define INV_MAG_BIAS_FROM_MOTION         0x0010
+#define INV_MAG_BIAS_FROM_GYRO           0x0020
+#define INV_LEARN_BIAS_FROM_TEMPERATURE  0x0040
+#define INV_AUTO_RESET_MAG_BIAS          0x0080
+#define INV_REJECT_MAG_DISTURBANCE       0x0100
+#define INV_PROGRESSIVE_NO_MOTION        0x0200
+#define INV_BIAS_FROM_FAST_NO_MOTION     0x0400
+
+/*************************************************************************/
+/*  Euler angles and axis names                                          */
+/*************************************************************************/
+#define INV_X_AXIS                       (0x01)
+#define INV_Y_AXIS                       (0x02)
+#define INV_Z_AXIS                       (0x04)
+
+#define INV_PITCH                        (INV_X_AXIS)
+#define INV_ROLL                         (INV_Y_AXIS)
+#define INV_YAW                          (INV_Z_AXIS)
+
+/*************************************************************************/
+/*  Sensor types                                                         */
+/*************************************************************************/
+#define INV_GYROS                        0x0001
+#define INV_ACCELS                       0x0002
+
+/*************************************************************************/
+/*  Motion arrays                                                        */
+/*************************************************************************/
+#define INV_ROTATION_MATRIX              0x0003
+#define INV_QUATERNION                   0x0004
+#define INV_EULER_ANGLES                 0x0005
+#define INV_LINEAR_ACCELERATION          0x0006
+#define INV_LINEAR_ACCELERATION_WORLD    0x0007
+#define INV_GRAVITY                      0x0008
+#define INV_ANGULAR_VELOCITY             0x0009
+
+#define INV_GYRO_CALIBRATION_MATRIX      0x000B
+#define INV_ACCEL_CALIBRATION_MATRIX     0x000C
+#define INV_GYRO_BIAS                    0x000D
+#define INV_ACCEL_BIAS                   0x000E
+#define INV_GYRO_TEMP_SLOPE              0x000F
+
+#define INV_RAW_DATA                     0x0011
+#define INV_DMP_TAP                      0x0012
+#define INV_DMP_TAP2                     0x0021
+
+#define INV_EULER_ANGLES_X               0x0013
+#define INV_EULER_ANGLES_Y               0x0014
+#define INV_EULER_ANGLES_Z               0x0015
+
+#define INV_BIAS_UNCERTAINTY             0x0016
+#define INV_DMP_PACKET_NUMBER            0x0017
+#define INV_FOOTER                       0x0018
+
+#define INV_CONTROL_DATA                 0x0019
+
+#define INV_MAGNETOMETER                 0x001A
+#define INV_PEDLBS                       0x001B
+#define INV_MAG_RAW_DATA                 0x001C
+#define INV_MAG_CALIBRATION_MATRIX       0x001D
+#define INV_MAG_BIAS                     0x001E
+#define INV_HEADING                      0x001F
+
+#define INV_MAG_BIAS_ERROR               0x0020
+
+#define INV_PRESSURE                     0x0021
+#define INV_LOCAL_FIELD                  0x0022
+#define INV_MAG_SCALE                    0x0023
+
+#define INV_RELATIVE_QUATERNION          0x0024
+
+#define SET_QUATERNION                                  0x0001
+#define SET_GYROS                                       0x0002
+#define SET_LINEAR_ACCELERATION                         0x0004
+#define SET_GRAVITY                                     0x0008
+#define SET_ACCELS                                      0x0010
+#define SET_TAP                                         0x0020
+#define SET_PEDLBS                                      0x0040
+#define SET_LINEAR_ACCELERATION_WORLD                   0x0080
+#define SET_CONTROL                                     0x0100
+#define SET_PACKET_NUMBER                               0x4000
+#define SET_FOOTER                                      0x8000
+
+/*************************************************************************/
+/*  Integral reset options                                               */
+/*************************************************************************/
+#define INV_NO_RESET                     0x0000
+#define INV_RESET                        0x0001
+
+/*************************************************************************/
+/*  Motion states                                                        */
+/*************************************************************************/
+#define INV_MOTION                       0x0001
+#define INV_NO_MOTION                    0x0002
+
+/*************************************************************************/
+/* Orientation and Gesture states                                        */
+/*************************************************************************/
+#define INV_STATE_IDLE                   (0)
+#define INV_STATE_RUNNING                (1)
+
+/*************************************************************************/
+/* Gyroscope Temperature Compensation bins                               */
+/*************************************************************************/
+#define BINS                            (25)
+#define PTS_PER_BIN                     (5)
+#define MIN_TEMP                        (-40)
+#define MAX_TEMP                        (+85)
+#define TEMP_PER_BIN                    ((MAX_TEMP - MIN_TEMP) / BINS)
+
+/*************************************************************************/
+/*  Flags                                                                */
+/*************************************************************************/
+#define INV_RAW_DATA_READY               0x0001
+#define INV_PROCESSED_DATA_READY         0x0002
+
+#define INV_GOT_GESTURE                  0x0004
+
+#define INV_MOTION_STATE_CHANGE          0x0006
+#define INV_COMPASS_OFFSET_VALID         0x0007
+
+/*************************************************************************/
+/*  General                                                              */
+/*************************************************************************/
+#define INV_NONE                         (0x0000)
+#define INV_INVALID_FIFO_RATE            (0xFFFF)
+
+/*************************************************************************/
+/*  ML Params Structure Default Values                                   */
+/*************************************************************************/
+#define INV_BIAS_UPDATE_FUNC_DEFAULT               (INV_BIAS_FROM_NO_MOTION | INV_BIAS_FROM_GRAVITY)
+#define INV_ORIENTATION_MASK_DEFAULT               0x3f
+#define INV_PROCESSED_DATA_CALLBACK_DEFAULT           0
+#define INV_ORIENTATION_CALLBACK_DEFAULT              0
+#define INV_MOTION_CALLBACK_DEFAULT                   0
+
+/* ------------ */
+/* - Defines. - */
+/* ------------ */
+/* Priority for various features */
+#define INV_PRIORITY_BUS_ACCEL              100
+#define INV_PRIORITY_EXTERNAL_SLAVE_MAG     110
+#define INV_PRIORITY_FAST_NO_MOTION         120
+#define INV_PRIORITY_BIAS_NO_MOTION         125
+#define INV_PRIORITY_SET_GYRO_BIASES        150
+#define INV_PRIORITY_TEMP_COMP              175
+#define INV_PRIORITY_CONTROL                200
+#define INV_PRIORITY_EIS                    300
+#define INV_PRIORITY_ORIENTATION            400
+#define INV_PRIORITY_PEDOMETER_FULLPOWER    500
+#define INV_PRIORITY_NAVIGATION_PEDOMETER   600
+#define INV_PRIORITY_GESTURE                700
+#define INV_PRIORITY_GLYPH                  800
+
+#define MAX_INTERRUPT_PROCESSES 5
+/* Number of quantized accel samples */
+#define INV_MAX_NUM_ACCEL_SAMPLES (8)
+
+#define PRECISION 10000.f
+#define RANGE_FLOAT_TO_FIXEDPOINT(range, x) {               \
+    range.mantissa = (long)x;                               \
+    range.fraction = (long)((float)(x-(long)x)*PRECISION);  \
+}
+#define RANGE_FIXEDPOINT_TO_FLOAT(range, x) {   \
+    x = (float)(range.mantissa);                \
+    x += ((float)range.fraction/PRECISION);     \
+}
+
+    /* --------------- */
+    /* - Structures. - */
+    /* --------------- */
+
+struct inv_obj_t {
+        //Calibration parameters
+        /* Raw sensor orientation */
+        long gyro_bias[3];
+        long accel_bias[3];
+        long compass_bias[3];
+
+        /* Cached values after orietnation is applied */
+        long scaled_gyro_bias[3];
+        long scaled_accel_bias[3];
+        long scaled_compass_bias[3];
+
+        long compass_scale[3];
+        long compass_test_bias[3];
+        long compass_test_scale[3];
+        long compass_asa[3];
+        long compass_offsets[3];
+
+        long compass_bias_error[3];
+
+        long got_no_motion_bias;
+        long got_compass_bias;
+        long compass_state;
+        long large_field;
+        long acc_state;
+
+        long factory_temp_comp;
+        long got_coarse_heading;
+        long gyro_temp_bias[3];
+        long prog_no_motion_bias[3];
+
+        long accel_cal[9];
+        // Deprecated, used gyro_orient
+        long gyro_cal[GYRO_NUM_AXES * GYRO_NUM_AXES];
+        long gyro_orient[GYRO_NUM_AXES * GYRO_NUM_AXES];
+        long accel_sens;
+        long compass_cal[9];
+        long gyro_sens;
+        long gyro_sf;
+        long temp_slope[GYRO_NUM_AXES];
+        long compass_sens;
+        long temp_offset[GYRO_NUM_AXES];
+
+        int cal_loaded_flag;
+
+        /* temperature compensation */
+        float x_gyro_coef[3];
+        float y_gyro_coef[3];
+        float z_gyro_coef[3];
+        float x_gyro_temp_data[BINS][PTS_PER_BIN];
+        float y_gyro_temp_data[BINS][PTS_PER_BIN];
+        float z_gyro_temp_data[BINS][PTS_PER_BIN];
+        float temp_data[BINS][PTS_PER_BIN];
+        int temp_ptrs[BINS];
+        long temp_valid_data[BINS];
+
+        long compass_correction[4];
+        long compass_correction_relative[4];
+        long compass_disturb_correction[4];
+        long compass_correction_offset[4];
+        long relative_quat[4];
+        long local_field[3];
+        long new_local_field;
+        long sync_grav_body[3];
+        int gyro_bias_err;
+
+        double compass_bias_ptr[9];
+        double compass_bias_v[3];
+        double compass_prev_m[36];
+        double compass_prev_xty[6];
+
+        int compass_peaks[18];
+        int all_sensors_no_motion;
+
+        long init_compass_bias[3];
+
+        int got_init_compass_bias;
+        int resetting_compass;
+
+        long ang_v_body[GYRO_NUM_AXES];
+        unsigned char compass_raw_data[24]; /* Sensor data plus status etc */
+        long compass_sensor_data[3]; /* Raw sensor data only */
+        long compass_calibrated_data[3];
+        long compass_test_calibrated_data[3];
+        long pressure;
+        inv_error_t (*external_slave_callback)(struct inv_obj_t *);
+        int  compass_accuracy;
+        int compass_overunder;
+
+        unsigned short flags[8];
+        unsigned short suspend;
+
+        long no_motion_threshold;
+        unsigned long motion_duration;
+
+        unsigned short motion_state;
+
+        unsigned short data_mode;
+        unsigned short interrupt_sources;
+
+        unsigned short bias_update_time;
+        short last_motion;
+        unsigned short bias_calc_time;
+
+        unsigned char internal_motion_state;
+        long start_time;
+
+        long accel_lpf_gain;
+        long accel_lpf[3];
+        unsigned long poll_no_motion;
+        long no_motion_accel_threshold;
+        unsigned long no_motion_accel_time;
+        inv_error_t(*mode_change_func) (unsigned long, unsigned long);
+    };
+
+    typedef inv_error_t(*inv_obj_func) (struct inv_obj_t *);
+
+    extern struct inv_obj_t inv_obj;
+
+    /* --------------------- */
+    /* - Params Structure. - */
+    /* --------------------- */
+
+    struct inv_params_obj {
+
+        unsigned short bias_mode;   // A function or bitwise OR of functions that determine how the gyroscope bias will be automatically updated.
+        // Functions include INV_BIAS_FROM_NO_MOTION, INV_BIAS_FROM_GRAVITY, and INV_BIAS_FROM_TEMPERATURE.
+        // The engine INV_BIAS_UPDATE must be enabled for these algorithms to run.
+
+        unsigned short orientation_mask;    // Allows a user to register which orientations will trigger the user defined callback function.
+        // The orientations are INV_X_UP, INV_X_DOWN, INV_Y_UP, INV_Y_DOWN, INV_Z_UP, and INV_Z_DOWN.
+        // INV_ORIENTATION_ALL is equivalent to INV_X_UP | INV_X_DOWN | INV_Y_UP | INV_Y_DOWN | INV_Z_UP | INV_Z_DOWN.
+
+        void (*fifo_processed_func) (void); // Callback function that triggers when all the processing has been finished by the motion processing engines.
+
+        void (*orientation_cb_func) (unsigned short orient);    // Callback function that will run when a change of orientation is detected.
+        // The new orientation. May be one of INV_X_UP, INV_X_DOWN, INV_Y_UP, INV_Y_DOWN, INV_Z_UP, or INV_Z_DOWN.
+
+        void (*motion_cb_func) (unsigned short motion_state);   // Callback function that will run when a change of motion state is detected.
+        // The new motion state. May be one of INV_MOTION, or INV_NO_MOTION.
+
+        unsigned char state;
+
+    };
+
+    extern struct inv_params_obj inv_params_obj;
+    /* --------------------- */
+    /* - Function p-types. - */
+    /* --------------------- */
+
+    inv_error_t inv_serial_start(char const *port);
+    inv_error_t inv_serial_stop(void);
+    inv_error_t inv_set_mpu_sensors(unsigned long sensors);
+    void *inv_get_serial_handle(void);
+
+    /*API for handling the buffer */
+    inv_error_t inv_update_data(void);
+
+    /*API for handling polling */
+    int inv_check_flag(int flag);
+
+    /*API for setting bias update function */
+    inv_error_t inv_set_bias_update(unsigned short biasFunction);
+
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+    inv_error_t inv_turn_on_bias_from_no_motion(void);
+    inv_error_t inv_turn_off_bias_from_no_motion(void);
+    inv_error_t inv_set_mpu_6050_config(void);
+#endif
+
+    /* Legacy functions for handling augmented data*/
+    inv_error_t inv_get_array(int dataSet, long *data);
+    inv_error_t inv_get_float_array(int dataSet, float *data);
+    inv_error_t inv_set_array(int dataSet, long *data);
+    inv_error_t inv_set_float_array(int dataSet, float *data);
+    /* Individual functions for augmented data, per specific dataset */
+
+
+    inv_error_t inv_get_gyro(long *data);
+    inv_error_t inv_get_accel(long *data);
+    inv_error_t inv_get_temperature(long *data);
+    inv_error_t inv_get_temperature_raw(short *data);
+    inv_error_t inv_get_rot_mat(long *data);
+    inv_error_t inv_get_quaternion(long *data);
+    inv_error_t inv_get_linear_accel(long *data);
+    inv_error_t inv_get_linear_accel_in_world(long *data);
+    inv_error_t inv_get_gravity(long *data);
+    inv_error_t inv_get_angular_velocity(long *data);
+    inv_error_t inv_get_euler_angles(long *data);
+    inv_error_t inv_get_euler_angles_x(long *data);
+    inv_error_t inv_get_euler_angles_y(long *data);
+    inv_error_t inv_get_euler_angles_z(long *data);
+    inv_error_t inv_get_gyro_temp_slope(long *data);
+    inv_error_t inv_get_gyro_bias(long *data);
+    inv_error_t inv_get_accel_bias(long *data);
+    inv_error_t inv_get_mag_bias(long *data);
+    inv_error_t inv_get_gyro_and_accel_sensor(long *data);
+    inv_error_t inv_get_mag_raw_data(long *data);
+    inv_error_t inv_get_magnetometer(long *data);
+    inv_error_t inv_get_pressure(long *data);
+    inv_error_t inv_get_heading(long *data);
+    inv_error_t inv_get_gyro_cal_matrix(long *data);
+    inv_error_t inv_get_accel_cal_matrix(long *data);
+    inv_error_t inv_get_mag_cal_matrix(long *data);
+    inv_error_t inv_get_mag_bias_error(long *data);
+    inv_error_t inv_get_mag_scale(long *data);
+    inv_error_t inv_get_local_field(long *data);
+    inv_error_t inv_get_relative_quaternion(long *data);
+    inv_error_t inv_get_gyro_float(float *data);
+    inv_error_t inv_get_accel_float(float *data);
+    inv_error_t inv_get_temperature_float(float *data);
+    inv_error_t inv_get_rot_mat_float(float *data);
+    inv_error_t inv_get_quaternion_float(float *data);
+    inv_error_t inv_get_linear_accel_float(float *data);
+    inv_error_t inv_get_linear_accel_in_world_float(float *data);
+    inv_error_t inv_get_gravity_float(float *data);
+    inv_error_t inv_get_angular_velocity_float(float *data);
+    inv_error_t inv_get_euler_angles_float(float *data);
+    inv_error_t inv_get_euler_angles_x_float(float *data);
+    inv_error_t inv_get_euler_angles_y_float(float *data);
+    inv_error_t inv_get_euler_angles_z_float(float *data);
+    inv_error_t inv_get_gyro_temp_slope_float(float *data);
+    inv_error_t inv_get_gyro_bias_float(float *data);
+    inv_error_t inv_get_accel_bias_float(float *data);
+    inv_error_t inv_get_mag_bias_float(float *data);
+    inv_error_t inv_get_gyro_and_accel_sensor_float(float *data);
+    inv_error_t inv_get_mag_raw_data_float(float *data);
+    inv_error_t inv_get_magnetometer_float(float *data);
+    inv_error_t inv_get_pressure_float(float *data);
+    inv_error_t inv_get_heading_float(float *data);
+    inv_error_t inv_get_gyro_cal_matrix_float(float *data);
+    inv_error_t inv_get_accel_cal_matrix_float(float *data);
+    inv_error_t inv_get_mag_cal_matrix_float(float *data);
+    inv_error_t inv_get_mag_bias_error_float(float *data);
+    inv_error_t inv_get_mag_scale_float(float *data);
+    inv_error_t inv_get_local_field_float(float *data);
+    inv_error_t inv_get_relative_quaternion_float(float *data);
+    inv_error_t inv_get_compass_accuracy(int *accuracy);
+    inv_error_t inv_set_gyro_bias(long *data);
+    inv_error_t inv_set_accel_bias(long *data);
+    inv_error_t inv_set_mag_bias(long *data);
+    inv_error_t inv_set_gyro_temp_slope(long *data);
+    inv_error_t inv_set_local_field(long *data);
+    inv_error_t inv_set_mag_scale(long *data);
+    inv_error_t inv_set_gyro_temp_slope_float(float *data);
+    inv_error_t inv_set_gyro_bias_float(float *data);
+    inv_error_t inv_set_accel_bias_float(float *data);
+    inv_error_t inv_set_mag_bias_float(float *data);
+    inv_error_t inv_set_local_field_float(float *data);
+    inv_error_t inv_set_mag_scale_float(float *data);
+
+    inv_error_t inv_apply_endian_accel(void);
+    inv_error_t inv_apply_calibration(void);
+    inv_error_t inv_set_gyro_calibration(float range, signed char *orientation);
+    inv_error_t inv_set_accel_calibration(float range,
+                                          signed char *orientation);
+    inv_error_t inv_set_compass_calibration(float range,
+                                            signed char *orientation);
+
+    /*API for detecting change of state */
+     inv_error_t
+        inv_set_motion_callback(void (*func) (unsigned short motion_state));
+    int inv_get_motion_state(void);
+
+    /*API for getting ML version. */
+    inv_error_t inv_get_version(unsigned char **version);
+
+    inv_error_t inv_set_motion_interrupt(unsigned char on);
+    inv_error_t inv_set_fifo_interrupt(unsigned char on);
+
+    int inv_get_interrupts(void);
+
+    /* Simulated DMP */
+    int inv_get_gyro_present(void);
+
+    inv_error_t inv_set_no_motion_time(float time);
+    inv_error_t inv_set_no_motion_thresh(float thresh);
+    inv_error_t inv_set_no_motion_threshAccel(long thresh);
+    inv_error_t inv_reset_motion(void);
+
+    inv_error_t inv_update_bias(void);
+    inv_error_t inv_set_dead_zone(void);
+    void inv_start_bias_calc(void);
+    void inv_stop_bias_calc(void);
+
+    // Private functions shared accross modules
+    void inv_init_ml(void);
+
+    inv_error_t inv_register_dmp_interupt_cb(inv_obj_func func);
+    inv_error_t inv_unregister_dmp_interupt_cb(inv_obj_func func);
+    void inv_run_dmp_interupt_cb(void);
+    void inv_set_mode_change(inv_error_t(*mode_change_func)
+                              (unsigned long, unsigned long));
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INV_H
+/**
+ * @}
+ */
diff --git a/invensense/mlsdk/mllite/mlBiasNoMotion.c b/invensense/mlsdk/mllite/mlBiasNoMotion.c
new file mode 100644
index 0000000..0afe627
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlBiasNoMotion.c
@@ -0,0 +1,393 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id:$
+ *
+ *****************************************************************************/
+
+#include "mlBiasNoMotion.h"
+#include "ml.h"
+#include "mlinclude.h"
+#include "mlos.h"
+#include "mlFIFO.h"
+#include "dmpKey.h"
+#include "accel.h"
+#include "mlMathFunc.h"
+#include "mldl.h"
+#include "mlstates.h"
+#include "mlSetGyroBias.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-BiasNoMot"
+
+
+#define _mlDebug(x)             //{x}
+
+/**
+ *  @brief  inv_set_motion_callback is used to register a callback function that
+ *          will trigger when a change of motion state is detected.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start()
+ *          must <b>NOT</b> have been called.
+ *
+ *  @param  func    A user defined callback function accepting a
+ *                  motion_state parameter, the new motion state.
+ *                  May be one of INV_MOTION or INV_NO_MOTION.
+ *  @return INV_SUCCESS if successful or Non-zero error code otherwise.
+ */
+inv_error_t inv_set_motion_callback(void (*func) (unsigned short motion_state))
+{
+    INVENSENSE_FUNC_START;
+
+    if ((inv_get_state() != INV_STATE_DMP_OPENED) &&
+        (inv_get_state() != INV_STATE_DMP_STARTED))
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    inv_params_obj.motion_cb_func = func;
+
+    return INV_SUCCESS;
+}
+
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+/** Turns on the feature to compute gyro bias from No Motion */
+inv_error_t inv_turn_on_bias_from_no_motion()
+{
+    inv_error_t result;
+    unsigned char regs[3] = { 0x0d, DINA35, 0x5d };
+    inv_params_obj.bias_mode |= INV_BIAS_FROM_NO_MOTION;
+    result = inv_set_mpu_memory(KEY_CFG_MOTION_BIAS, 3, regs);
+    return result;
+}
+
+/** Turns off the feature to compute gyro bias from No Motion
+*/
+inv_error_t inv_turn_off_bias_from_no_motion()
+{
+    inv_error_t result;
+    unsigned char regs[3] = { DINA90 + 8, DINA90 + 8, DINA90 + 8 };
+    inv_params_obj.bias_mode &= ~INV_BIAS_FROM_NO_MOTION;
+    result = inv_set_mpu_memory(KEY_CFG_MOTION_BIAS, 3, regs);
+    return result;
+}
+#endif
+
+inv_error_t inv_update_bias(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    unsigned char regs[12];
+    short bias[GYRO_NUM_AXES];
+
+    if ((inv_params_obj.bias_mode & INV_BIAS_FROM_NO_MOTION)
+        && inv_get_gyro_present()) {
+
+        regs[0] = DINAA0 + 3;
+        result = inv_set_mpu_memory(KEY_FCFG_6, 1, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        result = inv_get_mpu_memory(KEY_D_1_244, 12, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        inv_convert_bias(regs, bias);
+
+        regs[0] = DINAA0 + 15;
+        result = inv_set_mpu_memory(KEY_FCFG_6, 1, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        result = inv_set_gyro_bias_in_hw_unit(bias, INV_SGB_NO_MOTION);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        result =
+            inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
+                            MPUREG_TEMP_OUT_H, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_set_mpu_memory(KEY_DMP_PREVPTAT, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        inv_obj.got_no_motion_bias = TRUE;
+    }
+    return INV_SUCCESS;
+}
+
+inv_error_t MLAccelMotionDetection(struct inv_obj_t *inv_obj)
+{
+    long gain;
+    unsigned long timeChange;
+    long rate;
+    inv_error_t result;
+    long accel[3], temp;
+    long long accelMag;
+    unsigned long currentTime;
+    int kk;
+
+    if (!inv_accel_present()) {
+        return INV_SUCCESS;
+    }
+
+    currentTime = inv_get_tick_count();
+
+    // We always run the accel low pass filter at the highest sample rate possible
+    result = inv_get_accel(accel);
+    if (result != INV_ERROR_FEATURE_NOT_ENABLED) {
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        rate = inv_get_fifo_rate() * 5 + 5;
+        if (rate > 200)
+            rate = 200;
+
+        gain = inv_obj->accel_lpf_gain * rate;
+        timeChange = inv_get_fifo_rate();
+
+        accelMag = 0;
+        for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) {
+            inv_obj->accel_lpf[kk] =
+                inv_q30_mult(((1L << 30) - gain), inv_obj->accel_lpf[kk]);
+            inv_obj->accel_lpf[kk] += inv_q30_mult(gain, accel[kk]);
+            temp = accel[0] - inv_obj->accel_lpf[0];
+            accelMag += (long long)temp *temp;
+        }
+
+        if (accelMag > inv_obj->no_motion_accel_threshold) {
+            inv_obj->no_motion_accel_time = currentTime;
+
+            // Check for change of state
+            if (!inv_get_gyro_present())
+                inv_set_motion_state(INV_MOTION);
+
+        } else if ((currentTime - inv_obj->no_motion_accel_time) >
+                   5 * inv_obj->motion_duration) {
+            // We have no motion according to accel
+            // Check fsor change of state
+            if (!inv_get_gyro_present())
+                inv_set_motion_state(INV_NO_MOTION);
+        }
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ * @internal
+ * @brief   Manually update the motion/no motion status.  This is a
+ *          convienence function for implementations that do not wish to use
+ *          inv_update_data.
+ *          This function can be called periodically to check for the
+ *          'no motion' state and update the internal motion status and bias
+ *          calculations.
+ */
+inv_error_t MLPollMotionStatus(struct inv_obj_t * inv_obj)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[3] = { 0 };
+    unsigned short motionFlag = 0;
+    unsigned long currentTime;
+    inv_error_t result;
+
+    result = MLAccelMotionDetection(inv_obj);
+
+    currentTime = inv_get_tick_count();
+
+    // If it is not time to poll for a no motion event, return
+    if (((inv_obj->interrupt_sources & INV_INT_MOTION) == 0) &&
+        ((currentTime - inv_obj->poll_no_motion) <= 1000))
+        return INV_SUCCESS;
+
+    inv_obj->poll_no_motion = currentTime;
+
+#if defined CONFIG_MPU_SENSORS_MPU3050
+    if (inv_get_gyro_present()
+        && ((inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION) == 0)) {
+        static long repeatBiasUpdateTime = 0;
+
+        result = inv_get_mpu_memory(KEY_D_1_98, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        motionFlag = (unsigned short)regs[0] * 256 + (unsigned short)regs[1];
+
+        _mlDebug(MPL_LOGV("motionFlag from RAM : 0x%04X\n", motionFlag);
+            )
+            if (motionFlag == inv_obj->motion_duration) {
+            if (inv_obj->motion_state == INV_MOTION) {
+                inv_update_bias();
+                repeatBiasUpdateTime = inv_get_tick_count();
+
+                regs[0] = DINAD8 + 1;
+                regs[1] = DINA0C;
+                regs[2] = DINAD8 + 2;
+                result = inv_set_mpu_memory(KEY_CFG_18, 3, regs);
+                if (result) {
+                    LOG_RESULT_LOCATION(result);
+                    return result;
+                }
+
+                regs[0] = 0;
+                regs[1] = 5;
+                result = inv_set_mpu_memory(KEY_D_1_106, 2, regs);
+                if (result) {
+                    LOG_RESULT_LOCATION(result);
+                    return result;
+                }
+
+                //Trigger no motion callback
+                inv_set_motion_state(INV_NO_MOTION);
+            }
+        }
+        if (motionFlag == 5) {
+            if (inv_obj->motion_state == INV_NO_MOTION) {
+                regs[0] = DINAD8 + 2;
+                regs[1] = DINA0C;
+                regs[2] = DINAD8 + 1;
+                result = inv_set_mpu_memory(KEY_CFG_18, 3, regs);
+                if (result) {
+                    LOG_RESULT_LOCATION(result);
+                    return result;
+                }
+
+                regs[0] =
+                    (unsigned char)((inv_obj->motion_duration >> 8) & 0xff);
+                regs[1] = (unsigned char)(inv_obj->motion_duration & 0xff);
+                result = inv_set_mpu_memory(KEY_D_1_106, 2, regs);
+                if (result) {
+                    LOG_RESULT_LOCATION(result);
+                    return result;
+                }
+
+                //Trigger no motion callback
+                inv_set_motion_state(INV_MOTION);
+            }
+        }
+        if (inv_obj->motion_state == INV_NO_MOTION) {
+            if ((inv_get_tick_count() - repeatBiasUpdateTime) > 4000) {
+                inv_update_bias();
+                repeatBiasUpdateTime = inv_get_tick_count();
+            }
+        }
+    }
+#else                           // CONFIG_MPU_SENSORS_MPU3050
+    if (inv_get_gyro_present()
+        && ((inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION) == 0)) {
+        result = inv_get_mpu_memory(KEY_D_1_98, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        motionFlag = (unsigned short)regs[0] * 256 + (unsigned short)regs[1];
+
+        _mlDebug(MPL_LOGV("motionFlag from RAM : 0x%04X\n", motionFlag);
+            )
+            if (motionFlag > 0) {
+            unsigned char biasReg[12];
+            long biasTmp2[3], biasTmp[3];
+            int i;
+
+            if (inv_obj->last_motion != motionFlag) {
+                result = inv_get_mpu_memory(KEY_D_2_96, 12, biasReg);
+
+                for (i = 0; i < 3; i++) {
+                    biasTmp2[i] = inv_big8_to_int32(&biasReg[i * 4]);
+                }
+                // Rotate bias vector by the transpose of the orientation matrix
+                for (i = 0; i < 3; ++i) {
+                    biasTmp[i] =
+                        inv_q30_mult(biasTmp2[0],
+                                     inv_obj->gyro_orient[i]) +
+                        inv_q30_mult(biasTmp2[1],
+                                     inv_obj->gyro_orient[i + 3]) +
+                        inv_q30_mult(biasTmp2[2], inv_obj->gyro_orient[i + 6]);
+                }
+                inv_obj->gyro_bias[0] = inv_q30_mult(biasTmp[0], 1501974482L);
+                inv_obj->gyro_bias[1] = inv_q30_mult(biasTmp[1], 1501974482L);
+                inv_obj->gyro_bias[2] = inv_q30_mult(biasTmp[2], 1501974482L);
+            }
+            inv_set_motion_state(INV_NO_MOTION);
+        } else {
+            // We are in a motion state
+            inv_set_motion_state(INV_MOTION);
+        }
+        inv_obj->last_motion = motionFlag;
+
+    }
+#endif                          // CONFIG_MPU_SENSORS_MPU3050
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_enable_bias_no_motion(void)
+{
+    inv_error_t result;
+    inv_params_obj.bias_mode |= INV_BIAS_FROM_NO_MOTION;
+    result =
+        inv_register_fifo_rate_process(MLPollMotionStatus,
+                                       INV_PRIORITY_BIAS_NO_MOTION);
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_turn_on_bias_from_no_motion();
+#endif
+    return result;
+}
+
+inv_error_t inv_disable_bias_no_motion(void)
+{
+    inv_error_t result;
+    inv_params_obj.bias_mode &= ~INV_BIAS_FROM_NO_MOTION;
+    result = inv_unregister_fifo_rate_process(MLPollMotionStatus);
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+    defined CONFIG_MPU_SENSORS_MPU6050B1
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_turn_off_bias_from_no_motion();
+#endif
+    return result;
+}
diff --git a/invensense/mlsdk/mllite/mlBiasNoMotion.h b/invensense/mlsdk/mllite/mlBiasNoMotion.h
new file mode 100644
index 0000000..030dbf9
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlBiasNoMotion.h
@@ -0,0 +1,40 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#ifndef INV_BIAS_NO_MOTION_H__
+#define INV_BIAS_NO_MOTION_H__
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    inv_error_t inv_enable_bias_no_motion(void);
+    inv_error_t inv_disable_bias_no_motion(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INV_BIAS_NO_MOTION_H__
diff --git a/invensense/mlsdk/mllite/mlFIFO.c b/invensense/mlsdk/mllite/mlFIFO.c
new file mode 100644
index 0000000..457b0f4
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlFIFO.c
@@ -0,0 +1,2265 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlFIFO.c 5653 2011-06-16 21:06:55Z nroyer $
+ *
+ *******************************************************************************/
+
+/**
+ *   @defgroup MLFIFO
+ *   @brief Motion Library - FIFO Driver.
+ *          The FIFO API Interface.
+ *
+ *   @{
+ *       @file mlFIFO.c
+ *       @brief FIFO Interface.
+**/
+
+#include <string.h>
+#include "mpu.h"
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+#    include "mpu6050a2.h"
+#elif defined CONFIG_MPU_SENSORS_MPU6050B1
+#    include "mpu6050b1.h"
+#elif defined CONFIG_MPU_SENSORS_MPU3050
+#  include "mpu3050.h"
+#else
+#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
+#endif
+#include "mlFIFO.h"
+#include "mlFIFOHW.h"
+#include "dmpKey.h"
+#include "mlMathFunc.h"
+#include "ml.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "mlstates.h"
+#include "mlsupervisor.h"
+#include "mlos.h"
+#include "mlmath.h"
+#include "accel.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-fifo"
+
+#define FIFO_DEBUG 0
+
+#define REF_QUATERNION             (0)
+#define REF_GYROS                  (REF_QUATERNION + 4)
+#define REF_CONTROL                (REF_GYROS + 3)
+#define REF_RAW                    (REF_CONTROL + 4)
+#define REF_RAW_EXTERNAL           (REF_RAW + 8)
+#define REF_ACCEL                  (REF_RAW_EXTERNAL + 6)
+#define REF_QUANT_ACCEL            (REF_ACCEL + 3)
+#define REF_QUATERNION_6AXIS       (REF_QUANT_ACCEL + INV_MAX_NUM_ACCEL_SAMPLES)
+#define REF_EIS                    (REF_QUATERNION_6AXIS + 4)
+#define REF_DMP_PACKET             (REF_EIS + 3)
+#define REF_GARBAGE                (REF_DMP_PACKET + 1)
+#define REF_LAST                   (REF_GARBAGE + 1)
+
+long fifo_scale[REF_LAST] = {
+    (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Quaternion
+    // 2^(16+30)/((2^30)*((3.14159265358/180)/200)/2)
+    1501974482L, 1501974482L, 1501974482L,  // Gyro
+    (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Control
+    (1L << 14),                 // Temperature
+    (1L << 14), (1L << 14), (1L << 14), // Raw Gyro
+    (1L << 14), (1L << 14), (1L << 14), (0),    // Raw Accel, plus padding
+    (1L << 14), (1L << 14), (1L << 14), // Raw External
+    (1L << 14), (1L << 14), (1L << 14), // Raw External
+    (1L << 16), (1L << 16), (1L << 16), // Accel
+    (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Quant Accel
+    (1L << 30), (1L << 30), (1L << 30), (1L << 30), //Quant Accel
+    (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Quaternion 6 Axis
+    (1L << 30), (1L << 30), (1L << 30), // EIS
+    (1L << 30),                 // Packet
+    (1L << 30),                 // Garbage
+};
+
+// The scale factors for tap need to match the number in fifo_scale above.
+// fifo_base_offset below may also need to be changed if this is not 8
+#if INV_MAX_NUM_ACCEL_SAMPLES != 8
+#error  INV_MAX_NUM_ACCEL_SAMPLES must be defined to 8
+#endif
+
+#define CONFIG_QUAT                (0)
+#define CONFIG_GYROS               (CONFIG_QUAT + 1)
+#define CONFIG_CONTROL_DATA        (CONFIG_GYROS + 1)
+#define CONFIG_TEMPERATURE         (CONFIG_CONTROL_DATA + 1)
+#define CONFIG_RAW_DATA            (CONFIG_TEMPERATURE + 1)
+#define CONFIG_RAW_EXTERNAL        (CONFIG_RAW_DATA + 1)
+#define CONFIG_ACCEL               (CONFIG_RAW_EXTERNAL + 1)
+#define CONFIG_DMP_QUANT_ACCEL     (CONFIG_ACCEL + 1)
+#define CONFIG_EIS                 (CONFIG_DMP_QUANT_ACCEL + 1)
+#define CONFIG_DMP_PACKET_NUMBER   (CONFIG_EIS + 1)
+#define CONFIG_FOOTER              (CONFIG_DMP_PACKET_NUMBER + 1)
+#define NUMFIFOELEMENTS            (CONFIG_FOOTER + 1)
+
+const int fifo_base_offset[NUMFIFOELEMENTS] = {
+    REF_QUATERNION * 4,
+    REF_GYROS * 4,
+    REF_CONTROL * 4,
+    REF_RAW * 4,
+    REF_RAW * 4 + 4,
+    REF_RAW_EXTERNAL * 4,
+    REF_ACCEL * 4,
+    REF_QUANT_ACCEL * 4,
+    REF_EIS * 4,
+    REF_DMP_PACKET * 4,
+    REF_GARBAGE * 4
+};
+
+struct fifo_obj {
+    void (*fifo_process_cb) (void);
+    long decoded[REF_LAST];
+    long decoded_accel[INV_MAX_NUM_ACCEL_SAMPLES][ACCEL_NUM_AXES];
+    int offsets[REF_LAST * 4];
+    int cache;
+    uint_fast8_t gyro_source;
+    unsigned short fifo_rate;
+    unsigned short sample_step_size_ms;
+    uint_fast16_t fifo_packet_size;
+    uint_fast16_t data_config[NUMFIFOELEMENTS];
+    unsigned char reference_count[REF_LAST];
+    long acc_bias_filt[3];
+    float acc_filter_coef;
+    long gravity_cache[3];
+};
+
+static struct fifo_obj fifo_obj;
+
+#define FIFO_CACHE_TEMPERATURE 1
+#define FIFO_CACHE_GYRO 2
+#define FIFO_CACHE_GRAVITY_BODY 4
+#define FIFO_CACHE_ACC_BIAS 8
+
+struct fifo_rate_obj {
+    // These describe callbacks happening everytime a FIFO block is processed
+    int_fast8_t num_cb;
+    HANDLE mutex;
+    inv_obj_func fifo_process_cb[MAX_HIGH_RATE_PROCESSES];
+    int priority[MAX_HIGH_RATE_PROCESSES];
+};
+
+struct fifo_rate_obj fifo_rate_obj;
+
+/** Sets accuracy to be one of 0, INV_32_BIT, or INV_16_BIT. Looks up old
+ *  accuracy if needed.
+ */
+static uint_fast16_t inv_set_fifo_accuracy(uint_fast16_t elements,
+                                           uint_fast16_t accuracy,
+                                           uint_fast8_t configOffset)
+{
+    if (elements) {
+        if (!accuracy)
+            accuracy = fifo_obj.data_config[configOffset];
+        else if (accuracy & INV_16_BIT)
+            if ((fifo_obj.data_config[configOffset] & INV_32_BIT))
+                accuracy = INV_32_BIT;  // 32-bits takes priority
+            else
+                accuracy = INV_16_BIT;
+        else
+            accuracy = INV_32_BIT;
+    } else {
+        accuracy = 0;
+    }
+
+    return accuracy;
+}
+
+/** Adjusts (len) Reference Counts, at offset (refOffset). If increment is 0,
+ * the reference counts are subtracted, otherwise they are incremented for each
+ * bit set in element. The value returned are the elements that should be sent
+ * out as data through the FIFO.
+*/
+static uint_fast16_t inv_set_fifo_reference(uint_fast16_t elements,
+                                            uint_fast16_t increment,
+                                            uint_fast8_t refOffset,
+                                            uint_fast8_t len)
+{
+    uint_fast8_t kk;
+
+    if (increment == 0) {
+        for (kk = 0; kk < len; ++kk) {
+            if ((elements & 1)
+                && (fifo_obj.reference_count[kk + refOffset] > 0)) {
+                fifo_obj.reference_count[kk + refOffset]--;
+            }
+            elements >>= 1;
+        }
+    } else {
+        for (kk = 0; kk < len; ++kk) {
+            if (elements & 1)
+                fifo_obj.reference_count[kk + refOffset]++;
+            elements >>= 1;
+        }
+    }
+    elements = 0;
+    for (kk = 0; kk < len; ++kk) {
+        if (fifo_obj.reference_count[kk + refOffset] > 0)
+            elements |= (1 << kk);
+    }
+    return elements;
+}
+
+/**
+ * @param[in] accuracy INV_16_BIT or INV_32_BIT when constructing data to send
+ *  out the FIFO, 0 when removing from the FIFO.
+ */
+static inv_error_t inv_construct3_fifo(unsigned char *regs,
+                                       uint_fast16_t elements,
+                                       uint_fast16_t accuracy,
+                                       uint_fast8_t refOffset,
+                                       unsigned short key,
+                                       uint_fast8_t configOffset)
+{
+    int_fast8_t kk;
+    inv_error_t result;
+
+    elements = inv_set_fifo_reference(elements, accuracy, refOffset, 3);
+    accuracy = inv_set_fifo_accuracy(elements, accuracy, configOffset);
+
+    if (accuracy & INV_16_BIT) {
+        regs[0] = DINAF8 + 2;
+    }
+
+    fifo_obj.data_config[configOffset] = elements | accuracy;
+
+    for (kk = 0; kk < 3; ++kk) {
+        if ((elements & 1) == 0)
+            regs[kk + 1] = DINAA0 + 3;
+        elements >>= 1;
+    }
+
+    result = inv_set_mpu_memory(key, 4, regs);
+
+    return result;
+}
+
+/**
+ * @internal
+ * Puts footer on FIFO data.
+ */
+static inv_error_t inv_set_footer(void)
+{
+    unsigned char regs = DINA30;
+    uint_fast8_t tmp_count;
+    int_fast8_t i, j;
+    int offset;
+    int result;
+    int *fifo_offsets_ptr = fifo_obj.offsets;
+
+    fifo_obj.fifo_packet_size = 0;
+    for (i = 0; i < NUMFIFOELEMENTS; i++) {
+        tmp_count = 0;
+        offset = fifo_base_offset[i];
+        for (j = 0; j < 8; j++) {
+            if ((fifo_obj.data_config[i] >> j) & 0x0001) {
+#ifndef BIG_ENDIAN
+                // Special Case for Byte Ordering on Accel Data
+                if ((i == CONFIG_RAW_DATA) && (j > 2)) {
+                    tmp_count += 2;
+                    switch (inv_get_dl_config()->accel->endian) {
+                    case EXT_SLAVE_BIG_ENDIAN:
+                        *fifo_offsets_ptr++ = offset + 3;
+                        *fifo_offsets_ptr++ = offset + 2;
+                        break;
+                    case EXT_SLAVE_LITTLE_ENDIAN:
+                        *fifo_offsets_ptr++ = offset + 2;
+                        *fifo_offsets_ptr++ = offset + 3;
+                        break;
+                    case EXT_SLAVE_FS8_BIG_ENDIAN:
+                        if (j == 3) {
+                            // Throw this byte away
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                            *fifo_offsets_ptr++ = offset + 3;
+                        } else if (j == 4) {
+                            *fifo_offsets_ptr++ = offset + 3;
+                            *fifo_offsets_ptr++ = offset + 7;
+                        } else {
+                            // Throw these byte away
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                        }
+                        break;
+                    case EXT_SLAVE_FS16_BIG_ENDIAN:
+                        if (j == 3) {
+                            // Throw this byte away
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                            *fifo_offsets_ptr++ = offset + 3;
+                        } else if (j == 4) {
+                            *fifo_offsets_ptr++ = offset - 2;
+                            *fifo_offsets_ptr++ = offset + 3;
+                        } else {
+                            *fifo_offsets_ptr++ = offset - 2;
+                            *fifo_offsets_ptr++ = offset + 3;
+                        }
+                        break;
+                    default:
+                        return INV_ERROR;    // Bad value on ordering
+                    }
+                } else {
+                    tmp_count += 2;
+                    *fifo_offsets_ptr++ = offset + 3;
+                    *fifo_offsets_ptr++ = offset + 2;
+                    if (fifo_obj.data_config[i] & INV_32_BIT) {
+                        *fifo_offsets_ptr++ = offset + 1;
+                        *fifo_offsets_ptr++ = offset;
+                        tmp_count += 2;
+                    }
+                }
+#else
+                // Big Endian Platform
+                // Special Case for Byte Ordering on Accel Data
+                if ((i == CONFIG_RAW_DATA) && (j > 2)) {
+                    tmp_count += 2;
+                    switch (inv_get_dl_config()->accel->endian) {
+                    case EXT_SLAVE_BIG_ENDIAN:
+                        *fifo_offsets_ptr++ = offset + 2;
+                        *fifo_offsets_ptr++ = offset + 3;
+                        break;
+                    case EXT_SLAVE_LITTLE_ENDIAN:
+                        *fifo_offsets_ptr++ = offset + 3;
+                        *fifo_offsets_ptr++ = offset + 2;
+                        break;
+                    case EXT_SLAVE_FS8_BIG_ENDIAN:
+                        if (j == 3) {
+                            // Throw this byte away
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                            *fifo_offsets_ptr++ = offset;
+                        } else if (j == 4) {
+                            *fifo_offsets_ptr++ = offset;
+                            *fifo_offsets_ptr++ = offset + 4;
+                        } else {
+                            // Throw these bytes away
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                        }
+                        break;
+                    case EXT_SLAVE_FS16_BIG_ENDIAN:
+                        if (j == 3) {
+                            // Throw this byte away
+                            *fifo_offsets_ptr++ =
+                                fifo_base_offset[CONFIG_FOOTER];
+                            *fifo_offsets_ptr++ = offset;
+                        } else if (j == 4) {
+                            *fifo_offsets_ptr++ = offset - 3;
+                            *fifo_offsets_ptr++ = offset;
+                        } else {
+                            *fifo_offsets_ptr++ = offset - 3;
+                            *fifo_offsets_ptr++ = offset;
+                        }
+                        break;
+                    default:
+                        return INV_ERROR;    // Bad value on ordering
+                    }
+                } else {
+                    tmp_count += 2;
+                    *fifo_offsets_ptr++ = offset;
+                    *fifo_offsets_ptr++ = offset + 1;
+                    if (fifo_obj.data_config[i] & INV_32_BIT) {
+                        *fifo_offsets_ptr++ = offset + 2;
+                        *fifo_offsets_ptr++ = offset + 3;
+                        tmp_count += 2;
+                    }
+                }
+
+#endif
+            }
+            offset += 4;
+        }
+        fifo_obj.fifo_packet_size += tmp_count;
+    }
+    if (fifo_obj.data_config[CONFIG_FOOTER] == 0 &&
+        fifo_obj.fifo_packet_size > 0) {
+        // Add footer
+        result = inv_set_mpu_memory(KEY_CFG_16, 1, &regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        fifo_obj.data_config[CONFIG_FOOTER] = 0x0001 | INV_16_BIT;
+        fifo_obj.fifo_packet_size += 2;
+    } else if (fifo_obj.data_config[CONFIG_FOOTER] &&
+               (fifo_obj.fifo_packet_size == 2)) {
+        // Remove Footer
+        regs = DINAA0 + 3;
+        result = inv_set_mpu_memory(KEY_CFG_16, 1, &regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        fifo_obj.data_config[CONFIG_FOOTER] = 0;
+        fifo_obj.fifo_packet_size = 0;
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_decode_quantized_accel(void)
+{
+    int kk;
+    int fifoRate = inv_get_fifo_rate();
+
+    if (!fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = (INV_MAX_NUM_ACCEL_SAMPLES - (fifoRate + 1));
+         kk < INV_MAX_NUM_ACCEL_SAMPLES; kk++) {
+        union {
+            unsigned int u10:10;
+            signed int s10:10;
+        } temp;
+
+        union {
+            uint32_t u32;
+            int32_t s32;
+        } value;
+
+        value.u32 = fifo_obj.decoded[REF_QUANT_ACCEL + kk];
+        // unquantize this samples.
+        // They are stored as x * 2^20 + y * 2^10 + z
+        // Z
+        temp.u10 = value.u32 & 0x3ff;
+        value.s32 -= temp.s10;
+        fifo_obj.decoded_accel[kk][2] = temp.s10 * 64;
+        // Y
+        value.s32 = value.s32 / 1024;
+        temp.u10 = value.u32 & 0x3ff;
+        value.s32 -= temp.s10;
+        fifo_obj.decoded_accel[kk][1] = temp.s10 * 64;
+        // X
+        value.s32 = value.s32 / 1024;
+        temp.u10 = value.u32 & 0x3ff;
+        fifo_obj.decoded_accel[kk][0] = temp.s10 * 64;
+    }
+    return INV_SUCCESS;
+}
+
+static inv_error_t inv_state_change_fifo(unsigned char newState)
+{
+    inv_error_t result = INV_SUCCESS;
+    unsigned char regs[4];
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    /* Don't reset the fifo on a fifo rate change */
+    if ((mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) &&
+        (newState != inv_get_state()) && (inv_dmpkey_supported(KEY_D_1_178))) {
+        /* Delay output on restart by 50ms due to warm up time of gyros */
+
+        short delay = (short)-((50 / inv_get_sample_step_size_ms()) + 1);
+        inv_init_fifo_hardare();
+        inv_int16_to_big8(delay, regs);
+        result = inv_set_mpu_memory(KEY_D_1_178, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    if (INV_STATE_DMP_STARTED == newState) {
+        if (inv_dmpkey_supported(KEY_D_1_128)) {
+            double tmp;
+            tmp = (0x20000000L * M_PI) / (fifo_obj.fifo_rate + 1);
+            if (tmp > 0x40000000L)
+                tmp = 0x40000000L;
+            (void)inv_int32_to_big8((long)tmp, regs);
+            result = inv_set_mpu_memory(KEY_D_1_128, sizeof(long), regs);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+            result = inv_reset_fifo();
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+    }
+    return result;
+}
+
+/**
+ * @internal
+ * @brief get the FIFO packet size
+ * @return the FIFO packet size
+ */
+uint_fast16_t inv_get_fifo_packet_size(void)
+{
+    return fifo_obj.fifo_packet_size;
+}
+
+/**
+ *  @brief  Initializes all the internal static variables for
+ *          the FIFO module.
+ *  @note   Should be called by the initialization routine such
+ *          as inv_dmp_open().
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_init_fifo_param(void)
+{
+    inv_error_t result;
+    memset(&fifo_obj, 0, sizeof(struct fifo_obj));
+    fifo_obj.decoded[REF_QUATERNION] = 1073741824L; // Set to Identity
+    inv_set_linear_accel_filter_coef(0.f);
+    fifo_obj.fifo_rate = 20;
+    fifo_obj.sample_step_size_ms = 100;
+    memset(&fifo_rate_obj, 0, sizeof(struct fifo_rate_obj));
+    result = inv_create_mutex(&fifo_rate_obj.mutex);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_register_state_callback(inv_state_change_fifo);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ *  @brief  Close the FIFO usage.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_close_fifo(void)
+{
+    inv_error_t result;
+    inv_error_t first = INV_SUCCESS;
+    result = inv_unregister_state_callback(inv_state_change_fifo);
+    ERROR_CHECK_FIRST(first, result);
+    result = inv_destroy_mutex(fifo_rate_obj.mutex);
+    ERROR_CHECK_FIRST(first, result);
+    memset(&fifo_rate_obj, 0, sizeof(struct fifo_rate_obj));
+    return first;
+}
+
+/**
+ * Set the gyro source to output to the fifo
+ *
+ * @param source The source.  One of
+ * - INV_GYRO_FROM_RAW
+ * - INV_GYRO_FROM_QUATERNION
+ *
+ * @return INV_SUCCESS or non-zero error code;
+ */
+inv_error_t inv_set_gyro_data_source(uint_fast8_t source)
+{
+    if (source != INV_GYRO_FROM_QUATERNION && source != INV_GYRO_FROM_RAW) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    fifo_obj.gyro_source = source;
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Reads and processes FIFO data. Also handles callbacks when data is
+ *          ready.
+ *  @param  numPackets
+ *              Number of FIFO packets to try to read. You should
+ *              use a large number here, such as 100, if you want to read all
+ *              the full packets in the FIFO, which is typical operation.
+ *  @param  processed
+ *              The number of FIFO packets processed. This may be incremented
+ *              even if high rate processes later fail.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_read_and_process_fifo(int_fast8_t numPackets,
+                                      int_fast8_t * processed)
+{
+    int_fast8_t packet;
+    inv_error_t result = INV_SUCCESS;
+    uint_fast16_t read;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    int kk;
+
+    if (NULL == processed)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    *processed = 0;
+    if (fifo_obj.fifo_packet_size == 0)
+        return result;          // Nothing to read
+
+    for (packet = 0; packet < numPackets; ++packet) {
+        if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) {
+            unsigned char footer_n_data[MAX_FIFO_LENGTH + FIFO_FOOTER_SIZE];
+            unsigned char *buf = &footer_n_data[FIFO_FOOTER_SIZE];
+            read = inv_get_fifo((uint_fast16_t) fifo_obj.fifo_packet_size,
+                                footer_n_data);
+            if (0 == read ||
+                read != fifo_obj.fifo_packet_size - FIFO_FOOTER_SIZE) {
+                result = inv_get_fifo_status();
+                if (INV_SUCCESS != result) {
+                    memset(fifo_obj.decoded, 0, sizeof(fifo_obj.decoded));
+                }
+                return result;
+            }
+
+            result = inv_process_fifo_packet(buf);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        } else if (inv_accel_present()) {
+            long data[ACCEL_NUM_AXES];
+            result = inv_get_accel_data(data);
+            if (result == INV_ERROR_ACCEL_DATA_NOT_READY) {
+                return INV_SUCCESS;
+            }
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+
+            memset(fifo_obj.decoded, 0, sizeof(fifo_obj.decoded));
+            fifo_obj.cache = 0;
+            for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) {
+                fifo_obj.decoded[REF_RAW + 4 + kk] =
+                    inv_q30_mult((data[kk] << 16),
+                                 fifo_scale[REF_RAW + 4 + kk]);
+                fifo_obj.decoded[REF_ACCEL + kk] =
+                    inv_q30_mult((data[kk] << 15), fifo_scale[REF_ACCEL + kk]);
+                fifo_obj.decoded[REF_ACCEL + kk] -=
+                    inv_obj.scaled_accel_bias[kk];
+            }
+        }
+        // The buffer was processed correctly, so increment even if
+        // other processes fail later, which will return an error
+        *processed = *processed + 1;
+
+        if ((fifo_obj.fifo_rate < INV_MAX_NUM_ACCEL_SAMPLES) &&
+            fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL]) {
+            result = inv_decode_quantized_accel();
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+
+        if (fifo_obj.data_config[CONFIG_QUAT]) {
+            result = inv_accel_compass_supervisor();
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+
+        result = inv_pressure_supervisor();
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        // Callbacks now that we have a buffer of data ready
+        result = inv_run_fifo_rate_processes();
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+    }
+    return result;
+}
+
+/**
+ *  @brief  inv_set_fifo_processed_callback is used to set a processed data callback
+ *          function.  inv_set_fifo_processed_callback sets a user defined callback
+ *          function that triggers when all the decoding has been finished by
+ *          the motion processing engines. It is called before other bigger
+ *          processing engines to allow lower latency for the user.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start()
+ *          must <b>NOT</b> have been called.
+ *
+ *  @param  func    A user defined callback function.
+ *
+ *  @return INV_SUCCESS if successful, or non-zero error code otherwise.
+ */
+inv_error_t inv_set_fifo_processed_callback(void (*func) (void))
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    fifo_obj.fifo_process_cb = func;
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @internal
+ * @brief   Process data from the dmp read via the fifo.  Takes a buffer
+ *          filled with bytes read from the DMP FIFO.
+ *          Currently expects only the 16 bytes of quaternion data.
+ *          Calculates the motion parameters from that data and stores the
+ *          results in an internal data structure.
+ * @param[in,out]   dmpData     Pointer to the buffer containing the fifo data.
+ * @return  INV_SUCCESS or error code.
+**/
+inv_error_t inv_process_fifo_packet(const unsigned char *dmpData)
+{
+    INVENSENSE_FUNC_START;
+    int N, kk;
+    unsigned char *p;
+
+    p = (unsigned char *)(&fifo_obj.decoded);
+    N = fifo_obj.fifo_packet_size;
+    if (N > sizeof(fifo_obj.decoded))
+        return INV_ERROR_ASSERTION_FAILURE;
+
+    memset(&fifo_obj.decoded, 0, sizeof(fifo_obj.decoded));
+
+    for (kk = 0; kk < N; ++kk) {
+        p[fifo_obj.offsets[kk]] = *dmpData++;
+    }
+
+    // If multiplies are much greater cost than if checks, you could check
+    // to see if fifo_scale is non-zero first, or equal to (1L<<30)
+    for (kk = 0; kk < REF_LAST; ++kk) {
+        fifo_obj.decoded[kk] =
+            inv_q30_mult(fifo_obj.decoded[kk], fifo_scale[kk]);
+    }
+
+    memcpy(&fifo_obj.decoded[REF_QUATERNION_6AXIS],
+           &fifo_obj.decoded[REF_QUATERNION], 4 * sizeof(long));
+
+    inv_obj.flags[INV_PROCESSED_DATA_READY] = 1;
+    fifo_obj.cache = 0;
+
+    return INV_SUCCESS;
+}
+
+/** Converts 16-bit temperature data as read from temperature register
+* into Celcius scaled by 2^16.
+*/
+long inv_decode_temperature(short tempReg)
+{
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+    // Celcius = 35 + (T + 3048.7)/325.9
+    return 2906830L + inv_q30_mult((long)tempReg << 16, 3294697L);
+#endif
+#if defined CONFIG_MPU_SENSORS_MPU6050B1
+    // Celcius = 35 + (T + 927.4)/360.6
+    return 2462307L + inv_q30_mult((long)tempReg << 16, 2977653L);
+#endif
+#if defined CONFIG_MPU_SENSORS_MPU3050
+    // Celcius = 35 + (T + 13200)/280
+    return 5383314L + inv_q30_mult((long)tempReg << 16, 3834792L);
+#endif
+}
+
+/**  @internal
+* Returns the temperature in hardware units. The scaling may change from part to part.
+*/
+inv_error_t inv_get_temperature_raw(short *data)
+{
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_TEMPERATURE]) {
+        inv_error_t result;
+        unsigned char regs[2];
+        if ((fifo_obj.cache & FIFO_CACHE_TEMPERATURE) == 0) {
+            if (FIFO_DEBUG)
+                MPL_LOGI("Fetching the temperature from the registers\n");
+            fifo_obj.cache |= FIFO_CACHE_TEMPERATURE;
+            result = inv_serial_read(inv_get_serial_handle(),
+                                inv_get_mpu_slave_addr(), MPUREG_TEMP_OUT_H, 2,
+                                regs);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+            fifo_obj.decoded[REF_RAW] = ((short)regs[0] << 8) | (regs[1]);
+        }
+    }
+    *data = (short)fifo_obj.decoded[REF_RAW];
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 1-element vector of temperature. It is read from the hardware if it
+ *              doesn't exist in the FIFO.
+ *  @param[out] data    1-element vector of temperature
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_temperature(long *data)
+{
+    short tr;
+    inv_error_t result;
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+    result = inv_get_temperature_raw(&tr);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    data[0] = inv_decode_temperature(tr);
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Get the Decoded Accel Data.
+ *  @param  data
+ *              a buffer to store the quantized data.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_get_unquantized_accel(long *data)
+{
+    int ii, kk;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (ii = 0; ii < INV_MAX_NUM_ACCEL_SAMPLES; ii++) {
+        for (kk = 0; kk < ACCEL_NUM_AXES; kk++) {
+            data[ii * ACCEL_NUM_AXES + kk] = fifo_obj.decoded_accel[ii][kk];
+        }
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Get the Quantized Accel data algorithm output from the FIFO.
+ *  @param  data
+ *              a buffer to store the quantized data.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_get_quantized_accel(long *data)
+{
+    int ii;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (ii = 0; ii < INV_MAX_NUM_ACCEL_SAMPLES; ii++) {
+        data[ii] = fifo_obj.decoded[REF_QUANT_ACCEL + ii];
+    }
+
+    return INV_SUCCESS;
+}
+
+/** This gets raw gyro data. The data is taken from the FIFO if it was put in the FIFO
+*  and it is read from the registers if it was not put into the FIFO. The data is
+*  cached till the next FIFO processing block time.
+* @param[out] data Length 3, Gyro data
+*/
+inv_error_t inv_get_gyro_sensor(long *data)
+{
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+    if ((fifo_obj.data_config[CONFIG_RAW_DATA] & 7) != 7) {
+        inv_error_t result;
+        unsigned char regs[6];
+        if ((fifo_obj.cache & FIFO_CACHE_GYRO) == 0) {
+            fifo_obj.cache |= FIFO_CACHE_GYRO;
+            result =
+                inv_serial_read(inv_get_serial_handle(),
+                                inv_get_mpu_slave_addr(), MPUREG_GYRO_XOUT_H, 6,
+                                regs);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+            fifo_obj.decoded[REF_RAW + 1] =
+                (((long)regs[0]) << 24) | (((long)regs[1]) << 16);
+            fifo_obj.decoded[REF_RAW + 2] =
+                (((long)regs[2]) << 24) | (((long)regs[3]) << 16);
+            fifo_obj.decoded[REF_RAW + 3] =
+                (((long)regs[4]) << 24) | (((long)regs[5]) << 16);
+
+            // Temperature starts at location 0, Gyro at location 1.
+            fifo_obj.decoded[REF_RAW + 1] =
+                inv_q30_mult(fifo_obj.decoded[REF_RAW + 1],
+                             fifo_scale[REF_RAW + 1]);
+            fifo_obj.decoded[REF_RAW + 2] =
+                inv_q30_mult(fifo_obj.decoded[REF_RAW + 2],
+                             fifo_scale[REF_RAW + 2]);
+            fifo_obj.decoded[REF_RAW + 3] =
+                inv_q30_mult(fifo_obj.decoded[REF_RAW + 3],
+                             fifo_scale[REF_RAW + 3]);
+        }
+        data[0] = fifo_obj.decoded[REF_RAW + 1];
+        data[1] = fifo_obj.decoded[REF_RAW + 2];
+        data[2] = fifo_obj.decoded[REF_RAW + 3];
+    } else {
+        long data2[6];
+        inv_get_gyro_and_accel_sensor(data2);
+        data[0] = data2[0];
+        data[1] = data2[1];
+        data[2] = data2[2];
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 6-element vector of gyro and accel data
+ *  @param[out] data    6-element vector of gyro and accel data
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_gyro_and_accel_sensor(long *data)
+{
+    int ii;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_RAW_DATA])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (ii = 0; ii < (GYRO_NUM_AXES + ACCEL_NUM_AXES); ii++) {
+        data[ii] = fifo_obj.decoded[REF_RAW + 1 + ii];
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 3-element vector of external sensor
+ *  @param[out] data    3-element vector of external sensor
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_external_sensor_data(long *data, int size)
+{
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+	defined CONFIG_MPU_SENSORS_MPU6050B1
+    int ii;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_RAW_EXTERNAL])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (ii = 0; ii < size && ii < 6; ii++) {
+        data[ii] = fifo_obj.decoded[REF_RAW_EXTERNAL + ii];
+    }
+
+    return INV_SUCCESS;
+#else
+    memset(data, 0, COMPASS_NUM_AXES * sizeof(long));
+    return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+#endif
+}
+
+/**
+ *  Sends accelerometer data to the FIFO.
+ *
+ *  @param[in] elements Which of the 3 elements to send. Use INV_ALL for 3 axis
+ *            or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together
+ *            for a subset.
+ *
+ * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *            bit data. Set to zero to remove it from the FIFO.
+ */
+inv_error_t inv_send_accel(uint_fast16_t elements, uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[4] = { DINAF8 + 1, DINA28, DINA30, DINA38 };
+    inv_error_t result;
+    int kk;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    result = inv_construct3_fifo(regs, elements, accuracy, REF_ACCEL,
+                                 KEY_CFG_12, CONFIG_ACCEL);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    for (kk = 0; kk < ACCEL_NUM_AXES; kk++) {
+        fifo_scale[REF_ACCEL + kk] = 2 * inv_obj.accel_sens;
+    }
+
+    return inv_set_footer();
+}
+
+/**
+ * Sends control data to the FIFO. Control data is a 4 length vector of 32-bits.
+ *
+ *  @param[in] elements Which of the 4 elements to send. Use INV_ALL for all
+ *            or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3, INV_ELEMENT_4 or'd
+ *             together for a subset.
+ *
+ *  @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *             bit data. Set to zero to remove it from the FIFO.
+ */
+inv_error_t inv_send_cntrl_data(uint_fast16_t elements, uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    int_fast8_t kk;
+    inv_error_t result;
+    unsigned char regs[5] = { DINAF8 + 1, DINA20, DINA28, DINA30, DINA38 };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    elements = inv_set_fifo_reference(elements, accuracy, REF_CONTROL, 4);
+    accuracy = inv_set_fifo_accuracy(elements, accuracy, CONFIG_CONTROL_DATA);
+
+    if (accuracy & INV_16_BIT) {
+        regs[0] = DINAF8 + 2;
+    }
+
+    fifo_obj.data_config[CONFIG_CONTROL_DATA] = elements | accuracy;
+
+    for (kk = 0; kk < 4; ++kk) {
+        if ((elements & 1) == 0)
+            regs[kk + 1] = DINAA0 + 3;
+        elements >>= 1;
+    }
+
+    result = inv_set_mpu_memory(KEY_CFG_1, 5, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+}
+
+/**
+ * Adds a rolling counter to the fifo packet.  When used with the footer
+ * the data comes out the first time:
+ *
+ * @code
+ * <data0><data1>...<dataN><PacketNum0><PacketNum1>
+ * @endcode
+ * for every other packet it is
+ *
+ * @code
+ * <FifoFooter0><FifoFooter1><data0><data1>...<dataN><PacketNum0><PacketNum1>
+ * @endcode
+ *
+ * This allows for scanning of the fifo for packets
+ *
+ * @return INV_SUCCESS or error code
+ */
+inv_error_t inv_send_packet_number(uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    unsigned char regs;
+    uint_fast16_t elements;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    elements = inv_set_fifo_reference(1, accuracy, REF_DMP_PACKET, 1);
+    if (elements & 1) {
+        regs = DINA28;
+        fifo_obj.data_config[CONFIG_DMP_PACKET_NUMBER] =
+            INV_ELEMENT_1 | INV_16_BIT;
+    } else {
+        regs = DINAF8 + 3;
+        fifo_obj.data_config[CONFIG_DMP_PACKET_NUMBER] = 0;
+    }
+    result = inv_set_mpu_memory(KEY_CFG_23, 1, &regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+}
+
+/**
+ *  @brief  Send the computed gravity vectors into the FIFO.
+ *          The gravity vectors can be retrieved from the FIFO via
+ *          inv_get_gravity(), to have the gravitation vector expressed
+ *          in coordinates relative to the body.
+ *
+ *  Gravity is a derived vector derived from the quaternion.
+ *  @param  elements
+ *              the gravitation vectors components bitmask.
+ *              To send all compoents use INV_ALL.
+ *  @param  accuracy
+ *              The number of bits the gravitation vector is expressed
+ *              into.
+ *              Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *              bit data.
+ *              Set to zero to remove it from the FIFO.
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_send_gravity(uint_fast16_t elements, uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+
+    result = inv_send_quaternion(accuracy);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+}
+
+/** Sends gyro data to the FIFO. Gyro data is a 3 length vector
+ *  of 32-bits. Should be called once after inv_dmp_open() and before inv_dmp_start().
+ *  @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of them
+ *            or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together
+ *            for a subset.
+ *  @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *             bit data. Set to zero to remove it from the FIFO.
+ */
+inv_error_t inv_send_gyro(uint_fast16_t elements, uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[4] = { DINAF8 + 1, DINA20, DINA28, DINA30 };
+    inv_error_t result;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (fifo_obj.gyro_source == INV_GYRO_FROM_QUATERNION) {
+        regs[0] = DINA90 + 5;
+        result = inv_set_mpu_memory(KEY_CFG_GYRO_SOURCE, 1, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        regs[0] = DINAF8 + 1;
+        regs[1] = DINA20;
+        regs[2] = DINA28;
+        regs[3] = DINA30;
+    } else {
+        regs[0] = DINA90 + 10;
+        result = inv_set_mpu_memory(KEY_CFG_GYRO_SOURCE, 1, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        regs[0] = DINAF8 + 1;
+        regs[1] = DINA28;
+        regs[2] = DINA30;
+        regs[3] = DINA38;
+    }
+    result = inv_construct3_fifo(regs, elements, accuracy, REF_GYROS,
+                                 KEY_CFG_9, CONFIG_GYROS);
+
+    return inv_set_footer();
+}
+
+/** Sends linear accelerometer data to the FIFO.
+ *
+ *  Linear accelerometer data is a 3 length vector of 32-bits. It is the
+ *  acceleration in the body frame with gravity removed.
+ *
+ *
+ *  @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of
+ *            them or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together
+ *            for a subset.
+ *
+ *  NOTE: Elements is ignored if the fifo rate is < INV_MAX_NUM_ACCEL_SAMPLES
+ *  @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *             bit data. Set to zero to remove it from the FIFO.
+ */
+inv_error_t inv_send_linear_accel(uint_fast16_t elements,
+                                  uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    unsigned char state = inv_get_state();
+
+    if (state < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    result = inv_send_gravity(elements, accuracy);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_send_accel(elements, accuracy);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+}
+
+/** Sends linear world accelerometer data to the FIFO. Linear world
+ *  accelerometer data is a 3 length vector of 32-bits. It is the acceleration
+ *  in the world frame with gravity removed. Should be called once after
+ *  inv_dmp_open() and before inv_dmp_start().
+ *
+ *  @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of
+ *             them or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together
+ *             for a subset.
+ *  @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *             bit data.
+ */
+inv_error_t inv_send_linear_accel_in_world(uint_fast16_t elements,
+                                           uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+
+    result = inv_send_linear_accel(INV_ALL, accuracy);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_send_quaternion(accuracy);
+
+    return inv_set_footer();
+}
+
+/** Sends quaternion data to the FIFO. Quaternion data is a 4 length vector
+ *   of 32-bits. Should be called once after inv_dmp_open() and before inv_dmp_start().
+ * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16
+ *            bit data.
+ */
+inv_error_t inv_send_quaternion(uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[5] = { DINAF8 + 1, DINA20, DINA28,
+        DINA30, DINA38
+    };
+    uint_fast16_t elements, kk;
+    inv_error_t result;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    elements = inv_set_fifo_reference(0xf, accuracy, REF_QUATERNION, 4);
+    accuracy = inv_set_fifo_accuracy(elements, accuracy, CONFIG_QUAT);
+
+    if (accuracy & INV_16_BIT) {
+        regs[0] = DINAF8 + 2;
+    }
+
+    fifo_obj.data_config[CONFIG_QUAT] = elements | accuracy;
+
+    for (kk = 0; kk < 4; ++kk) {
+        if ((elements & 1) == 0)
+            regs[kk + 1] = DINAA0 + 3;
+        elements >>= 1;
+    }
+
+    result = inv_set_mpu_memory(KEY_CFG_8, 5, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+}
+
+/** Sends raw data to the FIFO.
+ *  Should be called once after inv_dmp_open() and before inv_dmp_start().
+ *  @param[in] elements Which of the 7 elements to send. Use INV_ALL for all of them
+ *            or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 ... INV_ELEMENT_7 or'd together
+ *            for a subset. The first element is temperature, the next 3 are gyro data,
+ *            and the last 3 accel data.
+ *  @param  accuracy
+ *              The element's accuracy, can be INV_16_BIT, INV_32_BIT, or 0 to turn off.
+ *  @return 0 if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_send_sensor_data(uint_fast16_t elements, uint_fast16_t accuracy)
+{
+    int result;
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+	defined CONFIG_MPU_SENSORS_MPU6050B1
+    unsigned char regs[7] = { DINAA0 + 3, DINAA0 + 3, DINAA0 + 3,
+        DINAA0 + 3, DINAA0 + 3, DINAA0 + 3,
+        DINAA0 + 3
+    };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (accuracy)
+        accuracy = INV_16_BIT;
+
+    elements = inv_set_fifo_reference(elements, accuracy, REF_RAW, 7);
+
+    if (elements & 1)
+        fifo_obj.data_config[CONFIG_TEMPERATURE] = 1 | INV_16_BIT;
+    else
+        fifo_obj.data_config[CONFIG_TEMPERATURE] = 0;
+    if (elements & 0x7e)
+        fifo_obj.data_config[CONFIG_RAW_DATA] =
+            (0x3f & (elements >> 1)) | INV_16_BIT;
+    else
+        fifo_obj.data_config[CONFIG_RAW_DATA] = 0;
+
+    if (elements & INV_ELEMENT_1) {
+        regs[0] = DINACA;
+    }
+    if (elements & INV_ELEMENT_2) {
+        regs[1] = DINBC4;
+    }
+    if (elements & INV_ELEMENT_3) {
+        regs[2] = DINACC;
+    }
+    if (elements & INV_ELEMENT_4) {
+        regs[3] = DINBC6;
+    }
+    if (elements & INV_ELEMENT_5) {
+        regs[4] = DINBC0;
+    }
+    if (elements & INV_ELEMENT_6) {
+        regs[5] = DINAC8;
+    }
+    if (elements & INV_ELEMENT_7) {
+        regs[6] = DINBC2;
+    }
+    result = inv_set_mpu_memory(KEY_CFG_15, 7, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+
+#else
+    INVENSENSE_FUNC_START;
+    unsigned char regs[4] = { DINAA0 + 3,
+        DINAA0 + 3,
+        DINAA0 + 3,
+        DINAA0 + 3
+    };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (accuracy)
+        accuracy = INV_16_BIT;
+
+    elements = inv_set_fifo_reference(elements, accuracy, REF_RAW, 7);
+
+    if (elements & 0x03) {
+        elements |= 0x03;
+        regs[0] = DINA20;
+    }
+    if (elements & 0x0C) {
+        elements |= 0x0C;
+        regs[1] = DINA28;
+    }
+    if (elements & 0x30) {
+        elements |= 0x30;
+        regs[2] = DINA30;
+    }
+    if (elements & 0x40) {
+        elements |= 0xC0;
+        regs[3] = DINA38;
+    }
+
+    result = inv_set_mpu_memory(KEY_CFG_15, 4, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    if (elements & 0x01)
+        fifo_obj.data_config[CONFIG_TEMPERATURE] = 1 | INV_16_BIT;
+    else
+        fifo_obj.data_config[CONFIG_TEMPERATURE] = 0;
+    if (elements & 0xfe)
+        fifo_obj.data_config[CONFIG_RAW_DATA] =
+            (0x7f & (elements >> 1)) | INV_16_BIT;
+    else
+        fifo_obj.data_config[CONFIG_RAW_DATA] = 0;
+
+    return inv_set_footer();
+#endif
+}
+
+/** Sends raw external data to the FIFO.
+ *  Should be called once after inv_dmp_open() and before inv_dmp_start().
+ *  @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of them
+ *            or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together
+ *            for a subset.
+ *  @param[in] accuracy INV_16_BIT to send data, 0 to stop sending this data.
+ *            Sending and Stop sending are reference counted, so data actually
+ *            stops when the reference reaches zero.
+ */
+inv_error_t inv_send_external_sensor_data(uint_fast16_t elements,
+                                          uint_fast16_t accuracy)
+{
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+	defined CONFIG_MPU_SENSORS_MPU6050B1
+    int result;
+    unsigned char regs[6] = { DINAA0 + 3, DINAA0 + 3,
+                              DINAA0 + 3, DINAA0 + 3,
+                              DINAA0 + 3, DINAA0 + 3 };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (accuracy)
+        accuracy = INV_16_BIT;
+
+    elements = inv_set_fifo_reference(elements, accuracy, REF_RAW_EXTERNAL, 6);
+
+    if (elements)
+        fifo_obj.data_config[CONFIG_RAW_EXTERNAL] = elements | INV_16_BIT;
+    else
+        fifo_obj.data_config[CONFIG_RAW_EXTERNAL] = 0;
+
+    if (elements & INV_ELEMENT_1) {
+        regs[0] = DINBC2;
+    }
+    if (elements & INV_ELEMENT_2) {
+        regs[1] = DINACA;
+    }
+    if (elements & INV_ELEMENT_3) {
+        regs[2] = DINBC4;
+    }
+    if (elements & INV_ELEMENT_4) {
+        regs[3] = DINBC0;
+    }
+    if (elements & INV_ELEMENT_5) {
+        regs[4] = DINAC8;
+    }
+    if (elements & INV_ELEMENT_6) {
+        regs[5] = DINACC;
+    }
+
+    result = inv_set_mpu_memory(KEY_CFG_EXTERNAL, sizeof(regs), regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+
+#else
+    return INV_ERROR_FEATURE_NOT_IMPLEMENTED;    // Feature not supported
+#endif
+}
+
+/**
+ *  @brief  Send the Quantized Acceleromter data into the FIFO.  The data can be
+ *          retrieved using inv_get_quantized_accel() or inv_get_unquantized_accel().
+ *
+ *  To be useful this should be set to fifo_rate + 1 if less than
+ *  INV_MAX_NUM_ACCEL_SAMPLES, otherwise it doesn't work.
+ *
+ *  @param  elements
+ *              the components bitmask.
+ *              To send all compoents use INV_ALL.
+ *
+ *  @param  accuracy
+ *              Use INV_32_BIT for 32-bit data or INV_16_BIT for
+ *              16-bit data.
+ *              Set to zero to remove it from the FIFO.
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_send_quantized_accel(uint_fast16_t elements,
+                                     uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[5] = { DINAF8 + 1, DINA20, DINA28,
+        DINA30, DINA38
+    };
+    unsigned char regs2[4] = { DINA20, DINA28,
+        DINA30, DINA38
+    };
+    inv_error_t result;
+    int_fast8_t kk;
+    int_fast8_t ii;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    elements = inv_set_fifo_reference(elements, accuracy, REF_QUANT_ACCEL, 8);
+
+    if (elements) {
+        fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL] = (elements) | INV_32_BIT;
+    } else {
+        fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL] = 0;
+    }
+
+    for (kk = 0; kk < INV_MAX_NUM_ACCEL_SAMPLES; ++kk) {
+        fifo_obj.decoded[REF_QUANT_ACCEL + kk] = 0;
+        for (ii = 0; ii < ACCEL_NUM_AXES; ii++) {
+            fifo_obj.decoded_accel[kk][ii] = 0;
+        }
+    }
+
+    for (kk = 0; kk < 4; ++kk) {
+        if ((elements & 1) == 0)
+            regs[kk + 1] = DINAA0 + 3;
+        elements >>= 1;
+    }
+
+    result = inv_set_mpu_memory(KEY_CFG_TAP0, 5, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    for (kk = 0; kk < 4; ++kk) {
+        if ((elements & 1) == 0)
+            regs2[kk] = DINAA0 + 3;
+        elements >>= 1;
+    }
+
+    result = inv_set_mpu_memory(KEY_CFG_TAP4, 4, regs2);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return inv_set_footer();
+}
+
+inv_error_t inv_send_eis(uint_fast16_t elements, uint_fast16_t accuracy)
+{
+    INVENSENSE_FUNC_START;
+    int_fast8_t kk;
+    unsigned char regs[3] = { DINA28, DINA30, DINA38 };
+    inv_error_t result;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (accuracy) {
+        accuracy = INV_32_BIT;
+    }
+
+    elements = inv_set_fifo_reference(elements, accuracy, REF_EIS, 3);
+    accuracy = inv_set_fifo_accuracy(elements, accuracy, CONFIG_EIS);
+
+    fifo_obj.data_config[CONFIG_EIS] = elements | accuracy;
+
+    for (kk = 0; kk < 3; ++kk) {
+        if ((elements & 1) == 0)
+            regs[kk] = DINAA0 + 7;
+        elements >>= 1;
+    }
+
+    result = inv_set_mpu_memory(KEY_P_EIS_FIFO_XSHIFT, 3, regs);
+
+    return inv_set_footer();
+}
+
+/**
+ * @brief       Returns 3-element vector of accelerometer data in body frame.
+ *
+ * @param[out]  data    3-element vector of accelerometer data in body frame.
+ *                      One gee = 2^16.
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_accel(long *data)
+{
+    int kk;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if ((!fifo_obj.data_config[CONFIG_ACCEL] &&
+         (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR))
+        ||
+        (!(mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) &&
+         !inv_accel_present()))
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) {
+        data[kk] = fifo_obj.decoded[REF_ACCEL + kk];
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 4-element quaternion vector derived from 6-axis or
+ *  9-axis if 9-axis was implemented. 6-axis is gyros and accels. 9-axis is
+ *  gyros, accel and compass.
+ *
+ *  @param[out] data    4-element quaternion vector. One is scaled to 2^30.
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_quaternion(long *data)
+{
+    int kk;
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_QUAT])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = 0; kk < 4; ++kk) {
+        data[kk] = fifo_obj.decoded[REF_QUATERNION + kk];
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 4-element quaternion vector derived from 6
+ *              axis sensors (gyros and accels).
+ *  @param[out] data
+ *                  4-element quaternion vector. One is scaled to 2^30.
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_6axis_quaternion(long *data)
+{
+    int kk;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_QUAT])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = 0; kk < 4; ++kk) {
+        data[kk] = fifo_obj.decoded[REF_QUATERNION_6AXIS + kk];
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_get_relative_quaternion(long *data)
+{
+    if (data == NULL)
+        return INV_ERROR;
+    data[0] = inv_obj.relative_quat[0];
+    data[1] = inv_obj.relative_quat[1];
+    data[2] = inv_obj.relative_quat[2];
+    data[3] = inv_obj.relative_quat[3];
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Returns 3-element vector of gyro data in body frame.
+ *  @param[out] data
+ *              3-element vector of gyro data in body frame
+ *              with gravity removed. One degree per second = 2^16.
+ *  @return 0 on success or an error code.
+ */
+inv_error_t inv_get_gyro(long *data)
+{
+    int kk;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (fifo_obj.data_config[CONFIG_GYROS]) {
+        for (kk = 0; kk < 3; ++kk) {
+            data[kk] = fifo_obj.decoded[REF_GYROS + kk];
+        }
+        return INV_SUCCESS;
+    } else {
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+    }
+}
+
+/**
+ *  @brief  Get the 3-element gravity vector from the FIFO expressed
+ *          in coordinates relative to the body frame.
+ *  @param  data
+ *              3-element vector of gravity in body frame.
+ *  @return 0 on success or an error code.
+ */
+inv_error_t inv_get_gravity(long *data)
+{
+    long quat[4];
+    int ii;
+    inv_error_t result;
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_QUAT])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    if ((fifo_obj.cache & FIFO_CACHE_GRAVITY_BODY) == 0) {
+        fifo_obj.cache |= FIFO_CACHE_GRAVITY_BODY;
+
+        // Compute it from Quaternion
+        result = inv_get_quaternion(quat);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        data[0] =
+            inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]);
+        data[1] =
+            inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]);
+        data[2] =
+            (inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0], quat[0])) -
+            1073741824L;
+
+        for (ii = 0; ii < ACCEL_NUM_AXES; ii++) {
+            data[ii] >>= 14;
+            fifo_obj.gravity_cache[ii] = data[ii];
+        }
+    } else {
+        data[0] = fifo_obj.gravity_cache[0];
+        data[1] = fifo_obj.gravity_cache[1];
+        data[2] = fifo_obj.gravity_cache[2];
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+* @brief        Sets the filter coefficent used for computing the acceleration
+*               bias which is used to compute linear acceleration.
+* @param[in] coef   Fitler coefficient. 0. means no filter, a small number means
+*                   a small cutoff frequency with an increasing number meaning
+*                   an increasing cutoff frequency.
+*/
+inv_error_t inv_set_linear_accel_filter_coef(float coef)
+{
+    fifo_obj.acc_filter_coef = coef;
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 3-element vector of accelerometer data in body frame
+ *              with gravity removed.
+ *  @param[out] data    3-element vector of accelerometer data in body frame
+ *                      with gravity removed. One g = 2^16.
+ *  @return     0 on success or an error code. data unchanged on error.
+ */
+inv_error_t inv_get_linear_accel(long *data)
+{
+    int kk;
+    long grav[3];
+    long la[3];
+    inv_error_t result;
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    result = inv_get_gravity(grav);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_get_accel(la);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    if ((fifo_obj.cache & FIFO_CACHE_ACC_BIAS) == 0) {
+        fifo_obj.cache |= FIFO_CACHE_ACC_BIAS;
+
+        for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) {
+            long x;
+            x = la[kk] - grav[kk];
+            fifo_obj.acc_bias_filt[kk] = (long)(x * fifo_obj.acc_filter_coef +
+                                                fifo_obj.acc_bias_filt[kk] *
+                                                (1.f -
+                                                 fifo_obj.acc_filter_coef));
+            data[kk] = x - fifo_obj.acc_bias_filt[kk];
+        }
+    } else {
+        for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) {
+            data[kk] = la[kk] - grav[kk] - fifo_obj.acc_bias_filt[kk];
+        }
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 3-element vector of accelerometer data in world frame
+ *              with gravity removed.
+ *  @param[out] data    3-element vector of accelerometer data in world frame
+ *                      with gravity removed. One g = 2^16.
+ *  @return     0 on success or an error code.
+ */
+inv_error_t inv_get_linear_accel_in_world(long *data)
+{
+    int kk;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+    if (fifo_obj.data_config[CONFIG_ACCEL] && fifo_obj.data_config[CONFIG_QUAT]) {
+        long wtemp[4], qi[4], wtemp2[4];
+        wtemp[0] = 0;
+        inv_get_linear_accel(&wtemp[1]);
+        inv_q_mult(&fifo_obj.decoded[REF_QUATERNION], wtemp, wtemp2);
+        inv_q_invert(&fifo_obj.decoded[REF_QUATERNION], qi);
+        inv_q_mult(wtemp2, qi, wtemp);
+        for (kk = 0; kk < 3; ++kk) {
+            data[kk] = wtemp[kk + 1];
+        }
+        return INV_SUCCESS;
+    } else {
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+    }
+}
+
+/**
+ *  @brief      Returns 4-element vector of control data.
+ *  @param[out] data    4-element vector of control data.
+ *  @return     0 for succes or an error code.
+ */
+inv_error_t inv_get_cntrl_data(long *data)
+{
+    int kk;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_CONTROL_DATA])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = 0; kk < 4; ++kk) {
+        data[kk] = fifo_obj.decoded[REF_CONTROL + kk];
+    }
+
+    return INV_SUCCESS;
+
+}
+
+/**
+ *  @brief      Returns 3-element vector of EIS shfit data
+ *  @param[out] data    3-element vector of EIS shift data.
+ *  @return     0 for succes or an error code.
+ */
+inv_error_t inv_get_eis(long *data)
+{
+    int kk;
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_EIS])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = 0; kk < 3; ++kk) {
+        data[kk] = fifo_obj.decoded[REF_EIS + kk];
+    }
+
+    return INV_SUCCESS;
+
+}
+
+/**
+ *  @brief      Returns 3-element vector of accelerometer data in body frame.
+ *  @param[out] data    3-element vector of accelerometer data in body frame in g's.
+ *  @return     0 for success or an error code.
+ */
+inv_error_t inv_get_accel_float(float *data)
+{
+    long lData[3];
+    int kk;
+    int result;
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    result = inv_get_accel(lData);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) {
+        data[kk] = lData[kk] / 65536.0f;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief      Returns 4-element quaternion vector.
+ *  @param[out] data    4-element quaternion vector.
+ *  @return     0 on success, an error code otherwise.
+ */
+inv_error_t inv_get_quaternion_float(float *data)
+{
+    int kk;
+
+    if (data == NULL)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    if (!fifo_obj.data_config[CONFIG_QUAT])
+        return INV_ERROR_FEATURE_NOT_ENABLED;
+
+    for (kk = 0; kk < 4; ++kk) {
+        data[kk] = fifo_obj.decoded[REF_QUATERNION + kk] / 1073741824.0f;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief   Command the MPU to put data in the FIFO at a particular rate.
+ *
+ *          The DMP will add fifo entries every fifoRate + 1 MPU cycles.  For
+ *          example if the MPU is running at 200Hz the following values apply:
+ *
+ *          <TABLE>
+ *          <TR><TD>fifoRate</TD><TD>DMP Sample Rate</TD><TD>FIFO update frequency</TD></TR>
+ *          <TR><TD>0</TD><TD>200Hz</TD><TD>200Hz</TD></TR>
+ *          <TR><TD>1</TD><TD>200Hz</TD><TD>100Hz</TD></TR>
+ *          <TR><TD>2</TD><TD>200Hz</TD><TD>50Hz</TD></TR>
+ *          <TR><TD>4</TD><TD>200Hz</TD><TD>40Hz</TD></TR>
+ *          <TR><TD>9</TD><TD>200Hz</TD><TD>20Hz</TD></TR>
+ *          <TR><TD>19</TD><TD>200Hz</TD><TD>10Hz</TD></TR>
+ *          </TABLE>
+ *
+ *          Note: if the DMP is running, (state == INV_STATE_DMP_STARTED)
+ *          then inv_run_state_callbacks() will be called to allow features
+ *          that depend upon fundamental constants to be updated.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          and inv_dmp_start()
+ *          must <b>NOT</b> have been called.
+ *
+ * @param   fifoRate    Divider value - 1.  Output rate is
+ *          (DMP Sample Rate) / (fifoRate + 1).
+ *
+ * @return  INV_SUCCESS if successful, ML error code on any failure.
+ */
+inv_error_t inv_set_fifo_rate(unsigned short fifoRate)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[2];
+    unsigned char state;
+    inv_error_t result = INV_SUCCESS;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    state = inv_get_state();
+    if (state != INV_STATE_DMP_OPENED && state != INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    fifo_obj.fifo_rate = fifoRate;
+
+    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) {
+
+        regs[0] = (unsigned char)((fifoRate >> 8) & 0xff);
+        regs[1] = (unsigned char)(fifoRate & 0xff);
+
+        result = inv_set_mpu_memory(KEY_D_0_22, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        fifo_obj.sample_step_size_ms =
+            (unsigned short)(((long)fifoRate + 1) *
+                             (inv_mpu_get_sampling_period_us
+                              (mldl_cfg)) / 1000L);
+
+        if (state == INV_STATE_DMP_STARTED)
+            result = inv_run_state_callbacks(state);
+    } else if (mldl_cfg->requested_sensors & INV_THREE_AXIS_ACCEL) {
+        struct ext_slave_config config;
+        long data;
+        config.key = MPU_SLAVE_CONFIG_ODR_RESUME;
+        config.len = sizeof(long);
+        config.apply = (state == INV_STATE_DMP_STARTED);
+        config.data = &data;
+        data = (1000 * inv_mpu_get_sampling_rate_hz(mldl_cfg)) / (fifoRate + 1);
+
+        /* Ask for the same frequency */
+        result = inv_mpu_config_accel(mldl_cfg,
+                                      inv_get_serial_handle(),
+                                      inv_get_serial_handle(), &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_mpu_get_accel_config(mldl_cfg,
+                                          inv_get_serial_handle(),
+                                          inv_get_serial_handle(), &config);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        if(FIFO_DEBUG)
+            MPL_LOGI("Actual ODR: %ld Hz\n", data / 1000);
+        /* Record the actual frequency granted odr is in mHz */
+        fifo_obj.sample_step_size_ms = (unsigned short)((1000L * 1000L) / data);
+    }
+    return result;
+}
+
+/**
+ * @brief   Retrieve the current FIFO update divider - 1.
+ *          See inv_set_fifo_rate() for how this value is used.
+ *
+ *          The fifo rate when there is no fifo is the equivilent divider when
+ *          derived from the value set by SetSampleSteSizeMs()
+ *
+ * @return  The value of the fifo rate divider or INV_INVALID_FIFO_RATE on error.
+ */
+unsigned short inv_get_fifo_rate(void)
+{
+    return fifo_obj.fifo_rate;
+}
+
+/**
+ * @brief   Returns the step size for quaternion type data.
+ *
+ * Typically the data rate for each FIFO packet. When the gryos are sleeping
+ * this value will return the last value set by SetSampleStepSizeMs()
+ *
+ * @return  step size for quaternion type data
+ */
+int_fast16_t inv_get_sample_step_size_ms(void)
+{
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)
+        return (fifo_obj.fifo_rate + 1) *
+            (inv_mpu_get_sampling_period_us(mldl_cfg) / 1000);
+    else
+        return fifo_obj.sample_step_size_ms;
+}
+
+/**
+ * @brief   Returns the step size for quaternion type data.
+ *
+ * Typically the data rate for each FIFO packet. When the gryos are sleeping
+ * this value will return the last value set by SetSampleStepSizeMs()
+ *
+ * @return  step size for quaternion type data
+ */
+int_fast16_t inv_get_sample_frequency(void)
+{
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)
+        return (inv_mpu_get_sampling_rate_hz(mldl_cfg) /
+                (fifo_obj.fifo_rate + 1));
+    else
+        return (1000 / fifo_obj.sample_step_size_ms);
+}
+
+/**
+ *  @brief  The gyro data magnitude squared :
+ *          (1 degree per second)^2 = 2^6 = 2^GYRO_MAG_SQR_SHIFT.
+ *  @return the computed magnitude squared output of the gyroscope.
+ */
+unsigned long inv_get_gyro_sum_of_sqr(void)
+{
+    unsigned long gmag = 0;
+    long temp;
+    int kk;
+
+    for (kk = 0; kk < 3; ++kk) {
+        temp = fifo_obj.decoded[REF_GYROS + kk] >>
+            (16 - (GYRO_MAG_SQR_SHIFT / 2));
+        gmag += temp * temp;
+    }
+
+    return gmag;
+}
+
+/**
+ *  @brief  The gyro data magnitude squared:
+ *          (1 g)^2 = 2^16 = 2^ACC_MAG_SQR_SHIFT.
+ *  @return the computed magnitude squared output of the accelerometer.
+ */
+unsigned long inv_accel_sum_of_sqr(void)
+{
+    unsigned long amag = 0;
+    long temp;
+    int kk;
+    long accel[3];
+    inv_error_t result;
+
+    result = inv_get_accel(accel);
+    if (INV_SUCCESS != result) {
+        return 0;
+    }
+
+    for (kk = 0; kk < 3; ++kk) {
+        temp = accel[kk] >> (16 - (ACC_MAG_SQR_SHIFT / 2));
+        amag += temp * temp;
+    }
+    return amag;
+}
+
+/**
+ *  @internal
+ */
+void inv_override_quaternion(float *q)
+{
+    int kk;
+    for (kk = 0; kk < 4; ++kk) {
+        fifo_obj.decoded[REF_QUATERNION + kk] = (long)(q[kk] * (1L << 30));
+    }
+}
+
+/**
+ * @internal
+ * @brief   This registers a function to be called for each set of
+ *          gyro/quaternion/rotation matrix/etc output.
+ * @param[in] func The callback function to register
+ * @param[in] priority The unique priority number of the callback. Lower numbers
+ *            are called first.
+ * @return  error code.
+ */
+inv_error_t inv_register_fifo_rate_process(inv_obj_func func, int priority)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    int kk, nn;
+
+    result = inv_lock_mutex(fifo_rate_obj.mutex);
+    if (INV_SUCCESS != result) {
+        return result;
+    }
+    // Make sure we haven't registered this function already
+    // Or used the same priority
+    for (kk = 0; kk < fifo_rate_obj.num_cb; ++kk) {
+        if ((fifo_rate_obj.fifo_process_cb[kk] == func) ||
+            (fifo_rate_obj.priority[kk] == priority)) {
+            inv_unlock_mutex(fifo_rate_obj.mutex);
+            return INV_ERROR_INVALID_PARAMETER;
+        }
+    }
+
+    // Make sure we have not filled up our number of allowable callbacks
+    if (fifo_rate_obj.num_cb <= MAX_HIGH_RATE_PROCESSES - 1) {
+        kk = 0;
+        if (fifo_rate_obj.num_cb != 0) {
+            // set kk to be where this new callback goes in the array
+            while ((kk < fifo_rate_obj.num_cb) &&
+                   (fifo_rate_obj.priority[kk] < priority)) {
+                kk++;
+            }
+            if (kk != fifo_rate_obj.num_cb) {
+                // We need to move the others
+                for (nn = fifo_rate_obj.num_cb; nn > kk; --nn) {
+                    fifo_rate_obj.fifo_process_cb[nn] =
+                        fifo_rate_obj.fifo_process_cb[nn - 1];
+                    fifo_rate_obj.priority[nn] = fifo_rate_obj.priority[nn - 1];
+                }
+            }
+        }
+        // Add new callback
+        fifo_rate_obj.fifo_process_cb[kk] = func;
+        fifo_rate_obj.priority[kk] = priority;
+        fifo_rate_obj.num_cb++;
+    } else {
+        result = INV_ERROR_MEMORY_EXAUSTED;
+    }
+
+    inv_unlock_mutex(fifo_rate_obj.mutex);
+    return result;
+}
+
+/**
+ * @internal
+ * @brief   This unregisters a function to be called for each set of
+ *          gyro/quaternion/rotation matrix/etc output.
+ * @return  error code.
+ */
+inv_error_t inv_unregister_fifo_rate_process(inv_obj_func func)
+{
+    INVENSENSE_FUNC_START;
+    int kk, jj;
+    inv_error_t result;
+
+    result = inv_lock_mutex(fifo_rate_obj.mutex);
+    if (INV_SUCCESS != result) {
+        return result;
+    }
+    // Make sure we haven't registered this function already
+    result = INV_ERROR_INVALID_PARAMETER;
+    for (kk = 0; kk < fifo_rate_obj.num_cb; ++kk) {
+        if (fifo_rate_obj.fifo_process_cb[kk] == func) {
+            for (jj = kk + 1; jj < fifo_rate_obj.num_cb; ++jj) {
+                fifo_rate_obj.fifo_process_cb[jj - 1] =
+                    fifo_rate_obj.fifo_process_cb[jj];
+                fifo_rate_obj.priority[jj - 1] =
+                    fifo_rate_obj.priority[jj];
+            }
+            fifo_rate_obj.fifo_process_cb[fifo_rate_obj.num_cb - 1] = NULL;
+            fifo_rate_obj.priority[fifo_rate_obj.num_cb - 1] = 0;
+            fifo_rate_obj.num_cb--;
+            result = INV_SUCCESS;
+            break;
+        }
+    }
+
+    inv_unlock_mutex(fifo_rate_obj.mutex);
+    return result;
+
+}
+#ifdef UMPL
+bool bFIFIDataAvailable = FALSE;
+bool isUmplDataInFIFO(void)
+{
+    return bFIFIDataAvailable;
+}
+void setUmplDataInFIFOFlag(bool flag)
+{
+    bFIFIDataAvailable = flag;
+}
+#endif
+inv_error_t inv_run_fifo_rate_processes(void)
+{
+    int kk;
+    inv_error_t result, result2;
+
+    result = inv_lock_mutex(fifo_rate_obj.mutex);
+    if (INV_SUCCESS != result) {
+        MPL_LOGE("MLOsLockMutex returned %d\n", result);
+        return result;
+    }
+    // User callbacks take priority over the fifo_process_cb callback
+    if (fifo_obj.fifo_process_cb)
+        fifo_obj.fifo_process_cb();
+
+    for (kk = 0; kk < fifo_rate_obj.num_cb; ++kk) {
+        if (fifo_rate_obj.fifo_process_cb[kk]) {
+            result2 = fifo_rate_obj.fifo_process_cb[kk] (&inv_obj);
+            if (result == INV_SUCCESS)
+#ifdef UMPL
+	 setUmplDataInFIFOFlag(TRUE);
+#endif
+                result = result2;
+        }
+    }
+
+    inv_unlock_mutex(fifo_rate_obj.mutex);
+    return result;
+}
+
+/*********************/
+         /** \}*//* defgroup */
+/*********************/
diff --git a/invensense/mlsdk/mllite/mlFIFO.h b/invensense/mlsdk/mllite/mlFIFO.h
new file mode 100644
index 0000000..2114eb3
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlFIFO.h
@@ -0,0 +1,150 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef INVENSENSE_INV_FIFO_H__
+#define INVENSENSE_INV_FIFO_H__
+
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "ml.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlFIFO_legacy.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**************************************************************************/
+    /*  Elements                                                              */
+    /**************************************************************************/
+
+#define INV_ELEMENT_1                    (0x0001)
+#define INV_ELEMENT_2                    (0x0002)
+#define INV_ELEMENT_3                    (0x0004)
+#define INV_ELEMENT_4                    (0x0008)
+#define INV_ELEMENT_5                    (0x0010)
+#define INV_ELEMENT_6                    (0x0020)
+#define INV_ELEMENT_7                    (0x0040)
+#define INV_ELEMENT_8                    (0x0080)
+
+#define INV_ALL                          (0xFFFF)
+#define INV_ELEMENT_MASK                 (0x00FF)
+
+    /**************************************************************************/
+    /*  Accuracy                                                              */
+    /**************************************************************************/
+
+#define INV_16_BIT                       (0x0100)
+#define INV_32_BIT                       (0x0200)
+#define INV_ACCURACY_MASK                (0x0300)
+
+    /**************************************************************************/
+    /*  Accuracy                                                              */
+    /**************************************************************************/
+
+#define INV_GYRO_FROM_RAW                (0x00)
+#define INV_GYRO_FROM_QUATERNION         (0x01)
+
+    /**************************************************************************/
+    /*  High Rate Proceses                                                    */
+    /**************************************************************************/
+
+#define MAX_HIGH_RATE_PROCESSES 16
+
+    /**************************************************************************/
+    /*  Prototypes                                                            */
+    /**************************************************************************/
+
+    inv_error_t inv_set_fifo_rate(unsigned short fifoRate);
+    unsigned short inv_get_fifo_rate(void);
+    int_fast16_t inv_get_sample_step_size_ms(void);
+    int_fast16_t inv_get_sample_frequency(void);
+    long inv_decode_temperature(short tempReg);
+
+    // Register callbacks after a packet of FIFO data is processed
+    inv_error_t inv_register_fifo_rate_process(inv_obj_func func, int priority);
+    inv_error_t inv_unregister_fifo_rate_process(inv_obj_func func);
+    inv_error_t inv_run_fifo_rate_processes(void);
+
+    // Setup FIFO for various output
+    inv_error_t inv_send_quaternion(uint_fast16_t accuracy);
+    inv_error_t inv_send_gyro(uint_fast16_t elements, uint_fast16_t accuracy);
+    inv_error_t inv_send_accel(uint_fast16_t elements, uint_fast16_t accuracy);
+    inv_error_t inv_send_linear_accel(uint_fast16_t elements,
+                                      uint_fast16_t accuracy);
+    inv_error_t inv_send_linear_accel_in_world(uint_fast16_t elements,
+                                               uint_fast16_t accuracy);
+    inv_error_t inv_send_cntrl_data(uint_fast16_t elements,
+                                    uint_fast16_t accuracy);
+    inv_error_t inv_send_sensor_data(uint_fast16_t elements,
+                                     uint_fast16_t accuracy);
+    inv_error_t inv_send_external_sensor_data(uint_fast16_t elements,
+                                              uint_fast16_t accuracy);
+    inv_error_t inv_send_gravity(uint_fast16_t elements,
+                                 uint_fast16_t accuracy);
+    inv_error_t inv_send_packet_number(uint_fast16_t accuracy);
+    inv_error_t inv_send_quantized_accel(uint_fast16_t elements,
+                                         uint_fast16_t accuracy);
+    inv_error_t inv_send_eis(uint_fast16_t elements, uint_fast16_t accuracy);
+
+    // Get Fixed Point data from FIFO
+    inv_error_t inv_get_accel(long *data);
+    inv_error_t inv_get_quaternion(long *data);
+    inv_error_t inv_get_6axis_quaternion(long *data);
+    inv_error_t inv_get_relative_quaternion(long *data);
+    inv_error_t inv_get_gyro(long *data);
+    inv_error_t inv_set_linear_accel_filter_coef(float coef);
+    inv_error_t inv_get_linear_accel(long *data);
+    inv_error_t inv_get_linear_accel_in_world(long *data);
+    inv_error_t inv_get_gyro_and_accel_sensor(long *data);
+    inv_error_t inv_get_gyro_sensor(long *data);
+    inv_error_t inv_get_cntrl_data(long *data);
+    inv_error_t inv_get_temperature(long *data);
+    inv_error_t inv_get_gravity(long *data);
+    inv_error_t inv_get_unquantized_accel(long *data);
+    inv_error_t inv_get_quantized_accel(long *data);
+    inv_error_t inv_get_external_sensor_data(long *data, int size);
+    inv_error_t inv_get_eis(long *data);
+
+    // Get Floating Point data from FIFO
+    inv_error_t inv_get_accel_float(float *data);
+    inv_error_t inv_get_quaternion_float(float *data);
+
+    inv_error_t inv_process_fifo_packet(const unsigned char *dmpData);
+    inv_error_t inv_read_and_process_fifo(int_fast8_t numPackets,
+                                          int_fast8_t * processed);
+
+    inv_error_t inv_set_fifo_processed_callback(void (*func) (void));
+
+    inv_error_t inv_init_fifo_param(void);
+    inv_error_t inv_close_fifo(void);
+    inv_error_t inv_set_gyro_data_source(uint_fast8_t source);
+    inv_error_t inv_decode_quantized_accel(void);
+    unsigned long inv_get_gyro_sum_of_sqr(void);
+    unsigned long inv_accel_sum_of_sqr(void);
+    void inv_override_quaternion(float *q);
+#ifdef UMPL
+    bool isUmplDataInFIFO(void);
+    void setUmplDataInFIFOFlag(bool flag);
+#endif
+    uint_fast16_t inv_get_fifo_packet_size(void);
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INVENSENSE_INV_FIFO_H__
diff --git a/invensense/mlsdk/mllite/mlFIFOHW.c b/invensense/mlsdk/mllite/mlFIFOHW.c
new file mode 100644
index 0000000..1dd5294
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlFIFOHW.c
@@ -0,0 +1,328 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlFIFOHW.c 5653 2011-06-16 21:06:55Z nroyer $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup MLFIFO_HW
+ *  @brief  Motion Library - FIFO HW Driver.
+ *          Provides facilities to interact with the FIFO.
+ *
+ *  @{
+ *      @file   mlFIFOHW.c
+ *      @brief  The Motion Library Fifo Hardware Layer.
+ *
+ */
+
+#include <string.h>
+
+#include "mpu.h"
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+#    include "mpu6050a2.h"
+#elif defined CONFIG_MPU_SENSORS_MPU6050B1
+#    include "mpu6050b1.h"
+#elif defined CONFIG_MPU_SENSORS_MPU3050
+#  include "mpu3050.h"
+#else
+#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
+#endif
+#include "mlFIFOHW.h"
+#include "ml.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+
+#include "mlsl.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-fifo"
+
+/*
+    Defines
+*/
+
+#define _fifoDebug(x)           //{x}
+
+/*
+    Typedefs
+*/
+
+struct fifo_hw_obj {
+    short fifoCount;
+    inv_error_t fifoError;
+    unsigned char fifoOverflow;
+    unsigned char fifoResetOnOverflow;
+};
+
+/*
+    Global variables
+*/
+const unsigned char gFifoFooter[FIFO_FOOTER_SIZE] = { 0xB2, 0x6A };
+
+/*
+    Static variables
+*/
+static struct fifo_hw_obj fifo_objHW;
+
+/*
+    Definitions
+*/
+
+/**
+ *  @brief  Initializes the internal FIFO data structure.
+ */
+void inv_init_fifo_hardare(void)
+{
+    memset(&fifo_objHW, 0, sizeof(fifo_objHW));
+    fifo_objHW.fifoResetOnOverflow = TRUE;
+}
+
+/**
+ *  @internal
+ *  @brief  used to get the FIFO data.
+ *  @param  length
+ *              Number of bytes to read from the FIFO.
+ *  @param  buffer
+ *              the bytes of FIFO data.
+ *              Note that this buffer <b>must</b> be large enough
+ *              to store and additional trailing FIFO footer when
+ *              expected.  The callers must make sure enough space
+ *              is allocated.
+ *  @return number of valid bytes of data.
+**/
+uint_fast16_t inv_get_fifo(uint_fast16_t length, unsigned char *buffer)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    uint_fast16_t inFifo;
+    uint_fast16_t toRead;
+    int_fast8_t kk;
+
+    toRead = length - FIFO_FOOTER_SIZE + fifo_objHW.fifoCount;
+    /*---- make sure length is correct ----*/
+    if (length > MAX_FIFO_LENGTH || toRead > length || NULL == buffer) {
+        fifo_objHW.fifoError = INV_ERROR_INVALID_PARAMETER;
+        return 0;
+    }
+
+    result = inv_get_fifo_length(&inFifo);
+    if (INV_SUCCESS != result) {
+        fifo_objHW.fifoError = result;
+        return 0;
+    }
+    // fifo_objHW.fifoCount is the footer size left in the buffer, or
+    //      0 if this is the first time reading the fifo since it was reset
+    if (inFifo < length + fifo_objHW.fifoCount) {
+        fifo_objHW.fifoError = INV_SUCCESS;
+        return 0;
+    }
+    // if a trailing fifo count is expected - start storing data 2 bytes before
+    result =
+        inv_read_fifo(fifo_objHW.fifoCount >
+                      0 ? buffer : buffer + FIFO_FOOTER_SIZE, toRead);
+    if (INV_SUCCESS != result) {
+        fifo_objHW.fifoError = result;
+        return 0;
+    }
+    // Make sure the fifo didn't overflow before or during the read
+    result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
+                             MPUREG_INT_STATUS, 1, &fifo_objHW.fifoOverflow);
+    if (INV_SUCCESS != result) {
+        fifo_objHW.fifoError = result;
+        return 0;
+    }
+
+    if (fifo_objHW.fifoOverflow & BIT_INT_STATUS_FIFO_OVERLOW) {
+        MPL_LOGV("Resetting Fifo : Overflow\n");
+        inv_reset_fifo();
+        fifo_objHW.fifoError = INV_ERROR_FIFO_OVERFLOW;
+        return 0;
+    }
+
+    /* Check the Footer value to give us a chance at making sure data
+     * didn't get corrupted */
+    for (kk = 0; kk < fifo_objHW.fifoCount; ++kk) {
+        if (buffer[kk] != gFifoFooter[kk]) {
+            MPL_LOGV("Resetting Fifo : Invalid footer : 0x%02x 0x%02x\n",
+                     buffer[0], buffer[1]);
+            _fifoDebug(char out[200];
+                       MPL_LOGW("fifoCount : %d\n", fifo_objHW.fifoCount);
+                       sprintf(out, "0x");
+                       for (kk = 0; kk < (int)toRead; kk++) {
+                       sprintf(out, "%s%02X", out, buffer[kk]);}
+                       MPL_LOGW("%s\n", out);)
+                inv_reset_fifo();
+            fifo_objHW.fifoError = INV_ERROR_FIFO_FOOTER;
+            return 0;
+        }
+    }
+
+    if (fifo_objHW.fifoCount == 0) {
+        fifo_objHW.fifoCount = FIFO_FOOTER_SIZE;
+    }
+
+    return length - FIFO_FOOTER_SIZE;
+}
+
+/**
+ *  @brief  Used to query the status of the FIFO.
+ *  @return INV_SUCCESS if the fifo is OK. An error code otherwise.
+**/
+inv_error_t inv_get_fifo_status(void)
+{
+    inv_error_t fifoError = fifo_objHW.fifoError;
+    fifo_objHW.fifoError = 0;
+    return fifoError;
+}
+
+/**
+ * @internal
+ * @brief   Get the length from the fifo
+ *
+ * @param[out] len amount of data currently stored in the fifo.
+ *
+ * @return INV_SUCCESS or non-zero error code.
+**/
+inv_error_t inv_get_fifo_length(uint_fast16_t * len)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char fifoBuf[2];
+    inv_error_t result;
+
+    if (NULL == len)
+        return INV_ERROR_INVALID_PARAMETER;
+
+    /*---- read the 2 'count' registers and
+      burst read the data from the FIFO ----*/
+    result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
+                             MPUREG_FIFO_COUNTH, 2, fifoBuf);
+    if (INV_SUCCESS != result) {
+        MPL_LOGE("ReadBurst failed %d\n", result);
+        inv_reset_fifo();
+        fifo_objHW.fifoError = INV_ERROR_FIFO_READ_COUNT;
+        *len = 0;
+        return result;
+    }
+
+    *len = (uint_fast16_t) (fifoBuf[0] << 8);
+    *len += (uint_fast16_t) (fifoBuf[1]);
+    return result;
+}
+
+/**
+ *  @brief  inv_get_fifo_count is used to get the number of bytes left in the FIFO.
+ *          This function returns the stored value and does not access the hardware.
+ *          See inv_get_fifo_length().
+ *  @return the number of bytes left in the FIFO
+**/
+short inv_get_fifo_count(void)
+{
+    return fifo_objHW.fifoCount;
+}
+
+/**
+ *  @internal
+ *  @brief  Read data from the fifo
+ *
+ *  @param[out] data Location to store the date read from the fifo
+ *  @param[in] len   Amount of data to read out of the fifo
+ *
+ *  @return INV_SUCCESS or non-zero error code
+**/
+inv_error_t inv_read_fifo(unsigned char *data, uint_fast16_t len)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    result = inv_serial_read_fifo(inv_get_serial_handle(),
+                                  inv_get_mpu_slave_addr(),
+                                  (unsigned short)len, data);
+    if (INV_SUCCESS != result) {
+        MPL_LOGE("inv_serial_readBurst failed %d\n", result);
+        inv_reset_fifo();
+        fifo_objHW.fifoError = INV_ERROR_FIFO_READ_DATA;
+        return result;
+    }
+    return result;
+}
+
+/**
+ *  @brief  Clears the FIFO status and its content.
+ *  @note   Halt the DMP writing into the FIFO for the time
+ *          needed to reset the FIFO.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_reset_fifo(void)
+{
+    INVENSENSE_FUNC_START;
+    int len = FIFO_HW_SIZE;
+    unsigned char fifoBuf[2];
+    unsigned char tries = 0;
+    unsigned char userCtrlReg;
+    inv_error_t result;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    fifo_objHW.fifoCount = 0;
+    if (mldl_cfg->gyro_is_suspended)
+        return INV_SUCCESS;
+
+    result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
+                             MPUREG_USER_CTRL, 1, &userCtrlReg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    while (len != 0 && tries < 6) {
+        result =
+            inv_serial_single_write(inv_get_serial_handle(),
+                                    inv_get_mpu_slave_addr(), MPUREG_USER_CTRL,
+                                    ((userCtrlReg & (~BIT_FIFO_EN)) |
+                                     BIT_FIFO_RST));
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result =
+            inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
+                            MPUREG_FIFO_COUNTH, 2, fifoBuf);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        len = (unsigned short)fifoBuf[0] * 256 + (unsigned short)fifoBuf[1];
+        tries++;
+    }
+
+    result =
+        inv_serial_single_write(inv_get_serial_handle(),
+                                inv_get_mpu_slave_addr(), MPUREG_USER_CTRL,
+                                userCtrlReg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @}
+**/
diff --git a/invensense/mlsdk/mllite/mlFIFOHW.h b/invensense/mlsdk/mllite/mlFIFOHW.h
new file mode 100644
index 0000000..6f70185
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlFIFOHW.h
@@ -0,0 +1,48 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef INVENSENSE_INV_FIFO_HW_H__
+#define INVENSENSE_INV_FIFO_HW_H__
+
+#include "mpu.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlFIFOHW_legacy.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    // This is the maximum amount of FIFO data we would read in one packet
+#define MAX_FIFO_LENGTH             (256)
+    // This is the hardware size of the FIFO
+#define FIFO_FOOTER_SIZE            (2)
+
+    uint_fast16_t inv_get_fifo(uint_fast16_t length, unsigned char *buffer);
+    inv_error_t inv_get_fifo_status(void);
+    inv_error_t inv_get_fifo_length(uint_fast16_t * len);
+    short inv_get_fifo_count(void);
+    inv_error_t inv_reset_fifo(void);
+    void inv_init_fifo_hardare();
+    inv_error_t inv_read_fifo(unsigned char *data, uint_fast16_t len);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INVENSENSE_INV_FIFO_HW_H__
diff --git a/invensense/mlsdk/mllite/mlMathFunc.c b/invensense/mlsdk/mllite/mlMathFunc.c
new file mode 100644
index 0000000..31b42bc
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlMathFunc.c
@@ -0,0 +1,377 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#include "mlmath.h"
+#include "mlMathFunc.h"
+#include "mlinclude.h"
+
+/**
+ * Performs one iteration of the filter, generating a new y(0)
+ *         1     / N                /  N             \\
+ * y(0) = ---- * |SUM b(k) * x(k) - | SUM a(k) * y(k)|| for N = length
+ *        a(0)   \k=0               \ k=1            //
+ *
+ * The filters A and B should be (sizeof(long) * state->length).
+ * The state variables x and y should be (sizeof(long) * (state->length - 1))
+ *
+ * The state variables x and y should be initialized prior to the first call
+ *
+ * @param state Contains the length of the filter, filter coefficients and
+ *              filter state variables x and y.
+ * @param x New input into the filter.
+ */
+void inv_filter_long(struct filter_long *state, long x)
+{
+    const long *b = state->b;
+    const long *a = state->a;
+    long length = state->length;
+    long long tmp;
+    int ii;
+
+    /* filter */
+    tmp = (long long)x *(b[0]);
+    for (ii = 0; ii < length - 1; ii++) {
+        tmp += ((long long)state->x[ii] * (long long)(b[ii + 1]));
+    }
+    for (ii = 0; ii < length - 1; ii++) {
+        tmp -= ((long long)state->y[ii] * (long long)(a[ii + 1]));
+    }
+    tmp /= (long long)a[0];
+
+    /* Delay */
+    for (ii = length - 2; ii > 0; ii--) {
+        state->y[ii] = state->y[ii - 1];
+        state->x[ii] = state->x[ii - 1];
+    }
+    /* New values */
+    state->y[0] = (long)tmp;
+    state->x[0] = x;
+}
+
+/** Performs a multiply and shift by 29. These are good functions to write in assembly on
+ * with devices with small memory where you want to get rid of the long long which some
+ * assemblers don't handle well
+ * @param[in] a
+ * @param[in] b
+ * @return ((long long)a*b)>>29
+*/
+long inv_q29_mult(long a, long b)
+{
+    long long temp;
+    long result;
+    temp = (long long)a *b;
+    result = (long)(temp >> 29);
+    return result;
+}
+
+/** Performs a multiply and shift by 30. These are good functions to write in assembly on
+ * with devices with small memory where you want to get rid of the long long which some
+ * assemblers don't handle well
+ * @param[in] a
+ * @param[in] b
+ * @return ((long long)a*b)>>30
+*/
+long inv_q30_mult(long a, long b)
+{
+    long long temp;
+    long result;
+    temp = (long long)a *b;
+    result = (long)(temp >> 30);
+    return result;
+}
+
+void inv_q_mult(const long *q1, const long *q2, long *qProd)
+{
+    INVENSENSE_FUNC_START;
+    qProd[0] = (long)(((long long)q1[0] * q2[0] - (long long)q1[1] * q2[1] -
+                       (long long)q1[2] * q2[2] -
+                       (long long)q1[3] * q2[3]) >> 30);
+    qProd[1] =
+        (int)(((long long)q1[0] * q2[1] + (long long)q1[1] * q2[0] +
+               (long long)q1[2] * q2[3] - (long long)q1[3] * q2[2]) >> 30);
+    qProd[2] =
+        (long)(((long long)q1[0] * q2[2] - (long long)q1[1] * q2[3] +
+                (long long)q1[2] * q2[0] + (long long)q1[3] * q2[1]) >> 30);
+    qProd[3] =
+        (long)(((long long)q1[0] * q2[3] + (long long)q1[1] * q2[2] -
+                (long long)q1[2] * q2[1] + (long long)q1[3] * q2[0]) >> 30);
+}
+
+void inv_q_add(long *q1, long *q2, long *qSum)
+{
+    INVENSENSE_FUNC_START;
+    qSum[0] = q1[0] + q2[0];
+    qSum[1] = q1[1] + q2[1];
+    qSum[2] = q1[2] + q2[2];
+    qSum[3] = q1[3] + q2[3];
+}
+
+void inv_q_normalize(long *q)
+{
+    INVENSENSE_FUNC_START;
+    double normSF = 0;
+    int i;
+    for (i = 0; i < 4; i++) {
+        normSF += ((double)q[i]) / 1073741824L * ((double)q[i]) / 1073741824L;
+    }
+    if (normSF > 0) {
+        normSF = 1 / sqrt(normSF);
+        for (i = 0; i < 4; i++) {
+            q[i] = (int)((double)q[i] * normSF);
+        }
+    } else {
+        q[0] = 1073741824L;
+        q[1] = 0;
+        q[2] = 0;
+        q[3] = 0;
+    }
+}
+
+void inv_q_invert(const long *q, long *qInverted)
+{
+    INVENSENSE_FUNC_START;
+    qInverted[0] = q[0];
+    qInverted[1] = -q[1];
+    qInverted[2] = -q[2];
+    qInverted[3] = -q[3];
+}
+
+void inv_q_multf(const float *q1, const float *q2, float *qProd)
+{
+    INVENSENSE_FUNC_START;
+    qProd[0] = (q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3]);
+    qProd[1] = (q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2]);
+    qProd[2] = (q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1]);
+    qProd[3] = (q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0]);
+}
+
+void inv_q_addf(float *q1, float *q2, float *qSum)
+{
+    INVENSENSE_FUNC_START;
+    qSum[0] = q1[0] + q2[0];
+    qSum[1] = q1[1] + q2[1];
+    qSum[2] = q1[2] + q2[2];
+    qSum[3] = q1[3] + q2[3];
+}
+
+void inv_q_normalizef(float *q)
+{
+    INVENSENSE_FUNC_START;
+    float normSF = 0;
+    float xHalf = 0;
+    normSF = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
+    if (normSF < 2) {
+        xHalf = 0.5f * normSF;
+        normSF = normSF * (1.5f - xHalf * normSF * normSF);
+        normSF = normSF * (1.5f - xHalf * normSF * normSF);
+        normSF = normSF * (1.5f - xHalf * normSF * normSF);
+        normSF = normSF * (1.5f - xHalf * normSF * normSF);
+        q[0] *= normSF;
+        q[1] *= normSF;
+        q[2] *= normSF;
+        q[3] *= normSF;
+    } else {
+        q[0] = 1.0;
+        q[1] = 0.0;
+        q[2] = 0.0;
+        q[3] = 0.0;
+    }
+    normSF = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
+}
+
+/** Performs a length 4 vector normalization with a square root.
+* @param[in,out] vector to normalize. Returns [1,0,0,0] is magnitude is zero.
+*/
+void inv_q_norm4(float *q)
+{
+    float mag;
+    mag = sqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
+    if (mag) {
+        q[0] /= mag;
+        q[1] /= mag;
+        q[2] /= mag;
+        q[3] /= mag;
+    } else {
+        q[0] = 1.f;
+        q[1] = 0.f;
+        q[2] = 0.f;
+        q[3] = 0.f;
+    }
+}
+
+void inv_q_invertf(const float *q, float *qInverted)
+{
+    INVENSENSE_FUNC_START;
+    qInverted[0] = q[0];
+    qInverted[1] = -q[1];
+    qInverted[2] = -q[2];
+    qInverted[3] = -q[3];
+}
+
+/**
+ * Converts a quaternion to a rotation matrix.
+ * @param[in] quat 4-element quaternion in fixed point. One is 2^30.
+ * @param[out] rot Rotation matrix in fixed point. One is 2^30. The
+ *             First 3 elements of the rotation matrix, represent
+ *             the first row of the matrix. Rotation matrix multiplied
+ *             by a 3 element column vector transform a vector from Body
+ *             to World.
+ */
+void inv_quaternion_to_rotation(const long *quat, long *rot)
+{
+    rot[0] =
+        inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0],
+                                                      quat[0]) - 1073741824L;
+    rot[1] = inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]);
+    rot[2] = inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]);
+    rot[3] = inv_q29_mult(quat[1], quat[2]) + inv_q29_mult(quat[3], quat[0]);
+    rot[4] =
+        inv_q29_mult(quat[2], quat[2]) + inv_q29_mult(quat[0],
+                                                      quat[0]) - 1073741824L;
+    rot[5] = inv_q29_mult(quat[2], quat[3]) - inv_q29_mult(quat[1], quat[0]);
+    rot[6] = inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]);
+    rot[7] = inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]);
+    rot[8] =
+        inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0],
+                                                      quat[0]) - 1073741824L;
+}
+
+/** Converts a 32-bit long to a big endian byte stream */
+unsigned char *inv_int32_to_big8(long x, unsigned char *big8)
+{
+    big8[0] = (unsigned char)((x >> 24) & 0xff);
+    big8[1] = (unsigned char)((x >> 16) & 0xff);
+    big8[2] = (unsigned char)((x >> 8) & 0xff);
+    big8[3] = (unsigned char)(x & 0xff);
+    return big8;
+}
+
+/** Converts a big endian byte stream into a 32-bit long */
+long inv_big8_to_int32(const unsigned char *big8)
+{
+    long x;
+    x = ((long)big8[0] << 24) | ((long)big8[1] << 16) | ((long)big8[2] << 8) |
+        ((long)big8[3]);
+    return x;
+}
+
+/** Converts a 16-bit short to a big endian byte stream */
+unsigned char *inv_int16_to_big8(short x, unsigned char *big8)
+{
+    big8[0] = (unsigned char)((x >> 8) & 0xff);
+    big8[1] = (unsigned char)(x & 0xff);
+    return big8;
+}
+
+void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y)
+{
+    int k, l, i, j;
+    for (i = 0, k = 0; i < *n; i++, k++) {
+        for (j = 0, l = 0; j < *n; j++, l++) {
+            if (i == x)
+                i++;
+            if (j == y)
+                j++;
+            *(b + 10 * k + l) = *(a + 10 * i + j);
+        }
+    }
+    *n = *n - 1;
+}
+
+void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y)
+{
+    int k, l, i, j;
+    for (i = 0, k = 0; i < *n; i++, k++) {
+        for (j = 0, l = 0; j < *n; j++, l++) {
+            if (i == x)
+                i++;
+            if (j == y)
+                j++;
+            *(b + 10 * k + l) = *(a + 10 * i + j);
+        }
+    }
+    *n = *n - 1;
+}
+
+float inv_matrix_det(float *p, int *n)
+{
+    float d[10][10], sum = 0;
+    int i, j, m;
+    m = *n;
+    if (*n == 2)
+        return (*p ** (p + 11) - *(p + 1) ** (p + 10));
+    for (i = 0, j = 0; j < m; j++) {
+        *n = m;
+        inv_matrix_det_inc(p, &d[0][0], n, i, j);
+        sum =
+            sum + *(p + 10 * i + j) * SIGNM(i + j) * inv_matrix_det(&d[0][0],
+                                                                    n);
+    }
+
+    return (sum);
+}
+
+double inv_matrix_detd(double *p, int *n)
+{
+    double d[10][10], sum = 0;
+    int i, j, m;
+    m = *n;
+    if (*n == 2)
+        return (*p ** (p + 11) - *(p + 1) ** (p + 10));
+    for (i = 0, j = 0; j < m; j++) {
+        *n = m;
+        inv_matrix_det_incd(p, &d[0][0], n, i, j);
+        sum =
+            sum + *(p + 10 * i + j) * SIGNM(i + j) * inv_matrix_detd(&d[0][0],
+                                                                     n);
+    }
+
+    return (sum);
+}
+
+/** Wraps angle from (-M_PI,M_PI]
+ * @param[in] ang Angle in radians to wrap
+ * @return Wrapped angle from (-M_PI,M_PI]
+ */
+float inv_wrap_angle(float ang)
+{
+    if (ang > M_PI)
+        return ang - 2 * (float)M_PI;
+    else if (ang <= -(float)M_PI)
+        return ang + 2 * (float)M_PI;
+    else
+        return ang;
+}
+
+/** Finds the minimum angle difference ang1-ang2 such that difference
+ * is between [-M_PI,M_PI]
+ * @param[in] ang1
+ * @param[in] ang2
+ * @return angle difference ang1-ang2
+ */
+float inv_angle_diff(float ang1, float ang2)
+{
+    float d;
+    ang1 = inv_wrap_angle(ang1);
+    ang2 = inv_wrap_angle(ang2);
+    d = ang1 - ang2;
+    if (d > M_PI)
+        d -= 2 * (float)M_PI;
+    else if (d < -(float)M_PI)
+        d += 2 * (float)M_PI;
+    return d;
+}
diff --git a/invensense/mlsdk/mllite/mlMathFunc.h b/invensense/mlsdk/mllite/mlMathFunc.h
new file mode 100644
index 0000000..70fa9f4
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlMathFunc.h
@@ -0,0 +1,68 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef INVENSENSE_INV_MATH_FUNC_H__
+#define INVENSENSE_INV_MATH_FUNC_H__
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlMathFunc_legacy.h"
+#endif
+
+#define NUM_ROTATION_MATRIX_ELEMENTS (9)
+#define ROT_MATRIX_SCALE_LONG  (1073741824)
+#define ROT_MATRIX_SCALE_FLOAT (1073741824.0f)
+#define ROT_MATRIX_LONG_TO_FLOAT( longval ) \
+    ((float) ((longval) / ROT_MATRIX_SCALE_FLOAT ))
+#define SIGNM(k)((int)(k)&1?-1:1)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+    struct filter_long {
+        int length;
+        const long *b;
+        const long *a;
+        long *x;
+        long *y;
+    };
+
+    void inv_filter_long(struct filter_long *state, long x);
+    long inv_q29_mult(long a, long b);
+    long inv_q30_mult(long a, long b);
+    void inv_q_mult(const long *q1, const long *q2, long *qProd);
+    void inv_q_add(long *q1, long *q2, long *qSum);
+    void inv_q_normalize(long *q);
+    void inv_q_invert(const long *q, long *qInverted);
+    void inv_q_multf(const float *q1, const float *q2, float *qProd);
+    void inv_q_addf(float *q1, float *q2, float *qSum);
+    void inv_q_normalizef(float *q);
+    void inv_q_norm4(float *q);
+    void inv_q_invertf(const float *q, float *qInverted);
+    void inv_quaternion_to_rotation(const long *quat, long *rot);
+    unsigned char *inv_int32_to_big8(long x, unsigned char *big8);
+    long inv_big8_to_int32(const unsigned char *big8);
+    unsigned char *inv_int16_to_big8(short x, unsigned char *big8);
+    float inv_matrix_det(float *p, int *n);
+    void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y);
+    double inv_matrix_detd(double *p, int *n);
+    void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y);
+    float inv_wrap_angle(float ang);
+    float inv_angle_diff(float ang1, float ang2);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INVENSENSE_INV_MATH_FUNC_H__
diff --git a/invensense/mlsdk/mllite/mlSetGyroBias.c b/invensense/mlsdk/mllite/mlSetGyroBias.c
new file mode 100644
index 0000000..bd14d2e
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlSetGyroBias.c
@@ -0,0 +1,198 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id:$
+ *
+ *****************************************************************************/
+
+#include "mlSetGyroBias.h"
+#include "mlFIFO.h"
+#include "ml.h"
+#include <string.h>
+#include "mldl.h"
+#include "mlMathFunc.h"
+
+typedef struct {
+    int needToSetBias;
+    short currentBias[3];
+    int mode;
+    int motion;
+} tSGB;
+
+tSGB sgb;
+
+/** Records a motion event that may cause a callback when the priority for this
+ * feature is met.
+ */
+void inv_set_motion_state(int motion)
+{
+    sgb.motion = motion;
+}
+
+/** Converts from internal DMP gyro bias registers to external hardware gyro bias by
+* applying scaling and transformation.
+*/
+void inv_convert_bias(const unsigned char *regs, short *bias)
+{
+    long biasTmp2[3], biasTmp[3], biasPrev[3];
+    int i;
+    int sf;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (mldl_cfg->gyro_sens_trim != 0) {
+        sf = 2000 * 131 / mldl_cfg->gyro_sens_trim;
+    } else {
+        sf = 2000;
+    }
+    for (i = 0; i < 3; i++) {
+        biasTmp2[i] = inv_big8_to_int32(&regs[i * 4]);
+    }
+    // Rotate bias vector by the transpose of the orientation matrix
+    for (i = 0; i < 3; ++i) {
+        biasTmp[i] = inv_q30_mult(biasTmp2[0], inv_obj.gyro_orient[i]) +
+            inv_q30_mult(biasTmp2[1], inv_obj.gyro_orient[i + 3]) +
+            inv_q30_mult(biasTmp2[2], inv_obj.gyro_orient[i + 6]);
+    }
+
+    for (i = 0; i < GYRO_NUM_AXES; i++) {
+        biasTmp[i] = (long)(biasTmp[i] * 1.39882274201861f / sf);
+        biasPrev[i] = (long)mldl_cfg->offset[i];
+        if (biasPrev[i] > 32767)
+            biasPrev[i] -= 65536L;
+    }
+
+    for (i = 0; i < GYRO_NUM_AXES; i++) {
+        bias[i] = (short)(biasPrev[i] - biasTmp[i]);
+    }
+}
+
+/** Records hardware biases in format as used by hardware gyro registers.
+* Note, the hardware will add this value to the measured gyro data.
+*/
+inv_error_t inv_set_gyro_bias_in_hw_unit(const short *bias, int mode)
+{
+    if (sgb.currentBias[0] != bias[0])
+        sgb.needToSetBias = 1;
+    if (sgb.currentBias[1] != bias[1])
+        sgb.needToSetBias = 1;
+    if (sgb.currentBias[2] != bias[2])
+        sgb.needToSetBias = 1;
+    if (sgb.needToSetBias) {
+        memcpy(sgb.currentBias, bias, sizeof(sgb.currentBias));
+        sgb.mode = mode;
+    }
+    return INV_SUCCESS;
+}
+
+/** Records gyro biases
+* @param[in] bias Bias where 1dps is 2^16. In chip frame.
+*/
+inv_error_t inv_set_gyro_bias_in_dps(const long *bias, int mode)
+{
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    int sf, i;
+    long biasTmp;
+    short offset[3];
+    inv_error_t result;
+
+    if (mldl_cfg->gyro_sens_trim != 0) {
+        sf = 2000 * 131 / mldl_cfg->gyro_sens_trim;
+    } else {
+        sf = 2000;
+    }
+
+    for (i = 0; i < GYRO_NUM_AXES; i++) {
+        biasTmp = -bias[i] / sf;
+        if (biasTmp < 0)
+            biasTmp += 65536L;
+        offset[i] = (short)biasTmp;
+    }
+    result = inv_set_gyro_bias_in_hw_unit(offset, mode);
+    return result;
+}
+
+inv_error_t inv_set_gyro_bias_in_dps_float(const float *bias, int mode)
+{
+    long biasL[3];
+    inv_error_t result;
+
+    biasL[0] = (long)(bias[0] * (1L << 16));
+    biasL[1] = (long)(bias[1] * (1L << 16));
+    biasL[2] = (long)(bias[2] * (1L << 16));
+    result = inv_set_gyro_bias_in_dps(biasL, mode);
+    return result;
+}
+
+inv_error_t MLSetGyroBiasCB(struct inv_obj_t * inv_obj)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (sgb.needToSetBias) {
+        result = inv_set_offset(sgb.currentBias);
+        sgb.needToSetBias = 0;
+    }
+
+    // Check if motion state has changed
+    if (sgb.motion == INV_MOTION) {
+        // We are moving
+        if (inv_obj->motion_state == INV_NO_MOTION) {
+            //Trigger motion callback
+            inv_obj->motion_state = INV_MOTION;
+            inv_obj->flags[INV_MOTION_STATE_CHANGE] = INV_MOTION;
+            if (inv_params_obj.motion_cb_func) {
+                inv_params_obj.motion_cb_func(INV_MOTION);
+            }
+        }
+    } else if (sgb.motion == INV_NO_MOTION){
+        // We are not moving
+        if (inv_obj->motion_state == INV_MOTION) {
+            //Trigger no motion callback
+            inv_obj->motion_state = INV_NO_MOTION;
+            inv_obj->got_no_motion_bias = TRUE;
+            inv_obj->flags[INV_MOTION_STATE_CHANGE] = INV_NO_MOTION;
+            if (inv_params_obj.motion_cb_func) {
+                inv_params_obj.motion_cb_func(INV_NO_MOTION);
+            }
+        }
+    }
+
+    return result;
+}
+
+inv_error_t inv_enable_set_bias(void)
+{
+    inv_error_t result;
+    memset(&sgb, 0, sizeof(sgb));
+
+    sgb.motion = inv_obj.motion_state;
+
+    result =
+        inv_register_fifo_rate_process(MLSetGyroBiasCB,
+                                       INV_PRIORITY_SET_GYRO_BIASES);
+    if (result == INV_ERROR_INVALID_PARAMETER)
+        result = INV_SUCCESS;    /* We already registered this */
+    return result;
+}
+
+inv_error_t inv_disable_set_bias(void)
+{
+    inv_error_t result;
+    result = inv_unregister_fifo_rate_process(MLSetGyroBiasCB);
+    return INV_SUCCESS;          // FIXME need to disable
+}
diff --git a/invensense/mlsdk/mllite/mlSetGyroBias.h b/invensense/mlsdk/mllite/mlSetGyroBias.h
new file mode 100644
index 0000000..e56f18b
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlSetGyroBias.h
@@ -0,0 +1,49 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#ifndef INV_SET_GYRO_BIAS__H__
+#define INV_SET_GYRO_BIAS__H__
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define INV_SGB_NO_MOTION 4
+#define INV_SGB_FAST_NO_MOTION 5
+#define INV_SGB_TEMP_COMP 6
+
+    inv_error_t inv_enable_set_bias(void);
+    inv_error_t inv_disable_set_bias(void);
+    inv_error_t inv_set_gyro_bias_in_hw_unit(const short *bias, int mode);
+    inv_error_t inv_set_gyro_bias_in_dps(const long *bias, int mode);
+    inv_error_t inv_set_gyro_bias_in_dps_float(const float *bias, int mode);
+    void inv_convert_bias(const unsigned char *regs, short *bias);
+    void inv_set_motion_state(int motion);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INV_SET_GYRO_BIAS__H__
diff --git a/invensense/mlsdk/mllite/ml_mputest.c b/invensense/mlsdk/mllite/ml_mputest.c
new file mode 100644
index 0000000..d7fc608
--- /dev/null
+++ b/invensense/mlsdk/mllite/ml_mputest.c
@@ -0,0 +1,184 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: ml_mputest.c 5641 2011-06-14 02:10:02Z mcaramello $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup MPU_SELF_TEST
+ *  @brief  C wrapper to integrate the MPU Self Test wrapper in MPL.
+ *          Provides ML name compliant naming and an additional API that
+ *          automates the suspension of normal MPL operations, runs the test,
+ *          and resume.
+ *
+ *  @{
+ *      @file   ml_mputest.c
+ *      @brief  C wrapper to integrate the MPU Self Test wrapper in MPL.
+ *              The main logic of the test and APIs can be found in mputest.c
+ */
+
+#include <stdio.h>
+#include <time.h>
+#include <string.h>
+#include <math.h>
+#include <stdlib.h>
+
+#include "ml_mputest.h"
+
+#include "mlmath.h"
+#include "mlinclude.h"
+#include "ml.h"
+#include "mlstates.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+    Globals
+*/
+extern struct mldl_cfg *mputestCfgPtr;
+extern signed char g_z_sign;
+
+/*
+    Prototypes
+*/
+extern inv_error_t inv_factory_calibrate(void *mlsl_handle,
+                                         uint_fast8_t provide_result);
+
+/**
+ *  @brief  An MPL wrapper for the main MPU Self Test API inv_factory_calibrate().
+ *          See inv_factory_calibrate() function for more details.
+ *
+ *  @pre    inv_dmp_open() <b>must</b> have been called to populate the mldl_cfg
+ *          data structure.
+ *          On Windows, SetupPlatform() is also a madatory pre condition to
+ *          ensure the accelerometer is properly configured before running the
+ *          test.
+ *
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  provide_result
+ *              If 1:
+ *              perform and analyze the offset, drive frequency, and noise
+ *              calculation and compare it against set thresholds. Report
+ *              also the final result using a bit-mask like error code as
+ *              described in the inv_test_gyro_xxxx() functions.
+ *              When 0:
+ *              skip the noise and drive frequency calculation  and pass/fail
+ *              assessment. It simply calculates the gyro and accel biases.
+ *              NOTE: for MPU6050 devices, this parameter is currently
+ *              ignored.
+ *
+ *  @return INV_SUCCESS or first non-zero error code otherwise.
+ */
+inv_error_t inv_self_test_factory_calibrate(void *mlsl_handle,
+                                            unsigned char provide_result)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t firstError = INV_SUCCESS;
+    inv_error_t result;
+    unsigned char initState = inv_get_state();
+
+    if (initState < INV_STATE_DMP_OPENED) {
+        MPL_LOGE("Self Test cannot run before inv_dmp_open()\n");
+        return INV_ERROR_SM_IMPROPER_STATE;
+    }
+
+    /* obtain a pointer to the 'struct mldl_cfg' data structure. */
+    mputestCfgPtr = inv_get_dl_config();
+
+    if(initState == INV_STATE_DMP_STARTED) {
+        result = inv_dmp_stop();
+        ERROR_CHECK_FIRST(firstError, result);
+    }
+
+    result = inv_factory_calibrate(mlsl_handle, provide_result);
+    ERROR_CHECK_FIRST(firstError, result);
+
+    if(initState == INV_STATE_DMP_STARTED) {
+        result = inv_dmp_start();
+        ERROR_CHECK_FIRST(firstError, result);
+    }
+
+    return firstError;
+}
+
+/**
+ *  @brief  Runs the MPU test at MPL runtime.
+ *          If the DMP is operating, stops the DMP temporarely,
+ *          runs the MPU Self Test, and re-starts the DMP.
+ *
+ *  @return INV_SUCCESS or a non-zero error code otherwise.
+ */
+inv_error_t inv_self_test_run(void)
+{
+#ifdef CONFIG_MPU_SENSORS_MPU3050
+    return inv_self_test_factory_calibrate(inv_get_serial_handle(), TRUE);
+#else
+    return inv_self_test_factory_calibrate(inv_get_serial_handle(), FALSE);
+#endif
+}
+
+/**
+ *  @brief  Runs the MPU test for bias correction only at MPL runtime.
+ *          If the DMP is operating, stops the DMP temporarely,
+ *          runs the bias calculation routines, and re-starts the DMP.
+ *
+ *  @return INV_SUCCESS or a non-zero error code otherwise.
+ */
+inv_error_t inv_self_test_bias_only(void)
+{
+    return inv_self_test_factory_calibrate(inv_get_serial_handle(), FALSE);
+}
+
+/**
+ *  @brief  Set the orientation of the acceleroemter Z axis as it will be
+ *          expected when running the MPU Self Test.
+ *          Specifies the orientation of the accelerometer Z axis : Z axis
+ *          pointing upwards or downwards.
+ *  @param  z_sign
+ *              The sign of the accelerometer Z axis; valid values are +1 and
+ *              -1 for +Z and -Z respectively.  Any other value will cause the
+ *              setting to be ignored and an error code to be returned.
+ *  @return INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_self_test_set_accel_z_orient(signed char z_sign)
+{
+    if (z_sign != +1 && z_sign != -1) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    g_z_sign = z_sign;
+    return INV_SUCCESS;
+}
+
+
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ *  @}
+ */
+
diff --git a/invensense/mlsdk/mllite/ml_mputest.h b/invensense/mlsdk/mllite/ml_mputest.h
new file mode 100644
index 0000000..705d3cc
--- /dev/null
+++ b/invensense/mlsdk/mllite/ml_mputest.h
@@ -0,0 +1,49 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: ml_mputest.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *****************************************************************************/
+
+#ifndef _INV_MPUTEST_H_
+#define _INV_MPUTEST_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+
+/* user APIs */
+inv_error_t inv_self_test_factory_calibrate(
+                void *mlsl_handle, unsigned char provide_result);
+inv_error_t inv_self_test_set_accel_z_orient(signed char z_sign);
+inv_error_t inv_self_test_run(void);
+inv_error_t inv_self_test_bias_only(void);
+
+/* other functions */
+#define inv_set_self_test_parameters inv_set_test_parameters
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_MPUTEST_H_ */
+
diff --git a/invensense/mlsdk/mllite/ml_stored_data.c b/invensense/mlsdk/mllite/ml_stored_data.c
new file mode 100644
index 0000000..35da3e8
--- /dev/null
+++ b/invensense/mlsdk/mllite/ml_stored_data.c
@@ -0,0 +1,1586 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: ml_stored_data.c 5641 2011-06-14 02:10:02Z mcaramello $
+ *
+ *****************************************************************************/
+
+/**
+ * @defgroup ML_STORED_DATA
+ *
+ * @{
+ *      @file     ml_stored_data.c
+ *      @brief    functions for reading and writing stored data sets.
+ *                Typically, these functions process stored calibration data.
+ */
+
+#include "ml_stored_data.h"
+#include "ml.h"
+#include "mlFIFO.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "compass.h"
+#include "dmpKey.h"
+#include "dmpDefault.h"
+#include "mlstates.h"
+#include "checksum.h"
+#include "mlsupervisor.h"
+
+#include "mlsl.h"
+#include "mlos.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-storeload"
+
+/*
+    Typedefs
+*/
+typedef inv_error_t(*tMLLoadFunc) (unsigned char *, unsigned short);
+
+/*
+    Globals
+*/
+extern struct inv_obj_t inv_obj;
+
+/*
+    Debugging Definitions
+    set LOADCAL_DEBUG and/or STORECAL_DEBUG to 1 print the fields
+    being read or stored in human-readable format.
+    When set to 0, the compiler will optimize and remove the printouts
+    from the code.
+*/
+#define LOADCAL_DEBUG    0
+#define STORECAL_DEBUG   0
+
+#define LOADCAL_LOG(...)                        \
+    if(LOADCAL_DEBUG)                           \
+        MPL_LOGI("LOADCAL: " __VA_ARGS__)
+#define STORECAL_LOG(...)                       \
+    if(STORECAL_DEBUG)                          \
+        MPL_LOGI("STORECAL: " __VA_ARGS__)
+
+/**
+ *  @brief  Duplicate of the inv_temp_comp_find_bin function in the libmpl
+ *          advanced algorithms library. To remove cross-dependency, for now,
+ *          we reimplement the same function here.
+ *  @param  temp
+ *              the temperature (1 count == 1 degree C).
+ */
+int FindTempBin(float temp)
+{
+    int bin = (int)((temp - MIN_TEMP) / TEMP_PER_BIN);
+    if (bin < 0)
+        bin = 0;
+    if (bin > BINS - 1)
+        bin = BINS - 1;
+    return bin;
+}
+
+/**
+ * @brief   Returns the length of the <b>MPL internal calibration data</b>.
+ *          Should be called before allocating the memory required to store
+ *          this data to a file.
+ *          This function returns the total size required to store the cal
+ *          data including the header (4 bytes) and the checksum (2 bytes).
+ *
+ *  @pre    Must be in INV_STATE_DMP_OPENED state.
+ *          inv_dmp_open() or inv_dmp_stop() must have been called.
+ *          inv_dmp_start() and inv_dmp_close() must have <b>NOT</b>
+ *          been called.
+ *
+ * @return  the length of the internal calibrated data format.
+ */
+unsigned int inv_get_cal_length(void)
+{
+    INVENSENSE_FUNC_START;
+    unsigned int length;
+    length = INV_CAL_HDR_LEN +  // header
+        BINS * PTS_PER_BIN * 4 * 4 + BINS * 4 * 2 + // gyro cal
+        INV_CAL_ACCEL_LEN +     // accel cal
+        INV_CAL_COMPASS_LEN +   // compass cal
+        INV_CAL_CHK_LEN;        // checksum
+    return length;
+}
+
+/**
+ *  @brief  Loads a type 0 set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *          This calibrations data format stores values for (in order of
+ *          appearance) :
+ *          - temperature,
+ *          - gyro biases for X, Y, Z axes.
+ *          This calibration data would normally be produced by the MPU Self
+ *          Test and its size is 18 bytes (header and checksum included).
+ *          Calibration format type 0 is currently <b>NOT</b> used and
+ *          is substituted by type 5 : inv_load_cal_V5().
+ *
+ *  @note   This calibration data format is obsoleted and no longer supported
+ *          by the rest of the MPL
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be parsed.
+ *  @param  len
+ *              the length of the calibration
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal_V0(unsigned char *calData, unsigned short len)
+{
+    INVENSENSE_FUNC_START;
+    const short expLen = 18;
+    long newGyroData[3] = { 0, 0, 0 };
+    float newTemp;
+    int bin;
+
+    LOADCAL_LOG("Entering inv_load_cal_V0\n");
+
+    if (len != expLen) {
+        MPL_LOGE("Calibration data type 1 must be %d bytes long\n", expLen);
+        return INV_ERROR_FILE_READ;
+    }
+
+    newTemp = (float)inv_decode_temperature(
+                (unsigned short)calData[6] * 256 + calData[7]) / 65536.f;
+    LOADCAL_LOG("newTemp = %f\n", newTemp);
+
+    newGyroData[0] = ((long)calData[8]) * 256 + ((long)calData[9]);
+    if (newGyroData[0] > 32767L)
+        newGyroData[0] -= 65536L;
+    LOADCAL_LOG("newGyroData[0] = %ld\n", newGyroData[0]);
+    newGyroData[1] = ((long)calData[10]) * 256 + ((long)calData[11]);
+    if (newGyroData[1] > 32767L)
+        newGyroData[1] -= 65536L;
+    LOADCAL_LOG("newGyroData[2] = %ld\n", newGyroData[2]);
+    newGyroData[2] = ((long)calData[12]) * 256 + ((long)calData[13]);
+    if (newGyroData[2] > 32767L)
+        newGyroData[2] -= 65536L;
+    LOADCAL_LOG("newGyroData[2] = %ld\n", newGyroData[2]);
+
+    bin = FindTempBin(newTemp);
+    LOADCAL_LOG("bin = %d", bin);
+
+    inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]] = newTemp;
+    LOADCAL_LOG("temp_data[%d][%d] = %f",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]]);
+    inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] =
+        ((float)newGyroData[0]) / 65536.f;
+    LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]);
+    inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] =
+        ((float)newGyroData[0]) / 65536.f;
+    LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]);
+    inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] =
+        ((float)newGyroData[0]) / 65536.f;
+    LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]);
+
+    inv_obj.temp_ptrs[bin] = (inv_obj.temp_ptrs[bin] + 1) % PTS_PER_BIN;
+    LOADCAL_LOG("temp_ptrs[%d] = %d\n", bin, inv_obj.temp_ptrs[bin]);
+
+    if (inv_obj.temp_ptrs[bin] == 0)
+        inv_obj.temp_valid_data[bin] = TRUE;
+    LOADCAL_LOG("temp_valid_data[%d] = %ld\n",
+                bin, inv_obj.temp_valid_data[bin]);
+
+    inv_obj.got_no_motion_bias = TRUE;
+    LOADCAL_LOG("got_no_motion_bias = 1\n");
+    inv_obj.cal_loaded_flag = TRUE;
+    LOADCAL_LOG("cal_loaded_flag = 1\n");
+
+    LOADCAL_LOG("Exiting inv_load_cal_V0\n");
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Loads a type 1 set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *          This calibrations data format stores values for (in order of
+ *          appearance) :
+ *          - temperature,
+ *          - gyro biases for X, Y, Z axes,
+ *          - accel biases for X, Y, Z axes.
+ *          This calibration data would normally be produced by the MPU Self
+ *          Test and its size is 24 bytes (header and checksum included).
+ *          Calibration format type 1 is currently <b>NOT</b> used and
+ *          is substituted by type 5 : inv_load_cal_V5().
+ *
+ *  @note   In order to successfully work, the gyro bias must be stored
+ *          expressed in 250 dps full scale (131.072 sensitivity). Other full
+ *          scale range will produce unpredictable results in the gyro biases.
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be parsed.
+ *  @param  len
+ *              the length of the calibration
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal_V1(unsigned char *calData, unsigned short len)
+{
+    INVENSENSE_FUNC_START;
+    const short expLen = 24;
+    long newGyroData[3] = {0, 0, 0};
+    long accelBias[3] = {0, 0, 0};
+    float gyroBias[3] = {0, 0, 0};
+    float newTemp = 0;
+    int bin;
+
+    LOADCAL_LOG("Entering inv_load_cal_V1\n");
+
+    if (len != expLen) {
+        MPL_LOGE("Calibration data type 1 must be %d bytes long\n", expLen);
+        return INV_ERROR_FILE_READ;
+    }
+
+    newTemp = (float)inv_decode_temperature(
+                (unsigned short)calData[6] * 256 + calData[7]) / 65536.f;
+    LOADCAL_LOG("newTemp = %f\n", newTemp);
+
+    newGyroData[0] = ((long)calData[8]) * 256 + ((long)calData[9]);
+    if (newGyroData[0] > 32767L)
+        newGyroData[0] -= 65536L;
+    LOADCAL_LOG("newGyroData[0] = %ld\n", newGyroData[0]);
+    newGyroData[1] = ((long)calData[10]) * 256 + ((long)calData[11]);
+    if (newGyroData[1] > 32767L)
+        newGyroData[1] -= 65536L;
+    LOADCAL_LOG("newGyroData[1] = %ld\n", newGyroData[1]);
+    newGyroData[2] = ((long)calData[12]) * 256 + ((long)calData[13]);
+    if (newGyroData[2] > 32767L)
+        newGyroData[2] -= 65536L;
+    LOADCAL_LOG("newGyroData[2] = %ld\n", newGyroData[2]);
+
+    bin = FindTempBin(newTemp);
+    LOADCAL_LOG("bin = %d\n", bin);
+
+    gyroBias[0] = ((float)newGyroData[0]) / 131.072f;
+    gyroBias[1] = ((float)newGyroData[1]) / 131.072f;
+    gyroBias[2] = ((float)newGyroData[2]) / 131.072f;
+    LOADCAL_LOG("gyroBias[0] = %f\n", gyroBias[0]);
+    LOADCAL_LOG("gyroBias[1] = %f\n", gyroBias[1]);
+    LOADCAL_LOG("gyroBias[2] = %f\n", gyroBias[2]);
+
+    inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]] = newTemp;
+    LOADCAL_LOG("temp_data[%d][%d] = %f",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]]);
+    inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[0];
+    LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]);
+    inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[1];
+    LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]);
+    inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[2];
+    LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin],
+                inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]);
+
+    inv_obj.temp_ptrs[bin] = (inv_obj.temp_ptrs[bin] + 1) % PTS_PER_BIN;
+    LOADCAL_LOG("temp_ptrs[%d] = %d\n", bin, inv_obj.temp_ptrs[bin]);
+
+    if (inv_obj.temp_ptrs[bin] == 0)
+        inv_obj.temp_valid_data[bin] = TRUE;
+    LOADCAL_LOG("temp_valid_data[%d] = %ld\n",
+                bin, inv_obj.temp_valid_data[bin]);
+
+    /* load accel biases and apply immediately */
+    accelBias[0] = ((long)calData[14]) * 256 + ((long)calData[15]);
+    if (accelBias[0] > 32767)
+        accelBias[0] -= 65536L;
+    accelBias[0] = (long)((long long)accelBias[0] * 65536L *
+                          inv_obj.accel_sens / 1073741824L);
+    LOADCAL_LOG("accelBias[0] = %ld\n", accelBias[0]);
+    accelBias[1] = ((long)calData[16]) * 256 + ((long)calData[17]);
+    if (accelBias[1] > 32767)
+        accelBias[1] -= 65536L;
+    accelBias[1] = (long)((long long)accelBias[1] * 65536L *
+                          inv_obj.accel_sens / 1073741824L);
+    LOADCAL_LOG("accelBias[1] = %ld\n", accelBias[1]);
+    accelBias[2] = ((long)calData[18]) * 256 + ((int)calData[19]);
+    if (accelBias[2] > 32767)
+        accelBias[2] -= 65536L;
+    accelBias[2] = (long)((long long)accelBias[2] * 65536L *
+                          inv_obj.accel_sens / 1073741824L);
+    LOADCAL_LOG("accelBias[2] = %ld\n", accelBias[2]);
+    if (inv_set_array(INV_ACCEL_BIAS, accelBias)) {
+        LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, accelBias));
+        return inv_set_array(INV_ACCEL_BIAS, accelBias);
+    }
+
+    inv_obj.got_no_motion_bias = TRUE;
+    LOADCAL_LOG("got_no_motion_bias = 1\n");
+    inv_obj.cal_loaded_flag = TRUE;
+    LOADCAL_LOG("cal_loaded_flag = 1\n");
+
+    LOADCAL_LOG("Exiting inv_load_cal_V1\n");
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Loads a type 2 set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *          This calibrations data format stores values for (in order of
+ *          appearance) :
+ *          - temperature compensation : temperature data points,
+ *          - temperature compensation : gyro biases data points for X, Y,
+ *              and Z axes.
+ *          - accel biases for X, Y, Z axes.
+ *          This calibration data is produced internally by the MPL and its
+ *          size is 2222 bytes (header and checksum included).
+ *          Calibration format type 2 is currently <b>NOT</b> used and
+ *          is substituted by type 4 : inv_load_cal_V4().
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be parsed.
+ *  @param  len
+ *              the length of the calibration
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal_V2(unsigned char *calData, unsigned short len)
+{
+    INVENSENSE_FUNC_START;
+    const short expLen = 2222;
+    long accel_bias[3];
+    int ptr = INV_CAL_HDR_LEN;
+
+    int i, j;
+    long long tmp;
+
+    LOADCAL_LOG("Entering inv_load_cal_V2\n");
+
+    if (len != expLen) {
+        MPL_LOGE("Calibration data type 2 must be %d bytes long (got %d)\n",
+                 expLen, len);
+        return INV_ERROR_FILE_READ;
+    }
+
+    for (i = 0; i < BINS; i++) {
+        inv_obj.temp_ptrs[i] = 0;
+        inv_obj.temp_ptrs[i] += 16777216L * ((long)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += 65536L * ((long)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += 256 * ((int)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += (int)calData[ptr++];
+        LOADCAL_LOG("temp_ptrs[%d] = %d\n", i, inv_obj.temp_ptrs[i]);
+    }
+    for (i = 0; i < BINS; i++) {
+        inv_obj.temp_valid_data[i] = 0;
+        inv_obj.temp_valid_data[i] += 16777216L * ((long)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += 65536L * ((long)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += 256 * ((int)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += (int)calData[ptr++];
+        LOADCAL_LOG("temp_valid_data[%d] = %ld\n",
+                    i, inv_obj.temp_valid_data[i]);
+    }
+
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.temp_data[i][j]);
+        }
+
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.x_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.x_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.y_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.y_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.z_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.z_gyro_temp_data[i][j]);
+        }
+    }
+
+    /* read the accel biases */
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        accel_bias[i] = (int32_t) t;
+        LOADCAL_LOG("accel_bias[%d] = %ld\n", i, accel_bias[i]);
+    }
+
+    if (inv_set_array(INV_ACCEL_BIAS, accel_bias)) {
+        LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, accel_bias));
+        return inv_set_array(INV_ACCEL_BIAS, accel_bias);
+    }
+
+    inv_obj.got_no_motion_bias = TRUE;
+    LOADCAL_LOG("got_no_motion_bias = 1\n");
+    inv_obj.cal_loaded_flag = TRUE;
+    LOADCAL_LOG("cal_loaded_flag = 1\n");
+
+    LOADCAL_LOG("Exiting inv_load_cal_V2\n");
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Loads a type 3 set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *          This calibrations data format stores values for (in order of
+ *          appearance) :
+ *          - temperature compensation : temperature data points,
+ *          - temperature compensation : gyro biases data points for X, Y,
+ *              and Z axes.
+ *          - accel biases for X, Y, Z axes.
+ *          - compass biases for X, Y, Z axes and bias tracking algorithm
+ *              mock-up.
+ *          This calibration data is produced internally by the MPL and its
+ *          size is 2429 bytes (header and checksum included).
+ *          Calibration format type 3 is currently <b>NOT</b> used and
+ *          is substituted by type 4 : inv_load_cal_V4().
+
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be parsed.
+ *  @param  len
+ *              the length of the calibration
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal_V3(unsigned char *calData, unsigned short len)
+{
+    INVENSENSE_FUNC_START;
+    union doubleToLongLong {
+        double db;
+        unsigned long long ll;
+    } dToLL;
+
+    const short expLen = 2429;
+    long bias[3];
+    int i, j;
+    int ptr = INV_CAL_HDR_LEN;
+    long long tmp;
+
+    LOADCAL_LOG("Entering inv_load_cal_V3\n");
+
+    if (len != expLen) {
+        MPL_LOGE("Calibration data type 3 must be %d bytes long (got %d)\n",
+                 expLen, len);
+        return INV_ERROR_FILE_READ;
+    }
+
+    for (i = 0; i < BINS; i++) {
+        inv_obj.temp_ptrs[i] = 0;
+        inv_obj.temp_ptrs[i] += 16777216L * ((long)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += 65536L * ((long)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += 256 * ((int)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += (int)calData[ptr++];
+        LOADCAL_LOG("temp_ptrs[%d] = %d\n", i, inv_obj.temp_ptrs[i]);
+    }
+    for (i = 0; i < BINS; i++) {
+        inv_obj.temp_valid_data[i] = 0;
+        inv_obj.temp_valid_data[i] += 16777216L * ((long)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += 65536L * ((long)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += 256 * ((int)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += (int)calData[ptr++];
+        LOADCAL_LOG("temp_valid_data[%d] = %ld\n",
+                    i, inv_obj.temp_valid_data[i]);
+    }
+
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.temp_data[i][j]);
+        }
+    }
+
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.x_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.x_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.y_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.y_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.z_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.z_gyro_temp_data[i][j]);
+        }
+    }
+
+    /* read the accel biases */
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        bias[i] = (int32_t) t;
+        LOADCAL_LOG("accel_bias[%d] = %ld\n", i, bias[i]);
+    }
+    if (inv_set_array(INV_ACCEL_BIAS, bias)) {
+        LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, bias));
+        return inv_set_array(INV_ACCEL_BIAS, bias);
+    }
+
+    /* read the compass biases */
+    inv_obj.got_compass_bias = (int)calData[ptr++];
+    inv_obj.got_init_compass_bias = (int)calData[ptr++];
+    inv_obj.compass_state = (int)calData[ptr++];
+
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_bias_error[i] = (int32_t) t;
+        LOADCAL_LOG("compass_bias_error[%d] = %ld\n", i,
+                    inv_obj.compass_bias_error[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.init_compass_bias[i] = (int32_t) t;
+        LOADCAL_LOG("init_compass_bias[%d] = %ld\n", i,
+                    inv_obj.init_compass_bias[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_bias[i] = (int32_t) t;
+        LOADCAL_LOG("compass_bias[%d] = %ld\n", i, inv_obj.compass_bias[i]);
+    }
+    for (i = 0; i < 18; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_peaks[i] = (int32_t) t;
+        LOADCAL_LOG("compass_peaks[%d] = %d\n", i, inv_obj.compass_peaks[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        dToLL.ll = 0;
+        dToLL.ll += 72057594037927936ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += (unsigned long long)calData[ptr++];
+
+        inv_obj.compass_bias_v[i] = dToLL.db;
+        LOADCAL_LOG("compass_bias_v[%d] = %lf\n", i, inv_obj.compass_bias_v[i]);
+    }
+    for (i = 0; i < 9; i++) {
+        dToLL.ll = 0;
+        dToLL.ll += 72057594037927936ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += (unsigned long long)calData[ptr++];
+
+        inv_obj.compass_bias_ptr[i] = dToLL.db;
+        LOADCAL_LOG("compass_bias_ptr[%d] = %lf\n", i,
+                    inv_obj.compass_bias_ptr[i]);
+    }
+
+    inv_obj.got_no_motion_bias = TRUE;
+    LOADCAL_LOG("got_no_motion_bias = 1\n");
+    inv_obj.cal_loaded_flag = TRUE;
+    LOADCAL_LOG("cal_loaded_flag = 1\n");
+
+    LOADCAL_LOG("Exiting inv_load_cal_V3\n");
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Loads a type 4 set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *          This calibrations data format stores values for (in order of
+ *          appearance) :
+ *          - temperature compensation : temperature data points,
+ *          - temperature compensation : gyro biases data points for X, Y,
+ *              and Z axes.
+ *          - accel biases for X, Y, Z axes.
+ *          - compass biases for X, Y, Z axes, compass scale, and bias
+ *              tracking algorithm  mock-up.
+ *          This calibration data is produced internally by the MPL and its
+ *          size is 2777 bytes (header and checksum included).
+ *          Calibration format type 4 is currently used and
+ *          substitutes type 2 (inv_load_cal_V2()) and 3 (inv_load_cal_V3()).
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be parsed.
+ *  @param  len
+ *              the length of the calibration
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal_V4(unsigned char *calData, unsigned short len)
+{
+    INVENSENSE_FUNC_START;
+    union doubleToLongLong {
+        double db;
+        unsigned long long ll;
+    } dToLL;
+
+    const unsigned int expLen = 2782;
+    long bias[3];
+    int ptr = INV_CAL_HDR_LEN;
+    int i, j;
+    long long tmp;
+    inv_error_t result;
+
+    LOADCAL_LOG("Entering inv_load_cal_V4\n");
+
+    if (len != expLen) {
+        MPL_LOGE("Calibration data type 4 must be %d bytes long (got %d)\n",
+                 expLen, len);
+        return INV_ERROR_FILE_READ;
+    }
+
+    for (i = 0; i < BINS; i++) {
+        inv_obj.temp_ptrs[i] = 0;
+        inv_obj.temp_ptrs[i] += 16777216L * ((long)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += 65536L * ((long)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += 256 * ((int)calData[ptr++]);
+        inv_obj.temp_ptrs[i] += (int)calData[ptr++];
+        LOADCAL_LOG("temp_ptrs[%d] = %d\n", i, inv_obj.temp_ptrs[i]);
+    }
+    for (i = 0; i < BINS; i++) {
+        inv_obj.temp_valid_data[i] = 0;
+        inv_obj.temp_valid_data[i] += 16777216L * ((long)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += 65536L * ((long)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += 256 * ((int)calData[ptr++]);
+        inv_obj.temp_valid_data[i] += (int)calData[ptr++];
+        LOADCAL_LOG("temp_valid_data[%d] = %ld\n",
+                    i, inv_obj.temp_valid_data[i]);
+    }
+
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.temp_data[i][j]);
+        }
+    }
+
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.x_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.x_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.y_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.y_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = 0;
+            tmp += 16777216LL * (long long)calData[ptr++];
+            tmp += 65536LL * (long long)calData[ptr++];
+            tmp += 256LL * (long long)calData[ptr++];
+            tmp += (long long)calData[ptr++];
+            if (tmp > 2147483648LL) {
+                tmp -= 4294967296LL;
+            }
+            inv_obj.z_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f;
+            LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                        i, j, inv_obj.z_gyro_temp_data[i][j]);
+        }
+    }
+
+    /* read the accel biases */
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        bias[i] = (int32_t) t;
+        LOADCAL_LOG("accel_bias[%d] = %ld\n", i, bias[i]);
+    }
+    if (inv_set_array(INV_ACCEL_BIAS, bias)) {
+        LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, bias));
+        return inv_set_array(INV_ACCEL_BIAS, bias);
+    }
+
+    /* read the compass biases */
+    inv_reset_compass_calibration();
+
+    inv_obj.got_compass_bias = (int)calData[ptr++];
+    LOADCAL_LOG("got_compass_bias = %ld\n", inv_obj.got_compass_bias);
+    inv_obj.got_init_compass_bias = (int)calData[ptr++];
+    LOADCAL_LOG("got_init_compass_bias = %d\n", inv_obj.got_init_compass_bias);
+    inv_obj.compass_state = (int)calData[ptr++];
+    LOADCAL_LOG("compass_state = %ld\n", inv_obj.compass_state);
+
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_bias_error[i] = (int32_t) t;
+        LOADCAL_LOG("compass_bias_error[%d] = %ld\n", i,
+                    inv_obj.compass_bias_error[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.init_compass_bias[i] = (int32_t) t;
+        LOADCAL_LOG("init_compass_bias[%d] = %ld\n", i,
+                    inv_obj.init_compass_bias[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_bias[i] = (int32_t) t;
+        LOADCAL_LOG("compass_bias[%d] = %ld\n", i, inv_obj.compass_bias[i]);
+    }
+    for (i = 0; i < 18; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_peaks[i] = (int32_t) t;
+        LOADCAL_LOG("compass_peaks[%d] = %d\n", i, inv_obj.compass_peaks[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += (unsigned long long)calData[ptr++];
+
+        inv_obj.compass_bias_v[i] = dToLL.db;
+        LOADCAL_LOG("compass_bias_v[%d] = %lf\n", i, inv_obj.compass_bias_v[i]);
+    }
+    for (i = 0; i < 9; i++) {
+        dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += (unsigned long long)calData[ptr++];
+
+        inv_obj.compass_bias_ptr[i] = dToLL.db;
+        LOADCAL_LOG("compass_bias_ptr[%d] = %lf\n", i,
+                    inv_obj.compass_bias_ptr[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = 0;
+        t += 16777216UL * ((uint32_t) calData[ptr++]);
+        t += 65536UL * ((uint32_t) calData[ptr++]);
+        t += 256u * ((uint32_t) calData[ptr++]);
+        t += (uint32_t) calData[ptr++];
+        inv_obj.compass_scale[i] = (int32_t) t;
+        LOADCAL_LOG("compass_scale[%d] = %d\n", i, (int32_t) t);
+    }
+    for (i = 0; i < 6; i++) {
+        dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += (unsigned long long)calData[ptr++];
+
+        inv_obj.compass_prev_xty[i] = dToLL.db;
+        LOADCAL_LOG("compass_prev_xty[%d] = %f\n", i, dToLL.db);
+    }
+    for (i = 0; i < 36; i++) {
+        dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]);
+        dToLL.ll += (unsigned long long)calData[ptr++];
+
+        inv_obj.compass_prev_m[i] = dToLL.db;
+        LOADCAL_LOG("compass_prev_m[%d] = %f\n", i, dToLL.db);
+    }
+
+    /* Load the compass offset flag and values */
+    inv_obj.flags[INV_COMPASS_OFFSET_VALID] = calData[ptr++];
+    inv_obj.compass_offsets[0] = calData[ptr++];
+    inv_obj.compass_offsets[1] = calData[ptr++];
+    inv_obj.compass_offsets[2] = calData[ptr++];
+
+    inv_obj.compass_accuracy = calData[ptr++];
+    /* push the compass offset values to the device */
+    result = inv_set_compass_offset();
+
+    if (result == INV_SUCCESS) {
+        if (inv_compass_check_range() != INV_SUCCESS) {
+            MPL_LOGI("range check fail");
+            inv_reset_compass_calibration();
+            inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0;
+            inv_set_compass_offset();
+        }
+    }
+
+    inv_obj.got_no_motion_bias = TRUE;
+    LOADCAL_LOG("got_no_motion_bias = 1\n");
+    inv_obj.cal_loaded_flag = TRUE;
+    LOADCAL_LOG("cal_loaded_flag = 1\n");
+
+    LOADCAL_LOG("Exiting inv_load_cal_V4\n");
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Loads a type 5 set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *          This calibrations data format stores values for (in order of
+ *          appearance) :
+ *          - temperature,
+ *          - gyro biases for X, Y, Z axes,
+ *          - accel biases for X, Y, Z axes.
+ *          This calibration data would normally be produced by the MPU Self
+ *          Test and its size is 36 bytes (header and checksum included).
+ *          Calibration format type 5 is produced by the MPU Self Test and
+ *          substitutes the type 1 : inv_load_cal_V1().
+ *
+ *  @pre    inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be parsed.
+ *  @param  len
+ *              the length of the calibration
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal_V5(unsigned char *calData, unsigned short len)
+{
+    INVENSENSE_FUNC_START;
+    const short expLen = 36;
+    long accelBias[3] = { 0, 0, 0 };
+    float gyroBias[3] = { 0, 0, 0 };
+
+    int ptr = INV_CAL_HDR_LEN;
+    unsigned short temp;
+    float newTemp;
+    int bin;
+    int i;
+
+    LOADCAL_LOG("Entering inv_load_cal_V5\n");
+
+    if (len != expLen) {
+        MPL_LOGE("Calibration data type 5 must be %d bytes long (got %d)\n",
+                 expLen, len);
+        return INV_ERROR_FILE_READ;
+    }
+
+    /* load the temperature */
+    temp = (unsigned short)calData[ptr++] * (1L << 8);
+    temp += calData[ptr++];
+    newTemp = (float)inv_decode_temperature(temp) / 65536.f;
+    LOADCAL_LOG("newTemp = %f\n", newTemp);
+
+    /* load the gyro biases (represented in 2 ^ 16 == 1 dps) */
+    for (i = 0; i < 3; i++) {
+        int32_t tmp = 0;
+        tmp += (int32_t) calData[ptr++] * (1L << 24);
+        tmp += (int32_t) calData[ptr++] * (1L << 16);
+        tmp += (int32_t) calData[ptr++] * (1L << 8);
+        tmp += (int32_t) calData[ptr++];
+        gyroBias[i] = (float)tmp / 65536.0f;
+        LOADCAL_LOG("gyroBias[%d] = %f\n", i, gyroBias[i]);
+    }
+    /* find the temperature bin */
+    bin = FindTempBin(newTemp);
+
+    /* populate the temp comp data structure */
+    inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]] = newTemp;
+    LOADCAL_LOG("temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin], newTemp);
+
+    inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[0];
+    LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin], gyroBias[0]);
+    inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[1];
+    LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin], gyroBias[1]);
+    inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[2];
+    LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                bin, inv_obj.temp_ptrs[bin], gyroBias[2]);
+    inv_obj.temp_ptrs[bin] = (inv_obj.temp_ptrs[bin] + 1) % PTS_PER_BIN;
+    LOADCAL_LOG("temp_ptrs[%d] = %d\n", bin, inv_obj.temp_ptrs[bin]);
+
+    if (inv_obj.temp_ptrs[bin] == 0)
+        inv_obj.temp_valid_data[bin] = TRUE;
+    LOADCAL_LOG("temp_valid_data[%d] = %ld\n",
+                bin, inv_obj.temp_valid_data[bin]);
+
+    /* load accel biases (represented in 2 ^ 16 == 1 gee)
+       and apply immediately */
+    for (i = 0; i < 3; i++) {
+        int32_t tmp = 0;
+        tmp += (int32_t) calData[ptr++] * (1L << 24);
+        tmp += (int32_t) calData[ptr++] * (1L << 16);
+        tmp += (int32_t) calData[ptr++] * (1L << 8);
+        tmp += (int32_t) calData[ptr++];
+        accelBias[i] = (long)tmp;
+        LOADCAL_LOG("accelBias[%d] = %ld\n", i, accelBias[i]);
+    }
+    if (inv_set_array(INV_ACCEL_BIAS, accelBias)) {
+        LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, accelBias));
+        return inv_set_array(INV_ACCEL_BIAS, accelBias);
+    }
+
+    inv_obj.got_no_motion_bias = TRUE;
+    LOADCAL_LOG("got_no_motion_bias = 1\n");
+    inv_obj.cal_loaded_flag = TRUE;
+    LOADCAL_LOG("cal_loaded_flag = 1\n");
+
+    LOADCAL_LOG("Exiting inv_load_cal_V5\n");
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief   Loads a set of calibration data.
+ *          It parses a binary data set containing calibration data.
+ *          The binary data set is intended to be loaded from a file.
+ *
+ * @pre     inv_dmp_open()
+ *          @ifnot MPL_MF
+ *              or inv_open_low_power_pedometer()
+ *              or inv_eis_open_dmp()
+ *          @endif
+ *          must have been called.
+ *
+ * @param   calData
+ *              A pointer to an array of bytes to be parsed.
+ *
+ * @return  INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_cal(unsigned char *calData)
+{
+    INVENSENSE_FUNC_START;
+    int calType = 0;
+    int len = 0;
+    int ptr;
+    uint32_t chk = 0;
+    uint32_t cmp_chk = 0;
+
+    tMLLoadFunc loaders[] = {
+        inv_load_cal_V0,
+        inv_load_cal_V1,
+        inv_load_cal_V2,
+        inv_load_cal_V3,
+        inv_load_cal_V4,
+        inv_load_cal_V5
+    };
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    /* read the header (type and len)
+       len is the total record length including header and checksum */
+    len = 0;
+    len += 16777216L * ((int)calData[0]);
+    len += 65536L * ((int)calData[1]);
+    len += 256 * ((int)calData[2]);
+    len += (int)calData[3];
+
+    calType = ((int)calData[4]) * 256 + ((int)calData[5]);
+    if (calType > 5) {
+        MPL_LOGE("Unsupported calibration file format %d. "
+                 "Valid types 0..5\n", calType);
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    /* check the checksum */
+    chk = 0;
+    ptr = len - INV_CAL_CHK_LEN;
+
+    chk += 16777216L * ((uint32_t) calData[ptr++]);
+    chk += 65536L * ((uint32_t) calData[ptr++]);
+    chk += 256 * ((uint32_t) calData[ptr++]);
+    chk += (uint32_t) calData[ptr++];
+
+    cmp_chk = inv_checksum(calData + INV_CAL_HDR_LEN,
+                           len - (INV_CAL_HDR_LEN + INV_CAL_CHK_LEN));
+
+    if (chk != cmp_chk) {
+        return INV_ERROR_CALIBRATION_CHECKSUM;
+    }
+
+    /* call the proper method to read in the data */
+    return loaders[calType] (calData, len);
+}
+
+/**
+ *  @brief  Stores a set of calibration data.
+ *          It generates a binary data set containing calibration data.
+ *          The binary data set is intended to be stored into a file.
+ *
+ *  @pre    inv_dmp_open()
+ *
+ *  @param  calData
+ *              A pointer to an array of bytes to be stored.
+ *  @param  length
+ *              The amount of bytes available in the array.
+ *
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_store_cal(unsigned char *calData, int length)
+{
+    INVENSENSE_FUNC_START;
+    int ptr = 0;
+    int i = 0;
+    int j = 0;
+    long long tmp;
+    uint32_t chk;
+    long bias[3];
+    //unsigned char state;
+    union doubleToLongLong {
+        double db;
+        unsigned long long ll;
+    } dToLL;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    STORECAL_LOG("Entering inv_store_cal\n");
+
+    // length
+    calData[0] = (unsigned char)((length >> 24) & 0xff);
+    calData[1] = (unsigned char)((length >> 16) & 0xff);
+    calData[2] = (unsigned char)((length >> 8) & 0xff);
+    calData[3] = (unsigned char)(length & 0xff);
+    STORECAL_LOG("calLen = %d\n", length);
+
+    // calibration data format type
+    calData[4] = 0;
+    calData[5] = 4;
+    STORECAL_LOG("calType = %d\n", (int)calData[4] * 256 + calData[5]);
+
+    // data
+    ptr = 6;
+    for (i = 0; i < BINS; i++) {
+        tmp = (int)inv_obj.temp_ptrs[i];
+        calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(tmp & 0xff);
+        STORECAL_LOG("temp_ptrs[%d] = %lld\n", i, tmp);
+    }
+
+    for (i = 0; i < BINS; i++) {
+        tmp = (int)inv_obj.temp_valid_data[i];
+        calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(tmp & 0xff);
+        STORECAL_LOG("temp_valid_data[%d] = %lld\n", i, tmp);
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = (long long)(inv_obj.temp_data[i][j] * 65536.0f);
+            if (tmp < 0) {
+                tmp += 4294967296LL;
+            }
+            calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff);
+            calData[ptr++] = (unsigned char)(tmp & 0xff);
+            STORECAL_LOG("temp_data[%d][%d] = %f\n",
+                         i, j, inv_obj.temp_data[i][j]);
+        }
+    }
+
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = (long long)(inv_obj.x_gyro_temp_data[i][j] * 65536.0f);
+            if (tmp < 0) {
+                tmp += 4294967296LL;
+            }
+            calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff);
+            calData[ptr++] = (unsigned char)(tmp & 0xff);
+            STORECAL_LOG("x_gyro_temp_data[%d][%d] = %f\n",
+                         i, j, inv_obj.x_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = (long long)(inv_obj.y_gyro_temp_data[i][j] * 65536.0f);
+            if (tmp < 0) {
+                tmp += 4294967296LL;
+            }
+            calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff);
+            calData[ptr++] = (unsigned char)(tmp & 0xff);
+            STORECAL_LOG("y_gyro_temp_data[%d][%d] = %f\n",
+                         i, j, inv_obj.y_gyro_temp_data[i][j]);
+        }
+    }
+    for (i = 0; i < BINS; i++) {
+        for (j = 0; j < PTS_PER_BIN; j++) {
+            tmp = (long long)(inv_obj.z_gyro_temp_data[i][j] * 65536.0f);
+            if (tmp < 0) {
+                tmp += 4294967296LL;
+            }
+            calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff);
+            calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff);
+            calData[ptr++] = (unsigned char)(tmp & 0xff);
+            STORECAL_LOG("z_gyro_temp_data[%d][%d] = %f\n",
+                         i, j, inv_obj.z_gyro_temp_data[i][j]);
+        }
+    }
+
+    inv_get_array(INV_ACCEL_BIAS, bias);
+
+    /* write the accel biases */
+    for (i = 0; i < 3; i++) {
+        uint32_t t = (uint32_t) bias[i];
+        calData[ptr++] = (unsigned char)((t >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(t & 0xff);
+        STORECAL_LOG("accel_bias[%d] = %ld\n", i, bias[i]);
+    }
+
+    /* write the compass calibration state */
+    calData[ptr++] = (unsigned char)(inv_obj.got_compass_bias);
+    STORECAL_LOG("got_compass_bias = %ld\n", inv_obj.got_compass_bias);
+    calData[ptr++] = (unsigned char)(inv_obj.got_init_compass_bias);
+    STORECAL_LOG("got_init_compass_bias = %d\n", inv_obj.got_init_compass_bias);
+    if (inv_obj.compass_state == SF_UNCALIBRATED) {
+        calData[ptr++] = SF_UNCALIBRATED;
+    } else {
+        calData[ptr++] = SF_STARTUP_SETTLE;
+    }
+    STORECAL_LOG("compass_state = %ld\n", inv_obj.compass_state);
+
+    for (i = 0; i < 3; i++) {
+        uint32_t t = (uint32_t) inv_obj.compass_bias_error[i];
+        calData[ptr++] = (unsigned char)((t >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(t & 0xff);
+        STORECAL_LOG("compass_bias_error[%d] = %ld\n",
+                     i, inv_obj.compass_bias_error[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = (uint32_t) inv_obj.init_compass_bias[i];
+        calData[ptr++] = (unsigned char)((t >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(t & 0xff);
+        STORECAL_LOG("init_compass_bias[%d] = %ld\n", i,
+                     inv_obj.init_compass_bias[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = (uint32_t) inv_obj.compass_bias[i];
+        calData[ptr++] = (unsigned char)((t >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(t & 0xff);
+        STORECAL_LOG("compass_bias[%d] = %ld\n", i, inv_obj.compass_bias[i]);
+    }
+    for (i = 0; i < 18; i++) {
+        uint32_t t = (uint32_t) inv_obj.compass_peaks[i];
+        calData[ptr++] = (unsigned char)((t >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(t & 0xff);
+        STORECAL_LOG("compass_peaks[%d] = %d\n", i, inv_obj.compass_peaks[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        dToLL.db = inv_obj.compass_bias_v[i];
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(dToLL.ll & 0xff);
+        STORECAL_LOG("compass_bias_v[%d] = %lf\n", i,
+                     inv_obj.compass_bias_v[i]);
+    }
+    for (i = 0; i < 9; i++) {
+        dToLL.db = inv_obj.compass_bias_ptr[i];
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(dToLL.ll & 0xff);
+        STORECAL_LOG("compass_bias_ptr[%d] = %lf\n", i,
+                     inv_obj.compass_bias_ptr[i]);
+    }
+    for (i = 0; i < 3; i++) {
+        uint32_t t = (uint32_t) inv_obj.compass_scale[i];
+        calData[ptr++] = (unsigned char)((t >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((t >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(t & 0xff);
+        STORECAL_LOG("compass_scale[%d] = %ld\n", i, inv_obj.compass_scale[i]);
+    }
+    for (i = 0; i < 6; i++) {
+        dToLL.db = inv_obj.compass_prev_xty[i];
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(dToLL.ll & 0xff);
+        STORECAL_LOG("compass_prev_xty[%d] = %lf\n", i,
+                     inv_obj.compass_prev_xty[i]);
+    }
+    for (i = 0; i < 36; i++) {
+        dToLL.db = inv_obj.compass_prev_m[i];
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff);
+        calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff);
+        calData[ptr++] = (unsigned char)(dToLL.ll & 0xff);
+        STORECAL_LOG("compass_prev_m[%d] = %lf\n", i,
+                     inv_obj.compass_prev_m[i]);
+    }
+
+    /* store the compass offsets and validity flag */
+    calData[ptr++] = (unsigned char)inv_obj.flags[INV_COMPASS_OFFSET_VALID];
+    calData[ptr++] = (unsigned char)inv_obj.compass_offsets[0];
+    calData[ptr++] = (unsigned char)inv_obj.compass_offsets[1];
+    calData[ptr++] = (unsigned char)inv_obj.compass_offsets[2];
+
+    /* store the compass accuracy */
+    calData[ptr++] = (unsigned char)(inv_obj.compass_accuracy);
+
+    /* add a checksum */
+    chk = inv_checksum(calData + INV_CAL_HDR_LEN,
+                       length - (INV_CAL_HDR_LEN + INV_CAL_CHK_LEN));
+    calData[ptr++] = (unsigned char)((chk >> 24) & 0xff);
+    calData[ptr++] = (unsigned char)((chk >> 16) & 0xff);
+    calData[ptr++] = (unsigned char)((chk >> 8) & 0xff);
+    calData[ptr++] = (unsigned char)(chk & 0xff);
+
+    STORECAL_LOG("Exiting inv_store_cal\n");
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Load a calibration file.
+ *
+ *  @pre    Must be in INV_STATE_DMP_OPENED state.
+ *          inv_dmp_open() or inv_dmp_stop() must have been called.
+ *          inv_dmp_start() and inv_dmp_close() must have <b>NOT</b>
+ *          been called.
+ *
+ *  @return 0 or error code.
+ */
+inv_error_t inv_load_calibration(void)
+{
+    unsigned char *calData;
+    inv_error_t result;
+    unsigned int length;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    result = inv_serial_get_cal_length(&length);
+    if (result == INV_ERROR_FILE_OPEN) {
+        MPL_LOGI("Calibration data not loaded\n");
+        return INV_SUCCESS;
+    }
+    if (result || length <= 0) {
+        MPL_LOGE("Could not get file calibration length - "
+                 "error %d - aborting\n", result);
+        return result;
+    }
+    calData = (unsigned char *)inv_malloc(length);
+    if (!calData) {
+        MPL_LOGE("Could not allocate buffer of %d bytes - "
+                 "aborting\n", length);
+        return INV_ERROR_MEMORY_EXAUSTED;
+    }
+    result = inv_serial_read_cal(calData, length);
+    if (result) {
+        MPL_LOGE("Could not read the calibration data from file - "
+                 "error %d - aborting\n", result);
+        goto free_mem_n_exit;
+
+    }
+    result = inv_load_cal(calData);
+    if (result) {
+        MPL_LOGE("Could not load the calibration data - "
+                 "error %d - aborting\n", result);
+        goto free_mem_n_exit;
+
+    }
+
+
+
+free_mem_n_exit:
+    inv_free(calData);
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Store runtime calibration data to a file
+ *
+ *  @pre    Must be in INV_STATE_DMP_OPENED state.
+ *          inv_dmp_open() or inv_dmp_stop() must have been called.
+ *          inv_dmp_start() and inv_dmp_close() must have <b>NOT</b>
+ *          been called.
+ *
+ *  @return 0 or error code.
+ */
+inv_error_t inv_store_calibration(void)
+{
+    unsigned char *calData;
+    inv_error_t result;
+    unsigned int length;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    length = inv_get_cal_length();
+    calData = (unsigned char *)inv_malloc(length);
+    if (!calData) {
+        MPL_LOGE("Could not allocate buffer of %d bytes - "
+                 "aborting\n", length);
+        return INV_ERROR_MEMORY_EXAUSTED;
+    }
+    result = inv_store_cal(calData, length);
+    if (result) {
+        MPL_LOGE("Could not store calibrated data on file - "
+                 "error %d - aborting\n", result);
+        goto free_mem_n_exit;
+
+    }
+    result = inv_serial_write_cal(calData, length);
+    if (result) {
+        MPL_LOGE("Could not write calibration data - " "error %d\n", result);
+        goto free_mem_n_exit;
+
+    }
+
+
+
+free_mem_n_exit:
+    inv_free(calData);
+    return INV_SUCCESS;
+}
+
+/**
+ *  @}
+ */
diff --git a/invensense/mlsdk/mllite/ml_stored_data.h b/invensense/mlsdk/mllite/ml_stored_data.h
new file mode 100644
index 0000000..74c2b7c
--- /dev/null
+++ b/invensense/mlsdk/mllite/ml_stored_data.h
@@ -0,0 +1,62 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/*******************************************************************************
+ *
+ * $Id:$
+ *
+ ******************************************************************************/
+
+#ifndef INV_STORED_DATA_H
+#define INV_STORED_DATA_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+    Includes.
+*/
+
+#include "mltypes.h"
+
+/*
+    Defines
+*/
+#define INV_CAL_ACCEL_LEN    (12)
+#define INV_CAL_COMPASS_LEN  (555 + 5)
+#define INV_CAL_HDR_LEN      (6)
+#define INV_CAL_CHK_LEN      (4)
+
+/*
+    APIs
+*/
+    inv_error_t inv_load_calibration(void);
+    inv_error_t inv_store_calibration(void);
+
+/*
+    Other prototypes
+*/
+    inv_error_t inv_load_cal(unsigned char *calData);
+    inv_error_t inv_store_cal(unsigned char *calData, int length);
+    unsigned int inv_get_cal_length(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          /* INV_STORED_DATA_H */
diff --git a/invensense/mlsdk/mllite/mlarray.c b/invensense/mlsdk/mllite/mlarray.c
new file mode 100644
index 0000000..6ae85e0
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlarray.c
@@ -0,0 +1,2524 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ *
+ * $Id: mlarray.c 5085 2011-04-08 22:25:14Z phickey $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup ML
+ *  @{
+ *      @file   mlarray.c
+ *      @brief  APIs to read different data sets from FIFO.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+#include "ml.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "mlMathFunc.h"
+#include "mlmath.h"
+#include "mlstates.h"
+#include "mlFIFO.h"
+#include "mlsupervisor.h"
+#include "mldl.h"
+#include "dmpKey.h"
+#include "compass.h"
+
+/**
+ *  @brief  inv_get_gyro is used to get the most recent gyroscope measurement.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are scaled at 1 dps = 2^16 LSBs.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+
+ /* inv_get_gyro implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_accel is used to get the most recent
+ *          accelerometer measurement.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are scaled in units of g (gravity),
+ *          where 1 g = 2^16 LSBs.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_accel implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_temperature is used to get the most recent
+ *          temperature measurement.
+ *          The argument array should only have one element.
+ *          The value is in units of deg C (degrees Celsius), where
+ *          2^16 LSBs = 1 deg C.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to the data to be passed back to the user.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_temperature implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_rot_mat is used to get the rotation matrix
+ *          representation of the current sensor fusion solution.
+ *          The array format will be R11, R12, R13, R21, R22, R23, R31, R32,
+ *          R33, representing the matrix:
+ *          <center>R11 R12 R13</center>
+ *          <center>R21 R22 R23</center>
+ *          <center>R31 R32 R33</center>
+ *          Values are scaled, where 1.0 = 2^30 LSBs.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_rot_mat(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    long qdata[4];
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    inv_get_quaternion(qdata);
+    inv_quaternion_to_rotation(qdata, data);
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_quaternion is used to get the quaternion representation
+ *          of the current sensor fusion solution.
+ *          The values are scaled where 1.0 = 2^30 LSBs.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 4 cells long </b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_quaternion implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_linear_accel is used to get an estimate of linear
+ *          acceleration, based on the most recent accelerometer measurement
+ *          and sensor fusion solution.
+ *          The values are scaled where 1 g (gravity) = 2^16 LSBs.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_linear_accel implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_linear_accel_in_world is used to get an estimate of
+ *          linear acceleration, in the world frame,  based on the most
+ *          recent accelerometer measurement and sensor fusion solution.
+ *          The values are scaled where 1 g (gravity) = 2^16 LSBs.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_linear_accel_in_world implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_gravity is used to get an estimate of the body frame
+ *          gravity vector, based on the most recent sensor fusion solution.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_gravity implemented in mlFIFO.c */
+
+/**
+ *  @internal
+ *  @brief  inv_get_angular_velocity is used to get an estimate of the body
+ *          frame angular velocity, which is computed from the current and
+ *          previous sensor fusion solutions.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_angular_velocity(long *data)
+{
+
+    return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+    /* not implemented. old (invalid) implementation:
+       if ( inv_get_state() < INV_STATE_DMP_OPENED )
+       return INV_ERROR_SM_IMPROPER_STATE;
+
+       if (NULL == data) {
+       return INV_ERROR_INVALID_PARAMETER;
+       }
+       data[0] = inv_obj.ang_v_body[0];
+       data[1] = inv_obj.ang_v_body[1];
+       data[2] = inv_obj.ang_v_body[2];
+
+       return result;
+     */
+}
+
+/**
+ *  @brief  inv_get_euler_angles is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          Euler angles may follow various conventions. This function is equivelant
+ *          to inv_get_euler_angles_x, refer to inv_get_euler_angles_x for more
+ *          information.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_euler_angles(long *data)
+{
+    return inv_get_euler_angles_x(data);
+}
+
+/**
+ *  @brief  inv_get_euler_angles_x is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          Euler angles are returned according to the X convention.
+ *          This is typically the convention used for mobile devices where the X
+ *          axis is the width of the screen, Y axis is the height, and Z the
+ *          depth. In this case roll is defined as the rotation around the X
+ *          axis of the device.
+ *          <TABLE>
+ *          <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR>
+ *          <TR><TD> 0      </TD><TD>Roll              </TD><TD>X axis                </TD></TR>
+ *          <TR><TD> 1      </TD><TD>Pitch             </TD><TD>Y axis                </TD></TR>
+ *          <TR><TD> 2      </TD><TD>Yaw               </TD><TD>Z axis                </TD></TR>
+ *          </TABLE>
+ *
+ *          Values are scaled where 1.0 = 2^16.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_euler_angles_x(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_rot_mat_float(rotMatrix);
+    tmp = rotMatrix[6];
+    if (tmp > 1.0f) {
+        tmp = 1.0f;
+    }
+    if (tmp < -1.0f) {
+        tmp = -1.0f;
+    }
+    data[0] =
+        (long)((float)
+               (atan2f(rotMatrix[7], rotMatrix[8]) * 57.29577951308) *
+               65536L);
+    data[1] = (long)((float)((double)asin(tmp) * 57.29577951308) * 65536L);
+    data[2] =
+        (long)((float)
+               (atan2f(rotMatrix[3], rotMatrix[0]) * 57.29577951308) *
+               65536L);
+    return result;
+}
+
+/**
+ *  @brief  inv_get_euler_angles_y is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          Euler angles are returned according to the Y convention.
+ *          This convention is typically used in augmented reality applications,
+ *          where roll is defined as the rotation around the axis along the
+ *          height of the screen of a mobile device, namely the Y axis.
+ *          <TABLE>
+ *          <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR>
+ *          <TR><TD> 0      </TD><TD>Roll              </TD><TD>Y axis                </TD></TR>
+ *          <TR><TD> 1      </TD><TD>Pitch             </TD><TD>X axis                </TD></TR>
+ *          <TR><TD> 2      </TD><TD>Yaw               </TD><TD>Z axis                </TD></TR>
+ *          </TABLE>
+ *
+ *          Values are scaled where 1.0 = 2^16.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_euler_angles_y(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_rot_mat_float(rotMatrix);
+    tmp = rotMatrix[7];
+    if (tmp > 1.0f) {
+        tmp = 1.0f;
+    }
+    if (tmp < -1.0f) {
+        tmp = -1.0f;
+    }
+    data[0] =
+        (long)((float)
+               (atan2f(rotMatrix[8], rotMatrix[6]) * 57.29577951308f) *
+               65536L);
+    data[1] = (long)((float)((double)asin(tmp) * 57.29577951308) * 65536L);
+    data[2] =
+        (long)((float)
+               (atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308f) *
+               65536L);
+    return result;
+}
+
+/**  @brief  inv_get_euler_angles_z is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          This convention is mostly used in application involving the use
+ *          of a camera, typically placed on the back of a mobile device, that
+ *          is along the Z axis.  In this convention roll is defined as the
+ *          rotation around the Z axis.
+ *          Euler angles are returned according to the Y convention.
+ *          <TABLE>
+ *          <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR>
+ *          <TR><TD> 0      </TD><TD>Roll              </TD><TD>Z axis                </TD></TR>
+ *          <TR><TD> 1      </TD><TD>Pitch             </TD><TD>X axis                </TD></TR>
+ *          <TR><TD> 2      </TD><TD>Yaw               </TD><TD>Y axis                </TD></TR>
+ *          </TABLE>
+ *
+ *          Values are scaled where 1.0 = 2^16.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+
+inv_error_t inv_get_euler_angles_z(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_rot_mat_float(rotMatrix);
+    tmp = rotMatrix[8];
+    if (tmp > 1.0f) {
+        tmp = 1.0f;
+    }
+    if (tmp < -1.0f) {
+        tmp = -1.0f;
+    }
+    data[0] =
+        (long)((float)
+               (atan2f(rotMatrix[6], rotMatrix[7]) * 57.29577951308) *
+               65536L);
+    data[1] = (long)((float)((double)asin(tmp) * 57.29577951308) * 65536L);
+    data[2] =
+        (long)((float)
+               (atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308) *
+               65536L);
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_temp_slope is used to get is used to get the temperature
+ *          compensation algorithm's estimate of the gyroscope bias temperature
+ *          coefficient.
+ *          The argument array elements are ordered X,Y,Z.
+ *          Values are in units of dps per deg C (degrees per second per degree
+ *          Celcius). Values are scaled so that 1 dps per deg C = 2^16 LSBs.
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_gyro_temp_slope(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    if (inv_params_obj.bias_mode & INV_LEARN_BIAS_FROM_TEMPERATURE) {
+        data[0] = (long)(inv_obj.x_gyro_coef[1] * 65536.0f);
+        data[1] = (long)(inv_obj.y_gyro_coef[1] * 65536.0f);
+        data[2] = (long)(inv_obj.z_gyro_coef[1] * 65536.0f);
+    } else {
+        data[0] = inv_obj.temp_slope[0];
+        data[1] = inv_obj.temp_slope[1];
+        data[2] = inv_obj.temp_slope[2];
+    }
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_bias is used to get the gyroscope biases.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are scaled such that 1 dps = 2^16 LSBs.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_gyro_bias(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    data[0] = inv_obj.gyro_bias[0];
+    data[1] = inv_obj.gyro_bias[1];
+    data[2] = inv_obj.gyro_bias[2];
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_accel_bias is used to get the accelerometer baises.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are scaled such that 1 g (gravity) = 2^16 LSBs.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_accel_bias(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    data[0] = inv_obj.accel_bias[0];
+    data[1] = inv_obj.accel_bias[1];
+    data[2] = inv_obj.accel_bias[2];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_bias is used to get Magnetometer Bias
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_bias(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    data[0] =
+        inv_obj.compass_bias[0] +
+        (long)((long long)inv_obj.init_compass_bias[0] * inv_obj.compass_sens /
+               16384);
+    data[1] =
+        inv_obj.compass_bias[1] +
+        (long)((long long)inv_obj.init_compass_bias[1] * inv_obj.compass_sens /
+               16384);
+    data[2] =
+        inv_obj.compass_bias[2] +
+        (long)((long long)inv_obj.init_compass_bias[2] * inv_obj.compass_sens /
+               16384);
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_and_accel_sensor is used to get the most recent set of all sensor data.
+ *          The argument array elements are ordered gyroscope X,Y, and Z,
+ *          accelerometer X, Y, and Z, and magnetometer X,Y, and Z.
+ *          \if UMPL The magnetometer elements are not populated in UMPL. \endif
+ *          The gyroscope and accelerometer data is not scaled or offset, it is
+ *          copied directly from the sensor registers.
+ *          In the case of accelerometers with 8-bit output resolution, the data
+ *          is scaled up to match the 2^14 = 1 g typical represntation of +/- 2 g
+ *          full scale range
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_gyro_and_accel_sensor implemented in mlFIFO.c */
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_raw_data is used to get Raw magnetometer data.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_raw_data(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.compass_sensor_data[0];
+    data[1] = inv_obj.compass_sensor_data[1];
+    data[2] = inv_obj.compass_sensor_data[2];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_magnetometer is used to get magnetometer data.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_magnetometer(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.compass_sensor_data[0] + inv_obj.init_compass_bias[0];
+    data[1] = inv_obj.compass_sensor_data[1] + inv_obj.init_compass_bias[1];
+    data[2] = inv_obj.compass_sensor_data[2] + inv_obj.init_compass_bias[2];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_pressure is used to get Pressure data.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to data to be passed back to the user.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_pressure(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.pressure;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_heading is used to get heading from Rotation Matrix.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to data to be passed back to the user.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+
+inv_error_t inv_get_heading(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    result = inv_get_rot_mat_float(rotMatrix);
+    if ((rotMatrix[7] < 0.707) && (rotMatrix[7] > -0.707)) {
+        tmp =
+            (float)(atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308 -
+                    90.0f);
+    } else {
+        tmp =
+            (float)(atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308 +
+                    90.0f);
+    }
+    if (tmp < 0) {
+        tmp += 360.0f;
+    }
+    data[0] = (long)((360 - tmp) * 65536.0f);
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_cal_matrix is used to get the gyroscope
+ *          calibration matrix. The gyroscope calibration matrix defines the relationship
+ *          between the gyroscope sensor axes and the sensor fusion solution axes.
+ *          Calibration matrix data members will have a value of 1, 0, or -1.
+ *          The matrix has members
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *          The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_gyro_cal_matrix(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.gyro_cal[0];
+    data[1] = inv_obj.gyro_cal[1];
+    data[2] = inv_obj.gyro_cal[2];
+    data[3] = inv_obj.gyro_cal[3];
+    data[4] = inv_obj.gyro_cal[4];
+    data[5] = inv_obj.gyro_cal[5];
+    data[6] = inv_obj.gyro_cal[6];
+    data[7] = inv_obj.gyro_cal[7];
+    data[8] = inv_obj.gyro_cal[8];
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_accel_cal_matrix is used to get the accelerometer
+ *          calibration matrix.
+ *          Calibration matrix data members will have a value of 1, 0, or -1.
+ *          The matrix has members
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *          The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_accel_cal_matrix(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.accel_cal[0];
+    data[1] = inv_obj.accel_cal[1];
+    data[2] = inv_obj.accel_cal[2];
+    data[3] = inv_obj.accel_cal[3];
+    data[4] = inv_obj.accel_cal[4];
+    data[5] = inv_obj.accel_cal[5];
+    data[6] = inv_obj.accel_cal[6];
+    data[7] = inv_obj.accel_cal[7];
+    data[8] = inv_obj.accel_cal[8];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_cal_matrix is used to get magnetometer calibration matrix.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long at least</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_cal_matrix(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.compass_cal[0];
+    data[1] = inv_obj.compass_cal[1];
+    data[2] = inv_obj.compass_cal[2];
+    data[3] = inv_obj.compass_cal[3];
+    data[4] = inv_obj.compass_cal[4];
+    data[5] = inv_obj.compass_cal[5];
+    data[6] = inv_obj.compass_cal[6];
+    data[7] = inv_obj.compass_cal[7];
+    data[8] = inv_obj.compass_cal[8];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_bias_error is used to get magnetometer Bias error.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long at least</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_bias_error(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    if (inv_obj.large_field == 0) {
+        data[0] = inv_obj.compass_bias_error[0];
+        data[1] = inv_obj.compass_bias_error[1];
+        data[2] = inv_obj.compass_bias_error[2];
+    } else {
+        data[0] = P_INIT;
+        data[1] = P_INIT;
+        data[2] = P_INIT;
+    }
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_scale is used to get magnetometer scale.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long at least</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_scale(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.compass_scale[0];
+    data[1] = inv_obj.compass_scale[1];
+    data[2] = inv_obj.compass_scale[2];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_local_field is used to get local magnetic field data.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long at least</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_local_field(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = inv_obj.local_field[0];
+    data[1] = inv_obj.local_field[1];
+    data[2] = inv_obj.local_field[2];
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_relative_quaternion is used to get relative quaternion.
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 4 cells long at least</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ *  @endcond
+ */
+/* inv_get_relative_quaternion implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_gyro_float is used to get the most recent gyroscope measurement.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are in units of dps (degrees per second).
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_gyro_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    long ldata[3];
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    result = inv_get_gyro(ldata);
+    data[0] = (float)ldata[0] / 65536.0f;
+    data[1] = (float)ldata[1] / 65536.0f;
+    data[2] = (float)ldata[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @internal
+ *  @brief  inv_get_angular_velocity_float is used to get an array of three data points representing the angular
+ *          velocity as derived from <b>both</b> gyroscopes and accelerometers.
+ *          This requires that ML_SENSOR_FUSION be enabled, to fuse data from
+ *          the gyroscope and accelerometer device, appropriately scaled and
+ *          oriented according to the respective mounting matrices.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_angular_velocity_float(float *data)
+{
+    return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+    /* not implemented. old (invalid) implementation:
+       return inv_get_gyro_float(data);
+     */
+}
+
+/**
+ *  @brief  inv_get_accel_float is used to get the most recent accelerometer measurement.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are in units of g (gravity).
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+ /* inv_get_accel_float implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_temperature_float is used to get the most recent
+ *          temperature measurement.
+ *          The argument array should only have one element.
+ *          The value is in units of deg C (degrees Celsius).
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to data to be passed back to the user.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_temperature_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    long ldata[1];
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_temperature(ldata);
+    data[0] = (float)ldata[0] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_rot_mat_float is used to get an array of nine data points representing the rotation
+ *          matrix generated from all available sensors.
+ *          The array format will be R11, R12, R13, R21, R22, R23, R31, R32,
+ *          R33, representing the matrix:
+ *          <center>R11 R12 R13</center>
+ *          <center>R21 R22 R23</center>
+ *          <center>R31 R32 R33</center>
+ *          <b>Please refer to the "9-Axis Sensor Fusion Application Note" document,
+ *          section 7 "Sensor Fusion Output", for details regarding rotation
+ *          matrix output</b>.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long at least</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_rot_mat_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    {
+        long qdata[4], rdata[9];
+        inv_get_quaternion(qdata);
+        inv_quaternion_to_rotation(qdata, rdata);
+        data[0] = (float)rdata[0] / 1073741824.0f;
+        data[1] = (float)rdata[1] / 1073741824.0f;
+        data[2] = (float)rdata[2] / 1073741824.0f;
+        data[3] = (float)rdata[3] / 1073741824.0f;
+        data[4] = (float)rdata[4] / 1073741824.0f;
+        data[5] = (float)rdata[5] / 1073741824.0f;
+        data[6] = (float)rdata[6] / 1073741824.0f;
+        data[7] = (float)rdata[7] / 1073741824.0f;
+        data[8] = (float)rdata[8] / 1073741824.0f;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_quaternion_float is used to get the quaternion representation
+ *          of the current sensor fusion solution.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 4 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an ML error code otherwise.
+ */
+ /* inv_get_quaternion_float implemented in mlFIFO.c */
+
+/**
+ *  @brief  inv_get_linear_accel_float is used to get an estimate of linear
+ *          acceleration, based on the most recent accelerometer measurement
+ *          and sensor fusion solution.
+ *          The values are in units of g (gravity).
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_linear_accel_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    long ldata[3];
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_linear_accel(ldata);
+    data[0] = (float)ldata[0] / 65536.0f;
+    data[1] = (float)ldata[1] / 65536.0f;
+    data[2] = (float)ldata[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_linear_accel_in_world_float is used to get an estimate of
+ *          linear acceleration, in the world frame,  based on the most
+ *          recent accelerometer measurement and sensor fusion solution.
+ *          The values are in units of g (gravity).
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_linear_accel_in_world_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    long ldata[3];
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_linear_accel_in_world(ldata);
+    data[0] = (float)ldata[0] / 65536.0f;
+    data[1] = (float)ldata[1] / 65536.0f;
+    data[2] = (float)ldata[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gravity_float is used to get an estimate of the body frame
+ *          gravity vector, based on the most recent sensor fusion solution.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long at least</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_gravity_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    long ldata[3];
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    result = inv_get_gravity(ldata);
+    data[0] = (float)ldata[0] / 65536.0f;
+    data[1] = (float)ldata[1] / 65536.0f;
+    data[2] = (float)ldata[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_cal_matrix_float is used to get the gyroscope
+ *          calibration matrix. The gyroscope calibration matrix defines the relationship
+ *          between the gyroscope sensor axes and the sensor fusion solution axes.
+ *          Calibration matrix data members will have a value of 1.0, 0, or -1.0.
+ *          The matrix has members
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *          The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_gyro_cal_matrix_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.gyro_cal[0] / 1073741824.0f;
+    data[1] = (float)inv_obj.gyro_cal[1] / 1073741824.0f;
+    data[2] = (float)inv_obj.gyro_cal[2] / 1073741824.0f;
+    data[3] = (float)inv_obj.gyro_cal[3] / 1073741824.0f;
+    data[4] = (float)inv_obj.gyro_cal[4] / 1073741824.0f;
+    data[5] = (float)inv_obj.gyro_cal[5] / 1073741824.0f;
+    data[6] = (float)inv_obj.gyro_cal[6] / 1073741824.0f;
+    data[7] = (float)inv_obj.gyro_cal[7] / 1073741824.0f;
+    data[8] = (float)inv_obj.gyro_cal[8] / 1073741824.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_accel_cal_matrix_float is used to get the accelerometer
+ *          calibration matrix.
+ *          Calibration matrix data members will have a value of 1.0, 0, or -1.0.
+ *          The matrix has members
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *          The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+
+inv_error_t inv_get_accel_cal_matrix_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.accel_cal[0] / 1073741824.0f;
+    data[1] = (float)inv_obj.accel_cal[1] / 1073741824.0f;
+    data[2] = (float)inv_obj.accel_cal[2] / 1073741824.0f;
+    data[3] = (float)inv_obj.accel_cal[3] / 1073741824.0f;
+    data[4] = (float)inv_obj.accel_cal[4] / 1073741824.0f;
+    data[5] = (float)inv_obj.accel_cal[5] / 1073741824.0f;
+    data[6] = (float)inv_obj.accel_cal[6] / 1073741824.0f;
+    data[7] = (float)inv_obj.accel_cal[7] / 1073741824.0f;
+    data[8] = (float)inv_obj.accel_cal[8] / 1073741824.0f;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_cal_matrix_float is used to get an array of nine data points
+ *			representing the calibration matrix for the compass:
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long at least</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_cal_matrix_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.compass_cal[0] / 1073741824.0f;
+    data[1] = (float)inv_obj.compass_cal[1] / 1073741824.0f;
+    data[2] = (float)inv_obj.compass_cal[2] / 1073741824.0f;
+    data[3] = (float)inv_obj.compass_cal[3] / 1073741824.0f;
+    data[4] = (float)inv_obj.compass_cal[4] / 1073741824.0f;
+    data[5] = (float)inv_obj.compass_cal[5] / 1073741824.0f;
+    data[6] = (float)inv_obj.compass_cal[6] / 1073741824.0f;
+    data[7] = (float)inv_obj.compass_cal[7] / 1073741824.0f;
+    data[8] = (float)inv_obj.compass_cal[8] / 1073741824.0f;
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_temp_slope_float is used to get the temperature
+ *          compensation algorithm's estimate of the gyroscope bias temperature
+ *          coefficient.
+ *          The argument array elements are ordered X,Y,Z.
+ *          Values are in units of dps per deg C (degrees per second per degree
+ *          Celcius)
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long </b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_gyro_temp_slope_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    if (inv_params_obj.bias_mode & INV_LEARN_BIAS_FROM_TEMPERATURE) {
+        data[0] = inv_obj.x_gyro_coef[1];
+        data[1] = inv_obj.y_gyro_coef[1];
+        data[2] = inv_obj.z_gyro_coef[1];
+    } else {
+        data[0] = (float)inv_obj.temp_slope[0] / 65536.0f;
+        data[1] = (float)inv_obj.temp_slope[1] / 65536.0f;
+        data[2] = (float)inv_obj.temp_slope[2] / 65536.0f;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_bias_float is used to get the gyroscope biases.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are in units of dps (degrees per second).
+
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_gyro_bias_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.gyro_bias[0] / 65536.0f;
+    data[1] = (float)inv_obj.gyro_bias[1] / 65536.0f;
+    data[2] = (float)inv_obj.gyro_bias[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_accel_bias_float is used to get the accelerometer baises.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are in units of g (gravity).
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_accel_bias_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.accel_bias[0] / 65536.0f;
+    data[1] = (float)inv_obj.accel_bias[1] / 65536.0f;
+    data[2] = (float)inv_obj.accel_bias[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_bias_float is used to get an array of three data points representing
+ *			the compass biases.
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_bias_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] =
+        ((float)
+         (inv_obj.compass_bias[0] +
+          (long)((long long)inv_obj.init_compass_bias[0] *
+                 inv_obj.compass_sens / 16384))) / 65536.0f;
+    data[1] =
+        ((float)
+         (inv_obj.compass_bias[1] +
+          (long)((long long)inv_obj.init_compass_bias[1] *
+                 inv_obj.compass_sens / 16384))) / 65536.0f;
+    data[2] =
+        ((float)
+         (inv_obj.compass_bias[2] +
+          (long)((long long)inv_obj.init_compass_bias[2] *
+                 inv_obj.compass_sens / 16384))) / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_gyro_and_accel_sensor_float is used to get the most recent set of all sensor data.
+ *          The argument array elements are ordered gyroscope X,Y, and Z,
+ *          accelerometer X, Y, and Z, and magnetometer X,Y, and Z.
+ *          \if UMPL The magnetometer elements are not populated in UMPL. \endif
+ *          The gyroscope and accelerometer data is not scaled or offset, it is
+ *          copied directly from the sensor registers, and cast as a float.
+ *          In the case of accelerometers with 8-bit output resolution, the data
+ *          is scaled up to match the 2^14 = 1 g typical represntation of +/- 2 g
+ *          full scale range
+
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_gyro_and_accel_sensor_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    long ldata[6];
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_gyro_and_accel_sensor(ldata);
+    data[0] = (float)ldata[0];
+    data[1] = (float)ldata[1];
+    data[2] = (float)ldata[2];
+    data[3] = (float)ldata[3];
+    data[4] = (float)ldata[4];
+    data[5] = (float)ldata[5];
+    data[6] = (float)inv_obj.compass_sensor_data[0];
+    data[7] = (float)inv_obj.compass_sensor_data[1];
+    data[8] = (float)inv_obj.compass_sensor_data[2];
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_euler_angles_x is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          Euler angles are returned according to the X convention.
+ *          This is typically the convention used for mobile devices where the X
+ *          axis is the width of the screen, Y axis is the height, and Z the
+ *          depth. In this case roll is defined as the rotation around the X
+ *          axis of the device.
+ *          <TABLE>
+ *          <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR>
+ *          <TR><TD> 0      </TD><TD>Roll              </TD><TD>X axis                </TD></TR>
+ *          <TR><TD> 1      </TD><TD>Pitch             </TD><TD>Y axis                </TD></TR>
+ *          <TR><TD> 2      </TD><TD>Yaw               </TD><TD>Z axis                </TD></TR>
+ *
+           </TABLE>
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_euler_angles_x_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_rot_mat_float(rotMatrix);
+    tmp = rotMatrix[6];
+    if (tmp > 1.0f) {
+        tmp = 1.0f;
+    }
+    if (tmp < -1.0f) {
+        tmp = -1.0f;
+    }
+    data[0] =
+        (float)(atan2f(rotMatrix[7],
+                       rotMatrix[8]) * 57.29577951308);
+    data[1] = (float)((double)asin(tmp) * 57.29577951308);
+    data[2] =
+        (float)(atan2f(rotMatrix[3], rotMatrix[0]) * 57.29577951308);
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_euler_angles_float is used to get an array of three data points three data points
+ *			representing roll, pitch, and yaw corresponding to the INV_EULER_ANGLES_X output and it is
+ *          therefore the default convention for Euler angles.
+ *          Please refer to the INV_EULER_ANGLES_X for a detailed description.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_euler_angles_float(float *data)
+{
+    return inv_get_euler_angles_x_float(data);
+}
+
+/**  @brief  inv_get_euler_angles_y_float is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          Euler angles are returned according to the Y convention.
+ *          This convention is typically used in augmented reality applications,
+ *          where roll is defined as the rotation around the axis along the
+ *          height of the screen of a mobile device, namely the Y axis.
+ *          <TABLE>
+ *          <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR>
+ *          <TR><TD> 0      </TD><TD>Roll              </TD><TD>Y axis                </TD></TR>
+ *          <TR><TD> 1      </TD><TD>Pitch             </TD><TD>X axis                </TD></TR>
+ *          <TR><TD> 2      </TD><TD>Yaw               </TD><TD>Z axis                </TD></TR>
+ *          </TABLE>
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_euler_angles_y_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_rot_mat_float(rotMatrix);
+    tmp = rotMatrix[7];
+    if (tmp > 1.0f) {
+        tmp = 1.0f;
+    }
+    if (tmp < -1.0f) {
+        tmp = -1.0f;
+    }
+    data[0] =
+        (float)(atan2f(rotMatrix[8], rotMatrix[6]) * 57.29577951308);
+    data[1] = (float)((double)asin(tmp) * 57.29577951308);
+    data[2] =
+        (float)(atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308);
+
+    return result;
+}
+
+/**  @brief  inv_get_euler_angles_z_float is used to get the Euler angle representation
+ *          of the current sensor fusion solution.
+ *          This convention is mostly used in application involving the use
+ *          of a camera, typically placed on the back of a mobile device, that
+ *          is along the Z axis.  In this convention roll is defined as the
+ *          rotation around the Z axis.
+ *          Euler angles are returned according to the Y convention.
+ *          <TABLE>
+ *          <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR>
+ *          <TR><TD> 0      </TD><TD>Roll              </TD><TD>Z axis                </TD></TR>
+ *          <TR><TD> 1      </TD><TD>Pitch             </TD><TD>X axis                </TD></TR>
+ *          <TR><TD> 2      </TD><TD>Yaw               </TD><TD>Y axis                </TD></TR>
+ *          </TABLE>
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_euler_angles_z_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    result = inv_get_rot_mat_float(rotMatrix);
+    tmp = rotMatrix[8];
+    if (tmp > 1.0f) {
+        tmp = 1.0f;
+    }
+    if (tmp < -1.0f) {
+        tmp = -1.0f;
+    }
+    data[0] =
+        (float)(atan2f(rotMatrix[6], rotMatrix[7]) * 57.29577951308);
+    data[1] = (float)((double)asin(tmp) * 57.29577951308);
+    data[2] =
+        (float)(atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308);
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_raw_data_float is used to get Raw magnetometer data
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_raw_data_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] =
+        (float)(inv_obj.compass_sensor_data[0] + inv_obj.init_compass_bias[0]);
+    data[1] =
+        (float)(inv_obj.compass_sensor_data[1] + inv_obj.init_compass_bias[1]);
+    data[2] =
+        (float)(inv_obj.compass_sensor_data[2] + inv_obj.init_compass_bias[2]);
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_magnetometer_float is used to get magnetometer data
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_magnetometer_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.compass_calibrated_data[0] / 65536.0f;
+    data[1] = (float)inv_obj.compass_calibrated_data[1] / 65536.0f;
+    data[2] = (float)inv_obj.compass_calibrated_data[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_pressure_float is used to get a single value representing the pressure in Pascal
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to the data to be passed back to the user.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_pressure_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.pressure;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_heading_float is used to get single number representing the heading of the device
+ *          relative to the Earth, in which 0 represents North, 90 degrees
+ *          represents East, and so on.
+ *          The heading is defined as the direction of the +Y axis if the Y
+ *          axis is horizontal, and otherwise the direction of the -Z axis.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to the data to be passed back to the user.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_heading_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    float rotMatrix[9];
+    float tmp;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    inv_get_rot_mat_float(rotMatrix);
+    if ((rotMatrix[7] < 0.707) && (rotMatrix[7] > -0.707)) {
+        tmp =
+            (float)(atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308 -
+                    90.0f);
+    } else {
+        tmp =
+            (float)(atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308 +
+                    90.0f);
+    }
+    if (tmp < 0) {
+        tmp += 360.0f;
+    }
+    data[0] = 360 - tmp;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_bias_error_float is used to get an array of three numbers representing
+ *			the current estimated error in the compass biases. These numbers are unitless and serve
+ *          as rough estimates in which numbers less than 100 typically represent
+ *          reasonably well calibrated compass axes.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_bias_error_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    if (inv_obj.large_field == 0) {
+        data[0] = (float)inv_obj.compass_bias_error[0];
+        data[1] = (float)inv_obj.compass_bias_error[1];
+        data[2] = (float)inv_obj.compass_bias_error[2];
+    } else {
+        data[0] = (float)P_INIT;
+        data[1] = (float)P_INIT;
+        data[2] = (float)P_INIT;
+    }
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_mag_scale_float is used to get magnetometer scale.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_mag_scale_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.compass_scale[0] / 65536.0f;
+    data[1] = (float)inv_obj.compass_scale[1] / 65536.0f;
+    data[2] = (float)inv_obj.compass_scale[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_local_field_float is used to get local magnetic field data.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 3 cells long</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_local_field_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.local_field[0] / 65536.0f;
+    data[1] = (float)inv_obj.local_field[1] / 65536.0f;
+    data[2] = (float)inv_obj.local_field[2] / 65536.0f;
+
+    return result;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_get_relative_quaternion_float is used to get relative quaternion data.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif
+ *          must have been called.
+ *
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 4 cells long at least</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_get_relative_quaternion_float(float *data)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    data[0] = (float)inv_obj.relative_quat[0] / 1073741824.0f;
+    data[1] = (float)inv_obj.relative_quat[1] / 1073741824.0f;
+    data[2] = (float)inv_obj.relative_quat[2] / 1073741824.0f;
+    data[3] = (float)inv_obj.relative_quat[3] / 1073741824.0f;
+
+    return result;
+}
+
+/**
+ * Returns the curren compass accuracy.
+ *
+ * - 0: Unknown: The accuracy is unreliable and compass data should not be used
+ * - 1: Low: The compass accuracy is low.
+ * - 2: Medium: The compass accuracy is medium.
+ * - 3: High: The compas acurracy is high and can be trusted
+ *
+ * @param accuracy The accuracy level in the range 0-3
+ *
+ * @return ML_SUCCESS or non-zero error code
+ */
+inv_error_t inv_get_compass_accuracy(int *accuracy)
+{
+    if (inv_get_state() != INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    *accuracy = inv_obj.compass_accuracy;
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_gyro_bias is used to set the gyroscope bias.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are scaled at 1 dps = 2^16 LSBs.
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_gyro_bias(long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+    long biasTmp;
+    long sf = 0;
+    short offset[GYRO_NUM_AXES];
+    int i;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    if (mldl_cfg->gyro_sens_trim != 0) {
+        sf = 2000 * 131 / mldl_cfg->gyro_sens_trim;
+    } else {
+        sf = 2000;
+    }
+    for (i = 0; i < GYRO_NUM_AXES; i++) {
+        inv_obj.gyro_bias[i] = data[i];
+        biasTmp = -inv_obj.gyro_bias[i] / sf;
+        if (biasTmp < 0)
+            biasTmp += 65536L;
+        offset[i] = (short)biasTmp;
+    }
+    result = inv_set_offset(offset);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_accel_bias is used to set the accelerometer bias.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are scaled in units of g (gravity),
+ *          where 1 g = 2^16 LSBs.
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_accel_bias(long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+    long biasTmp;
+    int i, j;
+    unsigned char regs[6];
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    for (i = 0; i < ACCEL_NUM_AXES; i++) {
+        inv_obj.accel_bias[i] = data[i];
+        if (inv_obj.accel_sens != 0 && mldl_cfg && mldl_cfg->pdata) {
+            long long tmp64;
+            inv_obj.scaled_accel_bias[i] = 0;
+            for (j = 0; j < ACCEL_NUM_AXES; j++) {
+                inv_obj.scaled_accel_bias[i] +=
+                    data[j] *
+                    (long)mldl_cfg->pdata->accel.orientation[i * 3 + j];
+            }
+            tmp64 = (long long)inv_obj.scaled_accel_bias[i] << 13;
+            biasTmp = (long)(tmp64 / inv_obj.accel_sens);
+        } else {
+            biasTmp = 0;
+        }
+        if (biasTmp < 0)
+            biasTmp += 65536L;
+        regs[2 * i + 0] = (unsigned char)(biasTmp / 256);
+        regs[2 * i + 1] = (unsigned char)(biasTmp % 256);
+    }
+    result = inv_set_mpu_memory(KEY_D_1_8, 2, &regs[0]);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_mpu_memory(KEY_D_1_10, 2, &regs[2]);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_set_mpu_memory(KEY_D_1_2, 2, &regs[4]);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_set_mag_bias is used to set Compass Bias
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_set_mag_bias(long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    inv_set_compass_bias(data);
+    inv_obj.init_compass_bias[0] = 0;
+    inv_obj.init_compass_bias[1] = 0;
+    inv_obj.init_compass_bias[2] = 0;
+    inv_obj.got_compass_bias = 1;
+    inv_obj.got_init_compass_bias = 1;
+    inv_obj.compass_state = SF_STARTUP_SETTLE;
+
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_gyro_temp_slope is used to set the temperature
+ *          compensation algorithm's estimate of the gyroscope bias temperature
+ *          coefficient.
+ *          The argument array elements are ordered X,Y,Z.
+ *          Values are in units of dps per deg C (degrees per second per degree
+ *          Celcius), and scaled such that 1 dps per deg C = 2^16 LSBs.
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document.
+ *
+ *  @brief  inv_set_gyro_temp_slope is used to set Gyro temperature slope
+ *
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_gyro_temp_slope(long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+    int i;
+    long sf;
+    unsigned char regs[3];
+
+    inv_obj.factory_temp_comp = 1;
+    inv_obj.temp_slope[0] = data[0];
+    inv_obj.temp_slope[1] = data[1];
+    inv_obj.temp_slope[2] = data[2];
+    for (i = 0; i < GYRO_NUM_AXES; i++) {
+        sf = -inv_obj.temp_slope[i] / 1118;
+        if (sf > 127) {
+            sf -= 256;
+        }
+        regs[i] = (unsigned char)sf;
+    }
+    result = inv_set_offsetTC(regs);
+
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_set_local_field is used to set local magnetic field
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_set_local_field(long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    inv_obj.local_field[0] = data[0];
+    inv_obj.local_field[1] = data[1];
+    inv_obj.local_field[2] = data[2];
+    inv_obj.new_local_field = 1;
+
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_set_mag_scale is used to set magnetometer scale
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_set_mag_scale(long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    inv_obj.compass_scale[0] = data[0];
+    inv_obj.compass_scale[1] = data[1];
+    inv_obj.compass_scale[2] = data[2];
+
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_gyro_temp_slope_float is used to get the temperature
+ *          compensation algorithm's estimate of the gyroscope bias temperature
+ *          coefficient.
+ *          The argument array elements are ordered X,Y,Z.
+ *          Values are in units of dps per deg C (degrees per second per degree
+ *          Celcius)
+
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_gyro_temp_slope_float(float *data)
+{
+    long arrayTmp[3];
+    arrayTmp[0] = (long)(data[0] * 65536.f);
+    arrayTmp[1] = (long)(data[1] * 65536.f);
+    arrayTmp[2] = (long)(data[2] * 65536.f);
+    return inv_set_gyro_temp_slope(arrayTmp);
+}
+
+/**
+ *  @brief  inv_set_gyro_bias_float is used to set the gyroscope bias.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are in units of dps (degrees per second).
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_gyro_bias_float(float *data)
+{
+    long arrayTmp[3];
+    arrayTmp[0] = (long)(data[0] * 65536.f);
+    arrayTmp[1] = (long)(data[1] * 65536.f);
+    arrayTmp[2] = (long)(data[2] * 65536.f);
+    return inv_set_gyro_bias(arrayTmp);
+
+}
+
+/**
+ *  @brief  inv_set_accel_bias_float is used to set the accelerometer bias.
+ *          The argument array elements are ordered X,Y,Z.
+ *          The values are in units of g (gravity).
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_accel_bias_float(float *data)
+{
+    long arrayTmp[3];
+    arrayTmp[0] = (long)(data[0] * 65536.f);
+    arrayTmp[1] = (long)(data[1] * 65536.f);
+    arrayTmp[2] = (long)(data[2] * 65536.f);
+    return inv_set_accel_bias(arrayTmp);
+
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_set_mag_bias_float is used to set compass bias
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen()\ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_set_mag_bias_float(float *data)
+{
+    long arrayTmp[3];
+    arrayTmp[0] = (long)(data[0] * 65536.f);
+    arrayTmp[1] = (long)(data[1] * 65536.f);
+    arrayTmp[2] = (long)(data[2] * 65536.f);
+    return inv_set_mag_bias(arrayTmp);
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_set_local_field_float is used to set local magnetic field
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_set_local_field_float(float *data)
+{
+    long arrayTmp[3];
+    arrayTmp[0] = (long)(data[0] * 65536.f);
+    arrayTmp[1] = (long)(data[1] * 65536.f);
+    arrayTmp[2] = (long)(data[2] * 65536.f);
+    return inv_set_local_field(arrayTmp);
+}
+
+/**
+ *  @cond MPL
+ *  @brief  inv_set_mag_scale_float is used to set magnetometer scale
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() \ifnot UMPL or
+ *          MLDmpPedometerStandAloneOpen() \endif
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ *  @endcond
+ */
+inv_error_t inv_set_mag_scale_float(float *data)
+{
+    long arrayTmp[3];
+    arrayTmp[0] = (long)(data[0] * 65536.f);
+    arrayTmp[1] = (long)(data[1] * 65536.f);
+    arrayTmp[2] = (long)(data[2] * 65536.f);
+    return inv_set_mag_scale(arrayTmp);
+}
diff --git a/invensense/mlsdk/mllite/mlarray_legacy.c b/invensense/mlsdk/mllite/mlarray_legacy.c
new file mode 100644
index 0000000..20d9116
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlarray_legacy.c
@@ -0,0 +1,587 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ *
+ * $Id: mlarray_legacy.c $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup MLArray_Legacy
+ *  @brief  Legacy Motion Library Array APIs.
+ *          The Motion Library Array APIs provide the user access to the
+ *          Motion Library state. These Legacy APIs provide access to
+ *          individual state arrays using a data set name as the first
+ *          argument to the API. This format has been replaced by unique
+ *          named APIs for each data set, found in the MLArray group.
+ *
+ *  @{
+ *      @file   mlarray_legacy.c
+ *      @brief  The Legacy Motion Library Array APIs.
+ */
+
+#include "ml.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "mlFIFO.h"
+#include "mldl_cfg.h"
+
+/**
+ *  @brief  inv_get_array is used to get an array of processed motion sensor data.
+ *          inv_get_array can be used to retrieve various data sets. Certain data
+ *          sets require functions to be enabled using MLEnable in order to be
+ *          valid.
+ *
+ *          The available data sets are:
+ *
+ *          - INV_ROTATION_MATRIX
+ *          - INV_QUATERNION
+ *          - INV_EULER_ANGLES_X
+ *          - INV_EULER_ANGLES_Y
+ *          - INV_EULER_ANGLES_Z
+ *          - INV_EULER_ANGLES
+ *          - INV_LINEAR_ACCELERATION
+ *          - INV_LINEAR_ACCELERATION_WORLD
+ *          - INV_GRAVITY
+ *          - INV_ANGULAR_VELOCITY
+ *          - INV_RAW_DATA
+ *          - INV_GYROS
+ *          - INV_ACCELS
+ *          - INV_MAGNETOMETER
+ *          - INV_GYRO_BIAS
+ *          - INV_ACCEL_BIAS
+ *          - INV_MAG_BIAS
+ *          - INV_HEADING
+ *          - INV_MAG_BIAS_ERROR
+ *          - INV_PRESSURE
+ *
+ *          Please refer to the documentation of inv_get_float_array() for a
+ *          description of these data sets.
+ *
+ *  @pre    MLDmpOpen() or MLDmpPedometerStandAloneOpen()
+ *          must have been called.
+ *
+ *  @param  dataSet
+ *              A constant specifying an array of data processed by the
+ *              motion processor.
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long at least</b>.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_array(int dataSet, long *data)
+{
+    inv_error_t result;
+    switch (dataSet) {
+    case INV_GYROS:
+        result = inv_get_gyro(data);
+        break;
+    case INV_ACCELS:
+        result = inv_get_accel(data);
+        break;
+    case INV_TEMPERATURE:
+        result = inv_get_temperature(data);
+        break;
+    case INV_ROTATION_MATRIX:
+        result = inv_get_rot_mat(data);
+        break;
+    case INV_QUATERNION:
+        result = inv_get_quaternion(data);
+        break;
+    case INV_LINEAR_ACCELERATION:
+        result = inv_get_linear_accel(data);
+        break;
+    case INV_LINEAR_ACCELERATION_WORLD:
+        result = inv_get_linear_accel_in_world(data);
+        break;
+    case INV_GRAVITY:
+        result = inv_get_gravity(data);
+        break;
+    case INV_ANGULAR_VELOCITY:
+        result = inv_get_angular_velocity(data);
+        break;
+    case INV_EULER_ANGLES:
+        result = inv_get_euler_angles(data);
+        break;
+    case INV_EULER_ANGLES_X:
+        result = inv_get_euler_angles_x(data);
+        break;
+    case INV_EULER_ANGLES_Y:
+        result = inv_get_euler_angles_y(data);
+        break;
+    case INV_EULER_ANGLES_Z:
+        result = inv_get_euler_angles_z(data);
+        break;
+    case INV_GYRO_TEMP_SLOPE:
+        result = inv_get_gyro_temp_slope(data);
+        break;
+    case INV_GYRO_BIAS:
+        result = inv_get_gyro_bias(data);
+        break;
+    case INV_ACCEL_BIAS:
+        result = inv_get_accel_bias(data);
+        break;
+    case INV_MAG_BIAS:
+        result = inv_get_mag_bias(data);
+        break;
+    case INV_RAW_DATA:
+        result = inv_get_gyro_and_accel_sensor(data);
+        break;
+    case INV_MAG_RAW_DATA:
+        result = inv_get_mag_raw_data(data);
+        break;
+    case INV_MAGNETOMETER:
+        result = inv_get_magnetometer(data);
+        break;
+    case INV_PRESSURE:
+        result = inv_get_pressure(data);
+        break;
+    case INV_HEADING:
+        result = inv_get_heading(data);
+        break;
+    case INV_GYRO_CALIBRATION_MATRIX:
+        result = inv_get_gyro_cal_matrix(data);
+        break;
+    case INV_ACCEL_CALIBRATION_MATRIX:
+        result = inv_get_accel_cal_matrix(data);
+        break;
+    case INV_MAG_CALIBRATION_MATRIX:
+        result = inv_get_mag_cal_matrix(data);
+        break;
+    case INV_MAG_BIAS_ERROR:
+        result = inv_get_mag_bias_error(data);
+        break;
+    case INV_MAG_SCALE:
+        result = inv_get_mag_scale(data);
+        break;
+    case INV_LOCAL_FIELD:
+        result = inv_get_local_field(data);
+        break;
+    case INV_RELATIVE_QUATERNION:
+        result = inv_get_relative_quaternion(data);
+        break;
+    default:
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+    return result;
+}
+
+/**
+ *  @brief  inv_get_float_array is used to get an array of processed motion sensor
+ *          data. inv_get_array can be used to retrieve various data sets.
+ *          Certain data sets require functions to be enabled using MLEnable
+ *          in order to be valid.
+ *
+ *          The available data sets are:
+ *
+ *          - INV_ROTATION_MATRIX :
+ *          Returns an array of nine data points representing the rotation
+ *          matrix generated from all available sensors.
+ *          This requires that ML_SENSOR_FUSION be enabled.
+ *          The array format will be R11, R12, R13, R21, R22, R23, R31, R32,
+ *          R33, representing the matrix:
+ *          <center>R11 R12 R13</center>
+ *          <center>R21 R22 R23</center>
+ *          <center>R31 R32 R33</center>
+ *          <b>Please refer to the "9-Axis Sensor Fusion Application Note" document,
+ *          section 7 "Sensor Fusion Output", for details regarding rotation
+ *          matrix output</b>.
+ *
+ *          - INV_QUATERNION :
+ *          Returns an array of four data points representing the quaternion
+ *          generated from all available sensors.
+ *          This requires that ML_SENSOR_FUSION be enabled.
+ *
+ *          - INV_EULER_ANGLES_X :
+ *          Returns an array of three data points representing roll, pitch, and
+ *          yaw using the X axis of the gyroscope, accelerometer, and compass as
+ *          reference axis.
+ *          This is typically the convention used for mobile devices where the X
+ *          axis is the width of the screen, Y axis is the height, and Z the
+ *          depth. In this case roll is defined as the rotation around the X
+ *          axis of the device.
+ *          The euler angles convention for this output is the following:
+ *          <TABLE>
+ *          <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR>
+ *          <TR><TD>roll              </TD><TD>X axis                </TD></TR>
+ *          <TR><TD>pitch             </TD><TD>Y axis                </TD></TR>
+ *          <TR><TD>yaw               </TD><TD>Z axis                </TD></TR>
+ *          </TABLE>
+ *          INV_EULER_ANGLES_X corresponds to the INV_EULER_ANGLES output and is
+ *          therefore the default convention.
+ *
+ *          - INV_EULER_ANGLES_Y :
+ *          Returns an array of three data points representing roll, pitch, and
+ *          yaw using the Y axis of the gyroscope, accelerometer, and compass as
+ *          reference axis.
+ *          This convention is typically used in augmented reality applications,
+ *          where roll is defined as the rotation around the axis along the
+ *          height of the screen of a mobile device, namely the Y axis.
+ *          The euler angles convention for this output is the following:
+ *          <TABLE>
+ *          <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR>
+ *          <TR><TD>roll              </TD><TD>Y axis                </TD></TR>
+ *          <TR><TD>pitch             </TD><TD>X axis                </TD></TR>
+ *          <TR><TD>yaw               </TD><TD>Z axis                </TD></TR>
+ *          </TABLE>
+ *
+ *          - INV_EULER_ANGLES_Z :
+ *          Returns an array of three data points representing roll, pitch, and
+ *          yaw using the Z axis of the gyroscope, accelerometer, and compass as
+ *          reference axis.
+ *          This convention is mostly used in application involving the use
+ *          of a camera, typically placed on the back of a mobile device, that
+ *          is along the Z axis.  In this convention roll is defined as the
+ *          rotation around the Z axis.
+ *          The euler angles convention for this output is the following:
+ *          <TABLE>
+ *          <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR>
+ *          <TR><TD>roll              </TD><TD>Z axis                </TD></TR>
+ *          <TR><TD>pitch             </TD><TD>X axis                </TD></TR>
+ *          <TR><TD>yaw               </TD><TD>Y axis                </TD></TR>
+ *          </TABLE>
+ *
+ *          - INV_EULER_ANGLES :
+ *          Returns an array of three data points representing roll, pitch, and
+ *          yaw corresponding to the INV_EULER_ANGLES_X output and it is
+ *          therefore the default convention for Euler angles.
+ *          Please refer to the INV_EULER_ANGLES_X for a detailed description.
+ *
+ *          - INV_LINEAR_ACCELERATION :
+ *          Returns an array of three data points representing the linear
+ *          acceleration as derived from both gyroscopes and accelerometers.
+ *          This requires that ML_SENSOR_FUSION be enabled.
+ *
+ *          - INV_LINEAR_ACCELERATION_WORLD :
+ *          Returns an array of three data points representing the linear
+ *          acceleration in world coordinates, as derived from both gyroscopes
+ *          and accelerometers.
+ *          This requires that ML_SENSOR_FUSION be enabled.
+ *
+ *          - INV_GRAVITY :
+ *          Returns an array of three data points representing the direction
+ *          of gravity in body coordinates, as derived from both gyroscopes
+ *          and accelerometers.
+ *          This requires that ML_SENSOR_FUSION be enabled.
+ *
+ *          - INV_ANGULAR_VELOCITY :
+ *          Returns an array of three data points representing the angular
+ *          velocity as derived from <b>both</b> gyroscopes and accelerometers.
+ *          This requires that ML_SENSOR_FUSION be enabled, to fuse data from
+ *          the gyroscope and accelerometer device, appropriately scaled and
+ *          oriented according to the respective mounting matrices.
+ *
+ *          - INV_RAW_DATA :
+ *          Returns an array of nine data points representing raw sensor data
+ *          of the gyroscope X, Y, Z, accelerometer X, Y, Z, and
+ *          compass X, Y, Z values.
+ *          These values are not scaled and come out directly from the devices'
+ *          sensor data output. In case of accelerometers with lower output
+ *          resolution, e.g 8-bit, the sensor data is scaled up to match the
+ *          2^14 = 1 gee typical representation for a +/- 2 gee full scale
+ *          range.
+ *
+ *          - INV_GYROS :
+ *          Returns an array of three data points representing the X gyroscope,
+ *          Y gyroscope, and Z gyroscope values.
+ *          The values are not sensor fused with other sensor types data but
+ *          reflect the orientation from the mounting matrices in use.
+ *          The INV_GYROS values are scaled to ensure 1 dps corresponds to 2^16
+ *          codes.
+ *
+ *          - INV_ACCELS :
+ *          Returns an array of three data points representing the X
+ *          accelerometer, Y accelerometer, and Z accelerometer values.
+ *          The values are not sensor fused with other sensor types data but
+ *          reflect the orientation from the mounting matrices in use.
+ *          The INV_ACCELS values are scaled to ensure 1 gee corresponds to 2^16
+ *          codes.
+ *
+ *          - INV_MAGNETOMETER :
+ *          Returns an array of three data points representing the compass
+ *          X, Y, and Z values.
+ *          The values are not sensor fused with other sensor types data but
+ *          reflect the orientation from the mounting matrices in use.
+ *          The INV_MAGNETOMETER values are scaled to ensure 1 micro Tesla (uT)
+ *          corresponds to 2^16 codes.
+ *
+ *          - INV_GYRO_BIAS :
+ *          Returns an array of three data points representing the gyroscope
+ *          biases.
+ *
+ *          - INV_ACCEL_BIAS :
+ *          Returns an array of three data points representing the
+ *          accelerometer biases.
+ *
+ *          - INV_MAG_BIAS :
+ *          Returns an array of three data points representing the compass
+ *          biases.
+ *
+ *          - INV_GYRO_CALIBRATION_MATRIX :
+ *          Returns an array of nine data points representing the calibration
+ *          matrix for the gyroscopes:
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *
+ *          - INV_ACCEL_CALIBRATION_MATRIX :
+ *          Returns an array of nine data points representing the calibration
+ *          matrix for the accelerometers:
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *
+ *          - INV_MAG_CALIBRATION_MATRIX :
+ *          Returns an array of nine data points representing the calibration
+ *          matrix for the compass:
+ *          <center>C11 C12 C13</center>
+ *          <center>C21 C22 C23</center>
+ *          <center>C31 C32 C33</center>
+ *
+ *          - INV_PRESSURE :
+ *          Returns a single value representing the pressure in Pascal
+ *
+ *          - INV_HEADING :
+ *          Returns a single number representing the heading of the device
+ *          relative to the Earth, in which 0 represents North, 90 degrees
+ *          represents East, and so on.
+ *          The heading is defined as the direction of the +Y axis if the Y
+ *          axis is horizontal, and otherwise the direction of the -Z axis.
+ *
+ *          - INV_MAG_BIAS_ERROR :
+ *          Returns an array of three numbers representing the current estimated
+ *          error in the compass biases. These numbers are unitless and serve
+ *          as rough estimates in which numbers less than 100 typically represent
+ *          reasonably well calibrated compass axes.
+ *
+ *  @pre    MLDmpOpen() or MLDmpPedometerStandAloneOpen()
+ *          must have been called.
+ *
+ *  @param  dataSet
+ *              A constant specifying an array of data processed by
+ *              the motion processor.
+ *  @param  data
+ *              A pointer to an array to be passed back to the user.
+ *              <b>Must be 9 cells long at least</b>.
+ *
+ *  @return INV_SUCCESS if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_get_float_array(int dataSet, float *data)
+{
+    inv_error_t result;
+    switch (dataSet) {
+    case INV_GYROS:
+        result = inv_get_gyro_float(data);
+        break;
+    case INV_ACCELS:
+        result = inv_get_accel_float(data);
+        break;
+    case INV_TEMPERATURE:
+        result = inv_get_temperature_float(data);
+        break;
+    case INV_ROTATION_MATRIX:
+        result = inv_get_rot_mat_float(data);
+        break;
+    case INV_QUATERNION:
+        result = inv_get_quaternion_float(data);
+        break;
+    case INV_LINEAR_ACCELERATION:
+        result = inv_get_linear_accel_float(data);
+        break;
+    case INV_LINEAR_ACCELERATION_WORLD:
+        result = inv_get_linear_accel_in_world_float(data);
+        break;
+    case INV_GRAVITY:
+        result = inv_get_gravity_float(data);
+        break;
+    case INV_ANGULAR_VELOCITY:
+        result = inv_get_angular_velocity_float(data);
+        break;
+    case INV_EULER_ANGLES:
+        result = inv_get_euler_angles_float(data);
+        break;
+    case INV_EULER_ANGLES_X:
+        result = inv_get_euler_angles_x_float(data);
+        break;
+    case INV_EULER_ANGLES_Y:
+        result = inv_get_euler_angles_y_float(data);
+        break;
+    case INV_EULER_ANGLES_Z:
+        result = inv_get_euler_angles_z_float(data);
+        break;
+    case INV_GYRO_TEMP_SLOPE:
+        result = inv_get_gyro_temp_slope_float(data);
+        break;
+    case INV_GYRO_BIAS:
+        result = inv_get_gyro_bias_float(data);
+        break;
+    case INV_ACCEL_BIAS:
+        result = inv_get_accel_bias_float(data);
+        break;
+    case INV_MAG_BIAS:
+        result = inv_get_mag_bias_float(data);
+        break;
+    case INV_RAW_DATA:
+        result = inv_get_gyro_and_accel_sensor_float(data);
+        break;
+    case INV_MAG_RAW_DATA:
+        result = inv_get_mag_raw_data_float(data);
+        break;
+    case INV_MAGNETOMETER:
+        result = inv_get_magnetometer_float(data);
+        break;
+    case INV_PRESSURE:
+        result = inv_get_pressure_float(data);
+        break;
+    case INV_HEADING:
+        result = inv_get_heading_float(data);
+        break;
+    case INV_GYRO_CALIBRATION_MATRIX:
+        result = inv_get_gyro_cal_matrix_float(data);
+        break;
+    case INV_ACCEL_CALIBRATION_MATRIX:
+        result = inv_get_accel_cal_matrix_float(data);
+        break;
+    case INV_MAG_CALIBRATION_MATRIX:
+        result = inv_get_mag_cal_matrix_float(data);
+        break;
+    case INV_MAG_BIAS_ERROR:
+        result = inv_get_mag_bias_error_float(data);
+        break;
+    case INV_MAG_SCALE:
+        result = inv_get_mag_scale_float(data);
+        break;
+    case INV_LOCAL_FIELD:
+        result = inv_get_local_field_float(data);
+        break;
+    case INV_RELATIVE_QUATERNION:
+        result = inv_get_relative_quaternion_float(data);
+        break;
+    default:
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+    return result;
+}
+
+/**
+ *  @brief  used to set an array of motion sensor data.
+ *          Handles the following data sets:
+ *          - INV_GYRO_BIAS
+ *          - INV_ACCEL_BIAS
+ *          - INV_MAG_BIAS
+ *          - INV_GYRO_TEMP_SLOPE
+ *
+ *          For more details about the use of the data sets
+ *          please refer to the documentation of inv_set_float_array().
+ *
+ *          Please also refer to the provided "9-Axis Sensor Fusion
+ *          Application Note" document provided.
+ *
+ *  @pre    MLDmpOpen() or
+ *          MLDmpPedometerStandAloneOpen()
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  dataSet     A constant specifying an array of data.
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_array(int dataSet, long *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    switch (dataSet) {
+    case INV_GYRO_BIAS:
+        result = inv_set_gyro_bias(data);
+        break;
+    case INV_ACCEL_BIAS:
+        result = inv_set_accel_bias(data);
+        break;
+    case INV_MAG_BIAS:
+        result = inv_set_mag_bias(data);
+        break;
+    case INV_GYRO_TEMP_SLOPE:
+        result = inv_set_gyro_temp_slope(data);
+        break;
+    case INV_LOCAL_FIELD:
+        result = inv_set_local_field(data);
+        break;
+    case INV_MAG_SCALE:
+        result = inv_set_mag_scale(data);
+        break;
+    default:
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+    return result;
+}
+
+/**
+ *  @brief  used to set an array of motion sensor data.
+ *          Handles various data sets:
+ *          - INV_GYRO_BIAS
+ *          - INV_ACCEL_BIAS
+ *          - INV_MAG_BIAS
+ *          - INV_GYRO_TEMP_SLOPE
+ *
+ *          Please refer to the provided "9-Axis Sensor Fusion Application
+ *          Note" document provided.
+ *
+ *  @pre    MLDmpOpen() or
+ *          MLDmpPedometerStandAloneOpen()
+ *  @pre    MLDmpStart() must <b>NOT</b> have been called.
+ *
+ *  @param  dataSet     A constant specifying an array of data.
+ *  @param  data        A pointer to an array to be copied from the user.
+ *
+ *  @return INV_SUCCESS if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_set_float_array(int dataSet, float *data)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+
+    switch (dataSet) {
+    case INV_GYRO_TEMP_SLOPE:  // internal
+        result = inv_set_gyro_temp_slope_float(data);
+        break;
+    case INV_GYRO_BIAS:        // internal
+        result = inv_set_gyro_bias_float(data);
+        break;
+    case INV_ACCEL_BIAS:       // internal
+        result = inv_set_accel_bias_float(data);
+        break;
+    case INV_MAG_BIAS:         // internal
+        result = inv_set_mag_bias_float(data);
+        break;
+    case INV_LOCAL_FIELD:      // internal
+        result = inv_set_local_field_float(data);
+        break;
+    case INV_MAG_SCALE:        // internal
+        result = inv_set_mag_scale_float(data);
+        break;
+    default:
+        result = INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    return result;
+}
diff --git a/invensense/mlsdk/mllite/mlcontrol.c b/invensense/mlsdk/mllite/mlcontrol.c
new file mode 100644
index 0000000..1707e47
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlcontrol.c
@@ -0,0 +1,797 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/*******************************************************************************
+ *
+ * $Id: mlcontrol.c 5641 2011-06-14 02:10:02Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup   CONTROL
+ *  @brief      Motion Library - Control Engine.
+ *              The Control Library processes gyroscopes, accelerometers, and
+ *              compasses to provide control signals that can be used in user
+ *              interfaces.
+ *              These signals can be used to manipulate objects such as documents,
+ *              images, cursors, menus, etc.
+ *
+ *  @{
+ *      @file   mlcontrol.c
+ *      @brief  The Control Library.
+ *
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "mltypes.h"
+#include "ml.h"
+#include "mlos.h"
+#include "mlsl.h"
+#include "mldl.h"
+#include "mlcontrol.h"
+#include "dmpKey.h"
+#include "mlstates.h"
+#include "mlFIFO.h"
+#include "string.h"
+
+/* - Global Vars. - */
+struct control_params cntrl_params = {
+    {
+     MLCTRL_SENSITIVITY_0_DEFAULT,
+     MLCTRL_SENSITIVITY_1_DEFAULT,
+     MLCTRL_SENSITIVITY_2_DEFAULT,
+     MLCTRL_SENSITIVITY_3_DEFAULT}, // sensitivity
+    MLCTRL_FUNCTIONS_DEFAULT,   // functions
+    {
+     MLCTRL_PARAMETER_ARRAY_0_DEFAULT,
+     MLCTRL_PARAMETER_ARRAY_1_DEFAULT,
+     MLCTRL_PARAMETER_ARRAY_2_DEFAULT,
+     MLCTRL_PARAMETER_ARRAY_3_DEFAULT}, // parameterArray
+    {
+     MLCTRL_PARAMETER_AXIS_0_DEFAULT,
+     MLCTRL_PARAMETER_AXIS_1_DEFAULT,
+     MLCTRL_PARAMETER_AXIS_2_DEFAULT,
+     MLCTRL_PARAMETER_AXIS_3_DEFAULT},  // parameterAxis
+    {
+     MLCTRL_GRID_THRESHOLD_0_DEFAULT,
+     MLCTRL_GRID_THRESHOLD_1_DEFAULT,
+     MLCTRL_GRID_THRESHOLD_2_DEFAULT,
+     MLCTRL_GRID_THRESHOLD_3_DEFAULT},  // gridThreshold
+    {
+     MLCTRL_GRID_MAXIMUM_0_DEFAULT,
+     MLCTRL_GRID_MAXIMUM_1_DEFAULT,
+     MLCTRL_GRID_MAXIMUM_2_DEFAULT,
+     MLCTRL_GRID_MAXIMUM_3_DEFAULT},    // gridMaximum
+    MLCTRL_GRID_CALLBACK_DEFAULT    // gridCallback
+};
+
+/* - Extern Vars. - */
+struct control_obj cntrl_obj;
+extern const unsigned char *dmpConfig1;
+
+/* -------------- */
+/* - Functions. - */
+/* -------------- */
+
+/**
+ *  @brief  inv_set_control_sensitivity is used to set the sensitivity for a control
+ *          signal.
+ *
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().
+ *
+ *  @param controlSignal    Indicates which control signal is being modified.
+ *                          Must be one of:
+ *                          - INV_CONTROL_1,
+ *                          - INV_CONTROL_2,
+ *                          - INV_CONTROL_3 or
+ *                          - INV_CONTROL_4.
+ *
+ *  @param sensitivity      The sensitivity of the control signal.
+ *
+ *  @return error code
+ */
+inv_error_t inv_set_control_sensitivity(unsigned short controlSignal,
+                                        long sensitivity)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[2];
+    long finalSens = 0;
+    inv_error_t result;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    finalSens = sensitivity * 100;
+    if (finalSens > 16384) {
+        finalSens = 16384;
+    }
+    regs[0] = (unsigned char)(finalSens / 256);
+    regs[1] = (unsigned char)(finalSens % 256);
+    switch (controlSignal) {
+    case INV_CONTROL_1:
+        result = inv_set_mpu_memory(KEY_D_0_224, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        cntrl_params.sensitivity[0] = (unsigned short)sensitivity;
+        break;
+    case INV_CONTROL_2:
+        result = inv_set_mpu_memory(KEY_D_0_228, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        cntrl_params.sensitivity[1] = (unsigned short)sensitivity;
+        break;
+    case INV_CONTROL_3:
+        result = inv_set_mpu_memory(KEY_D_0_232, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        cntrl_params.sensitivity[2] = (unsigned short)sensitivity;
+        break;
+    case INV_CONTROL_4:
+        result = inv_set_mpu_memory(KEY_D_0_236, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        cntrl_params.sensitivity[3] = (unsigned short)sensitivity;
+        break;
+    default:
+        break;
+    }
+    if (finalSens != sensitivity * 100) {
+        return INV_ERROR_INVALID_PARAMETER;
+    } else {
+        return INV_SUCCESS;
+    }
+}
+
+/**
+ *  @brief  inv_set_control_func allows the user to choose how the sensor data will
+ *          be processed in order to provide a control parameter.
+ *          inv_set_control_func allows the user to choose which control functions
+ *          will be incorporated in the sensor data processing.
+ *          The control functions are:
+ *          - INV_GRID
+ *          Indicates that the user will be controlling a system that
+ *          has discrete steps, such as icons, menu entries, pixels, etc.
+ *          - INV_SMOOTH
+ *          Indicates that noise from unintentional motion should be filtered out.
+ *          - INV_DEAD_ZONE
+ *          Indicates that a dead zone should be used, below which sensor
+ *          data is set to zero.
+ *          - INV_HYSTERESIS
+ *          Indicates that, when INV_GRID is selected, hysteresis should
+ *          be used to prevent the control signal from switching rapidly across
+ *          elements of the grid.
+ *
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().
+ *
+ *  @param  function    Indicates what functions will be used.
+ *                      Can be a bitwise OR of several values.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_set_control_func(unsigned short function)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[8] = { DINA06, DINA26,
+        DINA46, DINA66,
+        DINA0E, DINA2E,
+        DINA4E, DINA6E
+    };
+    unsigned char i;
+    inv_error_t result;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if ((function & INV_SMOOTH) == 0) {
+        for (i = 0; i < 8; i++) {
+            regs[i] = DINA80 + 3;
+        }
+    }
+    result = inv_set_mpu_memory(KEY_CFG_4, 8, regs);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    cntrl_params.functions = function;
+    result = inv_set_dead_zone();
+
+    return result;
+}
+
+/**
+ *  @brief  inv_get_control_signal is used to get the current control signal with
+ *          high precision.
+ *          inv_get_control_signal is used to acquire the current data of a control signal.
+ *          If INV_GRID is being used, inv_get_grid_number will probably be preferrable.
+ *
+ *  @param  controlSignal   Indicates which control signal is being queried.
+ *          Must be one of:
+ *          - INV_CONTROL_1,
+ *          - INV_CONTROL_2,
+ *          - INV_CONTROL_3 or
+ *          - INV_CONTROL_4.
+ *
+ *  @param  reset   Indicates whether the control signal should be reset to zero.
+ *                  Options are INV_RESET or INV_NO_RESET
+ *  @param  data    A pointer to the current control signal data.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+inv_error_t inv_get_control_signal(unsigned short controlSignal,
+                                   unsigned short reset, long *data)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() != INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    switch (controlSignal) {
+    case INV_CONTROL_1:
+        *data = cntrl_obj.controlInt[0];
+        if (reset == INV_RESET) {
+            cntrl_obj.controlInt[0] = 0;
+        }
+        break;
+    case INV_CONTROL_2:
+        *data = cntrl_obj.controlInt[1];
+        if (reset == INV_RESET) {
+            cntrl_obj.controlInt[1] = 0;
+        }
+        break;
+    case INV_CONTROL_3:
+        *data = cntrl_obj.controlInt[2];
+        if (reset == INV_RESET) {
+            cntrl_obj.controlInt[2] = 0;
+        }
+        break;
+    case INV_CONTROL_4:
+        *data = cntrl_obj.controlInt[3];
+        if (reset == INV_RESET) {
+            cntrl_obj.controlInt[3] = 0;
+        }
+        break;
+    default:
+        break;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_get_grid_num is used to get the current grid location for a certain
+ *          control signal.
+ *          inv_get_grid_num is used to acquire the current grid location.
+ *
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().
+ *
+ *  @param  controlSignal   Indicates which control signal is being queried.
+ *          Must be one of:
+ *          - INV_CONTROL_1,
+ *          - INV_CONTROL_2,
+ *          - INV_CONTROL_3 or
+ *          - INV_CONTROL_4.
+ *
+ *  @param  reset   Indicates whether the control signal should be reset to zero.
+ *                  Options are INV_RESET or INV_NO_RESET
+ *  @param  data    A pointer to the current grid number.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+
+inv_error_t inv_get_grid_num(unsigned short controlSignal, unsigned short reset,
+                             long *data)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() != INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    switch (controlSignal) {
+    case INV_CONTROL_1:
+        *data = cntrl_obj.gridNum[0];
+        if (reset == INV_RESET) {
+            cntrl_obj.gridNum[0] = 0;
+        }
+        break;
+    case INV_CONTROL_2:
+        *data = cntrl_obj.gridNum[1];
+        if (reset == INV_RESET) {
+            cntrl_obj.gridNum[1] = 0;
+        }
+        break;
+    case INV_CONTROL_3:
+        *data = cntrl_obj.gridNum[2];
+        if (reset == INV_RESET) {
+            cntrl_obj.gridNum[2] = 0;
+        }
+        break;
+    case INV_CONTROL_4:
+        *data = cntrl_obj.gridNum[3];
+        if (reset == INV_RESET) {
+            cntrl_obj.gridNum[3] = 0;
+        }
+        break;
+    default:
+        break;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_grid_thresh is used to set the grid size for a control signal.
+ *          inv_set_grid_thresh is used to adjust the size of the grid being controlled.
+ *  @param  controlSignal   Indicates which control signal is being modified.
+ *                          Must be one of:
+ *                          - INV_CONTROL_1,
+ *                          - INV_CONTROL_2,
+ *                          - INV_CONTROL_3 and
+ *                          - INV_CONTROL_4.
+ *  @param  threshold       The threshold of the control signal at which the grid
+ *                          number will be incremented or decremented.
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+
+inv_error_t inv_set_grid_thresh(unsigned short controlSignal, long threshold)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() < INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    switch (controlSignal) {
+    case INV_CONTROL_1:
+        cntrl_params.gridThreshold[0] = threshold;
+        break;
+    case INV_CONTROL_2:
+        cntrl_params.gridThreshold[1] = threshold;
+        break;
+    case INV_CONTROL_3:
+        cntrl_params.gridThreshold[2] = threshold;
+        break;
+    case INV_CONTROL_4:
+        cntrl_params.gridThreshold[3] = threshold;
+        break;
+    default:
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_grid_max is used to set the maximum grid number for a control signal.
+ *          inv_set_grid_max is used to adjust the maximum allowed grid number, above
+ *          which the grid number will not be incremented.
+ *          The minimum grid number is always zero.
+ *
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().
+ *
+ *  @param controlSignal    Indicates which control signal is being modified.
+ *                          Must be one of:
+ *                          - INV_CONTROL_1,
+ *                          - INV_CONTROL_2,
+ *                          - INV_CONTROL_3 and
+ *                          - INV_CONTROL_4.
+ *
+ *  @param  maximum         The maximum grid number for a control signal.
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+
+inv_error_t inv_set_grid_max(unsigned short controlSignal, long maximum)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    switch (controlSignal) {
+    case INV_CONTROL_1:
+        cntrl_params.gridMaximum[0] = maximum;
+        break;
+    case INV_CONTROL_2:
+        cntrl_params.gridMaximum[1] = maximum;
+        break;
+    case INV_CONTROL_3:
+        cntrl_params.gridMaximum[2] = maximum;
+        break;
+    case INV_CONTROL_4:
+        cntrl_params.gridMaximum[3] = maximum;
+        break;
+    default:
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  GridCallback function pointer type, to be passed as argument of
+ *          inv_set_grid_callback.
+ *
+ *  @param  controlSignal   Indicates which control signal crossed a grid threshold.
+ *                          Must be one of:
+ *                          - INV_CONTROL_1,
+ *                          - INV_CONTROL_2,
+ *                          - INV_CONTROL_3 and
+ *                          - INV_CONTROL_4.
+ *
+ *  @param  gridNumber  An array of four numbers representing the grid number for each
+ *                      control signal.
+ *  @param  gridChange  An array of four numbers representing the change in grid number
+ *                      for each control signal.
+**/
+typedef void (*fpGridCb) (unsigned short controlSignal, long *gridNum,
+                          long *gridChange);
+
+/**
+ *  @brief  inv_set_grid_callback is used to register a callback function that
+ *          will trigger when the grid location changes.
+ *          inv_set_grid_callback allows a user to define a callback function that will
+ *          run when a control signal crosses a grid threshold.
+
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().  inv_dmp_start must <b>NOT</b> have
+ *          been called.
+ *
+ *  @param  func    A user defined callback function
+ *  @return Zero if the command is successful; an ML error code otherwise.
+**/
+inv_error_t inv_set_grid_callback(fpGridCb func)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    cntrl_params.gridCallback = func;
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  inv_set_control_data is used to assign physical parameters to control signals.
+ *          inv_set_control_data allows flexibility in assigning physical parameters to
+ *          control signals. For example, the user is allowed to use raw gyroscope data
+ *          as an input to the control algorithm.
+ *          Alternatively, angular velocity can be used, which combines gyroscopes and
+ *          accelerometers to provide a more robust physical parameter. Finally, angular
+ *          velocity in world coordinates can be used, providing a control signal in
+ *          which pitch and yaw are provided relative to gravity.
+ *
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().
+ *
+ *  @param  controlSignal   Indicates which control signal is being modified.
+ *                          Must be one of:
+ *                          - INV_CONTROL_1,
+ *                          - INV_CONTROL_2,
+ *                          - INV_CONTROL_3 or
+ *                          - INV_CONTROL_4.
+ *
+ *  @param  parameterArray   Indicates which parameter array is being assigned to a
+ *                          control signal. Must be one of:
+ *                          - INV_GYROS,
+ *                          - INV_ANGULAR_VELOCITY, or
+ *
+ *  @param  parameterAxis   Indicates which axis of the parameter array will be used.
+ *                          Must be:
+ *                          - INV_ROLL,
+ *                          - INV_PITCH, or
+ *                          - INV_YAW.
+ */
+
+inv_error_t inv_set_control_data(unsigned short controlSignal,
+                                 unsigned short parameterArray,
+                                 unsigned short parameterAxis)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char regs[2] = { DINA80 + 10, DINA20 };
+    inv_error_t result;
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    if (parameterArray == INV_ANGULAR_VELOCITY) {
+        regs[0] = DINA80 + 5;
+        regs[1] = DINA00;
+    }
+    switch (controlSignal) {
+    case INV_CONTROL_1:
+        cntrl_params.parameterArray[0] = parameterArray;
+        switch (parameterAxis) {
+        case INV_PITCH:
+            regs[1] += 0x02;
+            cntrl_params.parameterAxis[0] = 0;
+            break;
+        case INV_ROLL:
+            regs[1] = DINA22;
+            cntrl_params.parameterAxis[0] = 1;
+            break;
+        case INV_YAW:
+            regs[1] = DINA42;
+            cntrl_params.parameterAxis[0] = 2;
+            break;
+        default:
+            return INV_ERROR_INVALID_PARAMETER;
+        }
+        result = inv_set_mpu_memory(KEY_CFG_3, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case INV_CONTROL_2:
+        cntrl_params.parameterArray[1] = parameterArray;
+        switch (parameterAxis) {
+        case INV_PITCH:
+            regs[1] += DINA0E;
+            cntrl_params.parameterAxis[1] = 0;
+            break;
+        case INV_ROLL:
+            regs[1] += DINA2E;
+            cntrl_params.parameterAxis[1] = 1;
+            break;
+        case INV_YAW:
+            regs[1] += DINA4E;
+            cntrl_params.parameterAxis[1] = 2;
+            break;
+        default:
+            return INV_ERROR_INVALID_PARAMETER;
+        }
+        result = inv_set_mpu_memory(KEY_CFG_3B, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case INV_CONTROL_3:
+        cntrl_params.parameterArray[2] = parameterArray;
+        switch (parameterAxis) {
+        case INV_PITCH:
+            regs[1] += DINA0E;
+            cntrl_params.parameterAxis[2] = 0;
+            break;
+        case INV_ROLL:
+            regs[1] += DINA2E;
+            cntrl_params.parameterAxis[2] = 1;
+            break;
+        case INV_YAW:
+            regs[1] += DINA4E;
+            cntrl_params.parameterAxis[2] = 2;
+            break;
+        default:
+            return INV_ERROR_INVALID_PARAMETER;
+        }
+        result = inv_set_mpu_memory(KEY_CFG_3C, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case INV_CONTROL_4:
+        cntrl_params.parameterArray[3] = parameterArray;
+        switch (parameterAxis) {
+        case INV_PITCH:
+            regs[1] += DINA0E;
+            cntrl_params.parameterAxis[3] = 0;
+            break;
+        case INV_ROLL:
+            regs[1] += DINA2E;
+            cntrl_params.parameterAxis[3] = 1;
+            break;
+        case INV_YAW:
+            regs[1] += DINA4E;
+            cntrl_params.parameterAxis[3] = 2;
+            break;
+        default:
+            return INV_ERROR_INVALID_PARAMETER;
+        }
+        result = inv_set_mpu_memory(KEY_CFG_3D, 2, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    default:
+        result = INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+    return result;
+}
+
+/**
+ *  @brief  inv_get_control_data is used to get the current control data.
+ *
+ *  @pre    inv_dmp_open() Must be called with MLDmpDefaultOpen() or
+ *          inv_open_low_power_pedometer().
+ *
+ *  @param  controlSignal   Indicates which control signal is being queried.
+ *                          Must be one of:
+ *                          - INV_CONTROL_1,
+ *                          - INV_CONTROL_2,
+ *                          - INV_CONTROL_3 or
+ *                          - INV_CONTROL_4.
+ *
+ *  @param  gridNum     A pointer to pass gridNum info back to the user.
+ *  @param  gridChange  A pointer to pass gridChange info back to the user.
+ *
+ *  @return Zero if the command is successful; an ML error code otherwise.
+ */
+
+inv_error_t inv_get_control_data(long *controlSignal, long *gridNum,
+                                 long *gridChange)
+{
+    INVENSENSE_FUNC_START;
+    int_fast8_t i = 0;
+
+    if (inv_get_state() != INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    for (i = 0; i < 4; i++) {
+        controlSignal[i] = cntrl_obj.controlInt[i];
+        gridNum[i] = cntrl_obj.gridNum[i];
+        gridChange[i] = cntrl_obj.gridChange[i];
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ * @internal
+ * @brief   Update the ML Control engine.  This function should be called
+ *          every time new data from the MPU becomes available.
+ *          Control engine outputs are written to the cntrl_obj data
+ *          structure.
+ * @return  INV_SUCCESS or an error code.
+**/
+inv_error_t inv_update_control(struct inv_obj_t * inv_obj)
+{
+    INVENSENSE_FUNC_START;
+    unsigned char i;
+    long gridTmp;
+    long tmp;
+
+    inv_get_cntrl_data(cntrl_obj.mlGridNumDMP);
+
+    for (i = 0; i < 4; i++) {
+        if (cntrl_params.functions & INV_GRID) {
+            if (cntrl_params.functions & INV_HYSTERESIS) {
+                cntrl_obj.mlGridNumDMP[i] += cntrl_obj.gridNumOffset[i];
+            }
+            cntrl_obj.mlGridNumDMP[i] =
+                cntrl_obj.mlGridNumDMP[i] / 2 + 1073741824L;
+            cntrl_obj.controlInt[i] =
+                (cntrl_obj.mlGridNumDMP[i] %
+                 (128 * cntrl_params.gridThreshold[i])) / 128;
+            gridTmp =
+                cntrl_obj.mlGridNumDMP[i] / (128 *
+                                             cntrl_params.gridThreshold[i]);
+            tmp = 1 + 16777216L / cntrl_params.gridThreshold[i];
+            cntrl_obj.gridChange[i] = gridTmp - cntrl_obj.lastGridNum[i];
+            if (cntrl_obj.gridChange[i] > tmp / 2) {
+                cntrl_obj.gridChange[i] =
+                    gridTmp - tmp - cntrl_obj.lastGridNum[i];
+            } else if (cntrl_obj.gridChange[i] < -tmp / 2) {
+                cntrl_obj.gridChange[i] =
+                    gridTmp + tmp - cntrl_obj.lastGridNum[i];
+            }
+            if ((cntrl_params.functions & INV_HYSTERESIS)
+                && (cntrl_obj.gridChange[i] != 0)) {
+                if (cntrl_obj.gridChange[i] > 0) {
+                    cntrl_obj.gridNumOffset[i] +=
+                        128 * cntrl_params.gridThreshold[i];
+                    cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2;
+                }
+                if (cntrl_obj.gridChange[i] < 0) {
+                    cntrl_obj.gridNumOffset[i] -=
+                        128 * cntrl_params.gridThreshold[i];
+                    cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2;
+                }
+            }
+            cntrl_obj.gridNum[i] += cntrl_obj.gridChange[i];
+            if (cntrl_obj.gridNum[i] >= cntrl_params.gridMaximum[i]) {
+                cntrl_obj.gridNum[i] = cntrl_params.gridMaximum[i];
+                if (cntrl_obj.controlInt[i] >=
+                    cntrl_params.gridThreshold[i] / 2) {
+                    cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2;
+                }
+            } else if (cntrl_obj.gridNum[i] <= 0) {
+                cntrl_obj.gridNum[i] = 0;
+                if (cntrl_obj.controlInt[i] < cntrl_params.gridThreshold[i] / 2) {
+                    cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2;
+                }
+            }
+            cntrl_obj.lastGridNum[i] = gridTmp;
+            if ((cntrl_params.gridCallback) && (cntrl_obj.gridChange[i] != 0)) {
+                cntrl_params.gridCallback((INV_CONTROL_1 << i),
+                                          cntrl_obj.gridNum,
+                                          cntrl_obj.gridChange);
+            }
+
+        } else {
+            cntrl_obj.controlInt[i] = cntrl_obj.mlGridNumDMP[i];
+        }
+
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief Enables the INV_CONTROL engine.
+ *
+ * @note  This function replaces MLEnable(INV_CONTROL)
+ *
+ * @pre inv_dmp_open() with MLDmpDefaultOpen or MLDmpPedometerStandAlone() must
+ *      have been called.
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_enable_control(void)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() != INV_STATE_DMP_OPENED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    memset(&cntrl_obj, 0, sizeof(cntrl_obj));
+
+    inv_register_fifo_rate_process(inv_update_control, INV_PRIORITY_CONTROL);   // fixme, someone needs to send control data to the fifo
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief Disables the INV_CONTROL engine.
+ *
+ * @note  This function replaces MLDisable(INV_CONTROL)
+ *
+ * @pre inv_dmp_open() with MLDmpDefaultOpen or MLDmpPedometerStandAlone() must
+ *      have been called.
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_disable_control(void)
+{
+    INVENSENSE_FUNC_START;
+
+    if (inv_get_state() < INV_STATE_DMP_STARTED)
+        return INV_ERROR_SM_IMPROPER_STATE;
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @}
+ */
diff --git a/invensense/mlsdk/mllite/mlcontrol.h b/invensense/mlsdk/mllite/mlcontrol.h
new file mode 100644
index 0000000..abdefa3
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlcontrol.h
@@ -0,0 +1,217 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $RCSfile: mlcontrol.h,v $
+ *
+ * $Date: 2011-06-10 20:13:08 -0700 (Fri, 10 Jun 2011) $
+ *
+ * $Revision: 5629 $
+ *
+ *******************************************************************************/
+
+/*******************************************************************************/
+/** @defgroup INV_CONTROL
+
+    The Control processes gyroscopes and accelerometers to provide control
+    signals that can be used in user interfaces to manipulate objects such as
+    documents, images, cursors, menus, etc.
+
+    @{
+        @file mlcontrol.h
+        @brief Header file for the Control Library.
+*/
+/******************************************************************************/
+#ifndef MLCONTROL_H
+#define MLCONTROL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+#include "ml.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlcontrol_legacy.h"
+#endif
+
+    /* ------------ */
+    /* - Defines. - */
+    /* ------------ */
+
+    /*******************************************************************************/
+    /* Control Signals.                                                            */
+    /*******************************************************************************/
+
+#define INV_CONTROL_1                    0x0001
+#define INV_CONTROL_2                    0x0002
+#define INV_CONTROL_3                    0x0004
+#define INV_CONTROL_4                    0x0008
+
+    /*******************************************************************************/
+    /* Control Functions.                                                          */
+    /*******************************************************************************/
+
+#define INV_GRID                         0x0001 // Indicates that the user will be controlling a system that
+    //   has discrete steps, such as icons, menu entries, pixels, etc.
+#define INV_SMOOTH                       0x0002 // Indicates that noise from unintentional motion should be filtered out.
+#define INV_DEAD_ZONE                    0x0004 // Indicates that a dead zone should be used, below which sensor data is set to zero.
+#define INV_HYSTERESIS                   0x0008 // Indicates that, when INV_GRID is selected, hysteresis should be used to prevent
+    //   the control signal from switching rapidly across elements of the grid.</dd>
+
+    /*******************************************************************************/
+    /* Integral reset options.                                                     */
+    /*******************************************************************************/
+
+#define INV_NO_RESET                     0x0000
+#define INV_RESET                        0x0001
+
+    /*******************************************************************************/
+    /* Data select options.                                                        */
+    /*******************************************************************************/
+
+#define INV_CTRL_SIGNAL                  0x0000
+#define INV_CTRL_GRID_NUM                0x0001
+
+    /*******************************************************************************/
+    /* Control Axis.                                                               */
+    /*******************************************************************************/
+#define INV_CTRL_PITCH                   0x0000 // (INV_PITCH >> 1)
+#define INV_CTRL_ROLL                    0x0001 // (INV_ROLL  >> 1)
+#define INV_CTRL_YAW                     0x0002 // (INV_YAW   >> 1)
+
+    /*******************************************************************************/
+    /* control_params structure default values.                                   */
+    /*******************************************************************************/
+
+#define MLCTRL_SENSITIVITY_0_DEFAULT           128
+#define MLCTRL_SENSITIVITY_1_DEFAULT           128
+#define MLCTRL_SENSITIVITY_2_DEFAULT           128
+#define MLCTRL_SENSITIVITY_3_DEFAULT           128
+#define MLCTRL_FUNCTIONS_DEFAULT                 0
+#define MLCTRL_CONTROL_SIGNALS_DEFAULT           0
+#define MLCTRL_PARAMETER_ARRAY_0_DEFAULT         0
+#define MLCTRL_PARAMETER_ARRAY_1_DEFAULT         0
+#define MLCTRL_PARAMETER_ARRAY_2_DEFAULT         0
+#define MLCTRL_PARAMETER_ARRAY_3_DEFAULT         0
+#define MLCTRL_PARAMETER_AXIS_0_DEFAULT          0
+#define MLCTRL_PARAMETER_AXIS_1_DEFAULT          0
+#define MLCTRL_PARAMETER_AXIS_2_DEFAULT          0
+#define MLCTRL_PARAMETER_AXIS_3_DEFAULT          0
+#define MLCTRL_GRID_THRESHOLD_0_DEFAULT          1
+#define MLCTRL_GRID_THRESHOLD_1_DEFAULT          1
+#define MLCTRL_GRID_THRESHOLD_2_DEFAULT          1
+#define MLCTRL_GRID_THRESHOLD_3_DEFAULT          1
+#define MLCTRL_GRID_MAXIMUM_0_DEFAULT            0
+#define MLCTRL_GRID_MAXIMUM_1_DEFAULT            0
+#define MLCTRL_GRID_MAXIMUM_2_DEFAULT            0
+#define MLCTRL_GRID_MAXIMUM_3_DEFAULT            0
+#define MLCTRL_GRID_CALLBACK_DEFAULT             0
+
+    /* --------------- */
+    /* - Structures. - */
+    /* --------------- */
+
+    /**************************************************************************/
+    /* Control Parameters Structure.                                          */
+    /**************************************************************************/
+
+    struct control_params {
+        // Sensitivity of control signal 1, 2, 3, and 4.
+        unsigned short sensitivity[4];
+        // Indicates what functions will be used. Can be a bitwise OR of INV_GRID,
+        // ML_SMOOT, INV_DEAD_ZONE, and INV_HYSTERISIS.
+        unsigned short functions;
+        // Indicates which parameter array is being assigned to a control signal.
+        // Must be one of INV_GYROS, INV_ANGULAR_VELOCITY, or
+        // INV_ANGULAR_VELOCITY_WORLD.
+        unsigned short parameterArray[4];
+        // Indicates which axis of the parameter array will be used. Must be
+        // INV_ROLL, INV_PITCH, or INV_YAW.
+        unsigned short parameterAxis[4];
+        // Threshold of the control signal at which the grid number will be
+        // incremented or decremented.
+        long gridThreshold[4];
+        // Maximum grid number for the control signal.
+        long gridMaximum[4];
+        // User defined callback that will trigger when the grid location changes.
+        void (*gridCallback) (
+                                 // Indicates which control signal crossed a grid threshold. Must be
+                                 // one of INV_CONTROL_1, INV_CONTROL_2, INV_CONTROL_3 or INV_CONTROL_4.
+                                 unsigned short controlSignal,
+                                 // An array of four numbers representing the grid number for each
+                                 // control signal.
+                                 long *gridNum,
+                                 // An array of four numbers representing the change in grid number
+                                 // for each control signal.
+                                 long *gridChange);
+    };
+
+    struct control_obj {
+
+        long gridNum[4];        // Current grid number for each control signal.
+        long controlInt[4];     // Current data for each control signal.
+        long lastGridNum[4];    // Previous grid number
+        unsigned char controlDir[4];    // Direction of control signal
+        long gridChange[4];     // Change in grid number
+
+        long mlGridNumDMP[4];
+        long gridNumOffset[4];
+        long prevDMPGridNum[4];
+
+    };
+
+    /* --------------------- */
+    /* - Function p-types. - */
+    /* --------------------- */
+
+    /**************************************************************************/
+    /* ML Control Functions.                                                  */
+    /**************************************************************************/
+
+    unsigned short inv_get_control_params(struct control_params *params);
+    unsigned short inv_set_control_params(struct control_params *params);
+
+    /*API for handling control signals */
+    inv_error_t inv_set_control_sensitivity(unsigned short controlSignal,
+                                            long sensitivity);
+    inv_error_t inv_set_control_func(unsigned short function);
+    inv_error_t inv_get_control_signal(unsigned short controlSignal,
+                                       unsigned short reset, long *data);
+    inv_error_t inv_get_grid_num(unsigned short controlSignal,
+                                 unsigned short reset, long *data);
+    inv_error_t inv_set_grid_thresh(unsigned short controlSignal,
+                                    long threshold);
+    inv_error_t inv_set_grid_max(unsigned short controlSignal, long maximum);
+    inv_error_t
+        inv_set_grid_callback(void (*func)
+                              (unsigned short controlSignal, long *gridNum,
+                               long *gridChange));
+    inv_error_t inv_set_control_data(unsigned short controlSignal,
+                                     unsigned short parameterArray,
+                                     unsigned short parameterNum);
+    inv_error_t inv_get_control_data(long *controlSignal, long *gridNum,
+                                     long *gridChange);
+    inv_error_t inv_update_control(struct inv_obj_t *inv_obj);
+    inv_error_t inv_enable_control(void);
+    inv_error_t inv_disable_control(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          /* MLCONTROL_H */
diff --git a/invensense/mlsdk/mllite/mldl.c b/invensense/mlsdk/mllite/mldl.c
new file mode 100644
index 0000000..eddef84
--- /dev/null
+++ b/invensense/mlsdk/mllite/mldl.c
@@ -0,0 +1,1092 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ *
+ * $Id: mldl.c 5653 2011-06-16 21:06:55Z nroyer $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup   MLDL
+ *  @brief      Motion Library - Driver Layer.
+ *              The Motion Library Driver Layer provides the intrface to the
+ *              system drivers that are used by the Motion Library.
+ *
+ *  @{
+ *      @file   mldl.c
+ *      @brief  The Motion Library Driver Layer.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <string.h>
+
+#include "mpu.h"
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+#    include "mpu6050a2.h"
+#elif defined CONFIG_MPU_SENSORS_MPU6050B1
+#    include "mpu6050b1.h"
+#elif defined CONFIG_MPU_SENSORS_MPU3050
+#  include "mpu3050.h"
+#else
+#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
+#endif
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "compass.h"
+#include "mlsl.h"
+#include "mlos.h"
+#include "mlinclude.h"
+#include "ml.h"
+#include "dmpKey.h"
+#include "mlFIFOHW.h"
+#include "compass.h"
+#include "pressure.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-mldl"
+
+#define _mldlDebug(x)           //{x}
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+#define MAX_LOAD_WRITE_SIZE (MPU_MEM_BANK_SIZE/2)   /* 128 */
+
+/*---- structure containing control variables used by MLDL ----*/
+static struct mldl_cfg mldlCfg;
+struct ext_slave_descr gAccel;
+struct ext_slave_descr gCompass;
+struct ext_slave_descr gPressure;
+struct mpu_platform_data gPdata;
+static void *sMLSLHandle;
+int_fast8_t intTrigger[NUM_OF_INTSOURCES];
+
+/*******************************************************************************
+ * Functions for accessing the DMP memory via keys
+ ******************************************************************************/
+
+unsigned short (*sGetAddress) (unsigned short key) = NULL;
+static const unsigned char *localDmpMemory = NULL;
+static unsigned short localDmpMemorySize = 0;
+
+/**
+ *  @internal
+ *  @brief Sets the function to use to convert keys to addresses. This
+ *         will changed for each DMP code loaded.
+ *  @param func
+ *              Function used to convert keys to addresses.
+ *  @endif
+ */
+void inv_set_get_address(unsigned short (*func) (unsigned short key))
+{
+    INVENSENSE_FUNC_START;
+    _mldlDebug(MPL_LOGV("setGetAddress %d", (int)func);
+        )
+        sGetAddress = func;
+}
+
+/**
+ *  @internal
+ *  @brief  Check if the feature is supported in the currently loaded
+ *          DMP code basing on the fact that the key is assigned a
+ *          value or not.
+ *  @param  key     the DMP key
+ *  @return whether the feature associated with the key is supported
+ *          or not.
+ */
+uint_fast8_t inv_dmpkey_supported(unsigned short key)
+{
+    unsigned short memAddr;
+
+    if (sGetAddress == NULL) {
+        MPL_LOGE("%s : sGetAddress is NULL\n", __func__);
+        return FALSE;
+    }
+
+    memAddr = sGetAddress(key);
+    if (memAddr >= 0xffff) {
+        MPL_LOGV("inv_set_mpu_memory unsupported key\n");
+        return FALSE;
+    }
+
+    return TRUE;
+}
+
+/**
+ *  @internal
+ *  @brief  used to get the specified number of bytes from the original
+ *          MPU memory location specified by the key.
+ *          Reads the specified number of bytes from the MPU location
+ *          that was used to program the MPU specified by the key. Each
+ *          set of code specifies a function that changes keys into
+ *          addresses. This function is set with setGetAddress().
+ *
+ *  @param  key     The key to use when looking up the address.
+ *  @param  length  Number of bytes to read.
+ *  @param  buffer  Result for data.
+ *
+ *  @return INV_SUCCESS if the command is successful, INV_ERROR otherwise. The key
+ *          not corresponding to a memory address will result in INV_ERROR.
+ *  @endif
+ */
+inv_error_t inv_get_mpu_memory_original(unsigned short key,
+                                        unsigned short length,
+                                        unsigned char *buffer)
+{
+    unsigned short offset;
+
+    if (sGetAddress == NULL) {
+        return INV_ERROR_NOT_OPENED;
+    }
+
+    offset = sGetAddress(key);
+    if (offset >= localDmpMemorySize || (offset + length) > localDmpMemorySize) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    memcpy(buffer, &localDmpMemory[offset], length);
+
+    return INV_SUCCESS;
+}
+
+unsigned short inv_dl_get_address(unsigned short key)
+{
+    unsigned short offset;
+    if (sGetAddress == NULL) {
+        return INV_ERROR_NOT_OPENED;
+    }
+
+    offset = sGetAddress(key);
+    return offset;
+}
+
+/* ---------------------- */
+/* -  Static Functions. - */
+/* ---------------------- */
+
+/**
+ *  @brief  Open the driver layer and resets the internal
+ *          gyroscope, accelerometer, and compass data
+ *          structures.
+ *  @param  mlslHandle
+ *              the serial handle.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_dl_open(void *mlslHandle)
+{
+    inv_error_t result;
+    memset(&mldlCfg, 0, sizeof(mldlCfg));
+    memset(intTrigger, INT_CLEAR, sizeof(intTrigger));
+
+    sMLSLHandle = mlslHandle;
+
+    mldlCfg.addr  = 0x68; /* default incase the driver doesn't set it */
+    mldlCfg.accel = &gAccel;
+    mldlCfg.compass = &gCompass;
+    mldlCfg.pressure = &gPressure;
+    mldlCfg.pdata = &gPdata;
+
+    result = (inv_error_t) inv_mpu_open(&mldlCfg, sMLSLHandle,
+                                        sMLSLHandle, sMLSLHandle, sMLSLHandle);
+    return result;
+}
+
+/**
+ *  @brief  Closes/Cleans up the ML Driver Layer.
+ *          Put the device in sleep mode.
+ *  @return INV_SUCCESS or non-zero error code.
+ */
+inv_error_t inv_dl_close(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    result = (inv_error_t) inv_mpu_suspend(&mldlCfg,
+                                           sMLSLHandle,
+                                           sMLSLHandle,
+                                           sMLSLHandle,
+                                           sMLSLHandle,
+                                           INV_ALL_SENSORS);
+
+    result = (inv_error_t) inv_mpu_close(&mldlCfg, sMLSLHandle,
+                                         sMLSLHandle, sMLSLHandle, sMLSLHandle);
+    /* Clear all previous settings */
+    memset(&mldlCfg, 0, sizeof(mldlCfg));
+    sMLSLHandle = NULL;
+    sGetAddress = NULL;
+    return result;
+}
+
+/**
+ * @brief Sets the requested_sensors
+ *
+ * Accessor to set the requested_sensors field of the mldl_cfg structure.
+ * Typically set at initialization.
+ *
+ * @param sensors
+ * Bitfield of the sensors that are going to be used.  Combination of the
+ * following:
+ *  - INV_X_GYRO
+ *  - INV_Y_GYRO
+ *  - INV_Z_GYRO
+ *  - INV_DMP_PROCESSOR
+ *  - INV_X_ACCEL
+ *  - INV_Y_ACCEL
+ *  - INV_Z_ACCEL
+ *  - INV_X_COMPASS
+ *  - INV_Y_COMPASS
+ *  - INV_Z_COMPASS
+ *  - INV_X_PRESSURE
+ *  - INV_Y_PRESSURE
+ *  - INV_Z_PRESSURE
+ *  - INV_THREE_AXIS_GYRO
+ *  - INV_THREE_AXIS_ACCEL
+ *  - INV_THREE_AXIS_COMPASS
+ *  - INV_THREE_AXIS_PRESSURE
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_init_requested_sensors(unsigned long sensors)
+{
+    mldlCfg.requested_sensors = sensors;
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief Starts the DMP running
+ *
+ * Resumes the sensor if any of the sensor axis or components are requested
+ *
+ * @param sensors
+ * Bitfield of the sensors to turn on.  Combination of the following:
+ *  - INV_X_GYRO
+ *  - INV_Y_GYRO
+ *  - INV_Z_GYRO
+ *  - INV_DMP_PROCESSOR
+ *  - INV_X_ACCEL
+ *  - INV_Y_ACCEL
+ *  - INV_Z_ACCEL
+ *  - INV_X_COMPASS
+ *  - INV_Y_COMPASS
+ *  - INV_Z_COMPASS
+ *  - INV_X_PRESSURE
+ *  - INV_Y_PRESSURE
+ *  - INV_Z_PRESSURE
+ *  - INV_THREE_AXIS_GYRO
+ *  - INV_THREE_AXIS_ACCEL
+ *  - INV_THREE_AXIS_COMPASS
+ *  - INV_THREE_AXIS_PRESSURE
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_dl_start(unsigned long sensors)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    mldlCfg.requested_sensors = sensors;
+    result = inv_mpu_resume(&mldlCfg,
+                            sMLSLHandle,
+                            sMLSLHandle,
+                            sMLSLHandle,
+                            sMLSLHandle,
+                            sensors);
+    return result;
+}
+
+/**
+ * @brief Stops the DMP running and puts it in low power as requested
+ *
+ * Suspends each sensor according to the bitfield, if all axis and components
+ * of the sensor is off.
+ *
+ * @param sensors Bitfiled of the sensors to leave on.  Combination of the
+ * following:
+ *  - INV_X_GYRO
+ *  - INV_Y_GYRO
+ *  - INV_Z_GYRO
+ *  - INV_X_ACCEL
+ *  - INV_Y_ACCEL
+ *  - INV_Z_ACCEL
+ *  - INV_X_COMPASS
+ *  - INV_Y_COMPASS
+ *  - INV_Z_COMPASS
+ *  - INV_X_PRESSURE
+ *  - INV_Y_PRESSURE
+ *  - INV_Z_PRESSURE
+ *  - INV_THREE_AXIS_GYRO
+ *  - INV_THREE_AXIS_ACCEL
+ *  - INV_THREE_AXIS_COMPASS
+ *  - INV_THREE_AXIS_PRESSURE
+ *
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+inv_error_t inv_dl_stop(unsigned long sensors)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result = INV_SUCCESS;
+
+    result = inv_mpu_suspend(&mldlCfg,
+                             sMLSLHandle,
+                             sMLSLHandle,
+                             sMLSLHandle,
+                             sMLSLHandle,
+                             sensors);
+    return result;
+}
+
+/**
+ *  @brief  Get a pointer to the internal data structure
+ *          storing the configuration for the MPU, the accelerometer
+ *          and the compass in use.
+ *  @return a pointer to the data structure of type 'struct mldl_cfg'.
+ */
+struct mldl_cfg *inv_get_dl_config(void)
+{
+    return &mldlCfg;
+}
+
+/**
+ *  @brief   Query the MPU slave address.
+ *  @return  The 7-bit mpu slave address.
+ */
+unsigned char inv_get_mpu_slave_addr(void)
+{
+    INVENSENSE_FUNC_START;
+    return mldlCfg.addr;
+}
+
+/**
+ *  @internal
+ * @brief   MLDLCfgDMP configures the Digital Motion Processor internal to
+ *          the MPU. The DMP can be enabled or disabled and the start address
+ *          can be set.
+ *
+ * @param   enableRun   Enables the DMP processing if set to TRUE.
+ * @param   enableFIFO  Enables DMP output to the FIFO if set to TRUE.
+ * @param   startAddress start address
+ *
+ * @return  Zero if the command is successful, an error code otherwise.
+*/
+inv_error_t inv_get_dl_ctrl_dmp(unsigned char enableRun,
+                                unsigned char enableFIFO)
+{
+    INVENSENSE_FUNC_START;
+
+    mldlCfg.dmp_enable = enableRun;
+    mldlCfg.fifo_enable = enableFIFO;
+    mldlCfg.gyro_needs_reset = TRUE;
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief   inv_get_dl_cfg_int configures the interrupt function on the specified pin.
+ *          The basic interrupt signal characteristics can be set
+ *          (i.e. active high/low, open drain/push pull, etc.) and the
+ *          triggers can be set.
+ *          Currently only INTPIN_MPU is supported.
+ *
+ * @param   triggers
+ *              bitmask of triggers to enable for interrupt.
+ *              The available triggers are:
+ *              - BIT_MPU_RDY_EN
+ *              - BIT_DMP_INT_EN
+ *              - BIT_RAW_RDY_EN
+ *
+ * @return  Zero if the command is successful, an error code otherwise.
+*/
+inv_error_t inv_get_dl_cfg_int(unsigned char triggers)
+{
+    inv_error_t result = INV_SUCCESS;
+
+#if defined CONFIG_MPU_SENSORS_MPU3050
+    /* Mantis has 8 bits of interrupt config bits */
+    if (triggers & !(BIT_MPU_RDY_EN | BIT_DMP_INT_EN | BIT_RAW_RDY_EN)) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+#endif
+
+    mldlCfg.int_config = triggers;
+    if (!mldlCfg.gyro_is_suspended) {
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_INT_CFG,
+                                         (mldlCfg.int_config | mldlCfg.pdata->
+                                          int_config));
+    } else {
+        mldlCfg.gyro_needs_reset = TRUE;
+    }
+
+    return result;
+}
+
+/**
+ * @brief   configures the output sampling rate on the MPU.
+ *          Three parameters control the sampling:
+ *
+ *          1) Low pass filter bandwidth, and
+ *          2) output sampling divider.
+ *
+ *          The output sampling rate is determined by the divider and the low
+ *          pass filter setting. If the low pass filter is set to
+ *          'MPUFILTER_256HZ_NOLPF2', then the sample rate going into the
+ *          divider is 8kHz; for all other settings it is 1kHz.
+ *          The 8-bit divider will divide this frequency to get the resulting
+ *          sample frequency.
+ *          For example, if the filter setting is not 256Hz and the divider is
+ *          set to 7, then the sample rate is as follows:
+ *          sample rate = internal sample rate / div = 1kHz / 8 = 125Hz (or 8ms).
+ *
+ *          The low pass filter selection codes control both the cutoff frequency of
+ *          the internal low pass filter and internal analog sampling rate. The
+ *          latter, in turn, affects the final output sampling rate according to the
+ *          sample rate divider settig.
+ *              0 -> 256 Hz  cutoff BW, 8 kHz analog sample rate,
+ *              1 -> 188 Hz  cutoff BW, 1 kHz analog sample rate,
+ *              2 ->  98 Hz  cutoff BW, 1 kHz analog sample rate,
+ *              3 ->  42 Hz  cutoff BW, 1 kHz analog sample rate,
+ *              4 ->  20 Hz  cutoff BW, 1 kHz analog sample rate,
+ *              5 ->  10 Hz  cutoff BW, 1 kHz analog sample rate,
+ *              6 ->   5 Hz  cutoff BW, 1 kHz analog sample rate,
+ *              7 -> 2.1 kHz cutoff BW, 8 kHz analog sample rate.
+ *
+ * @param   lpf         low pass filter,   0 to 7.
+ * @param   divider     Output sampling rate divider, 0 to 255.
+ *
+ * @return  ML_SUCESS if successful; a non-zero error code otherwise.
+**/
+inv_error_t inv_dl_cfg_sampling(unsigned char lpf, unsigned char divider)
+{
+    /*---- do range checking ----*/
+    if (lpf >= NUM_MPU_FILTER) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    mldlCfg.lpf = lpf;
+    mldlCfg.divider = divider;
+    mldlCfg.gyro_needs_reset = TRUE;
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  set the full scale range for the gyros.
+ *          The full scale selection codes correspond to:
+ *              0 -> 250  dps,
+ *              1 -> 500  dps,
+ *              2 -> 1000 dps,
+ *              3 -> 2000 dps.
+ *          Full scale range affect the MPU's measurement
+ *          sensitivity.
+ *
+ *  @param  fullScale
+ *              the gyro full scale range in dps.
+ *
+ *  @return INV_SUCCESS or non-zero error code.
+**/
+inv_error_t inv_set_full_scale(float fullScale)
+{
+    if (fullScale == 250.f)
+        mldlCfg.full_scale = MPU_FS_250DPS;
+    else if (fullScale == 500.f)
+        mldlCfg.full_scale = MPU_FS_500DPS;
+    else if (fullScale == 1000.f)
+        mldlCfg.full_scale = MPU_FS_1000DPS;
+    else if (fullScale == 2000.f)
+        mldlCfg.full_scale = MPU_FS_2000DPS;
+    else {                      // not a valid setting
+        MPL_LOGE("Invalid full scale range specification for gyros : %f\n",
+                 fullScale);
+        MPL_LOGE
+            ("\tAvailable values : +/- 250 dps, +/- 500 dps, +/- 1000 dps, +/- 2000 dps\n");
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    mldlCfg.gyro_needs_reset = TRUE;
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief   This function sets the external sync for the MPU sampling.
+ *          It can be synchronized on the LSB of any of the gyros, any of the
+ *          external accels, or on the temp readings.
+ *
+ * @param   extSync External sync selection, 0 to 7.
+ * @return  Zero if the command is successful; an error code otherwise.
+**/
+inv_error_t inv_set_external_sync(unsigned char extSync)
+{
+    INVENSENSE_FUNC_START;
+
+    /*---- do range checking ----*/
+    if (extSync >= NUM_MPU_EXT_SYNC) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    mldlCfg.ext_sync = extSync;
+    mldlCfg.gyro_needs_reset = TRUE;
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_set_ignore_system_suspend(unsigned char ignore)
+{
+    INVENSENSE_FUNC_START;
+
+    mldlCfg.ignore_system_suspend = ignore;
+
+    return INV_SUCCESS;
+}
+
+/**
+ * @brief   inv_clock_source function sets the clock source for the MPU gyro
+ *          processing.
+ *          The source can be any of the following:
+ *          - Internal 8MHz oscillator,
+ *          - PLL with X gyro as reference,
+ *          - PLL with Y gyro as reference,
+ *          - PLL with Z gyro as reference,
+ *          - PLL with external 32.768Mhz reference, or
+ *          - PLL with external 19.2MHz reference
+ *
+ *          For best accuracy and timing, it is highly recommended to use one
+ *          of the gyros as the clock source; however this gyro must be
+ *          enabled to use its clock (see 'MLDLPowerMgmtMPU()').
+ *
+ * @param   clkSource   Clock source selection.
+ *                      Can be one of:
+ *                      - CLK_INTERNAL,
+ *                      - CLK_PLLGYROX,
+ *                      - CLK_PLLGYROY,
+ *                      - CLK_PLLGYROZ,
+ *                      - CLK_PLLEXT32K, or
+ *                      - CLK_PLLEXT19M.
+ *
+ * @return  Zero if the command is successful; an error code otherwise.
+**/
+inv_error_t inv_clock_source(unsigned char clkSource)
+{
+    INVENSENSE_FUNC_START;
+
+    /*---- do range checking ----*/
+    if (clkSource >= NUM_CLK_SEL) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    mldlCfg.clk_src = clkSource;
+    mldlCfg.gyro_needs_reset = TRUE;
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Set the Temperature Compensation offset.
+ *  @param  tc
+ *              a pointer to the temperature compensations offset
+ *              for the 3 gyro axes.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_set_offsetTC(const unsigned char *tc)
+{
+    int ii;
+    inv_error_t result;
+
+    for (ii = 0; ii < ARRAY_SIZE(mldlCfg.offset_tc); ii++) {
+        mldlCfg.offset_tc[ii] = tc[ii];
+    }
+
+    if (!mldlCfg.gyro_is_suspended) {
+#ifdef CONFIG_MPU_SENSORS_MPU3050
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_XG_OFFS_TC, tc[0]);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_YG_OFFS_TC, tc[1]);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_ZG_OFFS_TC, tc[2]);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+#else
+        unsigned char reg;
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_XG_OFFS_TC,
+                                         ((mldlCfg.offset_tc[0] << 1)
+                                          & BITS_XG_OFFS_TC));
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        reg = ((mldlCfg.offset_tc[1] << 1) & BITS_YG_OFFS_TC);
+#ifdef CONFIG_MPU_SENSORS_MPU6050B1
+        if (mldlCfg.pdata->level_shifter)
+            reg |= BIT_I2C_MST_VDDIO;
+#endif
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_YG_OFFS_TC, reg);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
+                                         MPUREG_ZG_OFFS_TC,
+                                         ((mldlCfg.offset_tc[2] << 1)
+                                          & BITS_ZG_OFFS_TC));
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+#endif
+    } else {
+        mldlCfg.gyro_needs_reset = TRUE;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Set the gyro offset.
+ *  @param  offset
+ *              a pointer to the gyro offset for the 3 gyro axes. This is scaled
+ *              as it would be written to the hardware registers.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_set_offset(const short *offset)
+{
+    inv_error_t result;
+    unsigned char regs[7];
+    int ii;
+    long sf;
+
+    sf = (2000L * 131) / mldlCfg.gyro_sens_trim;
+    for (ii = 0; ii < ARRAY_SIZE(mldlCfg.offset); ii++) {
+        // Record the bias in the units the register uses
+        mldlCfg.offset[ii] = offset[ii];
+        // Convert the bias to 1 dps = 1<<16
+        inv_obj.gyro_bias[ii] = -offset[ii] * sf;
+        regs[1 + ii * 2] = (unsigned char)(offset[ii] >> 8) & 0xff;
+        regs[1 + ii * 2 + 1] = (unsigned char)(offset[ii] & 0xff);
+    }
+
+    if (!mldlCfg.gyro_is_suspended) {
+        regs[0] = MPUREG_X_OFFS_USRH;
+        result = inv_serial_write(sMLSLHandle, mldlCfg.addr, 7, regs);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    } else {
+        mldlCfg.gyro_needs_reset = TRUE;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @internal
+ *  @brief  used to get the specified number of bytes in the specified MPU
+ *          memory bank.
+ *          The memory bank is one of the following:
+ *          - MPUMEM_RAM_BANK_0,
+ *          - MPUMEM_RAM_BANK_1,
+ *          - MPUMEM_RAM_BANK_2, or
+ *          - MPUMEM_RAM_BANK_3.
+ *
+ *  @param  bank    Memory bank to write.
+ *  @param  memAddr Starting address for write.
+ *  @param  length  Number of bytes to write.
+ *  @param  buffer  Result for data.
+ *
+ *  @return zero if the command is successful, an error code otherwise.
+ *  @endif
+ */
+inv_error_t
+inv_get_mpu_memory_one_bank(unsigned char bank,
+                            unsigned char memAddr,
+                            unsigned short length, unsigned char *buffer)
+{
+    inv_error_t result;
+
+    if ((bank >= MPU_MEM_NUM_RAM_BANKS) ||
+        //(memAddr >= MPU_MEM_BANK_SIZE) || always 0, memAddr is an u_char, therefore limited to 255
+        ((memAddr + length) > MPU_MEM_BANK_SIZE) || (NULL == buffer)) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    if (mldlCfg.gyro_is_suspended) {
+        memcpy(buffer, &mldlCfg.ram[bank][memAddr], length);
+        result = INV_SUCCESS;
+    } else {
+        result = inv_serial_read_mem(sMLSLHandle, mldlCfg.addr,
+                                     ((bank << 8) | memAddr), length, buffer);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    return result;
+}
+
+/**
+ *  @internal
+ *  @brief  used to set the specified number of bytes in the specified MPU
+ *          memory bank.
+ *          The memory bank is one of the following:
+ *          - MPUMEM_RAM_BANK_0,
+ *          - MPUMEM_RAM_BANK_1,
+ *          - MPUMEM_RAM_BANK_2, or
+ *          - MPUMEM_RAM_BANK_3.
+ *
+ *  @param  bank    Memory bank to write.
+ *  @param  memAddr Starting address for write.
+ *  @param  length  Number of bytes to write.
+ *  @param  buffer  Result for data.
+ *
+ *  @return zero if the command is successful, an error code otherwise.
+ *  @endif
+ */
+inv_error_t inv_set_mpu_memory_one_bank(unsigned char bank,
+                                        unsigned short memAddr,
+                                        unsigned short length,
+                                        const unsigned char *buffer)
+{
+    inv_error_t result = INV_SUCCESS;
+    int different;
+
+    if ((bank >= MPU_MEM_NUM_RAM_BANKS) || (memAddr >= MPU_MEM_BANK_SIZE) ||
+        ((memAddr + length) > MPU_MEM_BANK_SIZE) || (NULL == buffer)) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    different = memcmp(&mldlCfg.ram[bank][memAddr], buffer, length);
+    memcpy(&mldlCfg.ram[bank][memAddr], buffer, length);
+    if (!mldlCfg.gyro_is_suspended) {
+        result = inv_serial_write_mem(sMLSLHandle, mldlCfg.addr,
+                                      ((bank << 8) | memAddr), length, buffer);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    } else if (different) {
+        mldlCfg.gyro_needs_reset = TRUE;
+    }
+
+    return result;
+}
+
+/**
+ *  @internal
+ *  @brief  used to get the specified number of bytes from the MPU location
+ *          specified by the key.
+ *          Reads the specified number of bytes from the MPU location
+ *          specified by the key. Each set of code specifies a function
+ *          that changes keys into addresses. This function is set with
+ *          setGetAddress().
+ *
+ *  @param  key     The key to use when looking up the address.
+ *  @param  length  Number of bytes to read.
+ *  @param  buffer  Result for data.
+ *
+ *  @return INV_SUCCESS if the command is successful, INV_ERROR otherwise. The key
+ *          not corresponding to a memory address will result in INV_ERROR.
+ *  @endif
+ */
+inv_error_t inv_get_mpu_memory(unsigned short key,
+                               unsigned short length, unsigned char *buffer)
+{
+    unsigned char bank;
+    inv_error_t result;
+    unsigned short memAddr;
+
+    if (sGetAddress == NULL) {
+        return INV_ERROR_NOT_OPENED;
+    }
+
+    memAddr = sGetAddress(key);
+    if (memAddr >= 0xffff)
+        return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+    bank = memAddr >> 8;        // Get Bank
+    memAddr &= 0xff;
+
+    while (memAddr + length > MPU_MEM_BANK_SIZE) {
+        // We cross a bank in the middle
+        unsigned short sub_length = MPU_MEM_BANK_SIZE - memAddr;
+        result = inv_get_mpu_memory_one_bank(bank, (unsigned char)memAddr,
+                                             sub_length, buffer);
+        if (INV_SUCCESS != result)
+            return result;
+        bank++;
+        length -= sub_length;
+        buffer += sub_length;
+        memAddr = 0;
+    }
+    result = inv_get_mpu_memory_one_bank(bank, (unsigned char)memAddr,
+                                         length, buffer);
+
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+
+/**
+ *  @internal
+ *  @brief  used to set the specified number of bytes from the MPU location
+ *          specified by the key.
+ *          Set the specified number of bytes from the MPU location
+ *          specified by the key. Each set of DMP code specifies a function
+ *          that changes keys into addresses. This function is set with
+ *          setGetAddress().
+ *
+ *  @param  key     The key to use when looking up the address.
+ *  @param  length  Number of bytes to write.
+ *  @param  buffer  Result for data.
+ *
+ *  @return INV_SUCCESS if the command is successful, INV_ERROR otherwise. The key
+ *          not corresponding to a memory address will result in INV_ERROR.
+ *  @endif
+ */
+inv_error_t inv_set_mpu_memory(unsigned short key,
+                               unsigned short length,
+                               const unsigned char *buffer)
+{
+    inv_error_t result = INV_SUCCESS;
+    unsigned short memAddr;
+    unsigned char bank;
+
+    if (sGetAddress == NULL) {
+        MPL_LOGE("MLDSetMemoryMPU sGetAddress is NULL\n");
+        return INV_ERROR_INVALID_MODULE;
+    }
+    memAddr = sGetAddress(key);
+
+    if (memAddr >= 0xffff) {
+        MPL_LOGE("inv_set_mpu_memory unsupported key\n");
+        return INV_ERROR_INVALID_MODULE; // This key not supported
+    }
+
+    bank = (unsigned char)(memAddr >> 8);
+    memAddr &= 0xff;
+
+    while (memAddr + length > MPU_MEM_BANK_SIZE) {
+        // We cross a bank in the middle
+        unsigned short sub_length = MPU_MEM_BANK_SIZE - memAddr;
+
+        result = inv_set_mpu_memory_one_bank(bank, memAddr, sub_length, buffer);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        bank++;
+        length -= sub_length;
+        buffer += sub_length;
+        memAddr = 0;
+    }
+    result = inv_set_mpu_memory_one_bank(bank, memAddr, length, buffer);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ *  @brief  Load the DMP with the given code and configuration.
+ *  @param  buffer
+ *              the DMP data.
+ *  @param  length
+ *              the length in bytes of the DMP data.
+ *  @param  config
+ *              the DMP configuration.
+ *  @return INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_load_dmp(const unsigned char *buffer,
+                         unsigned short length, unsigned short config)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result = INV_SUCCESS;
+    unsigned short toWrite;
+    unsigned short memAddr = 0;
+    localDmpMemory = buffer;
+    localDmpMemorySize = length;
+
+    mldlCfg.dmp_cfg1 = (config >> 8);
+    mldlCfg.dmp_cfg2 = (config & 0xff);
+
+    while (length > 0) {
+        toWrite = length;
+        if (toWrite > MAX_LOAD_WRITE_SIZE)
+            toWrite = MAX_LOAD_WRITE_SIZE;
+
+        result =
+            inv_set_mpu_memory_one_bank(memAddr >> 8, memAddr & 0xff, toWrite,
+                                        buffer);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        buffer += toWrite;
+        memAddr += toWrite;
+        length -= toWrite;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  Get the silicon revision ID.
+ *  @return The silicon revision ID
+ *          (0 will be read if inv_mpu_open returned an error)
+ */
+unsigned char inv_get_silicon_rev(void)
+{
+    return mldlCfg.silicon_revision;
+}
+
+/**
+ *  @brief  Get the product revision ID.
+ *  @return The product revision ID
+ *          (0 will be read if inv_mpu_open returned an error)
+ */
+unsigned char inv_get_product_rev(void)
+{
+    return mldlCfg.product_revision;
+}
+
+/*******************************************************************************
+ *******************************************************************************
+ *******************************************************************************
+ * @todo these belong with an interface to the kernel driver layer
+ *******************************************************************************
+ *******************************************************************************
+ ******************************************************************************/
+
+/**
+ * @brief   inv_get_interrupt_status returns the interrupt status from the specified
+ *          interrupt pin.
+ * @param   intPin
+ *              Currently only the value INTPIN_MPU is supported.
+ * @param   status
+ *              The available statuses are:
+ *              - BIT_MPU_RDY_EN
+ *              - BIT_DMP_INT_EN
+ *              - BIT_RAW_RDY_EN
+ *
+ * @return  INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_get_interrupt_status(unsigned char intPin,
+                                     unsigned char *status)
+{
+    INVENSENSE_FUNC_START;
+
+    inv_error_t result;
+
+    switch (intPin) {
+
+    case INTPIN_MPU:
+            /*---- return the MPU interrupt status ----*/
+        result = inv_serial_read(sMLSLHandle, mldlCfg.addr,
+                                 MPUREG_INT_STATUS, 1, status);
+        break;
+
+    default:
+        result = INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief   query the current status of an interrupt source.
+ *  @param   srcIndex
+ *              index of the interrupt source.
+ *              Currently the only source supported is INTPIN_MPU.
+ *
+ *  @return  1 if the interrupt has been triggered.
+ */
+unsigned char inv_get_interrupt_trigger(unsigned char srcIndex)
+{
+    INVENSENSE_FUNC_START;
+    return intTrigger[srcIndex];
+}
+
+/**
+ * @brief clear the 'triggered' status for an interrupt source.
+ * @param srcIndex
+ *          index of the interrupt source.
+ *          Currently only INTPIN_MPU is supported.
+ */
+void inv_clear_interrupt_trigger(unsigned char srcIndex)
+{
+    INVENSENSE_FUNC_START;
+    intTrigger[srcIndex] = 0;
+}
+
+/**
+ * @brief   inv_interrupt_handler function should be called when an interrupt is
+ *          received.  The source parameter identifies which interrupt source
+ *          caused the interrupt. Note that this routine should not be called
+ *          directly from the interrupt service routine.
+ *
+ * @param   intSource   MPU, AUX1, AUX2, or timer. Can be one of: INTSRC_MPU, INTSRC_AUX1,
+ *                      INTSRC_AUX2, or INT_SRC_TIMER.
+ *
+ * @return  Zero if the command is successful; an error code otherwise.
+ */
+inv_error_t inv_interrupt_handler(unsigned char intSource)
+{
+    INVENSENSE_FUNC_START;
+    /*---- range check ----*/
+    if (intSource >= NUM_OF_INTSOURCES) {
+        return INV_ERROR;
+    }
+
+    /*---- save source of interrupt ----*/
+    intTrigger[intSource] = INT_TRIGGERED;
+
+#ifdef ML_USE_DMP_SIM
+    if (intSource == INTSRC_AUX1 || intSource == INTSRC_TIMER) {
+        MLSimHWDataInput();
+    }
+#endif
+
+    return INV_SUCCESS;
+}
+
+/***************************/
+        /**@}*//* end of defgroup */
+/***************************/
diff --git a/invensense/mlsdk/mllite/mldl.h b/invensense/mlsdk/mllite/mldl.h
new file mode 100644
index 0000000..961d860
--- /dev/null
+++ b/invensense/mlsdk/mllite/mldl.h
@@ -0,0 +1,176 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mldl.h 5639 2011-06-14 01:23:05Z nroyer $
+ *
+ *******************************************************************************/
+
+#ifndef MLDL_H
+#define MLDL_H
+
+#include "mltypes.h"
+#include "mlsl.h"
+#include <linux/mpu.h>
+#include "mldl_cfg.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mldl_legacy.h"
+#endif
+
+    /* ------------ */
+    /* - Defines. - */
+    /* ------------ */
+
+typedef enum _DEVICE_CONFIG {
+    DEVICE_MPU_ACCEL = 0,
+    DEVICE_MPU,
+    NUM_OF_DEVICES
+} DEVICE_CONFIG;
+
+#define SERIAL_I2C                  0
+#define SERIAL_SPI                  1
+
+#define DATAMODE_MANUAL             0   // Manual data mode
+#define DATAMODE_AUTO               1   // Auto data mode
+
+#define DATASRC_IMMEDIATE           0   // Return data immediately
+#define DATASRC_WHENREADY           1   // Only return data when new data is available
+#define DATASRC_FIFO                2   // Use FIFO for data
+
+#define SENSOR_DATA_GYROX           0x0001
+#define SENSOR_DATA_GYROY           0x0002
+#define SENSOR_DATA_GYROZ           0x0004
+#define SENSOR_DATA_ACCELX          0x0008
+#define SENSOR_DATA_ACCELY          0x0010
+#define SENSOR_DATA_ACCELZ          0x0020
+#define SENSOR_DATA_AUX1            0x0040
+#define SENSOR_DATA_AUX2            0x0080
+#define SENSOR_DATA_AUX3            0x0100
+#define SENSOR_DATA_TEMP            0x0200
+
+#define INTPIN_MPU                  0
+
+#define INTLOGIC_HIGH               0
+#define INTLOGIC_LOW                1
+
+#define INTTYPE_PUSHPULL            0
+#define INTTYPE_OPENDRAIN           1
+
+#define INTLATCH_DISABLE            0
+#define INTLATCH_ENABLE             1
+
+#define MPUINT_MPU_READY            0x04
+#define MPUINT_DMP_DONE             0x02
+#define MPUINT_DATA_READY           0x01
+
+#define INTLATCHCLEAR_READSTATUS    0
+#define INTLATCHCLEAR_ANYREAD       1
+
+#define DMP_DONTRUN                 0
+#define DMP_RUN                     1
+
+    /*---- defines for external interrupt status (via external call into library) ----*/
+#define INT_CLEAR                   0
+#define INT_TRIGGERED               1
+
+typedef enum {
+    INTSRC_MPU = 0,
+    INTSRC_AUX1,
+    INTSRC_AUX2,
+    INTSRC_AUX3,
+    INTSRC_TIMER,
+    INTSRC_UNKNOWN,
+    INTSRC_MPU_FIFO,
+    INTSRC_MPU_MOTION,
+    NUM_OF_INTSOURCES,
+} INT_SOURCE;
+
+    /* --------------- */
+    /* - Structures. - */
+    /* --------------- */
+
+    /* --------------- */
+    /* - Variables.  - */
+    /* --------------- */
+
+    /* --------------------- */
+    /* - Function p-types. - */
+    /* --------------------- */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    inv_error_t inv_dl_open(void *mlslHandle);
+    inv_error_t inv_dl_close(void);
+
+    inv_error_t inv_dl_start(unsigned long sensors);
+    inv_error_t inv_dl_stop(unsigned long sensors);
+
+    struct mldl_cfg *inv_get_dl_config(void);
+
+    inv_error_t inv_init_requested_sensors(unsigned long sensors);
+    unsigned char inv_get_mpu_slave_addr(void);
+    inv_error_t inv_get_dl_ctrl_dmp(unsigned char enableRun,
+                                    unsigned char enableFIFO);
+    inv_error_t inv_get_dl_cfg_int(unsigned char triggers);
+    inv_error_t inv_dl_cfg_sampling(unsigned char lpf, unsigned char divider);
+    inv_error_t inv_set_full_scale(float fullScale);
+    inv_error_t inv_set_external_sync(unsigned char extSync);
+    inv_error_t inv_set_ignore_system_suspend(unsigned char ignore);
+    inv_error_t inv_clock_source(unsigned char clkSource);
+    inv_error_t inv_get_mpu_memory(unsigned short key,
+                                   unsigned short length,
+                                   unsigned char *buffer);
+    inv_error_t inv_set_mpu_memory(unsigned short key,
+                                   unsigned short length,
+                                   const unsigned char *buffer);
+    inv_error_t inv_load_dmp(const unsigned char *buffer,
+                             unsigned short length,
+                             unsigned short startAddress);
+
+    unsigned char inv_get_slicon_rev(void);
+    inv_error_t inv_set_offsetTC(const unsigned char *tc);
+    inv_error_t inv_set_offset(const short *offset);
+
+    /* Functions for setting and retrieving the DMP memory */
+    inv_error_t inv_get_mpu_memory_original(unsigned short key,
+                                            unsigned short length,
+                                            unsigned char *buffer);
+    void inv_set_get_address(unsigned short (*func) (unsigned short key));
+    unsigned short inv_dl_get_address(unsigned short key);
+    uint_fast8_t inv_dmpkey_supported(unsigned short key);
+
+    inv_error_t inv_get_interrupt_status(unsigned char intPin,
+                                         unsigned char *value);
+    unsigned char inv_get_interrupt_trigger(unsigned char index);
+    void inv_clear_interrupt_trigger(unsigned char index);
+    inv_error_t inv_interrupt_handler(unsigned char intSource);
+
+    /** Only exposed for testing purposes */
+    inv_error_t inv_set_mpu_memory_one_bank(unsigned char bank,
+                                            unsigned short memAddr,
+                                            unsigned short length,
+                                            const unsigned char *buffer);
+    inv_error_t inv_get_mpu_memory_one_bank(unsigned char bank,
+                                            unsigned char memAddr,
+                                            unsigned short length,
+                                            unsigned char *buffer);
+#ifdef __cplusplus
+}
+#endif
+#endif                          // MLDL_H
diff --git a/invensense/mlsdk/mllite/mldl_cfg.h b/invensense/mlsdk/mllite/mldl_cfg.h
new file mode 100644
index 0000000..b4914e2
--- /dev/null
+++ b/invensense/mlsdk/mllite/mldl_cfg.h
@@ -0,0 +1,336 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/**
+ *  @addtogroup MLDL
+ *
+ *  @{
+ *      @file   mldl_cfg.h
+ *      @brief  The Motion Library Driver Layer Configuration header file.
+ */
+
+#ifndef __MLDL_CFG_H__
+#define __MLDL_CFG_H__
+
+#include "mltypes.h"
+#include "mlsl.h"
+#include <linux/mpu.h>
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+#    include "mpu6050a2.h"
+#elif defined CONFIG_MPU_SENSORS_MPU6050B1
+#    include "mpu6050b1.h"
+#elif defined CONFIG_MPU_SENSORS_MPU3050
+#  include "mpu3050.h"
+#else
+#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
+#endif
+
+#include "log.h"
+
+/*************************************************************************
+ *  Sensors
+ *************************************************************************/
+
+#define INV_X_GYRO			(0x0001)
+#define INV_Y_GYRO			(0x0002)
+#define INV_Z_GYRO			(0x0004)
+#define INV_DMP_PROCESSOR		(0x0008)
+
+#define INV_X_ACCEL			(0x0010)
+#define INV_Y_ACCEL			(0x0020)
+#define INV_Z_ACCEL			(0x0040)
+
+#define INV_X_COMPASS			(0x0080)
+#define INV_Y_COMPASS			(0x0100)
+#define INV_Z_COMPASS			(0x0200)
+
+#define INV_X_PRESSURE			(0x0300)
+#define INV_Y_PRESSURE			(0x0800)
+#define INV_Z_PRESSURE			(0x1000)
+
+#define INV_TEMPERATURE			(0x2000)
+#define INV_TIME			(0x4000)
+
+#define INV_THREE_AXIS_GYRO		(0x000F)
+#define INV_THREE_AXIS_ACCEL		(0x0070)
+#define INV_THREE_AXIS_COMPASS		(0x0380)
+#define INV_THREE_AXIS_PRESSURE		(0x1C00)
+
+#define INV_FIVE_AXIS			(0x007B)
+#define INV_SIX_AXIS_GYRO_ACCEL		(0x007F)
+#define INV_SIX_AXIS_ACCEL_COMPASS	(0x03F0)
+#define INV_NINE_AXIS			(0x03FF)
+#define INV_ALL_SENSORS			(0x7FFF)
+
+#define MPL_PROD_KEY(ver, rev) (ver * 100 + rev)
+
+/* -------------------------------------------------------------------------- */
+
+/* Platform data for the MPU */
+struct mldl_cfg {
+	/* MPU related configuration */
+	unsigned long requested_sensors;
+	unsigned char ignore_system_suspend;
+	unsigned char addr;
+	unsigned char int_config;
+	unsigned char ext_sync;
+	unsigned char full_scale;
+	unsigned char lpf;
+	unsigned char clk_src;
+	unsigned char divider;
+	unsigned char dmp_enable;
+	unsigned char fifo_enable;
+	unsigned char dmp_cfg1;
+	unsigned char dmp_cfg2;
+	unsigned char offset_tc[GYRO_NUM_AXES];
+	unsigned short offset[GYRO_NUM_AXES];
+	unsigned char ram[MPU_MEM_NUM_RAM_BANKS][MPU_MEM_BANK_SIZE];
+
+	/* MPU Related stored status and info */
+	unsigned char product_revision;
+	unsigned char silicon_revision;
+	unsigned char product_id;
+	unsigned short gyro_sens_trim;
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+	defined CONFIG_MPU_SENSORS_MPU6050B1
+	unsigned short accel_sens_trim;
+#endif
+
+	/* Driver/Kernel related state information */
+	int gyro_is_bypassed;
+	int i2c_slaves_enabled;
+	int dmp_is_running;
+	int gyro_is_suspended;
+	int accel_is_suspended;
+	int compass_is_suspended;
+	int pressure_is_suspended;
+	int gyro_needs_reset;
+
+	/* Slave related information */
+	struct ext_slave_descr *accel;
+	struct ext_slave_descr *compass;
+	struct ext_slave_descr *pressure;
+
+	/* Platform Data */
+	struct mpu_platform_data *pdata;
+};
+
+/* -------------------------------------------------------------------------- */
+
+int inv_mpu_open(struct mldl_cfg *mldl_cfg,
+		 void *mlsl_handle,
+		 void *accel_handle,
+		 void *compass_handle,
+		 void *pressure_handle);
+int inv_mpu_close(struct mldl_cfg *mldl_cfg,
+		  void *mlsl_handle,
+		  void *accel_handle,
+		  void *compass_handle,
+		  void *pressure_handle);
+int inv_mpu_resume(struct mldl_cfg *mldl_cfg,
+		   void *gyro_handle,
+		   void *accel_handle,
+		   void *compass_handle,
+		   void *pressure_handle,
+		   unsigned long sensors);
+int inv_mpu_suspend(struct mldl_cfg *mldl_cfg,
+		    void *gyro_handle,
+		    void *accel_handle,
+		    void *compass_handle,
+		    void *pressure_handle,
+		    unsigned long sensors);
+
+/* Slave Read functions */
+int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg,
+		       void *gyro_handle,
+		       void *slave_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata,
+		       unsigned char *data);
+static inline int inv_mpu_read_accel(struct mldl_cfg *mldl_cfg,
+				     void *gyro_handle,
+				     void *accel_handle, unsigned char *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_slave_read(mldl_cfg, gyro_handle, accel_handle,
+				  mldl_cfg->accel, &mldl_cfg->pdata->accel,
+				  data);
+}
+
+static inline int inv_mpu_read_compass(struct mldl_cfg *mldl_cfg,
+				       void *gyro_handle,
+				       void *compass_handle,
+				       unsigned char *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_slave_read(mldl_cfg, gyro_handle, compass_handle,
+				  mldl_cfg->compass, &mldl_cfg->pdata->compass,
+				  data);
+}
+
+static inline int inv_mpu_read_pressure(struct mldl_cfg *mldl_cfg,
+					void *gyro_handle,
+					void *pressure_handle,
+					unsigned char *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_slave_read(mldl_cfg, gyro_handle, pressure_handle,
+				  mldl_cfg->pressure,
+				  &mldl_cfg->pdata->pressure, data);
+}
+
+/* Slave Config functions */
+int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg,
+			 void *gyro_handle,
+			 void *slave_handle,
+			 struct ext_slave_config *data,
+			 struct ext_slave_descr *slave,
+			 struct ext_slave_platform_data *pdata);
+static inline int inv_mpu_config_accel(struct mldl_cfg *mldl_cfg,
+				       void *gyro_handle,
+				       void *accel_handle,
+				       struct ext_slave_config *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_slave_config(mldl_cfg, gyro_handle, accel_handle, data,
+				    mldl_cfg->accel, &mldl_cfg->pdata->accel);
+}
+
+static inline int inv_mpu_config_compass(struct mldl_cfg *mldl_cfg,
+					 void *gyro_handle,
+					 void *compass_handle,
+					 struct ext_slave_config *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_slave_config(mldl_cfg, gyro_handle, compass_handle, data,
+				    mldl_cfg->compass,
+				    &mldl_cfg->pdata->compass);
+}
+
+static inline int inv_mpu_config_pressure(struct mldl_cfg *mldl_cfg,
+					  void *gyro_handle,
+					  void *pressure_handle,
+					  struct ext_slave_config *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_slave_config(mldl_cfg, gyro_handle, pressure_handle,
+				    data, mldl_cfg->pressure,
+				    &mldl_cfg->pdata->pressure);
+}
+
+/* Slave get config functions */
+int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg,
+			     void *gyro_handle,
+			     void *slave_handle,
+			     struct ext_slave_config *data,
+			     struct ext_slave_descr *slave,
+			     struct ext_slave_platform_data *pdata);
+
+static inline int inv_mpu_get_accel_config(struct mldl_cfg *mldl_cfg,
+					   void *gyro_handle,
+					   void *accel_handle,
+					   struct ext_slave_config *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, accel_handle,
+					data, mldl_cfg->accel,
+					&mldl_cfg->pdata->accel);
+}
+
+static inline int inv_mpu_get_compass_config(struct mldl_cfg *mldl_cfg,
+					     void *gyro_handle,
+					     void *compass_handle,
+					     struct ext_slave_config *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, compass_handle,
+					data, mldl_cfg->compass,
+					&mldl_cfg->pdata->compass);
+}
+
+static inline int inv_mpu_get_pressure_config(struct mldl_cfg *mldl_cfg,
+					      void *gyro_handle,
+					      void *pressure_handle,
+					      struct ext_slave_config *data)
+{
+	if (!mldl_cfg || !(mldl_cfg->pdata)) {
+		LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+		return INV_ERROR_INVALID_PARAMETER;
+	}
+
+	return inv_mpu_get_slave_config(mldl_cfg, gyro_handle,
+					pressure_handle, data,
+					mldl_cfg->pressure,
+					&mldl_cfg->pdata->pressure);
+}
+
+/* -------------------------------------------------------------------------- */
+
+static inline long inv_mpu_get_sampling_rate_hz(struct mldl_cfg *mldl_cfg)
+{
+	if (((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7))
+		return 8000L / (mldl_cfg->divider + 1);
+	else
+		return 1000L / (mldl_cfg->divider + 1);
+}
+
+static inline long inv_mpu_get_sampling_period_us(struct mldl_cfg *mldl_cfg)
+{
+	if (((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7))
+		return (long) (1000000L * (mldl_cfg->divider + 1)) / 8000L;
+	else
+		return (long) (1000000L * (mldl_cfg->divider + 1)) / 1000L;
+}
+
+#endif				/* __MLDL_CFG_H__ */
+
+/**
+ *@}
+ */
diff --git a/invensense/mlsdk/mllite/mldl_cfg_mpu.c b/invensense/mlsdk/mllite/mldl_cfg_mpu.c
new file mode 100644
index 0000000..74c0f14
--- /dev/null
+++ b/invensense/mlsdk/mllite/mldl_cfg_mpu.c
@@ -0,0 +1,477 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: mldl_cfg_mpu.c 5653 2011-06-16 21:06:55Z nroyer $
+ *
+ *****************************************************************************/
+
+/**
+ *  @addtogroup MLDL
+ *
+ *  @{
+ *      @file   mldl_cfg_mpu.c
+ *      @brief  The Motion Library Driver Layer.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <stddef.h>
+#include "mldl_cfg.h"
+#include "mlsl.h"
+#include "mpu.h"
+
+#ifdef LINUX
+#include <sys/ioctl.h>
+#endif
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-mldl_cfg_mpu:"
+
+/* --------------------- */
+/* -    Variables.     - */
+/* --------------------- */
+
+
+/* ---------------------- */
+/* -  Static Functions. - */
+/* ---------------------- */
+void mpu_print_cfg(struct mldl_cfg * mldl_cfg)
+{
+    struct mpu_platform_data   *pdata   = mldl_cfg->pdata;
+    struct ext_slave_platform_data *accel   = &mldl_cfg->pdata->accel;
+    struct ext_slave_platform_data *compass = &mldl_cfg->pdata->compass;
+    struct ext_slave_platform_data *pressure = &mldl_cfg->pdata->pressure;
+
+    MPL_LOGD("mldl_cfg.addr             = %02x\n", mldl_cfg->addr);
+    MPL_LOGD("mldl_cfg.int_config       = %02x\n", mldl_cfg->int_config);
+    MPL_LOGD("mldl_cfg.ext_sync         = %02x\n", mldl_cfg->ext_sync);
+    MPL_LOGD("mldl_cfg.full_scale       = %02x\n", mldl_cfg->full_scale);
+    MPL_LOGD("mldl_cfg.lpf              = %02x\n", mldl_cfg->lpf);
+    MPL_LOGD("mldl_cfg.clk_src          = %02x\n", mldl_cfg->clk_src);
+    MPL_LOGD("mldl_cfg.divider          = %02x\n", mldl_cfg->divider);
+    MPL_LOGD("mldl_cfg.dmp_enable       = %02x\n", mldl_cfg->dmp_enable);
+    MPL_LOGD("mldl_cfg.fifo_enable      = %02x\n", mldl_cfg->fifo_enable);
+    MPL_LOGD("mldl_cfg.dmp_cfg1         = %02x\n", mldl_cfg->dmp_cfg1);
+    MPL_LOGD("mldl_cfg.dmp_cfg2         = %02x\n", mldl_cfg->dmp_cfg2);
+    MPL_LOGD("mldl_cfg.offset_tc[0]     = %02x\n", mldl_cfg->offset_tc[0]);
+    MPL_LOGD("mldl_cfg.offset_tc[1]     = %02x\n", mldl_cfg->offset_tc[1]);
+    MPL_LOGD("mldl_cfg.offset_tc[2]     = %02x\n", mldl_cfg->offset_tc[2]);
+    MPL_LOGD("mldl_cfg.silicon_revision = %02x\n", mldl_cfg->silicon_revision);
+    MPL_LOGD("mldl_cfg.product_id       = %02x\n", mldl_cfg->product_id);
+    MPL_LOGD("mldl_cfg.gyro_sens_trim   = %02x\n", mldl_cfg->gyro_sens_trim);
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || defined CONFIG_MPU_SENSORS_MPU6050B1
+    MPL_LOGD("mldl_cfg.accel_sens_trim   = %02x\n", mldl_cfg->accel_sens_trim);
+#endif
+
+    if (mldl_cfg->accel) {
+        MPL_LOGD("slave_accel->suspend      = %p\n", mldl_cfg->accel->suspend);
+        MPL_LOGD("slave_accel->resume       = %p\n", mldl_cfg->accel->resume);
+        MPL_LOGD("slave_accel->read         = %p\n", mldl_cfg->accel->read);
+        MPL_LOGD("slave_accel->type         = %02x\n", mldl_cfg->accel->type);
+        MPL_LOGD("slave_accel->read_reg     = %02x\n",
+                 mldl_cfg->accel->read_reg);
+        MPL_LOGD("slave_accel->read_len     = %02x\n",
+                 mldl_cfg->accel->read_len);
+        MPL_LOGD("slave_accel->endian       = %02x\n", mldl_cfg->accel->endian);
+        MPL_LOGD("slave_accel->range.mantissa= %02x\n", (int)mldl_cfg->accel->range.mantissa);
+        MPL_LOGD("slave_accel->range.fraction= %02x\n", (int)mldl_cfg->accel->range.fraction);
+    } else {
+        MPL_LOGD("slave_accel               = NULL\n");
+    }
+
+    if (mldl_cfg->compass) {
+        MPL_LOGD("slave_compass->suspend    = %p\n", mldl_cfg->compass->suspend);
+        MPL_LOGD("slave_compass->resume     = %p\n", mldl_cfg->compass->resume);
+        MPL_LOGD("slave_compass->read       = %p\n", mldl_cfg->compass->read);
+        MPL_LOGD("slave_compass->type       = %02x\n", mldl_cfg->compass->type);
+        MPL_LOGD("slave_compass->read_reg   = %02x\n",
+                 mldl_cfg->compass->read_reg);
+        MPL_LOGD("slave_compass->read_len   = %02x\n",
+                 mldl_cfg->compass->read_len);
+        MPL_LOGD("slave_compass->endian     = %02x\n", mldl_cfg->compass->endian);
+        MPL_LOGD("slave_compass->range.mantissa= %02x\n", (int)mldl_cfg->compass->range.mantissa);
+        MPL_LOGD("slave_compass->range.fraction= %02x\n", (int)mldl_cfg->compass->range.fraction);
+    } else {
+        MPL_LOGD("slave_compass             = NULL\n");
+    }
+
+    if (mldl_cfg->pressure) {
+        MPL_LOGD("slave_pressure->suspend    = %p\n", mldl_cfg->pressure->suspend);
+        MPL_LOGD("slave_pressure->resume     = %p\n", mldl_cfg->pressure->resume);
+        MPL_LOGD("slave_pressure->read       = %p\n", mldl_cfg->pressure->read);
+        MPL_LOGD("slave_pressure->type       = %02x\n", mldl_cfg->pressure->type);
+        MPL_LOGD("slave_pressure->read_reg   = %02x\n",
+                 mldl_cfg->pressure->read_reg);
+        MPL_LOGD("slave_pressure->read_len   = %02x\n",
+                 mldl_cfg->pressure->read_len);
+        MPL_LOGD("slave_pressure->endian     = %02x\n", mldl_cfg->pressure->endian);
+        MPL_LOGD("slave_pressure->range.mantissa= %02x\n", (int)mldl_cfg->pressure->range.mantissa);
+        MPL_LOGD("slave_pressure->range.fraction= %02x\n", (int)mldl_cfg->pressure->range.fraction);
+    } else {
+        MPL_LOGD("slave_pressure             = NULL\n");
+    }
+
+    MPL_LOGD("accel->get_slave_descr    = %p\n",accel->get_slave_descr);
+    MPL_LOGD("accel->adapt_num          = %02x\n", accel->adapt_num);
+    MPL_LOGD("accel->bus                = %02x\n", accel->bus);
+    MPL_LOGD("accel->address            = %02x\n", accel->address);
+    MPL_LOGD("accel->orientation        = \n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n",
+             accel->orientation[0],accel->orientation[1],accel->orientation[2],
+             accel->orientation[3],accel->orientation[4],accel->orientation[5],
+             accel->orientation[6],accel->orientation[7],accel->orientation[8]);
+    MPL_LOGD("compass->get_slave_descr  = %p\n",compass->get_slave_descr);
+    MPL_LOGD("compass->adapt_num        = %02x\n", compass->adapt_num);
+    MPL_LOGD("compass->bus              = %02x\n", compass->bus);
+    MPL_LOGD("compass->address          = %02x\n", compass->address);
+    MPL_LOGD("compass->orientation      = \n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n",
+             compass->orientation[0],compass->orientation[1],compass->orientation[2],
+             compass->orientation[3],compass->orientation[4],compass->orientation[5],
+             compass->orientation[6],compass->orientation[7],compass->orientation[8]);
+    MPL_LOGD("pressure->get_slave_descr  = %p\n",pressure->get_slave_descr);
+    MPL_LOGD("pressure->adapt_num        = %02x\n", pressure->adapt_num);
+    MPL_LOGD("pressure->bus              = %02x\n", pressure->bus);
+    MPL_LOGD("pressure->address          = %02x\n", pressure->address);
+    MPL_LOGD("pressure->orientation      = \n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n",
+             pressure->orientation[0],pressure->orientation[1],pressure->orientation[2],
+             pressure->orientation[3],pressure->orientation[4],pressure->orientation[5],
+             pressure->orientation[6],pressure->orientation[7],pressure->orientation[8]);
+
+    MPL_LOGD("pdata->int_config         = %02x\n", pdata->int_config);
+    MPL_LOGD("pdata->level_shifter      = %02x\n", pdata->level_shifter);
+    MPL_LOGD("pdata->orientation        = \n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n"
+             "                            %2d %2d %2d\n",
+             pdata->orientation[0],pdata->orientation[1],pdata->orientation[2],
+             pdata->orientation[3],pdata->orientation[4],pdata->orientation[5],
+             pdata->orientation[6],pdata->orientation[7],pdata->orientation[8]);
+
+    MPL_LOGD("Struct sizes: mldl_cfg: %zu, "
+             "ext_slave_descr:%zu, mpu_platform_data:%zu: RamOffset: %zu\n",
+             sizeof(struct mldl_cfg), sizeof(struct ext_slave_descr),
+             sizeof(struct mpu_platform_data),
+             offsetof(struct mldl_cfg, ram));
+}
+
+/******************************************************************************
+ ******************************************************************************
+ * Exported functions
+ ******************************************************************************
+ *****************************************************************************/
+
+/**
+ * Initializes the pdata structure to defaults.
+ *
+ * Opens the device to read silicon revision, product id and whoami.  Leaves
+ * the device in suspended state for low power.
+ *
+ * @param mldl_cfg handle to the config structure
+ * @param mlsl_handle handle to the mpu serial layer
+ * @param accel_handle handle to the accel serial layer
+ * @param compass_handle handle to the compass serial layer
+ * @param pressure_handle handle to the pressure serial layer
+ *
+ * @return INV_SUCCESS if silicon revision, product id and woami are supported
+ *         by this software.
+ */
+int inv_mpu_open(struct mldl_cfg *mldl_cfg,
+                 void *mlsl_handle,
+                 void *accel_handle,
+                 void *compass_handle,
+                 void *pressure_handle)
+{
+    int result;
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_GET_MPU_CONFIG, mldl_cfg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    result = inv_mpu_suspend(mldl_cfg, mlsl_handle, NULL, NULL, NULL,
+                             INV_ALL_SENSORS);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    return result;
+}
+
+/**
+ * Stub for driver close.  Just verify that the devices are suspended
+ *
+ * @param mldl_cfg handle to the config structure
+ * @param mlsl_handle handle to the mpu serial layer
+ * @param accel_handle handle to the accel serial layer
+ * @param compass_handle handle to the compass serial layer
+ * @param pressure_handle handle to the compass serial layer
+ *
+ * @return INV_SUCCESS or non-zero error code
+ */
+int inv_mpu_close(struct mldl_cfg *mldl_cfg,
+		  void *mlsl_handle,
+		  void *accel_handle,
+		  void *compass_handle,
+		  void *pressure_handle)
+{
+    int result = INV_SUCCESS;
+
+    result = inv_mpu_suspend(mldl_cfg, mlsl_handle, NULL, NULL, NULL,
+                             INV_ALL_SENSORS);
+    return result;
+}
+
+int inv_mpu_resume(struct mldl_cfg* mldl_cfg,
+                   void *mlsl_handle,
+                   void *accel_handle,
+                   void *compass_handle,
+                   void *pressure_handle,
+                   unsigned long sensors)
+{
+    int result;
+
+    mldl_cfg->requested_sensors = sensors;
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_SET_MPU_CONFIG, mldl_cfg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_RESUME, NULL);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_GET_MPU_CONFIG, mldl_cfg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    //MPL_LOGI("%s: Resuming to %04lx\n", __func__, mldl_cfg->requested_sensors);
+
+    return result;
+}
+
+
+int inv_mpu_suspend(struct mldl_cfg *mldl_cfg,
+                    void *mlsl_handle,
+                    void *accel_handle,
+                    void *compass_handle,
+                    void *pressure_handle,
+                    unsigned long sensors)
+{
+    int result;
+    unsigned long requested = mldl_cfg->requested_sensors;
+
+    mldl_cfg->requested_sensors = (~sensors) & INV_ALL_SENSORS;
+    //MPL_LOGI("%s: suspending sensors to %04lx\n", __func__,
+    //         mldl_cfg->requested_sensors);
+
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_SET_MPU_CONFIG, mldl_cfg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_SUSPEND, NULL);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = ioctl((int)(uintptr_t)mlsl_handle, MPU_GET_MPU_CONFIG, mldl_cfg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    mldl_cfg->requested_sensors = requested;
+    //MPL_LOGI("%s: Will resume next to %04lx\n", __func__, requested);
+
+    return result;
+}
+
+/**
+ * Send slave configuration information
+ *
+ * @param mldl_cfg pointer to the mldl configuration structure
+ * @param gyro_handle handle to the gyro sensor
+ * @param slave_handle handle to the slave sensor
+ * @param slave slave description
+ * @param pdata slave platform data
+ * @param data where to store the read data
+ *
+ * @return 0 or non-zero error code
+ */
+int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg,
+		void *gyro_handle,
+		void *slave_handle,
+		struct ext_slave_descr *slave,
+		struct ext_slave_platform_data *pdata,
+		unsigned char *data)
+{
+    int result;
+    if (!mldl_cfg || !gyro_handle || !data || !slave) {
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    switch (slave->type) {
+    case EXT_SLAVE_TYPE_ACCELEROMETER:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_READ_ACCEL, data);
+        break;
+    case EXT_SLAVE_TYPE_COMPASS:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_READ_COMPASS, data);
+        break;
+    case EXT_SLAVE_TYPE_PRESSURE:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_READ_PRESSURE, data);
+        break;
+    default:
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    return result;
+}
+
+/**
+ * Send slave configuration information
+ *
+ * @param mldl_cfg pointer to the mldl configuration structure
+ * @param gyro_handle handle to the gyro sensor
+ * @param slave_handle handle to the slave sensor
+ * @param data the data being sent
+ * @param slave slave description
+ * @param pdata slave platform data
+ *
+ * @return 0 or non-zero error code
+ */
+int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg,
+                     void *gyro_handle,
+                     void *slave_handle,
+                     struct ext_slave_config *data,
+                     struct ext_slave_descr *slave,
+                     struct ext_slave_platform_data *pdata)
+{
+    int result;
+    if (!mldl_cfg || !data || !slave || !pdata || !slave) {
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    switch (slave->type) {
+    case EXT_SLAVE_TYPE_ACCELEROMETER:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_CONFIG_ACCEL, data);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case EXT_SLAVE_TYPE_COMPASS:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_CONFIG_COMPASS, data);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case EXT_SLAVE_TYPE_PRESSURE:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_CONFIG_PRESSURE, data);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    default:
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+
+    return result;
+}
+
+/**
+ * Request slave configuration information
+ *
+ * Use this specifically after requesting a slave configuration to see what the
+ * slave accually accepted.
+ *
+ * @param mldl_cfg pointer to the mldl configuration structure
+ * @param gyro_handle handle to the gyro sensor
+ * @param slave_handle handle to the slave sensor
+ * @param data the data being requested.
+ * @param slave slave description
+ * @param pdata slave platform data
+ *
+ * @return 0 or non-zero error code
+ */
+int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg,
+                         void *gyro_handle,
+                         void *slave_handle,
+                         struct ext_slave_config *data,
+                         struct ext_slave_descr *slave,
+                         struct ext_slave_platform_data *pdata)
+{
+    int result;
+    if (!mldl_cfg || !data || !slave) {
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+    switch (slave->type) {
+    case EXT_SLAVE_TYPE_ACCELEROMETER:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_GET_CONFIG_ACCEL, data);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case EXT_SLAVE_TYPE_COMPASS:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_GET_CONFIG_COMPASS, data);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    case EXT_SLAVE_TYPE_PRESSURE:
+        result = ioctl((int)(uintptr_t)gyro_handle, MPU_GET_CONFIG_PRESSURE, data);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        break;
+    default:
+        LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
+        return INV_ERROR_INVALID_PARAMETER;
+        break;
+    }
+    return result;
+}
+/**
+ *@}
+ */
diff --git a/invensense/mlsdk/mllite/mldmp.c b/invensense/mlsdk/mllite/mldmp.c
new file mode 100644
index 0000000..d16bdaf
--- /dev/null
+++ b/invensense/mlsdk/mllite/mldmp.c
@@ -0,0 +1,284 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: mldmp.c 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *****************************************************************************/
+
+/**
+ * @addtogroup MLDMP
+ *
+ * @{
+ *      @file     mldmp.c
+ *      @brief    Shared functions between all the different DMP versions
+**/
+
+#include <stdio.h>
+
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "mltypes.h"
+#include "ml.h"
+#include "mldl_cfg.h"
+#include "mldl.h"
+#include "compass.h"
+#include "mlSetGyroBias.h"
+#include "mlsl.h"
+#include "mlFIFO.h"
+#include "mldmp.h"
+#include "mlstates.h"
+#include "dmpDefault.h"
+#include "mlFIFOHW.h"
+#include "mlsupervisor.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-dmp"
+
+/**
+ *  @brief  Open the default motion sensor engine.
+ *          This function is used to open the default MPL engine,
+ *          featuring, for example, sensor fusion (6 axes and 9 axes),
+ *          sensor calibration, accelerometer data byte swapping, among
+ *          others.
+ *          Compare with the other provided engines.
+ *
+ *  @pre    inv_serial_start() must have been called to instantiate the serial
+ *          communication.
+ *
+ *  Example:
+ *  @code
+ *    result = inv_dmp_open( );
+ *    if (INV_SUCCESS != result) {
+ *        // Handle the error case
+ *    }
+ *  @endcode
+ *
+ *  @return Zero on success; Error Code on any failure.
+ *
+ */
+inv_error_t inv_dmp_open(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    unsigned char state = inv_get_state();
+    struct mldl_cfg *mldl_cfg;
+    unsigned long requested_sensors;
+
+    /*************************************************************
+     * Common operations before calling DMPOpen
+     ************************************************************/
+    if (state == INV_STATE_DMP_OPENED)
+        return INV_SUCCESS;
+
+    if (state == INV_STATE_DMP_STARTED) {
+        return inv_dmp_stop();
+    }
+
+    result = inv_state_transition(INV_STATE_DMP_OPENED);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    result = inv_dl_open(inv_get_serial_handle());
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+#ifdef ML_USE_DMP_SIM
+    do {
+        void setup_univ();
+        setup_univ();           /* hijack the read and write paths
+                                   and re-direct them to the simulator */
+    } while (0);
+#endif
+
+    result = inv_setup_dmp();
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    // Init vars.
+    inv_init_ml();
+
+    result = inv_init_fifo_param();
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_enable_set_bias();
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    inv_init_fifo_hardare();
+    mldl_cfg = inv_get_dl_config();
+    requested_sensors = INV_THREE_AXIS_GYRO;
+    if (mldl_cfg->accel && mldl_cfg->accel->resume)
+        requested_sensors |= INV_THREE_AXIS_ACCEL;
+
+    if (mldl_cfg->compass && mldl_cfg->compass->resume)
+        requested_sensors |= INV_THREE_AXIS_COMPASS;
+
+    if (mldl_cfg->pressure && mldl_cfg->pressure->resume)
+        requested_sensors |= INV_THREE_AXIS_PRESSURE;
+
+    result = inv_init_requested_sensors(requested_sensors);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_apply_calibration();
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    if (NULL != mldl_cfg->accel){
+        result = inv_apply_endian_accel();
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  Start the DMP.
+ *
+ *  @pre    inv_dmp_open() must have been called.
+ *
+ *  @code
+ *     result = inv_dmp_start();
+ *     if (INV_SUCCESS != result) {
+ *         // Handle the error case
+ *     }
+ *  @endcode
+ *
+ *  @return INV_SUCCESS if successful, or Non-zero error code otherwise.
+ */
+inv_error_t inv_dmp_start(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+
+    if (inv_get_state() == INV_STATE_DMP_STARTED)
+        return INV_SUCCESS;
+
+    result = inv_state_transition(INV_STATE_DMP_STARTED);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    inv_init_sensor_fusion_supervisor();
+    result = inv_dl_start(inv_get_dl_config()->requested_sensors);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    /* This is done after the start since it will modify DMP memory, which
+     * will cause a full reset is most cases */
+    result = inv_reset_motion();
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  Stops the DMP and puts it in low power.
+ *
+ *  @pre    inv_dmp_start() must have been called.
+ *
+ *  @return INV_SUCCESS, Non-zero error code otherwise.
+ */
+inv_error_t inv_dmp_stop(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+
+    if (inv_get_state() == INV_STATE_DMP_OPENED)
+        return INV_SUCCESS;
+
+    result = inv_state_transition(INV_STATE_DMP_OPENED);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_dl_stop(INV_ALL_SENSORS);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  Closes the motion sensor engine.
+ *          Does not close the serial communication. To do that,
+ *          call inv_serial_stop().
+ *          After calling inv_dmp_close() another DMP module can be
+ *          loaded in the MPL with the corresponding necessary
+ *          intialization and configurations, via any of the
+ *          MLDmpXXXOpen functions.
+ *
+ *  @pre    inv_dmp_open() must have been called.
+ *
+ *  @code
+ *     result = inv_dmp_close();
+ *     if (INV_SUCCESS != result) {
+ *         // Handle the error case
+ *     }
+ *  @endcode
+ *
+ *  @return INV_SUCCESS, Non-zero error code otherwise.
+ */
+inv_error_t inv_dmp_close(void)
+{
+    INVENSENSE_FUNC_START;
+    inv_error_t result;
+    inv_error_t firstError = INV_SUCCESS;
+
+    if (inv_get_state() <= INV_STATE_DMP_CLOSED)
+        return INV_SUCCESS;
+
+    result = inv_disable_set_bias();
+    ERROR_CHECK_FIRST(firstError, result);
+
+    result = inv_dl_stop(INV_ALL_SENSORS);
+    ERROR_CHECK_FIRST(firstError, result);
+
+    result = inv_close_fifo();
+    ERROR_CHECK_FIRST(firstError, result);
+
+    result = inv_dl_close();
+    ERROR_CHECK_FIRST(firstError, result);
+
+    result = inv_state_transition(INV_STATE_SERIAL_OPENED);
+    ERROR_CHECK_FIRST(firstError, result);
+
+    return result;
+}
+
+/**
+ *  @}
+ */
diff --git a/invensense/mlsdk/mllite/mldmp.h b/invensense/mlsdk/mllite/mldmp.h
new file mode 100644
index 0000000..ff3d24e
--- /dev/null
+++ b/invensense/mlsdk/mllite/mldmp.h
@@ -0,0 +1,96 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/***************************************************************************** *
+ * $Id: mldmp.h 5629 2011-06-11 03:13:08Z mcaramello $
+ ******************************************************************************/
+
+/**
+ * @defgroup MLDMP
+ * @brief
+ *
+ *  These are the top level functions that define how to load the MPL.  In order
+ *  to use most of the features, the DMP must be loaded with some code.  The
+ *  loading procedure takes place when calling inv_dmp_open with a given DMP set
+ *  function, after having open the serial communication with the device via
+ *  inv_serial_start().
+ *  The DMP set function will load the DMP memory and enable a certain
+ *  set of features.
+ *
+ *  First select a DMP version from one of the released DMP sets.
+ *  These could be:
+ *  - DMP default to load and use the default DMP code featuring pedometer,
+ *    gestures, and orientation.  Use inv_dmp_open().
+ *  - DMP pedometer stand-alone to load and use the standalone pedometer
+ *    implementation. Use inv_open_low_power_pedometer().
+ *  <!-- - DMP EIS ... Use inv_eis_open_dmp(). -->
+ *
+ *  After inv_dmp_openXXX any number of appropriate initialization and configuration
+ *  routines can be called. Each one of these routines will return an error code
+ *  and will check to make sure that it is compatible with the the DMP version
+ *  selected during the call to inv_dmp_open.
+ *
+ *  Once the configuration is complete, make a call to inv_dmp_start(). This will
+ *  finally turn on the DMP and run the code previously loaded.
+ *
+ *  While the DMP is running, all data fetching, polling or other functions can
+ *  be called and will return valid data. Some parameteres can be changed while
+ *  the DMP is runing, while others cannot.  Therefore it is important to always
+ *  check the return code of each function.  Check the error code list in mltypes
+ *  to know what each returned error corresponds to.
+ *
+ *  When no more motion processing is required, the library can be shut down and
+ *  the DMP turned off.  We can do that by calling inv_dmp_close().  Note that
+ *  inv_dmp_close() will not close the serial communication automatically, which will
+ *  remain open an active, in case another module needs to be loaded instead.
+ *  If the intention is shutting down the MPL as well, an explicit call to
+ *  inv_serial_stop() following inv_dmp_close() has to be made.
+ *
+ *  The MPL additionally implements a basic state machine, whose purpose is to
+ *  give feedback to the user on whether he is following all the required
+ *  initialization steps.  If an anomalous transition is detected, the user will
+ *  be warned by a terminal message with the format:
+ *
+ *  <tt>"Error : illegal state transition from STATE_1 to STATE_3"</tt>
+ *
+ *  @{
+ *      @file     mldmp.h
+ *      @brief    Top level entry functions to the MPL library with DMP support
+ */
+
+#ifndef MLDMP_H
+#define MLDMP_H
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mldmp_legacy.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    inv_error_t inv_dmp_open(void);
+    inv_error_t inv_dmp_start(void);
+    inv_error_t inv_dmp_stop(void);
+    inv_error_t inv_dmp_close(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          /* MLDMP_H */
+/**
+ * @}
+**/
diff --git a/invensense/mlsdk/mllite/mlinclude.h b/invensense/mlsdk/mllite/mlinclude.h
new file mode 100644
index 0000000..dcbe904
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlinclude.h
@@ -0,0 +1,50 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef INV_INCLUDE_H__
+#define INV_INCLUDE_H__
+
+#define INVENSENSE_FUNC_START  typedef int invensensePutFunctionCallsHere
+
+#ifdef COVERAGE
+#include "utestCommon.h"
+#endif
+#ifdef PROFILE
+#include "profile.h"
+#endif
+
+#ifdef WIN32
+#ifdef COVERAGE
+
+extern int functionEnterLog(const char *file, const char *func);
+extern int functionExitLog(const char *file, const char *func);
+
+#undef INVENSENSE_FUNC_START
+#define INVENSENSE_FUNC_START  __pragma(message(__FILE__ "|"__FUNCTION__ )) \
+    int dslkQjDsd = functionEnterLog(__FILE__, __FUNCTION__)
+#endif // COVERAGE
+#endif // WIN32
+
+#ifdef PROFILE
+#undef INVENSENSE_FUNC_START
+#define INVENSENSE_FUNC_START int dslkQjDsd = profileEnter(__FILE__, __FUNCTION__)
+#define return if ( profileExit(__FILE__, __FUNCTION__) ) return
+#endif // PROFILE
+
+// #define return if ( functionExitLog(__FILE__, __FUNCTION__) ) return
+
+#endif //INV_INCLUDE_H__
diff --git a/invensense/mlsdk/mllite/mlstates.c b/invensense/mlsdk/mllite/mlstates.c
new file mode 100644
index 0000000..69917c8
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlstates.c
@@ -0,0 +1,269 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlstates.c 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup MLSTATES
+ *  @brief  Basic state machine definition and support for the Motion Library.
+ *
+ *  @{
+ *      @file mlstates.c
+ *      @brief The Motion Library state machine definition.
+ */
+
+#define ML_C
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include "mlstates.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "ml.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-mlstates"
+
+#define _stateDebug(x)          //{x}
+
+#define MAX_STATE_CHANGE_PROCESSES (8)
+
+struct state_callback_obj {
+    int_fast8_t numStateChangeCallbacks;
+    HANDLE mutex;
+    state_change_callback_t stateChangeCallbacks[MAX_STATE_CHANGE_PROCESSES];
+};
+
+static struct state_callback_obj sStateChangeCallbacks = { 0 };
+
+/* --------------- */
+/* -  Functions. - */
+/* --------------- */
+
+static inv_error_t inv_init_state_callbacks(void)
+{
+    memset(&sStateChangeCallbacks, 0, sizeof(sStateChangeCallbacks));
+    return inv_create_mutex(&sStateChangeCallbacks.mutex);
+}
+
+static inv_error_t MLStateCloseCallbacks(void)
+{
+    inv_error_t result;
+    result = inv_destroy_mutex(sStateChangeCallbacks.mutex);
+    memset(&sStateChangeCallbacks, 0, sizeof(sStateChangeCallbacks));
+    return result;
+}
+
+/**
+ *  @internal
+ *  @brief  return a string containing the label assigned to the given state.
+ *  @param  state   The state of which the label has to be returned.
+ *  @return A string containing the state label.
+**/
+char *inv_state_name(unsigned char state)
+{
+    switch (state) {
+    case INV_STATE_SERIAL_CLOSED:
+        return INV_STATE_NAME(INV_STATE_SERIAL_CLOSED);
+        break;
+    case INV_STATE_SERIAL_OPENED:
+        return INV_STATE_NAME(INV_STATE_SERIAL_OPENED);
+        break;
+    case INV_STATE_DMP_OPENED:
+        return INV_STATE_NAME(INV_STATE_DMP_OPENED);
+        break;
+    case INV_STATE_DMP_STARTED:
+        return INV_STATE_NAME(INV_STATE_DMP_STARTED);
+        break;
+    default:
+        return NULL;
+    }
+}
+
+/**
+ *  @internal
+ *  @brief  Perform a transition from the current state to newState.
+ *          Check for the correctness of the transition.
+ *          Print out an error message if the transition is illegal .
+ *          This routine is also called if a certain normally constant parameters
+ *          are changed such as the FIFO Rate.
+ *  @param  newState    state we are transitioning to.
+ *  @return
+**/
+inv_error_t inv_state_transition(unsigned char newState)
+{
+    inv_error_t result = INV_SUCCESS;
+
+    if (newState == INV_STATE_SERIAL_CLOSED) {
+        // Always allow transition to closed
+    } else if (newState == INV_STATE_SERIAL_OPENED) {
+        inv_init_state_callbacks(); // Always allow first transition to start over
+    } else if (((newState == INV_STATE_DMP_OPENED) &&
+                ((inv_params_obj.state == INV_STATE_SERIAL_OPENED) ||
+                 (inv_params_obj.state == INV_STATE_DMP_STARTED)))
+               ||
+               ((newState == INV_STATE_DMP_STARTED) &&
+                (inv_params_obj.state == INV_STATE_DMP_OPENED))) {
+        // Valid transitions but no special action required
+    } else {
+        // All other combinations are illegal
+        MPL_LOGE("Error : illegal state transition from %s to %s\n",
+                 inv_state_name(inv_params_obj.state),
+                 inv_state_name(newState));
+        result = INV_ERROR_SM_TRANSITION;
+    }
+
+    if (result == INV_SUCCESS) {
+        _stateDebug(MPL_LOGV
+                    ("ML State transition from %s to %s\n",
+                     inv_state_name(inv_params_obj.state),
+                     inv_state_name(newState)));
+        result = inv_run_state_callbacks(newState);
+        if (INV_SUCCESS == result && newState == INV_STATE_SERIAL_CLOSED) {
+            MLStateCloseCallbacks();
+        }
+        inv_params_obj.state = newState;
+    }
+    return result;
+}
+
+/**
+ *  @internal
+ *  @brief  To be moved in mlstates.c
+**/
+unsigned char inv_get_state(void)
+{
+    return (inv_params_obj.state);
+}
+
+/**
+ * @internal
+ * @brief   This registers a function to be called each time the state
+ *          changes. It may also be called when the FIFO Rate is changed.
+ *          It will be called at the start of a state change before the
+ *          state change has taken place. See Also inv_unregister_state_callback()
+ *          The FIFO does not have to be on for this callback.
+ * @param func Function to be called when a DMP interrupt occurs.
+ * @return INV_SUCCESS or non-zero error code.
+ */
+
+inv_error_t inv_register_state_callback(state_change_callback_t callback)
+{
+    INVENSENSE_FUNC_START;
+    int kk;
+    inv_error_t result;
+
+    result = inv_lock_mutex(sStateChangeCallbacks.mutex);
+    if (INV_SUCCESS != result) {
+        return result;
+    }
+    // Make sure we have not filled up our number of allowable callbacks
+    if (sStateChangeCallbacks.numStateChangeCallbacks <
+        MAX_STATE_CHANGE_PROCESSES) {
+        // Make sure we haven't registered this function already
+        for (kk = 0; kk < sStateChangeCallbacks.numStateChangeCallbacks; ++kk) {
+            if (sStateChangeCallbacks.stateChangeCallbacks[kk] == callback) {
+                result = INV_ERROR_INVALID_PARAMETER;
+                break;
+            }
+        }
+
+        if (INV_SUCCESS == result) {
+            // Add new callback
+            sStateChangeCallbacks.stateChangeCallbacks[sStateChangeCallbacks.
+                                                       numStateChangeCallbacks]
+                = callback;
+            sStateChangeCallbacks.numStateChangeCallbacks++;
+        }
+    } else {
+        result = INV_ERROR_MEMORY_EXAUSTED;
+    }
+
+    inv_unlock_mutex(sStateChangeCallbacks.mutex);
+    return result;
+}
+
+/**
+ * @internal
+ * @brief   This unregisters a function to be called each time the state
+ *          changes. See Also inv_register_state_callback()
+ *          The FIFO does not have to be on for this callback.
+ * @return INV_SUCCESS or non-zero error code.
+ */
+inv_error_t inv_unregister_state_callback(state_change_callback_t callback)
+{
+    INVENSENSE_FUNC_START;
+    int kk, jj;
+    inv_error_t result;
+
+    result = inv_lock_mutex(sStateChangeCallbacks.mutex);
+    if (INV_SUCCESS != result) {
+        return result;
+    }
+    // Make sure we haven't registered this function already
+    result = INV_ERROR_INVALID_PARAMETER;
+    for (kk = 0; kk < sStateChangeCallbacks.numStateChangeCallbacks; ++kk) {
+        if (sStateChangeCallbacks.stateChangeCallbacks[kk] == callback) {
+            for (jj = kk + 1;
+                 jj < sStateChangeCallbacks.numStateChangeCallbacks; ++jj) {
+                sStateChangeCallbacks.stateChangeCallbacks[jj - 1] =
+                    sStateChangeCallbacks.stateChangeCallbacks[jj];
+            }
+            sStateChangeCallbacks.numStateChangeCallbacks--;
+            result = INV_SUCCESS;
+            break;
+        }
+    }
+
+    inv_unlock_mutex(sStateChangeCallbacks.mutex);
+    return result;
+}
+
+inv_error_t inv_run_state_callbacks(unsigned char newState)
+{
+    int kk;
+    inv_error_t result;
+
+    result = inv_lock_mutex(sStateChangeCallbacks.mutex);
+    if (INV_SUCCESS != result) {
+        MPL_LOGE("MLOsLockMutex returned %d\n", result);
+        return result;
+    }
+
+    for (kk = 0; kk < sStateChangeCallbacks.numStateChangeCallbacks; ++kk) {
+        if (sStateChangeCallbacks.stateChangeCallbacks[kk]) {
+            result = sStateChangeCallbacks.stateChangeCallbacks[kk] (newState);
+            if (INV_SUCCESS != result) {
+                break;          // Can't return, must release mutex
+            }
+        }
+    }
+
+    inv_unlock_mutex(sStateChangeCallbacks.mutex);
+    return result;
+}
diff --git a/invensense/mlsdk/mllite/mlstates.h b/invensense/mlsdk/mllite/mlstates.h
new file mode 100644
index 0000000..cbaa610
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlstates.h
@@ -0,0 +1,58 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlstates.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef INV_STATES_H__
+#define INV_STATES_H__
+
+#include "mltypes.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlstates_legacy.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* See inv_state_transition for the transition mask */
+#define INV_STATE_SERIAL_CLOSED      (0)
+#define INV_STATE_SERIAL_OPENED      (1)
+#define INV_STATE_DMP_OPENED         (2)
+#define INV_STATE_DMP_STARTED        (3)
+#define INV_STATE_DMP_STOPPED        (INV_STATE_DMP_OPENED)
+#define INV_STATE_DMP_CLOSED         (INV_STATE_SERIAL_OPENED)
+
+#define INV_STATE_NAME(x)            (#x)
+
+    typedef inv_error_t(*state_change_callback_t) (unsigned char newState);
+
+    char *inv_state_name(unsigned char x);
+    inv_error_t inv_state_transition(unsigned char newState);
+    unsigned char inv_get_state(void);
+    inv_error_t inv_register_state_callback(state_change_callback_t callback);
+    inv_error_t inv_unregister_state_callback(state_change_callback_t callback);
+    inv_error_t inv_run_state_callbacks(unsigned char newState);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INV_STATES_H__
diff --git a/invensense/mlsdk/mllite/mlsupervisor.c b/invensense/mlsdk/mllite/mlsupervisor.c
new file mode 100644
index 0000000..ea6b7ec
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlsupervisor.c
@@ -0,0 +1,597 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: mlsupervisor.c 5637 2011-06-14 01:13:53Z mcaramello $
+ *
+ *****************************************************************************/
+
+/**
+ *  @defgroup   ML_SUPERVISOR
+ *  @brief      Basic sensor fusion supervisor functionalities.
+ *
+ *  @{
+ *      @file   mlsupervisor.c
+ *      @brief  Basic sensor fusion supervisor functionalities.
+ */
+
+#include "ml.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "mltypes.h"
+#include "mlinclude.h"
+#include "compass.h"
+#include "pressure.h"
+#include "dmpKey.h"
+#include "dmpDefault.h"
+#include "mlstates.h"
+#include "mlFIFO.h"
+#include "mlFIFOHW.h"
+#include "mlMathFunc.h"
+#include "mlsupervisor.h"
+#include "mlmath.h"
+
+#include "mlsl.h"
+#include "mlos.h"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-sup"
+
+static unsigned long lastCompassTime = 0;
+static unsigned long polltime = 0;
+static unsigned long coiltime = 0;
+static int accCount = 0;
+static int compassCalStableCount = 0;
+static int compassCalCount = 0;
+static int coiltimerstart = 0;
+static unsigned long disturbtime = 0;
+static int disturbtimerstart = 0;
+
+static yas_filter_if_s f;
+static yas_filter_handle_t handle;
+
+#define SUPERVISOR_DEBUG 0
+
+struct inv_supervisor_cb_obj ml_supervisor_cb = { 0 };
+
+/**
+ *  @brief  This initializes all variables that should be reset on
+ */
+void inv_init_sensor_fusion_supervisor(void)
+{
+    lastCompassTime = 0;
+    polltime = 0;
+    inv_obj.acc_state = SF_STARTUP_SETTLE;
+    accCount = 0;
+    compassCalStableCount = 0;
+    compassCalCount = 0;
+
+    yas_filter_init(&f);
+    f.init(&handle);
+
+#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
+	defined CONFIG_MPU_SENSORS_MPU6050B1
+    if (inv_compass_present()) {
+        struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+        if (mldl_cfg->pdata->compass.bus == EXT_SLAVE_BUS_SECONDARY) {
+            (void)inv_send_external_sensor_data(INV_ELEMENT_1 | INV_ELEMENT_2 | INV_ELEMENT_3, INV_16_BIT);
+        }
+    }
+#endif
+
+    if (ml_supervisor_cb.supervisor_reset_func != NULL) {
+        ml_supervisor_cb.supervisor_reset_func();
+    }
+}
+
+static int MLUpdateCompassCalibration3DOF(int command, long *data,
+                                          unsigned long deltaTime)
+{
+    INVENSENSE_FUNC_START;
+    int retValue = INV_SUCCESS;
+    static float m[10][10] = { {0} };
+    float mInv[10][10] = { {0} };
+    float mTmp[10][10] = { {0} };
+    static float xTransY[4] = { 0 };
+    float magSqr = 0;
+    float inpData[3] = { 0 };
+    int i, j;
+    int a, b;
+    float d;
+
+    switch (command) {
+    case CAL_ADD_DATA:
+        inpData[0] = (float)data[0];
+        inpData[1] = (float)data[1];
+        inpData[2] = (float)data[2];
+        m[0][0] += (-2 * inpData[0]) * (-2 * inpData[0]);
+        m[0][1] += (-2 * inpData[0]) * (-2 * inpData[1]);
+        m[0][2] += (-2 * inpData[0]) * (-2 * inpData[2]);
+        m[0][3] += (-2 * inpData[0]);
+        m[1][0] += (-2 * inpData[1]) * (-2 * inpData[0]);
+        m[1][1] += (-2 * inpData[1]) * (-2 * inpData[1]);
+        m[1][2] += (-2 * inpData[1]) * (-2 * inpData[2]);
+        m[1][3] += (-2 * inpData[1]);
+        m[2][0] += (-2 * inpData[2]) * (-2 * inpData[0]);
+        m[2][1] += (-2 * inpData[2]) * (-2 * inpData[1]);
+        m[2][2] += (-2 * inpData[2]) * (-2 * inpData[2]);
+        m[2][3] += (-2 * inpData[2]);
+        m[3][0] += (-2 * inpData[0]);
+        m[3][1] += (-2 * inpData[1]);
+        m[3][2] += (-2 * inpData[2]);
+        m[3][3] += 1.0f;
+        magSqr =
+            inpData[0] * inpData[0] + inpData[1] * inpData[1] +
+            inpData[2] * inpData[2];
+        xTransY[0] += (-2 * inpData[0]) * magSqr;
+        xTransY[1] += (-2 * inpData[1]) * magSqr;
+        xTransY[2] += (-2 * inpData[2]) * magSqr;
+        xTransY[3] += magSqr;
+        break;
+    case CAL_RUN:
+        a = 4;
+        b = a;
+        for (i = 0; i < b; i++) {
+            for (j = 0; j < b; j++) {
+                a = b;
+                inv_matrix_det_inc(&m[0][0], &mTmp[0][0], &a, i, j);
+                mInv[j][i] = SIGNM(i + j) * inv_matrix_det(&mTmp[0][0], &a);
+            }
+        }
+        a = b;
+        d = inv_matrix_det(&m[0][0], &a);
+        if (d == 0) {
+            return INV_ERROR;
+        }
+        for (i = 0; i < 3; i++) {
+            float tmp = 0;
+            for (j = 0; j < 4; j++) {
+                tmp += mInv[j][i] / d * xTransY[j];
+            }
+            inv_obj.compass_test_bias[i] =
+                -(long)(tmp * inv_obj.compass_sens / 16384.0f);
+        }
+        break;
+    case CAL_RESET:
+        for (i = 0; i < 4; i++) {
+            for (j = 0; j < 4; j++) {
+                m[i][j] = 0;
+            }
+            xTransY[i] = 0;
+        }
+    default:
+        break;
+    }
+    return retValue;
+}
+
+/**
+ * Entry point for Sensor Fusion operations
+ * @internal
+ * @param magFB magnetormeter FB
+ * @param accSF accelerometer SF
+ */
+static inv_error_t MLSensorFusionSupervisor(double *magFB, long *accSF,
+                                            unsigned long deltaTime)
+{
+    static long prevCompassBias[3] = { 0 };
+    static long magMax[3] = {
+        -1073741824L,
+        -1073741824L,
+        -1073741824L
+    };
+    static long magMin[3] = {
+        1073741824L,
+        1073741824L,
+        1073741824L
+    };
+    int gyroMag;
+    long accMag;
+    inv_error_t result;
+    int i;
+
+    if (ml_supervisor_cb.progressive_no_motion_supervisor_func != NULL) {
+        ml_supervisor_cb.progressive_no_motion_supervisor_func(deltaTime);
+    }
+
+    gyroMag = inv_get_gyro_sum_of_sqr() >> GYRO_MAG_SQR_SHIFT;
+    accMag = inv_accel_sum_of_sqr();
+
+    // Scaling below assumes certain scaling.
+#if ACC_MAG_SQR_SHIFT != 16
+#error
+#endif
+
+    if (ml_supervisor_cb.sensor_fusion_advanced_func != NULL) {
+        result = ml_supervisor_cb.sensor_fusion_advanced_func(magFB, deltaTime);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    } else if (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_MOTION) {
+        //Most basic compass calibration, used only with lite MPL
+        if (inv_obj.resetting_compass == 1) {
+            for (i = 0; i < 3; i++) {
+                magMax[i] = -1073741824L;
+                magMin[i] = 1073741824L;
+                prevCompassBias[i] = 0;
+            }
+            compassCalStableCount = 0;
+            compassCalCount = 0;
+            inv_obj.resetting_compass = 0;
+        }
+        if ((gyroMag > 400) || (inv_get_gyro_present() == 0)) {
+            if (compassCalStableCount < 1000) {
+                for (i = 0; i < 3; i++) {
+                    if (inv_obj.compass_sensor_data[i] > magMax[i]) {
+                        magMax[i] = inv_obj.compass_sensor_data[i];
+                    }
+                    if (inv_obj.compass_sensor_data[i] < magMin[i]) {
+                        magMin[i] = inv_obj.compass_sensor_data[i];
+                    }
+                }
+                MLUpdateCompassCalibration3DOF(CAL_ADD_DATA,
+                                               inv_obj.compass_sensor_data,
+                                               deltaTime);
+                compassCalStableCount += deltaTime;
+                for (i = 0; i < 3; i++) {
+                    if (magMax[i] - magMin[i] <
+                        (long long)40 * 1073741824 / inv_obj.compass_sens) {
+                        compassCalStableCount = 0;
+                    }
+                }
+            } else {
+                if (compassCalStableCount >= 1000) {
+                    if (MLUpdateCompassCalibration3DOF
+                        (CAL_RUN, inv_obj.compass_sensor_data,
+                         deltaTime) == INV_SUCCESS) {
+                        inv_obj.got_compass_bias = 1;
+                        inv_obj.compass_accuracy = 3;
+                        for(i=0; i<3; i++) {
+                            inv_obj.compass_bias_error[i] = 35;
+                        }
+                        if (inv_obj.compass_state == SF_UNCALIBRATED)
+                            inv_obj.compass_state = SF_STARTUP_SETTLE;
+                        inv_set_compass_bias(inv_obj.compass_test_bias);
+                    }
+                    compassCalCount = 0;
+                    compassCalStableCount = 0;
+                    for (i = 0; i < 3; i++) {
+                        magMax[i] = -1073741824L;
+                        magMin[i] = 1073741824L;
+                        prevCompassBias[i] = 0;
+                    }
+                    MLUpdateCompassCalibration3DOF(CAL_RESET,
+                                                   inv_obj.compass_sensor_data,
+                                                   deltaTime);
+                }
+            }
+        }
+        compassCalCount += deltaTime;
+        if (compassCalCount > 20000) {
+            compassCalCount = 0;
+            compassCalStableCount = 0;
+            for (i = 0; i < 3; i++) {
+                magMax[i] = -1073741824L;
+                magMin[i] = 1073741824L;
+                prevCompassBias[i] = 0;
+            }
+            MLUpdateCompassCalibration3DOF(CAL_RESET,
+                                           inv_obj.compass_sensor_data,
+                                           deltaTime);
+        }
+    }
+
+    if (inv_obj.acc_state != SF_STARTUP_SETTLE) {
+        if (((accMag > 260000L) || (accMag < 6000)) || (gyroMag > 2250000L)) {
+            inv_obj.acc_state = SF_DISTURBANCE; //No accels, fast swing
+            accCount = 0;
+        } else {
+            if ((gyroMag < 400) && (accMag < 200000L) && (accMag > 26214)
+                && ((inv_obj.acc_state == SF_DISTURBANCE)
+                    || (inv_obj.acc_state == SF_SLOW_SETTLE))) {
+                accCount += deltaTime;
+                if (accCount > 0) {
+                    inv_obj.acc_state = SF_FAST_SETTLE;
+                    accCount = 0;
+                }
+            } else {
+                if (inv_obj.acc_state == SF_DISTURBANCE) {
+                    accCount += deltaTime;
+                    if (accCount > 500) {
+                        inv_obj.acc_state = SF_SLOW_SETTLE;
+                        accCount = 0;
+                    }
+                } else if (inv_obj.acc_state == SF_SLOW_SETTLE) {
+                    accCount += deltaTime;
+                    if (accCount > 1000) {
+                        inv_obj.acc_state = SF_NORMAL;
+                        accCount = 0;
+                    }
+                } else if (inv_obj.acc_state == SF_FAST_SETTLE) {
+                    accCount += deltaTime;
+                    if (accCount > 250) {
+                        inv_obj.acc_state = SF_NORMAL;
+                        accCount = 0;
+                    }
+                }
+            }
+        }
+    }
+    if (inv_obj.acc_state == SF_STARTUP_SETTLE) {
+        accCount += deltaTime;
+        if (accCount > 50) {
+            *accSF = 1073741824;    //Startup settling
+            inv_obj.acc_state = SF_NORMAL;
+            accCount = 0;
+        }
+    } else if ((inv_obj.acc_state == SF_NORMAL)
+               || (inv_obj.acc_state == SF_SLOW_SETTLE)) {
+        *accSF = inv_obj.accel_sens * 64;   //Normal
+    } else if ((inv_obj.acc_state == SF_DISTURBANCE)) {
+        *accSF = inv_obj.accel_sens * 64;   //Don't use accel (should be 0)
+    } else if (inv_obj.acc_state == SF_FAST_SETTLE) {
+        *accSF = inv_obj.accel_sens * 512;  //Amplify accel
+    }
+    if (!inv_get_gyro_present()) {
+        *accSF = inv_obj.accel_sens * 128;
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Entry point for software sensor fusion operations.
+ *          Manages hardware interaction, calls sensor fusion supervisor for
+ *          bias calculation.
+ *  @return error code. INV_SUCCESS if no error occurred.
+ */
+inv_error_t inv_accel_compass_supervisor(void)
+{
+    inv_error_t result;
+    int adjustSensorFusion = 0;
+    long accSF = 1073741824;
+    static double magFB = 0;
+    long magSensorData[3];
+    float fcin[3];
+    float fcout[3];
+
+
+    if (inv_compass_present()) {    /* check for compass data */
+        int i, j;
+        long long tmp[3] = { 0 };
+        long long tmp64 = 0;
+        unsigned long ctime = inv_get_tick_count();
+        if (((inv_get_compass_id() == COMPASS_ID_AK8975) &&
+             ((ctime - polltime) > 20)) ||
+            (polltime == 0 || ((ctime - polltime) > 20))) { // 50Hz max
+            if (SUPERVISOR_DEBUG) {
+                MPL_LOGV("Fetch compass data from inv_process_fifo_packet\n");
+                MPL_LOGV("delta time = %ld\n", ctime - polltime);
+            }
+            polltime = ctime;
+            result = inv_get_compass_data(magSensorData);
+            /* external slave wants the data even if there is an error */
+            if (result && !inv_obj.external_slave_callback) {
+                if (SUPERVISOR_DEBUG) {
+                    MPL_LOGW("inv_get_compass_data returned %d\n", result);
+                }
+            } else {
+                unsigned long compassTime = inv_get_tick_count();
+                unsigned long deltaTime = 1;
+
+                if (result == INV_SUCCESS) {
+                    if (lastCompassTime != 0) {
+                        deltaTime = compassTime - lastCompassTime;
+                    }
+                    lastCompassTime = compassTime;
+                    adjustSensorFusion = 1;
+                    if (inv_obj.got_init_compass_bias == 0) {
+                        inv_obj.got_init_compass_bias = 1;
+                        for (i = 0; i < 3; i++) {
+                            inv_obj.init_compass_bias[i] = magSensorData[i];
+                        }
+                    }
+                    for (i = 0; i < 3; i++) {
+                        inv_obj.compass_sensor_data[i] = (long)magSensorData[i];
+                        inv_obj.compass_sensor_data[i] -=
+                            inv_obj.init_compass_bias[i];
+                        tmp[i] = ((long long)inv_obj.compass_sensor_data[i])
+                            * inv_obj.compass_sens / 16384;
+                        tmp[i] -= inv_obj.compass_bias[i];
+                        tmp[i] = (tmp[i] * inv_obj.compass_scale[i]) / 65536L;
+                    }
+                    for (i = 0; i < 3; i++) {
+                        tmp64 = 0;
+                        for (j = 0; j < 3; j++) {
+                            tmp64 += (long long) tmp[j] *
+                                inv_obj.compass_cal[i * 3 + j];
+                        }
+                        inv_obj.compass_calibrated_data[i] =
+                            (long) (tmp64 / inv_obj.compass_sens);
+                    }
+                    //Additions:
+                    if ((inv_obj.compass_state == 1) &&
+                            (inv_obj.compass_overunder == 0)) {
+                        if (disturbtimerstart == 0) {
+                            disturbtimerstart = 1;
+                            disturbtime = ctime;
+                        }
+                    } else {
+                        disturbtimerstart = 0;
+                    }
+
+                    if (inv_obj.compass_overunder) {
+                        if (coiltimerstart == 0) {
+                            coiltimerstart = 1;
+                            coiltime = ctime;
+                        }
+                    }
+                    if (coiltimerstart == 1) {
+                        if (ctime - coiltime > 3000) {
+                            inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0;
+                            inv_set_compass_offset();
+                            inv_reset_compass_calibration();
+                            coiltimerstart = 0;
+                        }
+                    }
+
+                    if (disturbtimerstart == 1) {
+                        if (ctime - disturbtime > 10000) {
+                            inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0;
+                            inv_set_compass_offset();
+                            inv_reset_compass_calibration();
+                            MPL_LOGI("Compass reset! inv_reset_compass_calibration \n");
+                            disturbtimerstart = 0;
+                        }
+                    }
+                }
+                if (inv_obj.external_slave_callback) {
+                    result = inv_obj.external_slave_callback(&inv_obj);
+                    if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                    }
+                }
+
+#ifdef APPLY_COMPASS_FILTER
+                if (inv_get_compass_id() == COMPASS_ID_YAS530)
+                {
+                    fcin[0] = 1000*((float)inv_obj.compass_calibrated_data[0] /65536.f);
+                    fcin[1] = 1000*((float)inv_obj.compass_calibrated_data[1] /65536.f);
+                    fcin[2] = 1000*((float)inv_obj.compass_calibrated_data[2] /65536.f);
+
+                    f.update(&handle, fcin, fcout);
+
+                    inv_obj.compass_calibrated_data[0] = (long)(fcout[0]*65536.f/1000.f);
+                    inv_obj.compass_calibrated_data[1] = (long)(fcout[1]*65536.f/1000.f);
+                    inv_obj.compass_calibrated_data[2] = (long)(fcout[2]*65536.f/1000.f);
+                }
+#endif
+
+                if (SUPERVISOR_DEBUG) {
+                    MPL_LOGI("RM : %+10.6f %+10.6f %+10.6f\n",
+                             (float)inv_obj.compass_calibrated_data[0] /
+                             65536.f,
+                             (float)inv_obj.compass_calibrated_data[1] /
+                             65536.f,
+                             (float)inv_obj.compass_calibrated_data[2] /
+                             65536.f);
+                }
+                magFB = 1.0;
+                adjustSensorFusion = 1;
+                result = MLSensorFusionSupervisor(&magFB, &accSF, deltaTime);
+                if (result) {
+                    LOG_RESULT_LOCATION(result);
+                    return result;
+                }
+            }
+        }
+    } else {
+        //No compass, but still modify accel
+        unsigned long ctime = inv_get_tick_count();
+        if (polltime == 0 || ((ctime - polltime) > 80)) {   // at the beginning AND every 1/8 second
+            unsigned long deltaTime = 1;
+            adjustSensorFusion = 1;
+            magFB = 0;
+            if (polltime != 0) {
+                deltaTime = ctime - polltime;
+            }
+            MLSensorFusionSupervisor(&magFB, &accSF, deltaTime);
+            polltime = ctime;
+        }
+    }
+    if (adjustSensorFusion == 1) {
+        unsigned char regs[4];
+        static int prevAccSF = 1;
+
+        if (accSF != prevAccSF) {
+            regs[0] = (unsigned char)((accSF >> 24) & 0xff);
+            regs[1] = (unsigned char)((accSF >> 16) & 0xff);
+            regs[2] = (unsigned char)((accSF >> 8) & 0xff);
+            regs[3] = (unsigned char)(accSF & 0xff);
+            result = inv_set_mpu_memory(KEY_D_0_96, 4, regs);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+            prevAccSF = accSF;
+        }
+    }
+
+    if (ml_supervisor_cb.accel_compass_fusion_func != NULL)
+        ml_supervisor_cb.accel_compass_fusion_func(magFB);
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Entry point for software sensor fusion operations.
+ *          Manages hardware interaction, calls sensor fusion supervisor for
+ *          bias calculation.
+ *  @return INV_SUCCESS or non-zero error code on error.
+ */
+inv_error_t inv_pressure_supervisor(void)
+{
+    long pressureSensorData[1];
+    static unsigned long pressurePolltime = 0;
+    if (inv_pressure_present()) {   /* check for pressure data */
+        unsigned long ctime = inv_get_tick_count();
+        if ((pressurePolltime == 0 || ((ctime - pressurePolltime) > 80))) { //every 1/8 second
+            if (SUPERVISOR_DEBUG) {
+                MPL_LOGV("Fetch pressure data\n");
+                MPL_LOGV("delta time = %ld\n", ctime - pressurePolltime);
+            }
+            pressurePolltime = ctime;
+            if (inv_get_pressure_data(&pressureSensorData[0]) == INV_SUCCESS) {
+                inv_obj.pressure = pressureSensorData[0];
+            }
+        }
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  Resets the magnetometer calibration algorithm.
+ *  @return INV_SUCCESS if successful, or non-zero error code otherwise.
+ */
+inv_error_t inv_reset_compass_calibration(void)
+{
+    if (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_GYRO) {
+        if (ml_supervisor_cb.reset_advanced_compass_func != NULL)
+            ml_supervisor_cb.reset_advanced_compass_func();
+    }
+    MLUpdateCompassCalibration3DOF(CAL_RESET, inv_obj.compass_sensor_data, 1);
+
+    inv_obj.compass_bias_error[0] = P_INIT;
+    inv_obj.compass_bias_error[1] = P_INIT;
+    inv_obj.compass_bias_error[2] = P_INIT;
+    inv_obj.compass_accuracy = 0;
+
+    inv_obj.got_compass_bias = 0;
+    inv_obj.got_init_compass_bias = 0;
+    inv_obj.compass_state = SF_UNCALIBRATED;
+    inv_obj.resetting_compass = 1;
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @}
+ */
diff --git a/invensense/mlsdk/mllite/mlsupervisor.h b/invensense/mlsdk/mllite/mlsupervisor.h
new file mode 100644
index 0000000..62b427e
--- /dev/null
+++ b/invensense/mlsdk/mllite/mlsupervisor.h
@@ -0,0 +1,71 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: mlsupervisor.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *****************************************************************************/
+
+#ifndef __INV_SUPERVISOR_H__
+#define __INV_SUPERVISOR_H__
+
+#include "mltypes.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlsupervisor_legacy.h"
+#endif
+
+// The value of inv_get_gyro_sum_of_sqr is scaled such the (1 dps)^2 = 2^this_number
+// this number must be >=0 and even.
+#define GYRO_MAG_SQR_SHIFT 6
+// The value of inv_accel_sum_of_sqr is scaled such that (1g)^2 = 2^this_number
+#define ACC_MAG_SQR_SHIFT 16
+
+#define CAL_RUN             0
+#define CAL_RESET           1
+#define CAL_CHANGED_DATA    2
+#define CAL_RESET_TIME      3
+#define CAL_ADD_DATA        4
+#define CAL_COMBINE         5
+
+#define P_INIT  100000
+
+#define SF_NORMAL           0
+#define SF_DISTURBANCE      1
+#define SF_FAST_SETTLE      2
+#define SF_SLOW_SETTLE      3
+#define SF_STARTUP_SETTLE   4
+#define SF_UNCALIBRATED     5
+
+struct inv_supervisor_cb_obj {
+    void (*accel_compass_fusion_func) (double magFB);
+     inv_error_t(*progressive_no_motion_supervisor_func) (unsigned long
+                                                          deltaTime);
+     inv_error_t(*sensor_fusion_advanced_func) (double *magFB,
+                                                unsigned long deltaTime);
+    void (*reset_advanced_compass_func) (void);
+    void (*supervisor_reset_func) (void);
+};
+
+inv_error_t inv_reset_compass_calibration(void);
+void inv_init_sensor_fusion_supervisor(void);
+inv_error_t inv_accel_compass_supervisor(void);
+inv_error_t inv_pressure_supervisor(void);
+
+#endif // __INV_SUPERVISOR_H__
+
diff --git a/invensense/mlsdk/mllite/pressure.c b/invensense/mlsdk/mllite/pressure.c
new file mode 100644
index 0000000..f32229f
--- /dev/null
+++ b/invensense/mlsdk/mllite/pressure.c
@@ -0,0 +1,166 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: pressure.c 4120 2010-11-21 19:56:16Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup PRESSUREDL
+ *  @brief  Motion Library - Pressure Driver Layer.
+ *          Provides the interface to setup and handle a pressure sensor
+ *          connected to either the primary or the seconday I2C interface
+ *          of the gyroscope.
+ *
+ *  @{
+ *      @file   pressure.c
+ *      @brief  Pressure setup and handling methods.
+**/
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <string.h>
+
+#include "pressure.h"
+
+#include "ml.h"
+#include "mlinclude.h"
+#include "dmpKey.h"
+#include "mlFIFO.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "mlMathFunc.h"
+#include "mlsl.h"
+#include "mlos.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-pressure"
+
+#define _pressureDebug(x)       //{x}
+
+/* --------------------- */
+/* - Global Variables. - */
+/* --------------------- */
+
+/* --------------------- */
+/* - Static Variables. - */
+/* --------------------- */
+
+/* --------------- */
+/* - Prototypes. - */
+/* --------------- */
+
+/* -------------- */
+/* - Externs.   - */
+/* -------------- */
+
+/* -------------- */
+/* - Functions. - */
+/* -------------- */
+
+/**
+ *  @brief  Is a pressure configured and used by MPL?
+ *  @return INV_SUCCESS if the pressure is present.
+ */
+unsigned char inv_pressure_present(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->pressure &&
+        NULL != mldl_cfg->pressure->resume &&
+        mldl_cfg->requested_sensors & INV_THREE_AXIS_PRESSURE)
+        return TRUE;
+    else
+        return FALSE;
+}
+
+/**
+ *  @brief   Query the pressure slave address.
+ *  @return  The 7-bit pressure slave address.
+ */
+unsigned char inv_get_pressure_slave_addr(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->pdata)
+        return mldl_cfg->pdata->pressure.address;
+    else
+        return 0;
+}
+
+/**
+ *  @brief   Get the ID of the pressure in use.
+ *  @return  ID of the pressure in use.
+ */
+unsigned short inv_get_pressure_id(void)
+{
+    INVENSENSE_FUNC_START;
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+    if (NULL != mldl_cfg->pressure) {
+        return mldl_cfg->pressure->id;
+    }
+    return ID_INVALID;
+}
+
+/**
+ *  @brief  Get a sample of pressure data from the device.
+ *  @param  data
+ *              the buffer to store the pressure raw data for
+ *              X, Y, and Z axes.
+ *  @return INV_SUCCESS or a non-zero error code.
+ */
+inv_error_t inv_get_pressure_data(long *data)
+{
+    inv_error_t result = INV_SUCCESS;
+    unsigned char tmp[3];
+    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
+
+    /*--- read the pressure sensor data.
+          The pressure read function may return an INV_ERROR_PRESSURE_* errors
+          when the data is not ready (read/refresh frequency mismatch) or
+          the internal data sampling timing of the device was not respected.
+          Returning the error code will make the sensor fusion supervisor
+          ignore this pressure data sample. ---*/
+    result = (inv_error_t) inv_mpu_read_pressure(mldl_cfg,
+                                                 inv_get_serial_handle(),
+                                                 inv_get_serial_handle(), tmp);
+    if (result) {
+        _pressureDebug(MPL_LOGV
+                       ("inv_mpu_read_pressure returned %d (%s)\n", result,
+                        MLErrorCode(result)));
+        return result;
+    }
+    if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->pressure->endian)
+        data[0] =
+            (((long)((signed char)tmp[0])) << 16) + (((long)tmp[1]) << 8) +
+            ((long)tmp[2]);
+    else
+        data[0] =
+            (((long)((signed char)tmp[2])) << 16) + (((long)tmp[1]) << 8) +
+            ((long)tmp[0]);
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @}
+ */
diff --git a/invensense/mlsdk/mllite/pressure.h b/invensense/mlsdk/mllite/pressure.h
new file mode 100644
index 0000000..77c5d43
--- /dev/null
+++ b/invensense/mlsdk/mllite/pressure.h
@@ -0,0 +1,71 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: pressure.h 4092 2010-11-17 23:49:22Z kkeal $
+ *
+ *******************************************************************************/
+
+#ifndef PRESSURE_H
+#define PRESSURE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+#include "mpu.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "pressure_legacy.h"
+#endif
+
+    /* ------------ */
+    /* - Defines. - */
+    /* ------------ */
+
+#define USE_PRESSURE_BMA                    0
+
+#define PRESSURE_SLAVEADDR_INVALID          0x00
+#define PRESSURE_SLAVEADDR_BMA085           0x77
+
+/*
+    Define default pressure to use if no selection is made
+*/
+#if USE_PRESSURE_BMA
+#define DEFAULT_PRESSURE_TYPE              PRESSURE_ID_BMA
+#endif
+
+    /* --------------- */
+    /* - Structures. - */
+    /* --------------- */
+
+    /* --------------------- */
+    /* - Function p-types. - */
+    /* --------------------- */
+
+    unsigned char inv_pressure_present(void);
+    unsigned char inv_get_pressure_slave_addr(void);
+    inv_error_t inv_suspend_pressure(void);
+    inv_error_t inv_resume_presure(void);
+    inv_error_t inv_get_pressure_data(long *data);
+    unsigned short inv_get_pressure_id(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // PRESSURE_H
diff --git a/invensense/mlsdk/mlutils/checksum.c b/invensense/mlsdk/mlutils/checksum.c
new file mode 100644
index 0000000..a97477d
--- /dev/null
+++ b/invensense/mlsdk/mlutils/checksum.c
@@ -0,0 +1,16 @@
+#include "mltypes.h"
+
+/** bernstein hash, from public domain source */
+
+uint32_t inv_checksum(unsigned char *str, int len)
+{
+    uint32_t hash = 5381;
+    int i, c;
+
+    for (i = 0; i < len; i++) {
+        c = *(str + i);
+        hash = ((hash << 5) + hash) + c;    /* hash * 33 + c */
+    }
+
+    return hash;
+}
diff --git a/invensense/mlsdk/mlutils/checksum.h b/invensense/mlsdk/mlutils/checksum.h
new file mode 100644
index 0000000..4d3f046
--- /dev/null
+++ b/invensense/mlsdk/mlutils/checksum.h
@@ -0,0 +1,18 @@
+#ifndef MPLCHECKSUM_H
+#define MPLCHECKSUM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mltypes.h"
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "checksum_legacy.h"
+#endif
+
+    uint32_t inv_checksum(unsigned char *str, int len);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          /* MPLCHECKSUM_H */
diff --git a/invensense/mlsdk/mlutils/mputest.c b/invensense/mlsdk/mlutils/mputest.c
new file mode 100644
index 0000000..ac0fa30
--- /dev/null
+++ b/invensense/mlsdk/mlutils/mputest.c
@@ -0,0 +1,1396 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: mputest.c 5637 2011-06-14 01:13:53Z mcaramello $
+ *
+ *****************************************************************************/
+
+/*
+ *  MPU Self Test functions
+ *  Version 2.4
+ *  May 13th, 2011
+ */
+
+/**
+ *  @defgroup MPU_SELF_TEST
+ *  @brief  MPU Self Test functions
+ *
+ *  These functions provide an in-site test of the MPU 3xxx chips. The main
+ *      entry point is the inv_mpu_test function.
+ *  This runs the tests (as described in the accompanying documentation) and
+ *      writes a configuration file containing initial calibration data.
+ *  inv_mpu_test returns INV_SUCCESS if the chip passes the tests.
+ *  Otherwise, an error code is returned.
+ *  The functions in this file rely on MLSL and MLOS: refer to the MPL
+ *      documentation for more information regarding the system interface
+ *      files.
+ *
+ *  @{
+ *      @file   mputest.c
+ *      @brief  MPU Self Test routines for assessing gyro sensor status
+ *              after surface mount has happened on the target host platform.
+ */
+
+#include <stdio.h>
+#include <time.h>
+#include <string.h>
+#include <math.h>
+#include <stdlib.h>
+#ifdef LINUX
+#include <unistd.h>
+#endif
+
+#include "mpu.h"
+#include "mldl.h"
+#include "mldl_cfg.h"
+#include "accel.h"
+#include "mlFIFO.h"
+#include "slave.h"
+#include "ml.h"
+#include "ml_stored_data.h"
+#include "checksum.h"
+
+#include "mlsl.h"
+#include "mlos.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-mpust"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+    Defines
+*/
+
+#define VERBOSE_OUT 0
+
+/*#define TRACK_IDS*/
+
+/*--- Test parameters defaults. See set_test_parameters for more details ---*/
+
+#define DEF_MPU_ADDR             (0x68)        /* I2C address of the mpu     */
+
+#if (USE_SENSE_PATH_TEST == 1)                 /* gyro full scale dps        */
+#define DEF_GYRO_FULLSCALE       (2000)
+#else
+#define DEF_GYRO_FULLSCALE       (250)
+#endif
+
+#define DEF_GYRO_SENS            (32768.f / DEF_GYRO_FULLSCALE)
+                                               /* gyro sensitivity LSB/dps   */
+#define DEF_PACKET_THRESH        (75)          /* 600 ms / 8ms / sample      */
+#define DEF_TOTAL_TIMING_TOL     (.03f)        /* 3% = 2 pkts + 1% proc tol. */
+#define DEF_BIAS_THRESH          (40 * DEF_GYRO_SENS)
+                                               /* 40 dps in LSBs             */
+#define DEF_RMS_THRESH           (0.4f * DEF_GYRO_SENS)
+                                               /* 0.4 dps-rms in LSB-rms     */
+#define DEF_SP_SHIFT_THRESH_CUST (.05f)        /* 5%                         */
+#define DEF_TEST_TIME_PER_AXIS   (600)         /* ms of time spent collecting
+                                                  data for each axis,
+                                                  multiple of 600ms          */
+#define DEF_N_ACCEL_SAMPLES      (20)          /* num of accel samples to
+                                                  average from, if applic.   */
+
+#define ML_INIT_CAL_LEN          (36)          /* length in bytes of
+                                                  calibration data file      */
+
+/*
+    Macros
+*/
+
+#define CHECK_TEST_ERROR(x)                                                 \
+    if (x) {                                                                \
+        MPL_LOGI("error %d @ %s|%d\n", x, __func__, __LINE__);              \
+        return (-1);                                                        \
+    }
+
+#define SHORT_TO_TEMP_C(shrt)         (((shrt+13200.f)/280.f)+35.f)
+
+#define USHORT_TO_CHARS(chr,shrt)     (chr)[0]=(unsigned char)(shrt>>8);    \
+                                      (chr)[1]=(unsigned char)(shrt);
+
+#define UINT_TO_CHARS(chr,ui)         (chr)[0]=(unsigned char)(ui>>24);     \
+                                      (chr)[1]=(unsigned char)(ui>>16);     \
+                                      (chr)[2]=(unsigned char)(ui>>8);      \
+                                      (chr)[3]=(unsigned char)(ui);
+
+#define FLOAT_TO_SHORT(f)             (                                     \
+                                        (fabs(f-(short)f)>=0.5) ? (         \
+                                            ((short)f)+(f<0?(-1):(+1))) :   \
+                                            ((short)f)                      \
+                                      )
+
+#define CHARS_TO_SHORT(d)             ((((short)(d)[0])<<8)+(d)[1])
+#define CHARS_TO_SHORT_SWAPPED(d)     ((((short)(d)[1])<<8)+(d)[0])
+
+#define ACCEL_UNPACK(d) d[0], d[1], d[2], d[3], d[4], d[5]
+
+#define CHECK_NACKS(d)  (                               \
+                         d[0]==0xff && d[1]==0xff &&    \
+                         d[2]==0xff && d[3]==0xff &&    \
+                         d[4]==0xff && d[5]==0xff       \
+                        )
+
+/*
+    Prototypes
+*/
+
+static inv_error_t test_get_data(
+                    void *mlsl_handle,
+                    struct mldl_cfg *mputestCfgPtr,
+                    short *vals);
+
+/*
+    Types
+*/
+typedef struct {
+    float gyro_sens;
+    int gyro_fs;
+    int packet_thresh;
+    float total_timing_tol;
+    int bias_thresh;
+    float rms_threshSq;
+    float sp_shift_thresh;
+    unsigned int test_time_per_axis;
+    unsigned short accel_samples;
+} tTestSetup;
+
+/*
+    Global variables
+*/
+static unsigned char dataout[20];
+static unsigned char dataStore[ML_INIT_CAL_LEN];
+
+static tTestSetup test_setup = {
+    DEF_GYRO_SENS,
+    DEF_GYRO_FULLSCALE,
+    DEF_PACKET_THRESH,
+    DEF_TOTAL_TIMING_TOL,
+    (int)DEF_BIAS_THRESH,
+    DEF_RMS_THRESH * DEF_RMS_THRESH,
+    DEF_SP_SHIFT_THRESH_CUST,
+    DEF_TEST_TIME_PER_AXIS,
+    DEF_N_ACCEL_SAMPLES
+};
+
+static float adjGyroSens;
+static char a_name[3][2] = {"X", "Y", "Z"};
+
+/*
+    NOTE :  modify get_slave_descr parameter below to reflect
+                the DEFAULT accelerometer in use. The accelerometer in use
+                can be modified at run-time using the inv_test_setup_accel API.
+    NOTE :  modify the expected z axis orientation (Z axis pointing
+                upward or downward)
+*/
+
+signed char g_z_sign = +1;
+struct mldl_cfg *mputestCfgPtr = NULL;
+
+#ifndef LINUX
+/**
+ *  @internal
+ *  @brief  usec precision sleep function.
+ *  @param  number of micro seconds (us) to sleep for.
+ */
+static void usleep(unsigned long t)
+{
+    unsigned long start = inv_get_tick_count();
+    while (inv_get_tick_count()-start < t / 1000);
+}
+#endif
+
+/**
+ *  @brief  Modify the self test limits from their default values.
+ *
+ *  @param  slave_addr
+ *              the slave address the MPU device is setup to respond at.
+ *              The default is DEF_MPU_ADDR = 0x68.
+ *  @param  sensitivity
+ *              the read sensitivity of the device in LSB/dps as it is trimmed.
+ *              NOTE :  if using the self test as part of the MPL, the
+ *                      sensitivity the different sensitivity trims are already
+ *                      taken care of.
+ *  @param  p_thresh
+ *              number of packets expected to be received in a 600 ms period.
+ *              Depends on the sampling frequency of choice (set by default to
+ *              125 Hz) and low pass filter cut-off frequency selection (set
+ *              to 42 Hz).
+ *              The default is DEF_PACKET_THRESH = 75 packets.
+ *  @param  total_time_tol
+ *              time skew tolerance, taking into account imprecision in turning
+ *              the FIFO on and off and the processor time imprecision (for
+ *              1 GHz processor).
+ *              The default is DEF_TOTAL_TIMING_TOL = 3 %, about 2 packets.
+ *  @param  bias_thresh
+ *              bias level threshold, the maximun acceptable no motion bias
+ *              for a production quality part.
+ *              The default is DEF_BIAS_THRESH = 40 dps.
+ *  @param  rms_thresh
+ *              the limit standard deviation (=~ RMS) set to assess whether
+ *              the noise level on the part is acceptable.
+ *              The default is DEF_RMS_THRESH = 0.2 dps-rms.
+ *  @param  sp_shift_thresh
+ *              the limit shift applicable to the Sense Path self test
+ *              calculation.
+ */
+void inv_set_test_parameters(unsigned int slave_addr, float sensitivity,
+                             int p_thresh, float total_time_tol,
+                             int bias_thresh, float rms_thresh,
+                             float sp_shift_thresh,
+                             unsigned short accel_samples)
+{
+    mputestCfgPtr->addr = slave_addr;
+    test_setup.gyro_sens = sensitivity;
+    test_setup.gyro_fs = (int)(32768.f / sensitivity);
+    test_setup.packet_thresh = p_thresh;
+    test_setup.total_timing_tol = total_time_tol;
+    test_setup.bias_thresh = bias_thresh;
+    test_setup.rms_threshSq = rms_thresh * rms_thresh;
+    test_setup.sp_shift_thresh = sp_shift_thresh;
+    test_setup.accel_samples = accel_samples;
+}
+
+#define X   (0)
+#define Y   (1)
+#define Z   (2)
+
+#ifdef CONFIG_MPU_SENSORS_MPU3050
+/**
+ *  @brief  Test the gyroscope sensor.
+ *          Implements the core logic of the MPU Self Test.
+ *          Produces the PASS/FAIL result. Loads the calculated gyro biases
+ *          and temperature datum into the corresponding pointers.
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  gyro_biases
+ *              output pointer to store the initial bias calculation provided
+ *              by the MPU Self Test.  Requires 3 elements for gyro X, Y,
+ *              and Z.
+ *  @param  temp_avg
+ *              output pointer to store the initial average temperature as
+ *              provided by the MPU Self Test.
+ *  @param  perform_full_test
+ *              If 1:
+ *              calculates offset, drive frequency, and noise and compare it
+ *              against set thresholds.
+ *              Report also the final result using a bit-mask like error code
+ *              as explained in return value description.
+ *              When 0:
+ *              skip the noise and drive frequency calculation and pass/fail
+ *              assessment; simply calculates the gyro biases.
+ *
+ *  @return 0 on success.
+ *          On error, the return value is a bitmask representing:
+ *          0, 1, 2     Failures with PLLs on X, Y, Z gyros respectively
+ *                      (decimal values will be 1, 2, 4 respectively).
+ *          3, 4, 5     Excessive offset with X, Y, Z gyros respectively
+ *                      (decimal values will be 8, 16, 32 respectively).
+ *          6, 7, 8     Excessive noise with X, Y, Z gyros respectively
+ *                      (decimal values will be 64, 128, 256 respectively).
+ *          9           If any of the RMS noise values is zero, it could be
+ *                      due to a non-functional gyro or FIFO/register failure.
+ *                      (decimal value will be 512).
+ *                      (decimal values will be 1024, 2048, 4096 respectively).
+ */
+int inv_test_gyro_3050(void *mlsl_handle,
+                       short gyro_biases[3], short *temp_avg,
+                       uint_fast8_t perform_full_test)
+{
+    int retVal = 0;
+    inv_error_t result;
+
+    int total_count = 0;
+    int total_count_axis[3] = {0, 0, 0};
+    int packet_count;
+    short x[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
+    short y[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
+    short z[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
+    unsigned char regs[7];
+
+    int temperature;
+    float Avg[3];
+    float RMS[3];
+    int i, j, tmp;
+    char tmpStr[200];
+
+    temperature = 0;
+
+    /* sample rate = 8ms */
+    result = inv_serial_single_write(
+                mlsl_handle, mputestCfgPtr->addr,
+                MPUREG_SMPLRT_DIV, 0x07);
+    CHECK_TEST_ERROR(result);
+
+    regs[0] = 0x03; /* filter = 42Hz, analog_sample rate = 1 KHz */
+    switch (DEF_GYRO_FULLSCALE) {
+        case 2000:
+            regs[0] |= 0x18;
+            break;
+        case 1000:
+            regs[0] |= 0x10;
+            break;
+        case 500:
+            regs[0] |= 0x08;
+            break;
+        case 250:
+        default:
+            regs[0] |= 0x00;
+            break;
+    }
+    result = inv_serial_single_write(
+                mlsl_handle, mputestCfgPtr->addr,
+                MPUREG_DLPF_FS_SYNC, regs[0]);
+    CHECK_TEST_ERROR(result);
+    result = inv_serial_single_write(
+                mlsl_handle, mputestCfgPtr->addr,
+                MPUREG_INT_CFG, 0x00);
+    CHECK_TEST_ERROR(result);
+
+    /* 1st, timing test */
+    for (j = 0; j < 3; j++) {
+
+        MPL_LOGI("Collecting gyro data from %s gyro PLL\n", a_name[j]);
+
+        /* turn on all gyros, use gyro X for clocking
+           Set to Y and Z for 2nd and 3rd iteration */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_PWR_MGM, j + 1);
+        CHECK_TEST_ERROR(result);
+
+        /* wait for 2 ms after switching clock source */
+        usleep(2000);
+
+        /* we will enable XYZ gyro in FIFO and nothing else */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_FIFO_EN2, 0x00);
+        CHECK_TEST_ERROR(result);
+        /* enable/reset FIFO */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_USER_CTRL, BIT_FIFO_EN | BIT_FIFO_RST);
+        CHECK_TEST_ERROR(result);
+
+        tmp = (int)(test_setup.test_time_per_axis / 600);
+        while (tmp-- > 0) {
+            /* enable XYZ gyro in FIFO and nothing else */
+            result = inv_serial_single_write(mlsl_handle,
+                        mputestCfgPtr->addr, MPUREG_FIFO_EN1,
+                        BIT_GYRO_XOUT | BIT_GYRO_YOUT | BIT_GYRO_ZOUT);
+            CHECK_TEST_ERROR(result);
+
+            /* wait for 600 ms for data */
+            usleep(600000);
+
+            /* stop storing gyro in the FIFO */
+            result = inv_serial_single_write(
+                        mlsl_handle, mputestCfgPtr->addr,
+                        MPUREG_FIFO_EN1, 0x00);
+            CHECK_TEST_ERROR(result);
+
+            /* Getting number of bytes in FIFO */
+            result = inv_serial_read(
+                           mlsl_handle, mputestCfgPtr->addr,
+                           MPUREG_FIFO_COUNTH, 2, dataout);
+            CHECK_TEST_ERROR(result);
+            /* number of 6 B packets in the FIFO */
+            packet_count = CHARS_TO_SHORT(dataout) / 6;
+            sprintf(tmpStr, "Packet Count: %d - ", packet_count);
+
+            if ( abs(packet_count - test_setup.packet_thresh)
+                        <=      /* Within +/- total_timing_tol % range */
+                     test_setup.total_timing_tol * test_setup.packet_thresh) {
+                for (i = 0; i < packet_count; i++) {
+                    /* getting FIFO data */
+                    result = inv_serial_read_fifo(mlsl_handle,
+                                mputestCfgPtr->addr, 6, dataout);
+                    CHECK_TEST_ERROR(result);
+                    x[total_count + i] = CHARS_TO_SHORT(&dataout[0]);
+                    y[total_count + i] = CHARS_TO_SHORT(&dataout[2]);
+                    z[total_count + i] = CHARS_TO_SHORT(&dataout[4]);
+                    if (VERBOSE_OUT) {
+                        MPL_LOGI("Gyros %-4d    : %+13d %+13d %+13d\n",
+                                    total_count + i, x[total_count + i],
+                                    y[total_count + i], z[total_count + i]);
+                    }
+                }
+                total_count += packet_count;
+                total_count_axis[j] += packet_count;
+                sprintf(tmpStr, "%sOK", tmpStr);
+            } else {
+                if (perform_full_test)
+                    retVal |= 1 << j;
+                sprintf(tmpStr, "%sNOK - samples ignored", tmpStr);
+            }
+            MPL_LOGI("%s\n", tmpStr);
+        }
+
+        /* remove gyros from FIFO */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_FIFO_EN1, 0x00);
+        CHECK_TEST_ERROR(result);
+
+        /* Read Temperature */
+        result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_TEMP_OUT_H, 2, dataout);
+        CHECK_TEST_ERROR(result);
+        temperature += (short)CHARS_TO_SHORT(dataout);
+    }
+
+    MPL_LOGI("\n");
+    MPL_LOGI("Total %d samples\n", total_count);
+    MPL_LOGI("\n");
+
+    /* 2nd, check bias from X and Y PLL clock source */
+    tmp = total_count != 0 ? total_count : 1;
+    for (i = 0,
+            Avg[X] = .0f, Avg[Y] = .0f, Avg[Z] = .0f;
+         i < total_count; i++) {
+        Avg[X] += 1.f * x[i] / tmp;
+        Avg[Y] += 1.f * y[i] / tmp;
+        Avg[Z] += 1.f * z[i] / tmp;
+    }
+    MPL_LOGI("bias          : %+13.3f %+13.3f %+13.3f (LSB)\n",
+             Avg[X], Avg[Y], Avg[Z]);
+    if (VERBOSE_OUT) {
+        MPL_LOGI("              : %+13.3f %+13.3f %+13.3f (dps)\n",
+                 Avg[X] / adjGyroSens,
+                 Avg[Y] / adjGyroSens,
+                 Avg[Z] / adjGyroSens);
+    }
+    if(perform_full_test) {
+        for (j = 0; j < 3; j++) {
+            if (fabs(Avg[j]) > test_setup.bias_thresh) {
+                MPL_LOGI("%s-Gyro bias (%.0f) exceeded threshold "
+                         "(threshold = %d)\n",
+                         a_name[j], Avg[j], test_setup.bias_thresh);
+                retVal |= 1 << (3+j);
+            }
+        }
+    }
+
+    /* 3rd, check RMS */
+    if (perform_full_test) {
+        for (i = 0,
+                RMS[X] = 0.f, RMS[Y] = 0.f, RMS[Z] = 0.f;
+             i < total_count; i++) {
+            RMS[X] += (x[i] - Avg[X]) * (x[i] - Avg[X]);
+            RMS[Y] += (y[i] - Avg[Y]) * (y[i] - Avg[Y]);
+            RMS[Z] += (z[i] - Avg[Z]) * (z[i] - Avg[Z]);
+        }
+        for (j = 0; j < 3; j++) {
+            if (RMS[j] > test_setup.rms_threshSq * total_count) {
+                MPL_LOGI("%s-Gyro RMS (%.2f) exceeded threshold "
+                         "(threshold = %.2f)\n",
+                         a_name[j], sqrt(RMS[j] / total_count),
+                         sqrt(test_setup.rms_threshSq));
+                retVal |= 1 << (6+j);
+            }
+        }
+
+        MPL_LOGI("RMS           : %+13.3f %+13.3f %+13.3f (LSB-rms)\n",
+                    sqrt(RMS[X] / total_count),
+                    sqrt(RMS[Y] / total_count),
+                    sqrt(RMS[Z] / total_count));
+        if (VERBOSE_OUT) {
+            MPL_LOGI("RMS ^ 2       : %+13.3f %+13.3f %+13.3f\n",
+                        RMS[X] / total_count,
+                        RMS[Y] / total_count,
+                        RMS[Z] / total_count);
+        }
+
+        if (RMS[X] == 0 || RMS[Y] == 0 || RMS[Z] == 0) {
+            /*  If any of the RMS noise value returns zero,
+                then we might have dead gyro or FIFO/register failure,
+                the part is sleeping, or the part is not responsive */
+            retVal |= 1 << 9;
+        }
+    }
+
+    /* 4th, temperature average */
+    temperature /= 3;
+    if (VERBOSE_OUT)
+        MPL_LOGI("Temperature   : %+13.3f %13s %13s (deg. C)\n",
+                 SHORT_TO_TEMP_C(temperature), "", "");
+
+    /* load into final storage */
+    *temp_avg = (short)temperature;
+    gyro_biases[X] = FLOAT_TO_SHORT(Avg[X]);
+    gyro_biases[Y] = FLOAT_TO_SHORT(Avg[Y]);
+    gyro_biases[Z] = FLOAT_TO_SHORT(Avg[Z]);
+
+    return retVal;
+}
+
+#else /* CONFIG_MPU_SENSORS_MPU3050 */
+
+/**
+ *  @brief  Test the gyroscope sensor.
+ *          Implements the core logic of the MPU Self Test but does not provide
+ *          a PASS/FAIL output as in the MPU-3050 implementation.
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  gyro_biases
+ *              output pointer to store the initial bias calculation provided
+ *              by the MPU Self Test.  Requires 3 elements for gyro X, Y,
+ *              and Z.
+ *  @param  temp_avg
+ *              output pointer to store the initial average temperature as
+ *              provided by the MPU Self Test.
+ *
+ *  @return 0 on success.
+ *          A non-zero error code on error.
+ */
+int inv_test_gyro_6050(void *mlsl_handle,
+                       short gyro_biases[3], short *temp_avg)
+{
+    inv_error_t result;
+
+    int total_count = 0;
+    int total_count_axis[3] = {0, 0, 0};
+    int packet_count;
+    short x[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
+    short y[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
+    short z[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
+    unsigned char regs[7];
+
+    int temperature = 0;
+    float Avg[3];
+    int i, j, tmp;
+    char tmpStr[200];
+
+    /* sample rate = 8ms */
+    result = inv_serial_single_write(
+                mlsl_handle, mputestCfgPtr->addr,
+                MPUREG_SMPLRT_DIV, 0x07);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    regs[0] = 0x03; /* filter = 42Hz, analog_sample rate = 1 KHz */
+    switch (DEF_GYRO_FULLSCALE) {
+        case 2000:
+            regs[0] |= 0x18;
+            break;
+        case 1000:
+            regs[0] |= 0x10;
+            break;
+        case 500:
+            regs[0] |= 0x08;
+            break;
+        case 250:
+        default:
+            regs[0] |= 0x00;
+            break;
+    }
+    result = inv_serial_single_write(
+                mlsl_handle, mputestCfgPtr->addr,
+                MPUREG_CONFIG, regs[0]);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+    result = inv_serial_single_write(
+                mlsl_handle, mputestCfgPtr->addr,
+                MPUREG_INT_ENABLE, 0x00);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    /* 1st, timing test */
+    for (j = 0; j < 3; j++) {
+        MPL_LOGI("Collecting gyro data from %s gyro PLL\n", a_name[j]);
+
+        /* turn on all gyros, use gyro X for clocking
+           Set to Y and Z for 2nd and 3rd iteration */
+#ifdef CONFIG_MPU_SENSORS_MPU6050A2
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_PWR_MGMT_1, BITS_PWRSEL | (j + 1));
+#else
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_PWR_MGMT_1, j + 1);
+#endif
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        /* wait for 2 ms after switching clock source */
+        usleep(2000);
+
+        /* enable/reset FIFO */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_USER_CTRL, BIT_FIFO_EN | BIT_FIFO_RST);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        tmp = (int)(test_setup.test_time_per_axis / 600);
+        while (tmp-- > 0) {
+            /* enable XYZ gyro in FIFO and nothing else */
+            result = inv_serial_single_write(mlsl_handle,
+                        mputestCfgPtr->addr, MPUREG_FIFO_EN,
+                        BIT_GYRO_XOUT | BIT_GYRO_YOUT | BIT_GYRO_ZOUT);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+
+            /* wait for 600 ms for data */
+            usleep(600000);
+            /* stop storing gyro in the FIFO */
+            result = inv_serial_single_write(
+                        mlsl_handle, mputestCfgPtr->addr,
+                        MPUREG_FIFO_EN, 0x00);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+            /* Getting number of bytes in FIFO */
+            result = inv_serial_read(
+                           mlsl_handle, mputestCfgPtr->addr,
+                           MPUREG_FIFO_COUNTH, 2, dataout);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+            /* number of 6 B packets in the FIFO */
+            packet_count = CHARS_TO_SHORT(dataout) / 6;
+            sprintf(tmpStr, "Packet Count: %d - ", packet_count);
+
+            if (abs(packet_count - test_setup.packet_thresh)
+                        <=      /* Within +/- total_timing_tol % range */
+                     test_setup.total_timing_tol * test_setup.packet_thresh) {
+                for (i = 0; i < packet_count; i++) {
+                    /* getting FIFO data */
+                    result = inv_serial_read_fifo(mlsl_handle,
+                                mputestCfgPtr->addr, 6, dataout);
+                    if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                    }
+                    x[total_count + i] = CHARS_TO_SHORT(&dataout[0]);
+                    y[total_count + i] = CHARS_TO_SHORT(&dataout[2]);
+                    z[total_count + i] = CHARS_TO_SHORT(&dataout[4]);
+                    if (VERBOSE_OUT) {
+                        MPL_LOGI("Gyros %-4d    : %+13d %+13d %+13d\n",
+                                    total_count + i, x[total_count + i],
+                                    y[total_count + i], z[total_count + i]);
+                    }
+                }
+                total_count += packet_count;
+                total_count_axis[j] += packet_count;
+                sprintf(tmpStr, "%sOK", tmpStr);
+            } else {
+                sprintf(tmpStr, "%sNOK - samples ignored", tmpStr);
+            }
+            MPL_LOGI("%s\n", tmpStr);
+        }
+
+        /* remove gyros from FIFO */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_FIFO_EN, 0x00);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        /* Read Temperature */
+        result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_TEMP_OUT_H, 2, dataout);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+        temperature += (short)CHARS_TO_SHORT(dataout);
+    }
+
+    MPL_LOGI("\n");
+    MPL_LOGI("Total %d samples\n", total_count);
+    MPL_LOGI("\n");
+
+    /* 2nd, check bias from X and Y PLL clock source */
+    tmp = total_count != 0 ? total_count : 1;
+    for (i = 0,
+            Avg[X] = .0f, Avg[Y] = .0f, Avg[Z] = .0f;
+         i < total_count; i++) {
+        Avg[X] += 1.f * x[i] / tmp;
+        Avg[Y] += 1.f * y[i] / tmp;
+        Avg[Z] += 1.f * z[i] / tmp;
+    }
+    MPL_LOGI("bias          : %+13.3f %+13.3f %+13.3f (LSB)\n",
+             Avg[X], Avg[Y], Avg[Z]);
+    if (VERBOSE_OUT) {
+        MPL_LOGI("              : %+13.3f %+13.3f %+13.3f (dps)\n",
+                 Avg[X] / adjGyroSens,
+                 Avg[Y] / adjGyroSens,
+                 Avg[Z] / adjGyroSens);
+    }
+
+    temperature /= 3;
+    if (VERBOSE_OUT)
+        MPL_LOGI("Temperature   : %+13.3f %13s %13s (deg. C)\n",
+                 SHORT_TO_TEMP_C(temperature), "", "");
+
+    /* load into final storage */
+    *temp_avg = (short)temperature;
+    gyro_biases[X] = FLOAT_TO_SHORT(Avg[X]);
+    gyro_biases[Y] = FLOAT_TO_SHORT(Avg[Y]);
+    gyro_biases[Z] = FLOAT_TO_SHORT(Avg[Z]);
+
+    return INV_SUCCESS;
+}
+
+#endif /* CONFIG_MPU_SENSORS_MPU3050 */
+
+#ifdef TRACK_IDS
+/**
+ *  @internal
+ *  @brief  Retrieve the unique MPU device identifier from the internal OTP
+ *          bank 0 memory.
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @return 0 on success, a non-zero error code from the serial layer on error.
+ */
+static inv_error_t test_get_mpu_id(void *mlsl_handle)
+{
+    inv_error_t result;
+    unsigned char otp0[8];
+
+
+    result =
+        inv_serial_read_mem(mlsl_handle, mputestCfgPtr->addr,
+            (BIT_PRFTCH_EN | BIT_CFG_USER_BANK | MPU_MEM_OTP_BANK_0) << 8 |
+            0x00, 6, otp0);
+    if (result)
+        goto close;
+
+    MPL_LOGI("\n");
+    MPL_LOGI("DIE_ID   : %06X\n",
+                ((int)otp0[1] << 8 | otp0[0]) & 0x1fff);
+    MPL_LOGI("WAFER_ID : %06X\n",
+                (((int)otp0[2] << 8 | otp0[1]) & 0x03ff ) >> 5);
+    MPL_LOGI("A_LOT_ID : %06X\n",
+                ( ((int)otp0[4] << 16 | (int)otp0[3] << 8 |
+                otp0[2]) & 0x3ffff) >> 2);
+    MPL_LOGI("W_LOT_ID : %06X\n",
+                ( ((int)otp0[5] << 8 | otp0[4]) & 0x3fff) >> 2);
+    MPL_LOGI("WP_ID    : %06X\n",
+                ( ((int)otp0[6] << 8 | otp0[5]) & 0x03ff) >> 7);
+    MPL_LOGI("REV_ID   : %06X\n", otp0[6] >> 2);
+    MPL_LOGI("\n");
+
+close:
+    result =
+        inv_serial_single_write(mlsl_handle, mputestCfgPtr->addr, MPUREG_BANK_SEL, 0x00);
+    return result;
+}
+#endif /* TRACK_IDS */
+
+/**
+ *  @brief  If requested via inv_test_setup_accel(), test the accelerometer biases
+ *          and calculate the necessary bias correction.
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  bias
+ *              output pointer to store the initial bias calculation provided
+ *              by the MPU Self Test.  Requires 3 elements to store accel X, Y,
+ *              and Z axis bias.
+ *  @param  perform_full_test
+ *              If 1:
+ *              calculates offsets and noise and compare it against set
+ *              thresholds. The final exist status will reflect if any of the
+ *              value is outside of the expected range.
+ *              When 0;
+ *              skip the noise calculation and pass/fail assessment; simply
+ *              calculates the accel biases.
+ *
+ *  @return 0 on success. A non-zero error code on error.
+ */
+int inv_test_accel(void *mlsl_handle,
+                   short *bias, long gravity,
+                   uint_fast8_t perform_full_test)
+{
+    int i;
+
+    short *p_vals;
+    float x = 0.f, y = 0.f, z = 0.f, zg = 0.f;
+    float RMS[3];
+    float accelRmsThresh = 1000000.f; /* enourmous so that the test always
+                                         passes - future deployment */
+    unsigned short res;
+    unsigned long orig_requested_sensors;
+    struct mpu_platform_data *mputestPData = mputestCfgPtr->pdata;
+
+    p_vals = (short*)inv_malloc(sizeof(short) * 3 * test_setup.accel_samples);
+
+    /* load the slave descr from the getter */
+    if (mputestPData->accel.get_slave_descr == NULL) {
+        MPL_LOGI("\n");
+        MPL_LOGI("No accelerometer configured\n");
+        return 0;
+    }
+    if (mputestCfgPtr->accel == NULL) {
+        MPL_LOGI("\n");
+        MPL_LOGI("No accelerometer configured\n");
+        return 0;
+    }
+
+    /* resume the accel */
+    orig_requested_sensors = mputestCfgPtr->requested_sensors;
+    mputestCfgPtr->requested_sensors = INV_THREE_AXIS_ACCEL | INV_THREE_AXIS_GYRO;
+    res = inv_mpu_resume(mputestCfgPtr,
+                         mlsl_handle, NULL, NULL, NULL,
+                         mputestCfgPtr->requested_sensors);
+    if(res != INV_SUCCESS)
+        goto accel_error;
+
+    /* wait at least a sample cycle for the
+       accel data to be retrieved by MPU */
+    inv_sleep(inv_mpu_get_sampling_period_us(mputestCfgPtr) / 1000);
+
+    /* collect the samples  */
+    for(i = 0; i < test_setup.accel_samples; i++) {
+        short *vals = &p_vals[3 * i];
+        if (test_get_data(mlsl_handle, mputestCfgPtr, vals)) {
+            goto accel_error;
+        }
+        x += 1.f * vals[X] / test_setup.accel_samples;
+        y += 1.f * vals[Y] / test_setup.accel_samples;
+        z += 1.f * vals[Z] / test_setup.accel_samples;
+    }
+
+    mputestCfgPtr->requested_sensors = orig_requested_sensors;
+    res = inv_mpu_suspend(mputestCfgPtr,
+                          mlsl_handle, NULL, NULL, NULL,
+                          INV_ALL_SENSORS);
+    if (res != INV_SUCCESS)
+        goto accel_error;
+
+    MPL_LOGI("Accel biases  : %+13.3f %+13.3f %+13.3f (LSB)\n", x, y, z);
+    if (VERBOSE_OUT) {
+        MPL_LOGI("Accel biases  : %+13.3f %+13.3f %+13.3f (gee)\n",
+                    x / gravity, y / gravity, z / gravity);
+    }
+
+    bias[0] = FLOAT_TO_SHORT(x);
+    bias[1] = FLOAT_TO_SHORT(y);
+    zg = z - g_z_sign * gravity;
+    bias[2] = FLOAT_TO_SHORT(zg);
+
+    MPL_LOGI("Accel correct.: %+13d %+13d %+13d (LSB)\n",
+             bias[0], bias[1], bias[2]);
+    if (VERBOSE_OUT) {
+        MPL_LOGI("Accel correct.: "
+               "%+13.3f %+13.3f %+13.3f (gee)\n",
+                    1.f * bias[0] / gravity,
+                    1.f * bias[1] / gravity,
+                    1.f * bias[2] / gravity);
+    }
+
+    if (perform_full_test) {
+        /* accel RMS - for now the threshold is only indicative */
+        for (i = 0,
+                 RMS[X] = 0.f, RMS[Y] = 0.f, RMS[Z] = 0.f;
+             i <  test_setup.accel_samples; i++) {
+            short *vals = &p_vals[3 * i];
+            RMS[X] += (vals[X] - x) * (vals[X] - x);
+            RMS[Y] += (vals[Y] - y) * (vals[Y] - y);
+            RMS[Z] += (vals[Z] - z) * (vals[Z] - z);
+        }
+        for (i = 0; i < 3; i++) {
+            if (RMS[i] >  accelRmsThresh * accelRmsThresh
+                            * test_setup.accel_samples) {
+                MPL_LOGI("%s-Accel RMS (%.2f) exceeded threshold "
+                         "(threshold = %.2f)\n",
+                         a_name[i], sqrt(RMS[i] / test_setup.accel_samples),
+                         accelRmsThresh);
+                goto accel_error;
+            }
+        }
+        MPL_LOGI("RMS           : %+13.3f %+13.3f %+13.3f (LSB-rms)\n",
+                 sqrt(RMS[X] / DEF_N_ACCEL_SAMPLES),
+                 sqrt(RMS[Y] / DEF_N_ACCEL_SAMPLES),
+                 sqrt(RMS[Z] / DEF_N_ACCEL_SAMPLES));
+    }
+
+    return 0; /* success */
+
+accel_error:  /* error */
+    bias[0] = bias[1] = bias[2] = 0;
+    return 1;
+}
+
+/**
+ *  @brief  an user-space substitute of the power management function(s)
+ *          in mldl_cfg.c for self test usage.
+ *          Wake up and sleep the device, whether that is MPU3050, MPU6050A2,
+ *          or MPU6050B1.
+ *  @param  mlsl_handle
+ *              a file handle for the serial communication port used to
+ *              communicate with the MPU device.
+ *  @param  power_level
+ *              the power state to change the device into. Currently only 0 or
+ *              1 are supported, for sleep and full-power respectively.
+ *  @return 0 on success; a non-zero error code on error.
+ */
+static inv_error_t inv_device_power_mgmt(void *mlsl_handle,
+                                         uint_fast8_t power_level)
+{
+    inv_error_t result;
+    static unsigned char pwr_mgm;
+    unsigned char b;
+
+    if (power_level != 0 && power_level != 1) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    if (power_level) {
+        result = inv_serial_read(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_PWR_MGM, 1, &pwr_mgm);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        /* reset */
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_PWR_MGM, pwr_mgm | BIT_H_RESET);
+#ifndef CONFIG_MPU_SENSORS_MPU6050A2
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+#endif
+        inv_sleep(5);
+
+        /* re-read power mgmt reg -
+           it may have reset after H_RESET is applied */
+        result = inv_serial_read(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_PWR_MGM, 1, &b);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+
+        /* wake up */
+#ifdef CONFIG_MPU_SENSORS_MPU6050A2
+        if ((b & BITS_PWRSEL) != BITS_PWRSEL) {
+            result = inv_serial_single_write(
+                        mlsl_handle, mputestCfgPtr->addr,
+                        MPUREG_PWR_MGM, BITS_PWRSEL);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+#else
+        if (pwr_mgm & BIT_SLEEP) {
+            result = inv_serial_single_write(
+                        mlsl_handle, mputestCfgPtr->addr,
+                        MPUREG_PWR_MGM, 0x00);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+#endif
+        inv_sleep(60);
+
+#if defined(CONFIG_MPU_SENSORS_MPU6050A2) || \
+    defined(CONFIG_MPU_SENSORS_MPU6050B1)
+        result = inv_serial_single_write(
+                    mlsl_handle, mputestCfgPtr->addr,
+                    MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+#endif
+    } else {
+        /* restore the power state the part was found in */
+#ifdef CONFIG_MPU_SENSORS_MPU6050A2
+        if ((pwr_mgm & BITS_PWRSEL) != BITS_PWRSEL) {
+            result = inv_serial_single_write(
+                        mlsl_handle, mputestCfgPtr->addr,
+                        MPUREG_PWR_MGM, pwr_mgm);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+#else
+        if (pwr_mgm & BIT_SLEEP) {
+            result = inv_serial_single_write(
+                        mlsl_handle, mputestCfgPtr->addr,
+                        MPUREG_PWR_MGM, pwr_mgm);
+            if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+            }
+        }
+#endif
+    }
+
+    return INV_SUCCESS;
+}
+
+/**
+ *  @brief  The main entry point of the MPU Self Test, triggering the run of
+ *          the single tests, for gyros and accelerometers.
+ *          Prepares the MPU for the test, taking the device out of low power
+ *          state if necessary, switching the MPU secondary I2C interface into
+ *          bypass mode and restoring the original power state at the end of
+ *          the test.
+ *          This function is also responsible for encoding the output of each
+ *          test in the correct format as it is stored on the file/medium of
+ *          choice (according to inv_serial_write_cal() function).
+ *          The format needs to stay perfectly consistent with the one expected
+ *          by the corresponding loader in ml_stored_data.c; currectly the
+ *          loaded in use is inv_load_cal_V1 (record type 1 - initial
+ *          calibration).
+ *
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  provide_result
+ *              If 1:
+ *              perform and analyze the offset, drive frequency, and noise
+ *              calculation and compare it against set threshouds. Report
+ *              also the final result using a bit-mask like error code as
+ *              described in the inv_test_gyro() function.
+ *              When 0:
+ *              skip the noise and drive frequency calculation and pass/fail
+ *              assessment. It simply calculates the gyro and accel biases.
+ *              NOTE: for MPU6050 devices, this parameter is currently
+ *              ignored.
+ *
+ *  @return 0 on success.  A non-zero error code on error.
+ *          Propagates the errors from the tests up to the caller.
+ */
+int inv_mpu_test(void *mlsl_handle, uint_fast8_t provide_result)
+{
+    int result = 0;
+
+    short temp_avg;
+    short gyro_biases[3] = {0, 0, 0};
+    short accel_biases[3] = {0, 0, 0};
+
+    unsigned long testStart = inv_get_tick_count();
+    long accelSens[3] = {0};
+    int ptr;
+    int tmp;
+    long long lltmp;
+    uint32_t chk;
+
+    MPL_LOGI("Collecting %d groups of 600 ms samples for each axis\n",
+                DEF_TEST_TIME_PER_AXIS / 600);
+    MPL_LOGI("\n");
+
+    result = inv_device_power_mgmt(mlsl_handle, TRUE);
+
+#ifdef TRACK_IDS
+    result = test_get_mpu_id(mlsl_handle);
+    if (result != INV_SUCCESS) {
+        MPL_LOGI("Could not read the device's unique ID\n");
+        MPL_LOGI("\n");
+        return result;
+    }
+#endif
+
+    /* adjust the gyro sensitivity according to the gyro_sens_trim value */
+    adjGyroSens = test_setup.gyro_sens * mputestCfgPtr->gyro_sens_trim / 131.f;
+    test_setup.gyro_fs = (int)(32768.f / adjGyroSens);
+
+    /* collect gyro and temperature data */
+#ifdef CONFIG_MPU_SENSORS_MPU3050
+    result = inv_test_gyro_3050(mlsl_handle,
+                gyro_biases, &temp_avg, provide_result);
+#else
+    MPL_LOGW_IF(provide_result,
+                "Self Test for MPU-6050 devices is for bias correction only: "
+                "no test PASS/FAIL result will be provided\n");
+    result = inv_test_gyro_6050(mlsl_handle, gyro_biases, &temp_avg);
+#endif
+
+    MPL_LOGI("\n");
+    MPL_LOGI("Test time : %ld ms\n", inv_get_tick_count() - testStart);
+    if (result)
+        return result;
+
+    /* collect accel data.  if this step is skipped,
+       ensure the array still contains zeros. */
+    if (mputestCfgPtr->accel != NULL) {
+        float fs;
+        RANGE_FIXEDPOINT_TO_FLOAT(mputestCfgPtr->accel->range, fs);
+        accelSens[0] = (long)(32768L / fs);
+        accelSens[1] = (long)(32768L / fs);
+        accelSens[2] = (long)(32768L / fs);
+#if defined CONFIG_MPU_SENSORS_MPU6050B1
+        if (MPL_PROD_KEY(mputestCfgPtr->product_id,
+                mputestCfgPtr->product_revision) == MPU_PRODUCT_KEY_B1_E1_5) {
+            accelSens[2] /= 2;
+        } else {
+            unsigned short trim_corr = 16384 / mputestCfgPtr->accel_sens_trim;
+            accelSens[0] /= trim_corr;
+            accelSens[1] /= trim_corr;
+            accelSens[2] /= trim_corr;
+        }
+#endif
+    } else {
+        /* would be 0, but 1 to avoid divide-by-0 below */
+        accelSens[0] = accelSens[1] = accelSens[2] = 1;
+    }
+#ifdef CONFIG_MPU_SENSORS_MPU3050
+    result = inv_test_accel(mlsl_handle, accel_biases, accelSens[2],
+                            provide_result);
+#else
+    result = inv_test_accel(mlsl_handle, accel_biases, accelSens[2],
+                            FALSE);
+#endif
+    if (result)
+        return result;
+
+    result = inv_device_power_mgmt(mlsl_handle, FALSE);
+    if (result)
+        return result;
+
+    ptr = 0;
+    dataStore[ptr++] = 0;       /* total len of factory cal */
+    dataStore[ptr++] = 0;
+    dataStore[ptr++] = 0;
+    dataStore[ptr++] = ML_INIT_CAL_LEN;
+    dataStore[ptr++] = 0;
+    dataStore[ptr++] = 5;       /* record type 5 - initial calibration */
+
+    tmp = temp_avg;             /* temperature */
+    if (tmp < 0) tmp += 2 << 16;
+    USHORT_TO_CHARS(&dataStore[ptr], tmp);
+    ptr += 2;
+
+    /* NOTE : 2 * test_setup.gyro_fs == 65536 / (32768 / test_setup.gyro_fs) */
+    lltmp = (long)gyro_biases[0] * 2 * test_setup.gyro_fs; /* x gyro avg */
+    if (lltmp < 0) lltmp += 1LL << 32;
+    UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp);
+    ptr += 4;
+    lltmp = (long)gyro_biases[1] * 2 * test_setup.gyro_fs; /* y gyro avg */
+    if (lltmp < 0) lltmp += 1LL << 32;
+    UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp);
+    ptr += 4;
+    lltmp = (long)gyro_biases[2] * 2 * test_setup.gyro_fs; /* z gyro avg */
+    if (lltmp < 0) lltmp += 1LL << 32;
+    UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp);
+    ptr += 4;
+
+    lltmp = (long)accel_biases[0] * 65536L / accelSens[0]; /* x accel avg */
+    if (lltmp < 0) lltmp += 1LL << 32;
+    UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp);
+    ptr += 4;
+    lltmp = (long)accel_biases[1] * 65536L / accelSens[1]; /* y accel avg */
+    if (lltmp < 0) lltmp += 1LL << 32;
+    UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp);
+    ptr += 4;
+    lltmp = (long)accel_biases[2] * 65536L / accelSens[2]; /* z accel avg */
+    if (lltmp < 0) lltmp += 1LL << 32;
+    UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp);
+    ptr += 4;
+
+    /* add a checksum for data */
+    chk = inv_checksum(
+        dataStore + INV_CAL_HDR_LEN,
+        ML_INIT_CAL_LEN - INV_CAL_HDR_LEN - INV_CAL_CHK_LEN);
+    UINT_TO_CHARS(&dataStore[ptr], chk);
+    ptr += 4;
+
+    if (ptr != ML_INIT_CAL_LEN) {
+        MPL_LOGI("Invalid calibration data length: exp %d, got %d\n",
+                    ML_INIT_CAL_LEN, ptr);
+        return -1;
+    }
+
+    return result;
+}
+
+/**
+ *  @brief  The main test API. Runs the MPU Self Test and, if successful,
+ *          stores the encoded initial calibration data on the final storage
+ *          medium of choice (cfr. inv_serial_write_cal() and the MLCAL_FILE
+ *          define in your mlsl implementation).
+ *
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  provide_result
+ *              If 1:
+ *              perform and analyze the offset, drive frequency, and noise
+ *              calculation and compare it against set threshouds. Report
+ *              also the final result using a bit-mask like error code as
+ *              described in the inv_test_gyro() function.
+ *              When 0:
+ *              skip the noise and drive frequency calculation and pass/fail
+ *              assessment. It simply calculates the gyro and accel biases.
+ *
+ *  @return 0 on success or a non-zero error code from the callees on error.
+ */
+inv_error_t inv_factory_calibrate(void *mlsl_handle,
+                                  uint_fast8_t provide_result)
+{
+    int result;
+
+    result = inv_mpu_test(mlsl_handle, provide_result);
+    if (provide_result) {
+        MPL_LOGI("\n");
+        if (result == 0) {
+            MPL_LOGI("Test : PASSED\n");
+        } else {
+            MPL_LOGI("Test : FAILED %d/%04X - Biases NOT stored\n", result, result);
+            return result; /* abort writing the calibration if the
+                              test is not successful */
+        }
+        MPL_LOGI("\n");
+    } else {
+        MPL_LOGI("\n");
+        if (result) {
+            LOG_RESULT_LOCATION(result);
+            return result;
+        }
+    }
+
+    result = inv_serial_write_cal(dataStore, ML_INIT_CAL_LEN);
+    if (result) {
+        MPL_LOGI("Error : cannot write calibration on file - error %d\n",
+            result);
+        return result;
+    }
+
+    return INV_SUCCESS;
+}
+
+
+
+/* -----------------------------------------------------------------------
+    accel interface functions
+ -----------------------------------------------------------------------*/
+
+/**
+ *  @internal
+ *  @brief  Reads data for X, Y, and Z axis from the accelerometer device.
+ *          Used only if an accelerometer has been setup using the
+ *          inv_test_setup_accel() API.
+ *          Takes care of the accelerometer endianess according to how the
+ *          device has been described in the corresponding accelerometer driver
+ *          file.
+ *  @param  mlsl_handle
+ *              serial interface handle to allow serial communication with the
+ *              device, both gyro and accelerometer.
+ *  @param  slave
+ *              a pointer to the descriptor of the slave accelerometer device
+ *              in use. Contains the necessary information to operate, read,
+ *              and communicate with the accelerometer device of choice.
+ *              See the declaration of struct ext_slave_descr in mpu.h.
+ *  @param  pdata
+ *              a pointer to the platform info of the slave accelerometer
+ *              device in use. Describes how the device is oriented and
+ *              mounted on host platform's PCB.
+ *  @param  vals
+ *              output pointer to return the accelerometer's X, Y, and Z axis
+ *              sensor data collected.
+ *  @return 0 on success or a non-zero error code on error.
+ */
+static inv_error_t test_get_data(
+                    void *mlsl_handle,
+                    struct mldl_cfg *mputestCfgPtr,
+                    short *vals)
+{
+    inv_error_t result;
+    unsigned char data[20];
+    struct ext_slave_descr *slave = mputestCfgPtr->accel;
+#ifndef CONFIG_MPU_SENSORS_MPU3050
+    struct ext_slave_platform_data *pdata = &mputestCfgPtr->pdata->accel;
+#endif
+
+#ifdef CONFIG_MPU_SENSORS_MPU3050
+    result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr, 0x23,
+                             6, data);
+#else
+    result = inv_serial_read(mlsl_handle, pdata->address, slave->read_reg,
+                            slave->read_len, data);
+#endif
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    }
+
+    if (VERBOSE_OUT) {
+        MPL_LOGI("Accel         :        0x%02X%02X        0x%02X%02X        0x%02X%02X (raw)\n",
+            ACCEL_UNPACK(data));
+    }
+
+    if (CHECK_NACKS(data)) {
+        MPL_LOGI("Error fetching data from the accelerometer : "
+                 "all bytes read 0xff\n");
+        return INV_ERROR_SERIAL_READ;
+    }
+
+    if (slave->endian == EXT_SLAVE_BIG_ENDIAN) {
+        vals[0] = CHARS_TO_SHORT(&data[0]);
+        vals[1] = CHARS_TO_SHORT(&data[2]);
+        vals[2] = CHARS_TO_SHORT(&data[4]);
+    } else {
+        vals[0] = CHARS_TO_SHORT_SWAPPED(&data[0]);
+        vals[1] = CHARS_TO_SHORT_SWAPPED(&data[2]);
+        vals[2] = CHARS_TO_SHORT_SWAPPED(&data[4]);
+    }
+
+    if (VERBOSE_OUT) {
+        MPL_LOGI("Accel         : %+13d %+13d %+13d (LSB)\n",
+                 vals[0], vals[1], vals[2]);
+    }
+    return INV_SUCCESS;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ *  @}
+ */
+
diff --git a/invensense/mlsdk/mlutils/mputest.h b/invensense/mlsdk/mlutils/mputest.h
new file mode 100644
index 0000000..d3347c5
--- /dev/null
+++ b/invensense/mlsdk/mlutils/mputest.h
@@ -0,0 +1,54 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ *
+ * $Id: mputest.h 4051 2010-11-19 04:51:58Z mcaramello $
+ *
+ *****************************************************************************/
+
+#ifndef MPUTEST_H
+#define MPUTEST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#include "mputest_legacy.h"
+
+/* user facing APIs */
+inv_error_t inv_factory_calibrate(void *mlsl_handle,
+                                  uint_fast8_t provide_result);
+void inv_set_test_parameters(unsigned int slave_addr, float sensitivity,
+                             int p_thresh, float total_time_tol,
+                             int bias_thresh, float rms_thresh,
+                             float sp_shift_thresh,
+                             unsigned short accel_samples);
+
+/* additional functions */
+int  inv_mpu_test(void *mlsl_handle, uint_fast8_t provide_result);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MPUTEST_H */
+
diff --git a/invensense/mlsdk/mlutils/slave.h b/invensense/mlsdk/mlutils/slave.h
new file mode 100644
index 0000000..45449f6
--- /dev/null
+++ b/invensense/mlsdk/mlutils/slave.h
@@ -0,0 +1,188 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: slave.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef SLAVE_H
+#define SLAVE_H
+
+/**
+ *  @addtogroup SLAVEDL
+ *
+ *  @{
+ *      @file     slave.h
+ *      @brief    Top level descriptions for Accelerometer support
+ *
+ */
+
+#include "mltypes.h"
+#include "mpu.h"
+
+    /* ------------ */
+    /* - Defines. - */
+    /* ------------ */
+
+/*--- default accel support - selection ---*/
+#define ACCEL_ST_LIS331                 0
+#define ACCEL_KIONIX_KXTF9              1
+#define ACCEL_BOSCH                     0
+#define ACCEL_ADI                       0
+
+#define ACCEL_SLAVEADDR_INVALID         0x00
+
+#define ACCEL_SLAVEADDR_LIS331          0x18
+#define ACCEL_SLAVEADDR_LSM303          0x18
+#define ACCEL_SLAVEADDR_LIS3DH          0x18
+#define ACCEL_SLAVEADDR_KXSD9           0x18
+#define ACCEL_SLAVEADDR_KXTF9           0x0F
+#define ACCEL_SLAVEADDR_BMA150          0x38
+#define ACCEL_SLAVEADDR_BMA222          0x08
+#define ACCEL_SLAVEADDR_BMA250          0x18
+#define ACCEL_SLAVEADDR_ADXL34X         0x53
+#define ACCEL_SLAVEADDR_ADXL34X_ALT     0x1D /* alternative addr */
+#define ACCEL_SLAVEADDR_MMA8450         0x1C
+#define ACCEL_SLAVEADDR_MMA845X         0x1C
+
+#define ACCEL_SLAVEADDR_INVENSENSE      0x68
+/*
+    Define default accelerometer to use if no selection is made
+*/
+#if ACCEL_ST_LIS331
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_LIS331
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_LIS331
+#endif
+
+#if ACCEL_ST_LSM303
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_LSM303
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_LSM303A
+#endif
+
+#if ACCEL_KIONIX_KXSD9
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_KXSD9
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_KXSD9
+#endif
+
+#if ACCEL_KIONIX_KXTF9
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_KXTF9
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_KXTF9
+#endif
+
+#if ACCEL_BOSCH
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_BMA150
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_BMA150
+#endif
+
+#if ACCEL_BMA222
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_BMA222
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_BMA222
+#endif
+
+#if ACCEL_BOSCH
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_BMA250
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_BMA250
+#endif
+
+#if ACCEL_ADI
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_ADXL34X
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_ADXL34X
+#endif
+
+#if ACCEL_MMA8450
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_MMA8450
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_MMA8450
+#endif
+
+#if ACCEL_MMA845X
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_MMA845X
+#define DEFAULT_ACCEL_ID                  ACCEL_ID_MMA845X
+#endif
+
+/*--- if no default accelerometer was selected ---*/
+#ifndef DEFAULT_ACCEL_SLAVEADDR
+#define DEFAULT_ACCEL_SLAVEADDR           ACCEL_SLAVEADDR_INVALID
+#endif
+
+#define USE_COMPASS_AICHI                  0
+#define USE_COMPASS_AKM                    0
+#define USE_COMPASS_YAS529                 0
+#define USE_COMPASS_YAS530                 0
+#define USE_COMPASS_HMC5883                0
+#define USE_COMPASS_MMC314X                0
+#define USE_COMPASS_HSCDTD002B             0
+#define USE_COMPASS_HSCDTD004A             0
+
+#define COMPASS_SLAVEADDR_INVALID          0x00
+#define COMPASS_SLAVEADDR_AKM_BASE         0x0C
+#define COMPASS_SLAVEADDR_AKM              0x0E
+#define COMPASS_SLAVEADDR_AMI304           0x0E
+#define COMPASS_SLAVEADDR_AMI305           0x0F /*Slave address for AMI 305/306*/
+#define COMPASS_SLAVEADDR_AMI306           0x0E /*Slave address for AMI 305/306*/
+#define COMPASS_SLAVEADDR_YAS529           0x2E
+#define COMPASS_SLAVEADDR_YAS530           0x2E
+#define COMPASS_SLAVEADDR_HMC5883          0x1E
+#define COMPASS_SLAVEADDR_MMC314X          0x30
+#define COMPASS_SLAVEADDR_HSCDTD00XX       0x0C
+
+/*
+    Define default compass to use if no selection is made
+*/
+ #if USE_COMPASS_AKM
+ #define DEFAULT_COMPASS_TYPE              COMPASS_ID_AK8975
+ #endif
+
+ #if USE_COMPASS_AICHI
+ #define DEFAULT_COMPASS_TYPE              COMPASS_ID_AMI30X
+ #endif
+
+ #if USE_COMPASS_YAS529
+ #define DEFAULT_COMPASS_TYPE              COMPASS_ID_YAS529
+ #endif
+
+ #if USE_COMPASS_YAS530
+ #define DEFAULT_COMPASS_TYPE              COMPASS_ID_YAS530
+ #endif
+
+ #if USE_COMPASS_HMC5883
+ #define DEFAULT_COMPASS_TYPE              COMPASS_ID_HMC5883
+ #endif
+
+#if USE_COMPASS_MMC314X
+#define DEFAULT_COMPASS_TYPE              COMPASS_ID_MMC314X
+#endif
+
+#if USE_COMPASS_HSCDTD002B
+#define DEFAULT_COMPASS_TYPE              COMPASS_ID_HSCDTD002B
+#endif
+
+#if USE_COMPASS_HSCDTD004A
+#define DEFAULT_COMPASS_TYPE              COMPASS_ID_HSCDTD004A
+#endif
+
+#ifndef DEFAULT_COMPASS_TYPE
+#define DEFAULT_COMPASS_TYPE               ID_INVALID
+#endif
+
+
+#endif // SLAVE_H
+
+/**
+ *  @}
+ */
diff --git a/invensense/mlsdk/platform/include/i2c.h b/invensense/mlsdk/platform/include/i2c.h
new file mode 100644
index 0000000..c3002d5
--- /dev/null
+++ b/invensense/mlsdk/platform/include/i2c.h
@@ -0,0 +1,133 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: i2c.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef _I2C_H
+#define _I2C_H
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------ */
+/* - Defines. - */
+/* ------------ */
+
+/* - Error Codes. - */
+
+#define I2C_SUCCESS 0
+#define I2C_ERROR   1
+
+/* ---------- */
+/* - Enums. - */
+/* ---------- */
+
+/* --------------- */
+/* - Structures. - */
+/* --------------- */
+
+#define I2C_RBUFF_MAX    128
+#define I2C_RBUFF_SIZE    17
+
+#ifdef BB_I2C
+#define I2C_RBUFF_DYNAMIC  0
+#else
+#define I2C_RBUFF_DYNAMIC  1
+#endif
+
+typedef struct {
+
+	HANDLE  i2cHndl;
+	HANDLE  hDevice;                    // handle to the drive to be examined
+
+    MLU8      readBuffer[1024];
+	MLU8      writeBuffer[1024];
+
+    MLU16     rBuffRIndex;
+	MLU16     rBuffWIndex;
+#if !I2C_RBUFF_DYNAMIC
+    MLU8      rBuff[I2C_RBUFF_MAX][I2C_RBUFF_SIZE];
+#else
+    MLU8     *rBuff;
+#endif
+    MLU16     rBuffMax;
+	MLU16     rBuffNumBytes;
+
+    MLU8      runThread;
+	MLU8      autoProcess;
+
+} I2C_Vars_t;
+
+/* --------------------- */
+/* - Function p-types. - */
+/* --------------------- */
+
+#if (defined(BB_I2C))
+void set_i2c_open_bind_cb(int (*func)(unsigned int i2c_slave_addr));
+void set_i2c_open_cb(int (*func)(const char *dev, int rw));
+void set_i2c_close_cb(int (*func)(int fd));
+void set_i2c_lltransfer_cb(int (*func)(int fd, int client_addr, const char *write_buf, unsigned int write_len,
+                                                                      char *read_buf,  unsigned int read_len ));
+void set_i2c_write_register_cb(int (*func)(int fd, int client_addr, unsigned char reg, unsigned char value));
+void set_i2c_read_register_cb(unsigned char (*func)(int fd, int client_addr, unsigned char reg));
+void set_i2c_dump_register_cb(int (*func)(int fd, int client_addr, unsigned char start_reg, unsigned char *buff, int len));
+
+int           _i2c_write_register(int fd, int client_addr, unsigned char reg, unsigned char value);
+unsigned char _i2c_read_register (int fd, int client_addr, unsigned char reg);
+int            i2c_lltransfer    (int fd, int client_addr, const char *write_buf, unsigned int write_len,
+                                                                 char *read_buf,  unsigned int read_len );
+int            i2c_write_register(int fd, int client_addr, unsigned char reg, unsigned char value);
+unsigned char  i2c_read_register (int fd, int client_addr, unsigned char reg);
+int            i2c_dump_register (int fd, int client_addr, unsigned char start_reg, unsigned char *buff, int len);
+int i2c_open         (const char *dev, int rw);
+int i2c_close        (int fd);
+int i2c_open_bind    (unsigned int i2c_slave_addr);
+#endif
+
+int I2COpen           (unsigned char autoProcess, unsigned char createThread);
+int I2CClose          (void);
+int I2CDeviceIoControl(void);
+int I2CRead           (void);
+int I2CWrite          (void);
+int I2CSetBufferSize  (unsigned short bufferSize);
+int I2CBufferUpdate   (void);
+int I2CHandler        (void);
+int I2CReadBuffer     (unsigned short cnt, unsigned char bufferMode, unsigned char *rBuff);
+int I2CEmptyBuffer    (void);
+int I2CPktsInBuffer   (unsigned short *pktsInBuffer);
+int I2CCreateMutex    (void);
+int I2CLockMutex      (void);
+int I2CUnlockMutex    (void);
+
+int I2CWriteBurst     (unsigned char slaveAddr, unsigned char registerAddr, unsigned short length, unsigned char *data);
+int I2CReadBurst      (unsigned char slaveAddr, unsigned char registerAddr, unsigned short length, unsigned char *data);
+
+int I2COpenBB         (void);
+int I2CCloseBB        (int i2cHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _TEMPLATE_H */
diff --git a/invensense/mlsdk/platform/include/linux/mpu.h b/invensense/mlsdk/platform/include/linux/mpu.h
new file mode 100644
index 0000000..04fa7b6
--- /dev/null
+++ b/invensense/mlsdk/platform/include/linux/mpu.h
@@ -0,0 +1,335 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __MPU_H_
+#define __MPU_H_
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/ioctl.h>
+#elif defined LINUX
+#include <sys/ioctl.h>
+#endif
+
+/* Number of axes on each sensor */
+#define GYRO_NUM_AXES               (3)
+#define ACCEL_NUM_AXES              (3)
+#define COMPASS_NUM_AXES            (3)
+
+struct mpu_read_write {
+	/* Memory address or register address depending on ioctl */
+	unsigned short address;
+	unsigned short length;
+	unsigned char *data;
+};
+
+enum mpuirq_data_type {
+	MPUIRQ_DATA_TYPE_MPU_IRQ,
+	MPUIRQ_DATA_TYPE_SLAVE_IRQ,
+	MPUIRQ_DATA_TYPE_PM_EVENT,
+	MPUIRQ_DATA_TYPE_NUM_TYPES,
+};
+
+/* User space PM event notification */
+#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
+#define MPU_PM_EVENT_POST_SUSPEND    (4)
+
+struct mpuirq_data {
+	int interruptcount;
+	unsigned long long irqtime;
+	int data_type;
+	long data;
+};
+
+enum ext_slave_config_key {
+	MPU_SLAVE_CONFIG_ODR_SUSPEND,
+	MPU_SLAVE_CONFIG_ODR_RESUME,
+	MPU_SLAVE_CONFIG_FSR_SUSPEND,
+	MPU_SLAVE_CONFIG_FSR_RESUME,
+	MPU_SLAVE_CONFIG_MOT_THS,
+	MPU_SLAVE_CONFIG_NMOT_THS,
+	MPU_SLAVE_CONFIG_MOT_DUR,
+	MPU_SLAVE_CONFIG_NMOT_DUR,
+	MPU_SLAVE_CONFIG_IRQ_SUSPEND,
+	MPU_SLAVE_CONFIG_IRQ_RESUME,
+	MPU_SLAVE_WRITE_REGISTERS,
+	MPU_SLAVE_READ_REGISTERS,
+	/* AMI 306 specific config keys */
+	MPU_SLAVE_PARAM,
+	MPU_SLAVE_WINDOW,
+	MPU_SLAVE_READWINPARAMS,
+	MPU_SLAVE_SEARCHOFFSET,
+	/* AKM specific config keys */
+	MPU_SLAVE_READ_SCALE,
+	/* YAS specific config keys */
+	MPU_SLAVE_OFFSET_VALS,
+	MPU_SLAVE_RANGE_CHECK,
+
+	MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
+};
+
+/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
+enum ext_slave_config_irq_type {
+	MPU_SLAVE_IRQ_TYPE_NONE,
+	MPU_SLAVE_IRQ_TYPE_MOTION,
+	MPU_SLAVE_IRQ_TYPE_DATA_READY,
+};
+
+/* Structure for the following IOCTS's
+ * MPU_CONFIG_ACCEL
+ * MPU_CONFIG_COMPASS
+ * MPU_CONFIG_PRESSURE
+ * MPU_GET_CONFIG_ACCEL
+ * MPU_GET_CONFIG_COMPASS
+ * MPU_GET_CONFIG_PRESSURE
+ *
+ * @key one of enum ext_slave_config_key
+ * @len length of data pointed to by data
+ * @apply zero if communication with the chip is not necessary, false otherwise
+ *        This flag can be used to select cached data or to refresh cashed data
+ *        cache data to be pushed later or push immediately.  If true and the
+ *        slave is on the secondary bus the MPU will first enger bypass mode
+ *        before calling the slaves .config or .get_config funcion
+ * @data pointer to the data to confgure or get
+ */
+struct ext_slave_config {
+	int key;
+	int len;
+	int apply;
+	void *data;
+};
+
+enum ext_slave_type {
+	EXT_SLAVE_TYPE_GYROSCOPE,
+	EXT_SLAVE_TYPE_ACCELEROMETER,
+	EXT_SLAVE_TYPE_COMPASS,
+	EXT_SLAVE_TYPE_PRESSURE,
+	/*EXT_SLAVE_TYPE_TEMPERATURE */
+
+	EXT_SLAVE_NUM_TYPES
+};
+
+enum ext_slave_id {
+	ID_INVALID = 0,
+
+	ACCEL_ID_LIS331,
+	ACCEL_ID_LSM303A,
+	ACCEL_ID_LIS3DH,
+	ACCEL_ID_KXSD9,
+	ACCEL_ID_KXTF9,
+	ACCEL_ID_BMA150,
+	ACCEL_ID_BMA222,
+	ACCEL_ID_BMA250,
+	ACCEL_ID_ADXL34X,
+	ACCEL_ID_MMA8450,
+	ACCEL_ID_MMA845X,
+	ACCEL_ID_MPU6050,
+
+	COMPASS_ID_AK8975,
+	COMPASS_ID_AMI30X,
+	COMPASS_ID_AMI306,
+	COMPASS_ID_YAS529,
+	COMPASS_ID_YAS530,
+	COMPASS_ID_HMC5883,
+	COMPASS_ID_LSM303M,
+	COMPASS_ID_MMC314X,
+	COMPASS_ID_HSCDTD002B,
+	COMPASS_ID_HSCDTD004A,
+
+	PRESSURE_ID_BMA085,
+};
+
+enum ext_slave_endian {
+	EXT_SLAVE_BIG_ENDIAN,
+	EXT_SLAVE_LITTLE_ENDIAN,
+	EXT_SLAVE_FS8_BIG_ENDIAN,
+	EXT_SLAVE_FS16_BIG_ENDIAN,
+};
+
+enum ext_slave_bus {
+	EXT_SLAVE_BUS_INVALID = -1,
+	EXT_SLAVE_BUS_PRIMARY = 0,
+	EXT_SLAVE_BUS_SECONDARY = 1
+};
+
+
+/**
+ *  struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050
+ *  slave devices
+ *
+ *  @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr
+ *                    for this slave
+ *  @irq: the irq number attached to the slave if any.
+ *  @adapt_num: the I2C adapter number.
+ *  @bus: the bus the slave is attached to: enum ext_slave_bus
+ *  @address: the I2C slave address of the slave device.
+ *  @orientation: the mounting matrix of the device relative to MPU.
+ *  @irq_data: private data for the slave irq handler
+ *  @private_data: additional data, user customizable.  Not touched by the MPU
+ *                 driver.
+ *
+ * The orientation matricies are 3x3 rotation matricies
+ * that are applied to the data to rotate from the mounting orientation to the
+ * platform orientation.  The values must be one of 0, 1, or -1 and each row and
+ * column should have exactly 1 non-zero value.
+ */
+struct ext_slave_platform_data {
+	struct ext_slave_descr *(*get_slave_descr) (void);
+	int irq;
+	int adapt_num;
+	int bus;
+	unsigned char address;
+	signed char orientation[9];
+	void *irq_data;
+	void *private_data;
+};
+
+struct fix_pnt_range {
+	long mantissa;
+	long fraction;
+};
+
+static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng)
+{
+	return (long)(rng.mantissa * 1000 + rng.fraction / 10);
+}
+
+struct ext_slave_read_trigger {
+	unsigned char reg;
+	unsigned char value;
+};
+
+/**
+ *  struct ext_slave_descr - Description of the slave device for programming.
+ *
+ *  @suspend:	function pointer to put the device in suspended state
+ *  @resume:	function pointer to put the device in running state
+ *  @read:	function that reads the device data
+ *  @init:	function used to preallocate memory used by the driver
+ *  @exit:	function used to free memory allocated for the driver
+ *  @config:	function used to configure the device
+ *  @get_config:function used to get the device's configuration
+ *
+ *  @name:	text name of the device
+ *  @type:	device type. enum ext_slave_type
+ *  @id:	enum ext_slave_id
+ *  @reg:	starting register address to retrieve data.
+ *  @len:	length in bytes of the sensor data.  Should be 6.
+ *  @endian:	byte order of the data. enum ext_slave_endian
+ *  @range:	full scale range of the slave ouput: struct fix_pnt_range
+ *  @trigger:	If reading data first requires writing a register this is the
+ *		data to write.
+ *
+ *  Defines the functions and information about the slave the mpu3050 and
+ *  mpu6050 needs to use the slave device.
+ */
+struct ext_slave_descr {
+	int (*init) (void *mlsl_handle,
+		     struct ext_slave_descr *slave,
+		     struct ext_slave_platform_data *pdata);
+	int (*exit) (void *mlsl_handle,
+		     struct ext_slave_descr *slave,
+		     struct ext_slave_platform_data *pdata);
+	int (*suspend) (void *mlsl_handle,
+			struct ext_slave_descr *slave,
+			struct ext_slave_platform_data *pdata);
+	int (*resume) (void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata);
+	int (*read) (void *mlsl_handle,
+		     struct ext_slave_descr *slave,
+		     struct ext_slave_platform_data *pdata,
+		     unsigned char *data);
+	int (*config) (void *mlsl_handle,
+		       struct ext_slave_descr *slave,
+		       struct ext_slave_platform_data *pdata,
+		       struct ext_slave_config *config);
+	int (*get_config) (void *mlsl_handle,
+			   struct ext_slave_descr *slave,
+			   struct ext_slave_platform_data *pdata,
+			   struct ext_slave_config *config);
+
+	char *name;
+	unsigned char type;
+	unsigned char id;
+	unsigned char read_reg;
+	unsigned int read_len;
+	unsigned char endian;
+	struct fix_pnt_range range;
+	struct ext_slave_read_trigger *trigger;
+};
+
+/**
+ * struct mpu_platform_data - Platform data for the mpu driver
+ * @int_config:		Bits [7:3] of the int config register.
+ * @orientation:	Orientation matrix of the gyroscope
+ * @level_shifter:	0: VLogic, 1: VDD
+ * @accel:		Accel platform data
+ * @compass:		Compass platform data
+ * @pressure:		Pressure platform data
+ *
+ * Contains platform specific information on how to configure the MPU3050 to
+ * work on this platform.  The orientation matricies are 3x3 rotation matricies
+ * that are applied to the data to rotate from the mounting orientation to the
+ * platform orientation.  The values must be one of 0, 1, or -1 and each row and
+ * column should have exactly 1 non-zero value.
+ */
+struct mpu_platform_data {
+	unsigned char int_config;
+	signed char orientation[GYRO_NUM_AXES * GYRO_NUM_AXES];
+	unsigned char level_shifter;
+	struct ext_slave_platform_data accel;
+	struct ext_slave_platform_data compass;
+	struct ext_slave_platform_data pressure;
+};
+
+#if defined __KERNEL__ || defined LINUX
+#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */
+/* IOCTL commands for /dev/mpu */
+#define MPU_SET_MPU_CONFIG	_IOWR(MPU_IOCTL, 0x00, struct mldl_cfg)
+#define MPU_GET_MPU_CONFIG	_IOW(MPU_IOCTL,  0x00, struct mldl_cfg)
+
+#define MPU_SET_PLATFORM_DATA	_IOWR(MPU_IOCTL, 0x01, struct mldl_cfg)
+
+#define MPU_READ		_IOWR(MPU_IOCTL, 0x10, struct mpu_read_write)
+#define MPU_WRITE		_IOW(MPU_IOCTL,  0x10, struct mpu_read_write)
+#define MPU_READ_MEM		_IOWR(MPU_IOCTL, 0x11, struct mpu_read_write)
+#define MPU_WRITE_MEM		_IOW(MPU_IOCTL,  0x11, struct mpu_read_write)
+#define MPU_READ_FIFO		_IOWR(MPU_IOCTL, 0x12, struct mpu_read_write)
+#define MPU_WRITE_FIFO		_IOW(MPU_IOCTL,  0x12, struct mpu_read_write)
+
+#define MPU_READ_COMPASS	_IOR(MPU_IOCTL, 0x12, unsigned char)
+#define MPU_READ_ACCEL		_IOR(MPU_IOCTL, 0x13, unsigned char)
+#define MPU_READ_PRESSURE	_IOR(MPU_IOCTL, 0x14, unsigned char)
+
+#define MPU_CONFIG_ACCEL	_IOW(MPU_IOCTL, 0x20, struct ext_slave_config)
+#define MPU_CONFIG_COMPASS	_IOW(MPU_IOCTL, 0x21, struct ext_slave_config)
+#define MPU_CONFIG_PRESSURE	_IOW(MPU_IOCTL, 0x22, struct ext_slave_config)
+
+#define MPU_GET_CONFIG_ACCEL	_IOWR(MPU_IOCTL, 0x20, struct ext_slave_config)
+#define MPU_GET_CONFIG_COMPASS	_IOWR(MPU_IOCTL, 0x21, struct ext_slave_config)
+#define MPU_GET_CONFIG_PRESSURE	_IOWR(MPU_IOCTL, 0x22, struct ext_slave_config)
+
+#define MPU_SUSPEND		_IO(MPU_IOCTL, 0x30)
+#define MPU_RESUME		_IO(MPU_IOCTL, 0x31)
+/* Userspace PM Event response */
+#define MPU_PM_EVENT_HANDLED	_IO(MPU_IOCTL, 0x32)
+
+#endif
+
+#endif				/* __MPU_H_ */
diff --git a/invensense/mlsdk/platform/include/log.h b/invensense/mlsdk/platform/include/log.h
new file mode 100644
index 0000000..8485074
--- /dev/null
+++ b/invensense/mlsdk/platform/include/log.h
@@ -0,0 +1,344 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/*
+ * This file incorporates work covered by the following copyright and
+ * permission notice:
+ *
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*
+ * C/C++ logging functions.  See the logging documentation for API details.
+ *
+ * We'd like these to be available from C code (in case we import some from
+ * somewhere), so this has a C interface.
+ *
+ * The output will be correct when the log file is shared between multiple
+ * threads and/or multiple processes so long as the operating system
+ * supports O_APPEND.  These calls have mutex-protected data structures
+ * and so are NOT reentrant.  Do not use MPL_LOG in a signal handler.
+ */
+#ifndef _LIBS_CUTILS_MPL_LOG_H
+#define _LIBS_CUTILS_MPL_LOG_H
+
+#include "mltypes.h"
+#include <stdarg.h>
+
+#ifdef ANDROID
+#ifdef NDK_BUILD
+#include "log_macros.h"
+#else
+#include <utils/Log.h>		/* For the LOG macro */
+#endif
+#endif
+
+#ifdef __KERNEL__
+#include <linux/kernel.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Normally we strip MPL_LOGV (VERBOSE messages) from release builds.
+ * You can modify this (for example with "#define MPL_LOG_NDEBUG 0"
+ * at the top of your source file) to change that behavior.
+ */
+#ifndef MPL_LOG_NDEBUG
+#ifdef NDEBUG
+#define MPL_LOG_NDEBUG 1
+#else
+#define MPL_LOG_NDEBUG 0
+#endif
+#endif
+
+#ifdef __KERNEL__
+#define MPL_LOG_UNKNOWN MPL_LOG_VERBOSE
+#define MPL_LOG_DEFAULT KERN_DEFAULT
+#define MPL_LOG_VERBOSE KERN_CONT
+#define MPL_LOG_DEBUG   KERN_NOTICE
+#define MPL_LOG_INFO    KERN_INFO
+#define MPL_LOG_WARN    KERN_WARNING
+#define MPL_LOG_ERROR   KERN_ERR
+#define MPL_LOG_SILENT  MPL_LOG_VERBOSE
+
+#else
+	/* Based off the log priorities in android
+	   /system/core/include/android/log.h */
+#define MPL_LOG_UNKNOWN		(0)
+#define MPL_LOG_DEFAULT		(1)
+#define MPL_LOG_VERBOSE		(2)
+#define MPL_LOG_DEBUG		(3)
+#define MPL_LOG_INFO		(4)
+#define MPL_LOG_WARN		(5)
+#define MPL_LOG_ERROR		(6)
+#define MPL_LOG_SILENT		(8)
+#endif
+
+
+/*
+ * This is the local tag used for the following simplified
+ * logging macros.  You can change this preprocessor definition
+ * before using the other macros to change the tag.
+ */
+#ifndef MPL_LOG_TAG
+#ifdef __KERNEL__
+#define MPL_LOG_TAG
+#else
+#define MPL_LOG_TAG NULL
+#endif
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Simplified macro to send a verbose log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGV
+#if MPL_LOG_NDEBUG
+#define MPL_LOGV(fmt, ...)						\
+	do {								\
+		if (0)							\
+			MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__);\
+	} while (0)
+#else
+#define MPL_LOGV(fmt, ...) MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+#ifndef CONDITION
+#define CONDITION(cond)     ((cond) != 0)
+#endif
+
+#ifndef MPL_LOGV_IF
+#if MPL_LOG_NDEBUG
+#define MPL_LOGV_IF(cond, fmt, ...)  \
+	do { if (0) MPL_LOG(fmt, ##__VA_ARGS__); } while (0)
+#else
+#define MPL_LOGV_IF(cond, fmt, ...) \
+	((CONDITION(cond))						\
+		? MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \
+		: (void)0)
+#endif
+#endif
+
+/*
+ * Simplified macro to send a debug log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGD
+#define MPL_LOGD(fmt, ...) MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+
+#ifndef MPL_LOGD_IF
+#define MPL_LOGD_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__)  \
+		: (void)0)
+#endif
+
+/*
+ * Simplified macro to send an info log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGI
+#define MPL_LOGI(fmt, ...) MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+
+#ifndef MPL_LOGI_IF
+#define MPL_LOGI_IF(cond, fmt, ...) \
+	((CONDITION(cond))                                              \
+		? MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__)   \
+		: (void)0)
+#endif
+
+/*
+ * Simplified macro to send a warning log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGW
+#ifdef __KERNEL__
+#define MPL_LOGW(fmt, ...) printk(KERN_WARNING MPL_LOG_TAG fmt, ##__VA_ARGS__)
+#else
+#define MPL_LOGW(fmt, ...) MPL_LOG(LOG_WARN, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+#ifndef MPL_LOGW_IF
+#define MPL_LOGW_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(LOG_WARN, MPL_LOG_TAG, fmt, ##__VA_ARGS__)   \
+		: (void)0)
+#endif
+
+/*
+ * Simplified macro to send an error log message using the current MPL_LOG_TAG.
+ */
+#ifndef MPL_LOGE
+#ifdef __KERNEL__
+#define MPL_LOGE(fmt, ...) printk(KERN_ERR MPL_LOG_TAG fmt, ##__VA_ARGS__)
+#else
+#define MPL_LOGE(fmt, ...) MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+#ifndef MPL_LOGE_IF
+#define MPL_LOGE_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)  \
+		: (void)0)
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Log a fatal error.  If the given condition fails, this stops program
+ * execution like a normal assertion, but also generating the given message.
+ * It is NOT stripped from release builds.  Note that the condition test
+ * is -inverted- from the normal assert() semantics.
+ */
+#define MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ...) \
+	((CONDITION(cond))					   \
+		? ((void)android_printAssert(#cond, MPL_LOG_TAG,   \
+						fmt, ##__VA_ARGS__))	\
+		: (void)0)
+
+#define MPL_LOG_ALWAYS_FATAL(fmt, ...) \
+	(((void)android_printAssert(NULL, MPL_LOG_TAG, fmt, ##__VA_ARGS__)))
+
+/*
+ * Versions of MPL_LOG_ALWAYS_FATAL_IF and MPL_LOG_ALWAYS_FATAL that
+ * are stripped out of release builds.
+ */
+#if MPL_LOG_NDEBUG
+#define MPL_LOG_FATAL_IF(cond, fmt, ...)				\
+	do {								\
+		if (0)							\
+			MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ##__VA_ARGS__); \
+	} while (0)
+#define MPL_LOG_FATAL(fmt, ...)						\
+	do {								\
+		if (0)							\
+			MPL_LOG_ALWAYS_FATAL(fmt, ##__VA_ARGS__)	\
+	} while (0)
+#else
+#define MPL_LOG_FATAL_IF(cond, fmt, ...) \
+	MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ##__VA_ARGS__)
+#define MPL_LOG_FATAL(fmt, ...) \
+	MPL_LOG_ALWAYS_FATAL(fmt, ##__VA_ARGS__)
+#endif
+
+/*
+ * Assertion that generates a log message when the assertion fails.
+ * Stripped out of release builds.  Uses the current MPL_LOG_TAG.
+ */
+#define MPL_LOG_ASSERT(cond, fmt, ...)			\
+	MPL_LOG_FATAL_IF(!(cond), fmt, ##__VA_ARGS__)
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * Basic log message macro.
+ *
+ * Example:
+ *  MPL_LOG(MPL_LOG_WARN, NULL, "Failed with error %d", errno);
+ *
+ * The second argument may be NULL or "" to indicate the "global" tag.
+ */
+#ifndef MPL_LOG
+#define MPL_LOG(priority, tag, fmt, ...)		\
+	MPL_LOG_PRI(priority, tag, fmt, ##__VA_ARGS__)
+#endif
+
+/*
+ * Log macro that allows you to specify a number for the priority.
+ */
+#ifndef MPL_LOG_PRI
+#ifdef ANDROID
+#define MPL_LOG_PRI(priority, tag, fmt, ...) \
+        ALOG(priority, tag, fmt, ##__VA_ARGS__)
+#elif defined __KERNEL__
+#define MPL_LOG_PRI(priority, tag, fmt, ...) \
+	pr_debug(MPL_##priority tag fmt, ##__VA_ARGS__)
+#else
+#define MPL_LOG_PRI(priority, tag, fmt, ...) \
+	_MLPrintLog(MPL_##priority, tag, fmt, ##__VA_ARGS__)
+#endif
+#endif
+
+/*
+ * Log macro that allows you to pass in a varargs ("args" is a va_list).
+ */
+#ifndef MPL_LOG_PRI_VA
+#ifdef ANDROID
+#define MPL_LOG_PRI_VA(priority, tag, fmt, args) \
+	android_vprintLog(priority, NULL, tag, fmt, args)
+#elif defined __KERNEL__
+/* not allowed in the Kernel because there is no dev_dbg that takes a va_list */
+#else
+#define MPL_LOG_PRI_VA(priority, tag, fmt, args) \
+	_MLPrintVaLog(priority, NULL, tag, fmt, args)
+#endif
+#endif
+
+/* --------------------------------------------------------------------- */
+
+/*
+ * ===========================================================================
+ *
+ * The stuff in the rest of this file should not be used directly.
+ */
+
+#ifndef ANDROID
+int _MLPrintLog(int priority, const char *tag, const char *fmt,	...);
+int _MLPrintVaLog(int priority, const char *tag, const char *fmt, va_list args);
+/* Final implementation of actual writing to a character device */
+int _MLWriteLog(const char *buf, int buflen);
+#endif
+
+static inline void __print_result_location(int result,
+					   const char *file,
+					   const char *func, int line)
+{
+	MPL_LOGE("%s|%s|%d returning %d\n", file, func, line, result);
+}
+
+#define LOG_RESULT_LOCATION(condition) \
+	do {								\
+		__print_result_location((int)(condition), __FILE__,	\
+					__func__, __LINE__);		\
+	} while (0)
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif				/* _LIBS_CUTILS_MPL_LOG_H */
diff --git a/invensense/mlsdk/platform/include/mlmath.h b/invensense/mlsdk/platform/include/mlmath.h
new file mode 100644
index 0000000..424a43b
--- /dev/null
+++ b/invensense/mlsdk/platform/include/mlmath.h
@@ -0,0 +1,107 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlmath.h 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+#ifndef _ML_MATH_H_
+#define	_ML_MATH_H_
+
+#ifndef MLMATH
+// This define makes Microsoft pickup things like M_PI
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#ifdef WIN32
+// Microsoft doesn't follow standards
+#define  round(x)(((double)((long long)((x)>0?(x)+.5:(x)-.5))))
+#define roundf(x)(((float )((long long)((x)>0?(x)+.5f:(x)-.5f))))
+#endif
+
+#else  // MLMATH
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* MPL needs below functions */
+double	ml_asin(double);
+double	ml_atan(double);
+double	ml_atan2(double, double);
+double	ml_log(double);
+double	ml_sqrt(double);
+double	ml_ceil(double);
+double	ml_floor(double);
+double  ml_cos(double);
+double  ml_sin(double);
+double  ml_acos(double);
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/*
+ * We rename functions here to provide the hook for other
+ * customized math functions.
+ */
+#define	sqrt(x)      ml_sqrt(x)
+#define	log(x)       ml_log(x)
+#define	asin(x)      ml_asin(x)
+#define	atan(x)      ml_atan(x)
+#define	atan2(x,y)   ml_atan2(x,y)
+#define	ceil(x)      ml_ceil(x)
+#define	floor(x)     ml_floor(x)
+#define fabs(x)      (((x)<0)?-(x):(x))
+#define round(x)     (((double)((long long)((x)>0?(x)+.5:(x)-.5))))
+#define roundf(x)    (((float )((long long)((x)>0?(x)+.5f:(x)-.5f))))
+#define cos(x)       ml_cos(x)
+#define sin(x)       ml_sin(x)
+#define acos(x)      ml_acos(x)
+
+#define pow(x,y)     ml_pow(x,y)
+
+#ifdef LINUX
+/* stubs for float version of math functions */
+#define cosf(x)      ml_cos(x)
+#define sinf(x)      ml_sin(x)
+#define atan2f(x,y)  ml_atan2(x,y)
+#define sqrtf(x)     ml_sqrt(x)
+#endif
+
+
+
+#endif // MLMATH
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+#ifndef ABS
+#define ABS(x) (((x)>=0)?(x):-(x))
+#endif
+
+#ifndef MIN
+#define MIN(x,y) (((x)<(y))?(x):(y))
+#endif
+
+#ifndef MAX
+#define MAX(x,y) (((x)>(y))?(x):(y))
+#endif
+
+/*---------------------------*/
+#endif /* !_ML_MATH_H_ */
diff --git a/invensense/mlsdk/platform/include/mlos.h b/invensense/mlsdk/platform/include/mlos.h
new file mode 100644
index 0000000..0aeda96
--- /dev/null
+++ b/invensense/mlsdk/platform/include/mlos.h
@@ -0,0 +1,109 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef _MLOS_H
+#define _MLOS_H
+
+#ifndef __KERNEL__
+#include <stdio.h>
+#endif
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(LINUX) || defined(__KERNEL__)
+#include <stdint.h>
+typedef uintptr_t HANDLE;
+#endif
+
+	/* ------------ */
+	/* - Defines. - */
+	/* ------------ */
+
+	/* - MLOSCreateFile defines. - */
+
+#define MLOS_GENERIC_READ         ((unsigned int)0x80000000)
+#define MLOS_GENERIC_WRITE        ((unsigned int)0x40000000)
+#define MLOS_FILE_SHARE_READ      ((unsigned int)0x00000001)
+#define MLOS_FILE_SHARE_WRITE     ((unsigned int)0x00000002)
+#define MLOS_OPEN_EXISTING        ((unsigned int)0x00000003)
+
+	/* ---------- */
+	/* - Enums. - */
+	/* ---------- */
+
+	/* --------------- */
+	/* - Structures. - */
+	/* --------------- */
+
+	/* --------------------- */
+	/* - Function p-types. - */
+	/* --------------------- */
+
+#ifndef __KERNEL__
+#include <string.h>
+	void *inv_malloc(unsigned int numBytes);
+	inv_error_t inv_free(void *ptr);
+	inv_error_t inv_create_mutex(HANDLE *mutex);
+	inv_error_t inv_lock_mutex(HANDLE mutex);
+	inv_error_t inv_unlock_mutex(HANDLE mutex);
+	FILE *inv_fopen(char *filename);
+	void inv_fclose(FILE *fp);
+
+	inv_error_t inv_destroy_mutex(HANDLE handle);
+
+	void inv_sleep(int mSecs);
+	unsigned long inv_get_tick_count(void);
+
+	/* Kernel implmentations */
+#define GFP_KERNEL (0x70)
+	static inline void *kmalloc(size_t size,
+				    unsigned int gfp_flags)
+	{
+		return inv_malloc((unsigned int)size);
+	}
+	static inline void *kzalloc(size_t size, unsigned int gfp_flags)
+	{
+		void *tmp = inv_malloc((unsigned int)size);
+		if (tmp)
+			memset(tmp, 0, size);
+		return tmp;
+	}
+	static inline void kfree(void *ptr)
+	{
+		inv_free(ptr);
+	}
+	static inline void msleep(long msecs)
+	{
+		inv_sleep(msecs);
+	}
+	static inline void udelay(unsigned long usecs)
+	{
+		inv_sleep((usecs + 999) / 1000);
+	}
+#else
+#include <linux/delay.h>
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif				/* _MLOS_H */
diff --git a/invensense/mlsdk/platform/include/mlsl.h b/invensense/mlsdk/platform/include/mlsl.h
new file mode 100644
index 0000000..535d117
--- /dev/null
+++ b/invensense/mlsdk/platform/include/mlsl.h
@@ -0,0 +1,290 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __MLSL_H__
+#define __MLSL_H__
+
+/**
+ *  @defgroup   MLSL
+ *  @brief      Motion Library - Serial Layer.
+ *              The Motion Library System Layer provides the Motion Library
+ *              with the communication interface to the hardware.
+ *
+ *              The communication interface is assumed to support serial
+ *              transfers in burst of variable length up to
+ *              SERIAL_MAX_TRANSFER_SIZE.
+ *              The default value for SERIAL_MAX_TRANSFER_SIZE is 128 bytes.
+ *              Transfers of length greater than SERIAL_MAX_TRANSFER_SIZE, will
+ *              be subdivided in smaller transfers of length <=
+ *              SERIAL_MAX_TRANSFER_SIZE.
+ *              The SERIAL_MAX_TRANSFER_SIZE definition can be modified to
+ *              overcome any host processor transfer size limitation down to
+ *              1 B, the minimum.
+ *              An higher value for SERIAL_MAX_TRANSFER_SIZE will favor
+ *              performance and efficiency while requiring higher resource usage
+ *              (mostly buffering). A smaller value will increase overhead and
+ *              decrease efficiency but allows to operate with more resource
+ *              constrained processor and master serial controllers.
+ *              The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
+ *              mlsl.h header file and master serial controllers.
+ *              The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
+ *              mlsl.h header file.
+ *
+ *  @{
+ *      @file   mlsl.h
+ *      @brief  The Motion Library System Layer.
+ *
+ */
+
+#include "mltypes.h"
+#include <linux/mpu.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * NOTE : to properly support Yamaha compass reads,
+ *	  the max transfer size should be at least 9 B.
+ *	  Length in bytes, typically a power of 2 >= 2
+ */
+#define SERIAL_MAX_TRANSFER_SIZE 128
+
+#ifndef __KERNEL__
+/**
+ *  inv_serial_open() - used to open the serial port.
+ *  @port	The COM port specification associated with the device in use.
+ *  @sl_handle	a pointer to the file handle to the serial device to be open
+ *		for the communication.
+ *	This port is used to send and receive data to the device.
+ *
+ *	This function is called by inv_serial_start().
+ *	Unlike previous MPL Software releases, explicitly calling
+ *	inv_serial_start() is mandatory to instantiate the communication
+ *	with the device.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_open(char const *port, void **sl_handle);
+
+/**
+ *  inv_serial_close() - used to close the serial port.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *
+ *	This port is used to send and receive data to the device.
+ *
+ *	This function is called by inv_serial_stop().
+ *	Unlike previous MPL Software releases, explicitly calling
+ *	inv_serial_stop() is mandatory to properly shut-down the
+ *	communication with the device.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_close(void *sl_handle);
+
+/**
+ *  inv_serial_reset() - used to reset any buffering the driver may be doing
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_reset(void *sl_handle);
+#endif
+
+/**
+ *  inv_serial_single_write() - used to write a single byte of data.
+ *  @sl_handle		pointer to the serial device used for the communication.
+ *  @slave_addr		I2C slave address of device.
+ *  @register_addr	Register address to write.
+ *  @data		Single byte of data to write.
+ *
+ *	It is called by the MPL to write a single byte of data to the MPU.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_single_write(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned char register_addr,
+	unsigned char data);
+
+/**
+ *  inv_serial_write() - used to write multiple bytes of data to registers.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @register_addr	Register address to write.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char const *data);
+
+/**
+ *  inv_serial_read() - used to read multiple bytes of data from registers.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @register_addr	Register address to read.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned char register_addr,
+	unsigned short length,
+	unsigned char *data);
+
+/**
+ *  inv_serial_read_mem() - used to read multiple bytes of data from the memory.
+ *	    This should be sent by I2C or SPI.
+ *
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @mem_addr	The location in the memory to read from.
+ *  @length	Length of burst data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_mem(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short mem_addr,
+	unsigned short length,
+	unsigned char *data);
+
+/**
+ *  inv_serial_write_mem() - used to write multiple bytes of data to the memory.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @mem_addr	The location in the memory to write to.
+ *  @length	Length of burst data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_mem(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short mem_addr,
+	unsigned short length,
+	unsigned char const *data);
+
+/**
+ *  inv_serial_read_fifo() - used to read multiple bytes of data from the fifo.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_fifo(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char *data);
+
+/**
+ *  inv_serial_write_fifo() - used to write multiple bytes of data to the fifo.
+ *  @sl_handle	a file handle to the serial device used for the communication.
+ *  @slave_addr	I2C slave address of device.
+ *  @length	Length of burst of data.
+ *  @data	Pointer to block of data.
+ *
+ *  returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_fifo(
+	void *sl_handle,
+	unsigned char slave_addr,
+	unsigned short length,
+	unsigned char const *data);
+
+#ifndef __KERNEL__
+/**
+ *  inv_serial_read_cfg() - used to get the configuration data.
+ *  @cfg	Pointer to the configuration data.
+ *  @len	Length of the configuration data.
+ *
+ *		Is called by the MPL to get the configuration data
+ *		used by the motion library.
+ *		This data would typically be saved in non-volatile memory.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len);
+
+/**
+ *  inv_serial_write_cfg() - used to save the configuration data.
+ *  @cfg	Pointer to the configuration data.
+ *  @len	Length of the configuration data.
+ *
+ *		Is called by the MPL to save the configuration data used by the
+ *		motion library.
+ *		This data would typically be saved in non-volatile memory.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len);
+
+/**
+ *  inv_serial_read_cal() - used to get the calibration data.
+ *  @cfg	Pointer to the calibration data.
+ *  @len	Length of the calibration data.
+ *
+ *		It is called by the MPL to get the calibration data used by the
+ *		motion library.
+ *		This data is typically be saved in non-volatile memory.
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len);
+
+/**
+ *  inv_serial_write_cal() - used to save the calibration data.
+ *
+ *  @cfg	Pointer to the calibration data.
+ *  @len	Length of the calibration data.
+ *
+ *	    It is called by the MPL to save the calibration data used by the
+ *	    motion library.
+ *	    This data is typically be saved in non-volatile memory.
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len);
+
+/**
+ *  inv_serial_get_cal_length() - Get the calibration length from the storage.
+ *  @len	lenght to be returned
+ *
+ *  returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+inv_error_t inv_serial_get_cal_length(unsigned int *len);
+#endif
+#ifdef __cplusplus
+}
+#endif
+/**
+ * @}
+ */
+#endif				/* __MLSL_H__ */
diff --git a/invensense/mlsdk/platform/include/mltypes.h b/invensense/mlsdk/platform/include/mltypes.h
new file mode 100644
index 0000000..90a126b
--- /dev/null
+++ b/invensense/mlsdk/platform/include/mltypes.h
@@ -0,0 +1,265 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/**
+ *  @defgroup MLERROR
+ *  @brief  Motion Library - Error definitions.
+ *          Definition of the error codes used within the MPL and
+ *          returned to the user.
+ *          Every function tries to return a meaningful error code basing
+ *          on the occuring error condition. The error code is numeric.
+ *
+ *          The available error codes and their associated values are:
+ *          - (0)       INV_SUCCESS
+ *          - (1)       INV_ERROR
+ *          - (2)       INV_ERROR_INVALID_PARAMETER
+ *          - (3)       INV_ERROR_FEATURE_NOT_ENABLED
+ *          - (4)       INV_ERROR_FEATURE_NOT_IMPLEMENTED
+ *          - (6)       INV_ERROR_DMP_NOT_STARTED
+ *          - (7)       INV_ERROR_DMP_STARTED
+ *          - (8)       INV_ERROR_NOT_OPENED
+ *          - (9)       INV_ERROR_OPENED
+ *          - (10)      INV_ERROR_INVALID_MODULE
+ *          - (11)      INV_ERROR_MEMORY_EXAUSTED
+ *          - (12)      INV_ERROR_DIVIDE_BY_ZERO
+ *          - (13)      INV_ERROR_ASSERTION_FAILURE
+ *          - (14)      INV_ERROR_FILE_OPEN
+ *          - (15)      INV_ERROR_FILE_READ
+ *          - (16)      INV_ERROR_FILE_WRITE
+ *          - (17)      INV_ERROR_INVALID_CONFIGURATION
+ *          - (20)      INV_ERROR_SERIAL_CLOSED
+ *          - (21)      INV_ERROR_SERIAL_OPEN_ERROR
+ *          - (22)      INV_ERROR_SERIAL_READ
+ *          - (23)      INV_ERROR_SERIAL_WRITE
+ *          - (24)      INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED
+ *          - (25)      INV_ERROR_SM_TRANSITION
+ *          - (26)      INV_ERROR_SM_IMPROPER_STATE
+ *          - (30)      INV_ERROR_FIFO_OVERFLOW
+ *          - (31)      INV_ERROR_FIFO_FOOTER
+ *          - (32)      INV_ERROR_FIFO_READ_COUNT
+ *          - (33)      INV_ERROR_FIFO_READ_DATA
+ *          - (40)      INV_ERROR_MEMORY_SET
+ *          - (50)      INV_ERROR_LOG_MEMORY_ERROR
+ *          - (51)      INV_ERROR_LOG_OUTPUT_ERROR
+ *          - (60)      INV_ERROR_OS_BAD_PTR
+ *          - (61)      INV_ERROR_OS_BAD_HANDLE
+ *          - (62)      INV_ERROR_OS_CREATE_FAILED
+ *          - (63)      INV_ERROR_OS_LOCK_FAILED
+ *          - (70)      INV_ERROR_COMPASS_DATA_OVERFLOW
+ *          - (71)      INV_ERROR_COMPASS_DATA_UNDERFLOW
+ *          - (72)      INV_ERROR_COMPASS_DATA_NOT_READY
+ *          - (73)      INV_ERROR_COMPASS_DATA_ERROR
+ *          - (75)      INV_ERROR_CALIBRATION_LOAD
+ *          - (76)      INV_ERROR_CALIBRATION_STORE
+ *          - (77)      INV_ERROR_CALIBRATION_LEN
+ *          - (78)      INV_ERROR_CALIBRATION_CHECKSUM
+ *          - (79)      INV_ERROR_ACCEL_DATA_OVERFLOW
+ *          - (80)      INV_ERROR_ACCEL_DATA_UNDERFLOW
+ *          - (81)      INV_ERROR_ACCEL_DATA_NOT_READY
+ *          - (82)      INV_ERROR_ACCEL_DATA_ERROR
+ *
+ *  @{
+ *      @file mltypes.h
+ *  @}
+ */
+
+#ifndef MLTYPES_H
+#define MLTYPES_H
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#else
+#include "stdint_invensense.h"
+#endif
+
+/*---------------------------
+    ML Types
+---------------------------*/
+
+/**
+ *  @struct inv_error_t mltypes.h "mltypes"
+ *  @brief  The MPL Error Code return type.
+ *
+ *  @code
+ *      typedef unsigned char inv_error_t;
+ *  @endcode
+ */
+typedef unsigned char inv_error_t;
+
+#ifndef __cplusplus
+#ifndef __KERNEL__
+typedef int_fast8_t bool;
+#endif
+#endif
+
+/*---------------------------
+    ML Defines
+---------------------------*/
+
+#ifndef NULL
+#define NULL 0
+#endif
+
+#ifndef TRUE
+#define TRUE 1
+#endif
+
+#ifndef FALSE
+#define FALSE 0
+#endif
+
+#ifndef __KERNEL__
+#ifndef ARRAY_SIZE
+/* Dimension of an array */
+#define ARRAY_SIZE(array) (sizeof(array)/sizeof((array)[0]))
+#endif
+#endif
+/* - ML Errors. - */
+#define ERROR_NAME(x)   (#x)
+#define ERROR_CHECK_FIRST(first, x)                                     \
+	{ if (INV_SUCCESS == first) first = x; }
+
+#define INV_SUCCESS                       (0)
+/* Generic Error code.  Proprietary Error Codes only */
+#define INV_ERROR                         (1)
+
+/* Compatibility and other generic error codes */
+#define INV_ERROR_INVALID_PARAMETER       (2)
+#define INV_ERROR_FEATURE_NOT_ENABLED     (3)
+#define INV_ERROR_FEATURE_NOT_IMPLEMENTED (4)
+#define INV_ERROR_DMP_NOT_STARTED         (6)
+#define INV_ERROR_DMP_STARTED             (7)
+#define INV_ERROR_NOT_OPENED              (8)
+#define INV_ERROR_OPENED                  (9)
+#define INV_ERROR_INVALID_MODULE         (10)
+#define INV_ERROR_MEMORY_EXAUSTED        (11)
+#define INV_ERROR_DIVIDE_BY_ZERO         (12)
+#define INV_ERROR_ASSERTION_FAILURE      (13)
+#define INV_ERROR_FILE_OPEN              (14)
+#define INV_ERROR_FILE_READ              (15)
+#define INV_ERROR_FILE_WRITE             (16)
+#define INV_ERROR_INVALID_CONFIGURATION  (17)
+
+/* Serial Communication */
+#define INV_ERROR_SERIAL_CLOSED          (20)
+#define INV_ERROR_SERIAL_OPEN_ERROR      (21)
+#define INV_ERROR_SERIAL_READ            (22)
+#define INV_ERROR_SERIAL_WRITE           (23)
+#define INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED  (24)
+
+/* SM = State Machine */
+#define INV_ERROR_SM_TRANSITION          (25)
+#define INV_ERROR_SM_IMPROPER_STATE      (26)
+
+/* Fifo */
+#define INV_ERROR_FIFO_OVERFLOW          (30)
+#define INV_ERROR_FIFO_FOOTER            (31)
+#define INV_ERROR_FIFO_READ_COUNT        (32)
+#define INV_ERROR_FIFO_READ_DATA         (33)
+
+/* Memory & Registers, Set & Get */
+#define INV_ERROR_MEMORY_SET             (40)
+
+#define INV_ERROR_LOG_MEMORY_ERROR       (50)
+#define INV_ERROR_LOG_OUTPUT_ERROR       (51)
+
+/* OS interface errors */
+#define INV_ERROR_OS_BAD_PTR             (60)
+#define INV_ERROR_OS_BAD_HANDLE          (61)
+#define INV_ERROR_OS_CREATE_FAILED       (62)
+#define INV_ERROR_OS_LOCK_FAILED         (63)
+
+/* Compass errors */
+#define INV_ERROR_COMPASS_DATA_OVERFLOW  (70)
+#define INV_ERROR_COMPASS_DATA_UNDERFLOW (71)
+#define INV_ERROR_COMPASS_DATA_NOT_READY (72)
+#define INV_ERROR_COMPASS_DATA_ERROR     (73)
+
+/* Load/Store calibration */
+#define INV_ERROR_CALIBRATION_LOAD       (75)
+#define INV_ERROR_CALIBRATION_STORE      (76)
+#define INV_ERROR_CALIBRATION_LEN        (77)
+#define INV_ERROR_CALIBRATION_CHECKSUM   (78)
+
+/* Accel errors */
+#define INV_ERROR_ACCEL_DATA_OVERFLOW    (79)
+#define INV_ERROR_ACCEL_DATA_UNDERFLOW   (80)
+#define INV_ERROR_ACCEL_DATA_NOT_READY   (81)
+#define INV_ERROR_ACCEL_DATA_ERROR       (82)
+
+#ifdef INV_USE_LEGACY_NAMES
+#define ML_SUCCESS                       INV_SUCCESS
+#define ML_ERROR                         INV_ERROR
+#define ML_ERROR_INVALID_PARAMETER       INV_ERROR_INVALID_PARAMETER
+#define ML_ERROR_FEATURE_NOT_ENABLED     INV_ERROR_FEATURE_NOT_ENABLED
+#define ML_ERROR_FEATURE_NOT_IMPLEMENTED INV_ERROR_FEATURE_NOT_IMPLEMENTED
+#define ML_ERROR_DMP_NOT_STARTED         INV_ERROR_DMP_NOT_STARTED
+#define ML_ERROR_DMP_STARTED             INV_ERROR_DMP_STARTED
+#define ML_ERROR_NOT_OPENED              INV_ERROR_NOT_OPENED
+#define ML_ERROR_OPENED                  INV_ERROR_OPENED
+#define ML_ERROR_INVALID_MODULE          INV_ERROR_INVALID_MODULE
+#define ML_ERROR_MEMORY_EXAUSTED         INV_ERROR_MEMORY_EXAUSTED
+#define ML_ERROR_DIVIDE_BY_ZERO          INV_ERROR_DIVIDE_BY_ZERO
+#define ML_ERROR_ASSERTION_FAILURE       INV_ERROR_ASSERTION_FAILURE
+#define ML_ERROR_FILE_OPEN               INV_ERROR_FILE_OPEN
+#define ML_ERROR_FILE_READ               INV_ERROR_FILE_READ
+#define ML_ERROR_FILE_WRITE              INV_ERROR_FILE_WRITE
+#define ML_ERROR_INVALID_CONFIGURATION   INV_ERROR_INVALID_CONFIGURATION
+#define ML_ERROR_SERIAL_CLOSED           INV_ERROR_SERIAL_CLOSED
+#define ML_ERROR_SERIAL_OPEN_ERROR       INV_ERROR_SERIAL_OPEN_ERROR
+#define ML_ERROR_SERIAL_READ             INV_ERROR_SERIAL_READ
+#define ML_ERROR_SERIAL_WRITE            INV_ERROR_SERIAL_WRITE
+#define ML_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED  \
+	INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED
+#define ML_ERROR_SM_TRANSITION          INV_ERROR_SM_TRANSITION
+#define ML_ERROR_SM_IMPROPER_STATE      INV_ERROR_SM_IMPROPER_STATE
+#define ML_ERROR_FIFO_OVERFLOW          INV_ERROR_FIFO_OVERFLOW
+#define ML_ERROR_FIFO_FOOTER            INV_ERROR_FIFO_FOOTER
+#define ML_ERROR_FIFO_READ_COUNT        INV_ERROR_FIFO_READ_COUNT
+#define ML_ERROR_FIFO_READ_DATA         INV_ERROR_FIFO_READ_DATA
+#define ML_ERROR_MEMORY_SET             INV_ERROR_MEMORY_SET
+#define ML_ERROR_LOG_MEMORY_ERROR       INV_ERROR_LOG_MEMORY_ERROR
+#define ML_ERROR_LOG_OUTPUT_ERROR       INV_ERROR_LOG_OUTPUT_ERROR
+#define ML_ERROR_OS_BAD_PTR             INV_ERROR_OS_BAD_PTR
+#define ML_ERROR_OS_BAD_HANDLE          INV_ERROR_OS_BAD_HANDLE
+#define ML_ERROR_OS_CREATE_FAILED       INV_ERROR_OS_CREATE_FAILED
+#define ML_ERROR_OS_LOCK_FAILED         INV_ERROR_OS_LOCK_FAILED
+#define ML_ERROR_COMPASS_DATA_OVERFLOW  INV_ERROR_COMPASS_DATA_OVERFLOW
+#define ML_ERROR_COMPASS_DATA_UNDERFLOW INV_ERROR_COMPASS_DATA_UNDERFLOW
+#define ML_ERROR_COMPASS_DATA_NOT_READY INV_ERROR_COMPASS_DATA_NOT_READY
+#define ML_ERROR_COMPASS_DATA_ERROR     INV_ERROR_COMPASS_DATA_ERROR
+#define ML_ERROR_CALIBRATION_LOAD       INV_ERROR_CALIBRATION_LOAD
+#define ML_ERROR_CALIBRATION_STORE      INV_ERROR_CALIBRATION_STORE
+#define ML_ERROR_CALIBRATION_LEN        INV_ERROR_CALIBRATION_LEN
+#define ML_ERROR_CALIBRATION_CHECKSUM   INV_ERROR_CALIBRATION_CHECKSUM
+#define ML_ERROR_ACCEL_DATA_OVERFLOW    INV_ERROR_ACCEL_DATA_OVERFLOW
+#define ML_ERROR_ACCEL_DATA_UNDERFLOW   INV_ERROR_ACCEL_DATA_UNDERFLOW
+#define ML_ERROR_ACCEL_DATA_NOT_READY   INV_ERROR_ACCEL_DATA_NOT_READY
+#define ML_ERROR_ACCEL_DATA_ERROR       INV_ERROR_ACCEL_DATA_ERROR
+#endif
+
+/* For Linux coding compliance */
+#ifndef __KERNEL__
+#define EXPORT_SYMBOL(x)
+#endif
+
+/*---------------------------
+    p-Types
+---------------------------*/
+
+#endif				/* MLTYPES_H */
diff --git a/invensense/mlsdk/platform/include/mpu3050.h b/invensense/mlsdk/platform/include/mpu3050.h
new file mode 100644
index 0000000..c363a00
--- /dev/null
+++ b/invensense/mlsdk/platform/include/mpu3050.h
@@ -0,0 +1,255 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __MPU_H_
+#error Do not include this file directly.  Include mpu.h instead.
+#endif
+
+#ifndef __MPU3050_H_
+#define __MPU3050_H_
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#endif
+
+#if !defined CONFIG_MPU_SENSORS_MPU3050
+#error MPU6000 build including MPU3050 header
+#endif
+
+#define MPU_NAME "mpu3050"
+#define DEFAULT_MPU_SLAVEADDR       0x68
+
+/*==== MPU REGISTER SET ====*/
+enum mpu_register {
+	MPUREG_WHO_AM_I = 0,	/* 00 0x00 */
+	MPUREG_PRODUCT_ID,	/* 01 0x01 */
+	MPUREG_02_RSVD,		/* 02 0x02 */
+	MPUREG_03_RSVD,		/* 03 0x03 */
+	MPUREG_04_RSVD,		/* 04 0x04 */
+	MPUREG_XG_OFFS_TC,	/* 05 0x05 */
+	MPUREG_06_RSVD,		/* 06 0x06 */
+	MPUREG_07_RSVD,		/* 07 0x07 */
+	MPUREG_YG_OFFS_TC,	/* 08 0x08 */
+	MPUREG_09_RSVD,		/* 09 0x09 */
+	MPUREG_0A_RSVD,		/* 10 0x0a */
+	MPUREG_ZG_OFFS_TC,	/* 11 0x0b */
+	MPUREG_X_OFFS_USRH,	/* 12 0x0c */
+	MPUREG_X_OFFS_USRL,	/* 13 0x0d */
+	MPUREG_Y_OFFS_USRH,	/* 14 0x0e */
+	MPUREG_Y_OFFS_USRL,	/* 15 0x0f */
+	MPUREG_Z_OFFS_USRH,	/* 16 0x10 */
+	MPUREG_Z_OFFS_USRL,	/* 17 0x11 */
+	MPUREG_FIFO_EN1,	/* 18 0x12 */
+	MPUREG_FIFO_EN2,	/* 19 0x13 */
+	MPUREG_AUX_SLV_ADDR,	/* 20 0x14 */
+	MPUREG_SMPLRT_DIV,	/* 21 0x15 */
+	MPUREG_DLPF_FS_SYNC,	/* 22 0x16 */
+	MPUREG_INT_CFG,		/* 23 0x17 */
+	MPUREG_ACCEL_BURST_ADDR,/* 24 0x18 */
+	MPUREG_19_RSVD,		/* 25 0x19 */
+	MPUREG_INT_STATUS,	/* 26 0x1a */
+	MPUREG_TEMP_OUT_H,	/* 27 0x1b */
+	MPUREG_TEMP_OUT_L,	/* 28 0x1c */
+	MPUREG_GYRO_XOUT_H,	/* 29 0x1d */
+	MPUREG_GYRO_XOUT_L,	/* 30 0x1e */
+	MPUREG_GYRO_YOUT_H,	/* 31 0x1f */
+	MPUREG_GYRO_YOUT_L,	/* 32 0x20 */
+	MPUREG_GYRO_ZOUT_H,	/* 33 0x21 */
+	MPUREG_GYRO_ZOUT_L,	/* 34 0x22 */
+	MPUREG_23_RSVD,		/* 35 0x23 */
+	MPUREG_24_RSVD,		/* 36 0x24 */
+	MPUREG_25_RSVD,		/* 37 0x25 */
+	MPUREG_26_RSVD,		/* 38 0x26 */
+	MPUREG_27_RSVD,		/* 39 0x27 */
+	MPUREG_28_RSVD,		/* 40 0x28 */
+	MPUREG_29_RSVD,		/* 41 0x29 */
+	MPUREG_2A_RSVD,		/* 42 0x2a */
+	MPUREG_2B_RSVD,		/* 43 0x2b */
+	MPUREG_2C_RSVD,		/* 44 0x2c */
+	MPUREG_2D_RSVD,		/* 45 0x2d */
+	MPUREG_2E_RSVD,		/* 46 0x2e */
+	MPUREG_2F_RSVD,		/* 47 0x2f */
+	MPUREG_30_RSVD,		/* 48 0x30 */
+	MPUREG_31_RSVD,		/* 49 0x31 */
+	MPUREG_32_RSVD,		/* 50 0x32 */
+	MPUREG_33_RSVD,		/* 51 0x33 */
+	MPUREG_34_RSVD,		/* 52 0x34 */
+	MPUREG_DMP_CFG_1,	/* 53 0x35 */
+	MPUREG_DMP_CFG_2,	/* 54 0x36 */
+	MPUREG_BANK_SEL,	/* 55 0x37 */
+	MPUREG_MEM_START_ADDR,	/* 56 0x38 */
+	MPUREG_MEM_R_W,		/* 57 0x39 */
+	MPUREG_FIFO_COUNTH,	/* 58 0x3a */
+	MPUREG_FIFO_COUNTL,	/* 59 0x3b */
+	MPUREG_FIFO_R_W,	/* 60 0x3c */
+	MPUREG_USER_CTRL,	/* 61 0x3d */
+	MPUREG_PWR_MGM,		/* 62 0x3e */
+	MPUREG_3F_RSVD,		/* 63 0x3f */
+	NUM_OF_MPU_REGISTERS	/* 64 0x40 */
+};
+
+/*==== BITS FOR MPU ====*/
+
+/*---- MPU 'FIFO_EN1' register (12) ----*/
+#define BIT_TEMP_OUT                0x80
+#define BIT_GYRO_XOUT               0x40
+#define BIT_GYRO_YOUT               0x20
+#define BIT_GYRO_ZOUT               0x10
+#define BIT_ACCEL_XOUT              0x08
+#define BIT_ACCEL_YOUT              0x04
+#define BIT_ACCEL_ZOUT              0x02
+#define BIT_AUX_1OUT                0x01
+/*---- MPU 'FIFO_EN2' register (13) ----*/
+#define BIT_AUX_2OUT                0x02
+#define BIT_AUX_3OUT                0x01
+/*---- MPU 'DLPF_FS_SYNC' register (16) ----*/
+#define BITS_EXT_SYNC_NONE          0x00
+#define BITS_EXT_SYNC_TEMP          0x20
+#define BITS_EXT_SYNC_GYROX         0x40
+#define BITS_EXT_SYNC_GYROY         0x60
+#define BITS_EXT_SYNC_GYROZ         0x80
+#define BITS_EXT_SYNC_ACCELX        0xA0
+#define BITS_EXT_SYNC_ACCELY        0xC0
+#define BITS_EXT_SYNC_ACCELZ        0xE0
+#define BITS_EXT_SYNC_MASK          0xE0
+#define BITS_FS_250DPS              0x00
+#define BITS_FS_500DPS              0x08
+#define BITS_FS_1000DPS             0x10
+#define BITS_FS_2000DPS             0x18
+#define BITS_FS_MASK                0x18
+#define BITS_DLPF_CFG_256HZ_NOLPF2  0x00
+#define BITS_DLPF_CFG_188HZ         0x01
+#define BITS_DLPF_CFG_98HZ          0x02
+#define BITS_DLPF_CFG_42HZ          0x03
+#define BITS_DLPF_CFG_20HZ          0x04
+#define BITS_DLPF_CFG_10HZ          0x05
+#define BITS_DLPF_CFG_5HZ           0x06
+#define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
+#define BITS_DLPF_CFG_MASK          0x07
+/*---- MPU 'INT_CFG' register (17) ----*/
+#define BIT_ACTL                    0x80
+#define BIT_ACTL_LOW                0x80
+#define BIT_ACTL_HIGH               0x00
+#define BIT_OPEN                    0x40
+#define BIT_OPEN_DRAIN              0x40
+#define BIT_PUSH_PULL               0x00
+#define BIT_LATCH_INT_EN            0x20
+#define BIT_INT_PULSE_WIDTH_50US    0x00
+#define BIT_INT_ANYRD_2CLEAR        0x10
+#define BIT_INT_STAT_READ_2CLEAR    0x00
+#define BIT_MPU_RDY_EN              0x04
+#define BIT_DMP_INT_EN              0x02
+#define BIT_RAW_RDY_EN              0x01
+/*---- MPU 'INT_STATUS' register (1A) ----*/
+#define BIT_INT_STATUS_FIFO_OVERLOW 0x80
+#define BIT_MPU_RDY                 0x04
+#define BIT_DMP_INT                 0x02
+#define BIT_RAW_RDY                 0x01
+/*---- MPU 'BANK_SEL' register (37) ----*/
+#define BIT_PRFTCH_EN               0x20
+#define BIT_CFG_USER_BANK           0x10
+#define BITS_MEM_SEL                0x0f
+/*---- MPU 'USER_CTRL' register (3D) ----*/
+#define BIT_DMP_EN                  0x80
+#define BIT_FIFO_EN                 0x40
+#define BIT_AUX_IF_EN               0x20
+#define BIT_AUX_RD_LENG             0x10
+#define BIT_AUX_IF_RST              0x08
+#define BIT_DMP_RST                 0x04
+#define BIT_FIFO_RST                0x02
+#define BIT_GYRO_RST                0x01
+/*---- MPU 'PWR_MGM' register (3E) ----*/
+#define BIT_H_RESET                 0x80
+#define BIT_SLEEP                   0x40
+#define BIT_STBY_XG                 0x20
+#define BIT_STBY_YG                 0x10
+#define BIT_STBY_ZG                 0x08
+#define BITS_CLKSEL                 0x07
+
+/*---- MPU Silicon Revision ----*/
+#define MPU_SILICON_REV_A4           1	/* MPU A4 Device */
+#define MPU_SILICON_REV_B1           2	/* MPU B1 Device */
+#define MPU_SILICON_REV_B4           3	/* MPU B4 Device */
+#define MPU_SILICON_REV_B6           4	/* MPU B6 Device */
+
+/*---- MPU Memory ----*/
+#define MPU_MEM_BANK_SIZE           (256)
+#define FIFO_HW_SIZE                (512)
+
+enum MPU_MEMORY_BANKS {
+	MPU_MEM_RAM_BANK_0 = 0,
+	MPU_MEM_RAM_BANK_1,
+	MPU_MEM_RAM_BANK_2,
+	MPU_MEM_RAM_BANK_3,
+	MPU_MEM_NUM_RAM_BANKS,
+	MPU_MEM_OTP_BANK_0 = MPU_MEM_NUM_RAM_BANKS,
+	/* This one is always last */
+	MPU_MEM_NUM_BANKS
+};
+
+/*---- structure containing control variables used by MLDL ----*/
+/*---- MPU clock source settings ----*/
+/*---- MPU filter selections ----*/
+enum mpu_filter {
+	MPU_FILTER_256HZ_NOLPF2 = 0,
+	MPU_FILTER_188HZ,
+	MPU_FILTER_98HZ,
+	MPU_FILTER_42HZ,
+	MPU_FILTER_20HZ,
+	MPU_FILTER_10HZ,
+	MPU_FILTER_5HZ,
+	MPU_FILTER_2100HZ_NOLPF,
+	NUM_MPU_FILTER
+};
+
+enum mpu_fullscale {
+	MPU_FS_250DPS = 0,
+	MPU_FS_500DPS,
+	MPU_FS_1000DPS,
+	MPU_FS_2000DPS,
+	NUM_MPU_FS
+};
+
+enum mpu_clock_sel {
+	MPU_CLK_SEL_INTERNAL = 0,
+	MPU_CLK_SEL_PLLGYROX,
+	MPU_CLK_SEL_PLLGYROY,
+	MPU_CLK_SEL_PLLGYROZ,
+	MPU_CLK_SEL_PLLEXT32K,
+	MPU_CLK_SEL_PLLEXT19M,
+	MPU_CLK_SEL_RESERVED,
+	MPU_CLK_SEL_STOP,
+	NUM_CLK_SEL
+};
+
+enum mpu_ext_sync {
+	MPU_EXT_SYNC_NONE = 0,
+	MPU_EXT_SYNC_TEMP,
+	MPU_EXT_SYNC_GYROX,
+	MPU_EXT_SYNC_GYROY,
+	MPU_EXT_SYNC_GYROZ,
+	MPU_EXT_SYNC_ACCELX,
+	MPU_EXT_SYNC_ACCELY,
+	MPU_EXT_SYNC_ACCELZ,
+	NUM_MPU_EXT_SYNC
+};
+
+#define DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \
+	((ext_sync << 5) | (full_scale << 3) | lpf)
+
+#endif				/* __MPU3050_H_ */
diff --git a/invensense/mlsdk/platform/include/stdint_invensense.h b/invensense/mlsdk/platform/include/stdint_invensense.h
new file mode 100644
index 0000000..d238813
--- /dev/null
+++ b/invensense/mlsdk/platform/include/stdint_invensense.h
@@ -0,0 +1,51 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef STDINT_INVENSENSE_H
+#define STDINT_INVENSENSE_H
+
+#ifndef WIN32
+
+#ifdef __KERNEL__
+#include <linux/types.h>
+#else
+#include <stdint.h>
+#endif
+
+#else
+
+#include <windows.h>
+
+typedef char int8_t;
+typedef short int16_t;
+typedef long int32_t;
+
+typedef unsigned char uint8_t;
+typedef unsigned short uint16_t;
+typedef unsigned long uint32_t;
+
+typedef int int_fast8_t;
+typedef int int_fast16_t;
+typedef long int_fast32_t;
+
+typedef unsigned int uint_fast8_t;
+typedef unsigned int uint_fast16_t;
+typedef unsigned long uint_fast32_t;
+
+#endif
+
+#endif // STDINT_INVENSENSE_H
diff --git a/invensense/mlsdk/platform/linux/kernel/mpuirq.h b/invensense/mlsdk/platform/linux/kernel/mpuirq.h
new file mode 100644
index 0000000..352170b
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/kernel/mpuirq.h
@@ -0,0 +1,41 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __MPUIRQ__
+#define __MPUIRQ__
+
+#ifdef __KERNEL__
+#include <linux/time.h>
+#include <linux/ioctl.h>
+#include "mldl_cfg.h"
+#else
+#include <sys/ioctl.h>
+#include <sys/time.h>
+#endif
+
+#define MPUIRQ_SET_TIMEOUT           _IOW(MPU_IOCTL, 0x40, unsigned long)
+#define MPUIRQ_GET_INTERRUPT_CNT     _IOR(MPU_IOCTL, 0x41, unsigned long)
+#define MPUIRQ_GET_IRQ_TIME          _IOR(MPU_IOCTL, 0x42, struct timeval)
+#define MPUIRQ_SET_FREQUENCY_DIVIDER _IOW(MPU_IOCTL, 0x43, unsigned long)
+
+#ifdef __KERNEL__
+void mpuirq_exit(void);
+int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg);
+#endif
+
+#endif
diff --git a/invensense/mlsdk/platform/linux/kernel/slaveirq.h b/invensense/mlsdk/platform/linux/kernel/slaveirq.h
new file mode 100644
index 0000000..beb352b
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/kernel/slaveirq.h
@@ -0,0 +1,35 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __SLAVEIRQ__
+#define __SLAVEIRQ__
+
+#include <linux/mpu.h>
+#include "mpuirq.h"
+
+#define SLAVEIRQ_SET_TIMEOUT           _IOW(MPU_IOCTL, 0x50, unsigned long)
+#define SLAVEIRQ_GET_INTERRUPT_CNT     _IOR(MPU_IOCTL, 0x51, unsigned long)
+#define SLAVEIRQ_GET_IRQ_TIME          _IOR(MPU_IOCTL, 0x52, unsigned long)
+
+
+void slaveirq_exit(struct ext_slave_platform_data *pdata);
+int slaveirq_init(struct i2c_adapter *slave_adapter,
+		  struct ext_slave_platform_data *pdata, char *name);
+
+
+#endif
diff --git a/invensense/mlsdk/platform/linux/kernel/timerirq.h b/invensense/mlsdk/platform/linux/kernel/timerirq.h
new file mode 100644
index 0000000..dc3eea2
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/kernel/timerirq.h
@@ -0,0 +1,29 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+#ifndef __TIMERIRQ__
+#define __TIMERIRQ__
+
+#include <linux/mpu.h>
+
+#define TIMERIRQ_SET_TIMEOUT           _IOW(MPU_IOCTL, 0x60, unsigned long)
+#define TIMERIRQ_GET_INTERRUPT_CNT     _IOW(MPU_IOCTL, 0x61, unsigned long)
+#define TIMERIRQ_START                 _IOW(MPU_IOCTL, 0x62, unsigned long)
+#define TIMERIRQ_STOP                  _IO(MPU_IOCTL, 0x63)
+
+#endif
diff --git a/invensense/mlsdk/platform/linux/log_linux.c b/invensense/mlsdk/platform/linux/log_linux.c
new file mode 100644
index 0000000..7f7de0e
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/log_linux.c
@@ -0,0 +1,114 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/******************************************************************************
+ * $Id: log_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
+ ******************************************************************************/
+
+/**
+ * @defgroup MPL_LOG
+ * @brief Logging facility for the MPL
+ *
+ * @{
+ *      @file     log.c
+ *      @brief    Core logging facility functions.
+ *
+ *
+**/
+
+#include <stdio.h>
+#include <string.h>
+#include "log.h"
+#include "mltypes.h"
+
+#define LOG_BUFFER_SIZE (256)
+
+#ifdef WIN32
+#define snprintf _snprintf
+#define vsnprintf _vsnprintf
+#endif
+
+int _MLPrintLog (int priority, const char* tag, const char* fmt, ...)
+{
+    va_list ap;
+    int result;
+
+    va_start(ap, fmt);
+    result = _MLPrintVaLog(priority,tag,fmt,ap);
+    va_end(ap);
+
+    return result;
+}
+
+int _MLPrintVaLog(int priority, const char* tag, const char* fmt, va_list args)
+{
+    int result;
+    char buf[LOG_BUFFER_SIZE];
+    char new_fmt[LOG_BUFFER_SIZE];
+    char priority_char;
+
+    if (NULL == fmt) {
+        fmt = "";
+    }
+
+    switch (priority) {
+    case MPL_LOG_UNKNOWN:
+        priority_char = 'U';
+        break;
+    case MPL_LOG_VERBOSE:
+        priority_char = 'V';
+        break;
+    case MPL_LOG_DEBUG:
+        priority_char = 'D';
+        break;
+    case MPL_LOG_INFO:
+        priority_char = 'I';
+        break;
+    case MPL_LOG_WARN:
+        priority_char = 'W';
+        break;
+    case MPL_LOG_ERROR:
+        priority_char = 'E';
+        break;
+    case MPL_LOG_SILENT:
+        priority_char = 'S';
+        break;
+    case MPL_LOG_DEFAULT:
+    default:
+        priority_char = 'D';
+        break;
+    };
+
+    result = snprintf(new_fmt, sizeof(new_fmt), "%c/%s:%s",
+                       priority_char, tag, fmt);
+    if (result <= 0) {
+        return INV_ERROR_LOG_MEMORY_ERROR;
+    }
+    result = vsnprintf(buf,sizeof(buf),new_fmt, args);
+    if (result <= 0) {
+        return INV_ERROR_LOG_OUTPUT_ERROR;
+    }
+
+    result = _MLWriteLog(buf, strlen(buf));
+    return INV_SUCCESS;
+}
+
+/**
+ * @}
+**/
+
+
diff --git a/invensense/mlsdk/platform/linux/log_printf_linux.c b/invensense/mlsdk/platform/linux/log_printf_linux.c
new file mode 100644
index 0000000..e6499f3
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/log_printf_linux.c
@@ -0,0 +1,43 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: log_printf_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup MPL_LOG
+ *
+ * @{
+ *      @file   log_printf.c
+ *      @brief  printf replacement for _MLWriteLog.
+ */
+
+#include <stdio.h>
+#include "log.h"
+
+int _MLWriteLog (const char * buf, int buflen)
+{
+    return fputs(buf, stdout);
+}
+
+/**
+ * @}
+ */
+
diff --git a/invensense/mlsdk/platform/linux/mlos_linux.c b/invensense/mlsdk/platform/linux/mlos_linux.c
new file mode 100644
index 0000000..8704f4b
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/mlos_linux.c
@@ -0,0 +1,206 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+/*******************************************************************************
+ *
+ * $Id: mlos_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
+ *
+ *******************************************************************************/
+
+/**
+ *  @defgroup MLOS
+ *  @brief OS Interface.
+ *
+ *  @{
+ *      @file mlos.c
+ *      @brief OS Interface.
+**/
+
+/* ------------- */
+/* - Includes. - */
+/* ------------- */
+
+#include <sys/time.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdlib.h>
+
+#include "stdint_invensense.h"
+
+#include "mlos.h"
+#include <errno.h>
+
+
+/* -------------- */
+/* - Functions. - */
+/* -------------- */
+
+/**
+ *  @brief  Allocate space
+ *  @param  numBytes  number of bytes
+ *  @return pointer to allocated space
+**/
+void *inv_malloc(unsigned int numBytes)
+{
+    // Allocate space.
+    void *allocPtr = malloc(numBytes);
+    return allocPtr;
+}
+
+
+/**
+ *  @brief  Free allocated space
+ *  @param  ptr pointer to space to deallocate
+ *  @return error code.
+**/
+inv_error_t inv_free(void *ptr)
+{
+    // Deallocate space.
+    free(ptr);
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  Mutex create function
+ *  @param  mutex   pointer to mutex handle
+ *  @return error code.
+ */
+inv_error_t inv_create_mutex(HANDLE *mutex)
+{
+    int res;
+    pthread_mutex_t *pm = malloc(sizeof(pthread_mutex_t));
+    if(pm == NULL)
+        return INV_ERROR;
+
+    res = pthread_mutex_init(pm, NULL);
+    if(res == -1) {
+        free(pm);
+        return INV_ERROR_OS_CREATE_FAILED;
+    }
+
+    *mutex = (HANDLE)pm;
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  Mutex lock function
+ *  @param  mutex   Mutex handle
+ *  @return error code.
+ */
+inv_error_t inv_lock_mutex(HANDLE mutex)
+{
+    int res;
+    pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
+
+    res = pthread_mutex_lock(pm);
+    if(res == -1)
+        return INV_ERROR_OS_LOCK_FAILED;
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  Mutex unlock function
+ *  @param  mutex   mutex handle
+ *  @return error code.
+**/
+inv_error_t inv_unlock_mutex(HANDLE mutex)
+{
+    int res;
+    pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
+
+    res = pthread_mutex_unlock(pm);
+    if(res == -1)
+        return INV_ERROR_OS_LOCK_FAILED;
+
+    return INV_SUCCESS;
+}
+
+
+/**
+ *  @brief  open file
+ *  @param  filename    name of the file to open.
+ *  @return error code.
+ */
+FILE *inv_fopen(char *filename)
+{
+    FILE *fp = fopen(filename,"r");
+    return fp;
+}
+
+
+/**
+ *  @brief  close the file.
+ *  @param  fp  handle to file to close.
+ *  @return error code.
+ */
+void inv_fclose(FILE *fp)
+{
+    fclose(fp);
+}
+
+/**
+ *  @brief  Close Handle
+ *  @param  handle  handle to the resource.
+ *  @return Zero if success, an error code otherwise.
+ */
+inv_error_t inv_destroy_mutex(HANDLE handle)
+{
+    int error;
+    pthread_mutex_t *pm = (pthread_mutex_t*)handle;
+    error = pthread_mutex_destroy(pm);
+    if (error) {
+        return errno;
+    }
+    free((void*) handle);
+
+    return INV_SUCCESS;}
+
+
+/**
+ *  @brief  Sleep function.
+ */
+void inv_sleep(int mSecs)
+{
+    usleep(mSecs*1000);
+}
+
+
+/**
+ *  @brief  get system's internal tick count.
+ *          Used for time reference.
+ *  @return current tick count.
+ */
+unsigned long inv_get_tick_count()
+{
+    struct timeval tv;
+
+    if (gettimeofday(&tv, NULL) !=0)
+        return 0;
+
+    return (long)((tv.tv_sec * 1000000LL + tv.tv_usec) / 1000LL);
+}
+
+  /**********************/
+ /** @} */ /* defgroup */
+/**********************/
+
diff --git a/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c b/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c
new file mode 100644
index 0000000..1bd71de
--- /dev/null
+++ b/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c
@@ -0,0 +1,497 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+
+/******************************************************************************
+ * $Id: mlsl_linux_mpu.c 5653 2011-06-16 21:06:55Z nroyer $
+ *****************************************************************************/
+
+/**
+ *  @defgroup MLSL (Motion Library - Serial Layer)
+ *  @brief  The Motion Library System Layer provides the Motion Library the
+ *          interface to the system functions.
+ *
+ *  @{
+ *      @file   mlsl_linux_mpu.c
+ *      @brief  The Motion Library System Layer.
+ *
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+#include <linux/fs.h>
+#include <linux/i2c.h>
+#include <string.h>
+#include <signal.h>
+#include <time.h>
+
+#include "mpu.h"
+#if defined CONFIG_MPU_SENSORS_MPU6050A2
+#    include "mpu6050a2.h"
+#elif defined CONFIG_MPU_SENSORS_MPU6050B1
+#    include "mpu6050b1.h"
+#elif defined CONFIG_MPU_SENSORS_MPU3050
+#  include "mpu3050.h"
+#else
+#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
+#endif
+
+#include "mlsl.h"
+#include "mlos.h"
+#include "mlmath.h"
+#include "mlinclude.h"
+
+#define MLCAL_ID      (0x0A0B0C0DL)
+#define MLCAL_FILE    "/data/cal.bin"
+#define MLCFG_ID      (0x01020304L)
+#define MLCFG_FILE    "/data/cfg.bin"
+
+#include <log.h>
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-mlsl"
+
+#ifndef I2CDEV
+#define I2CDEV "/dev/mpu"
+#endif
+
+#define SERIAL_FULL_DEBUG (0)
+
+/* --------------- */
+/* - Prototypes. - */
+/* --------------- */
+
+/* ----------------------- */
+/* -  Function Pointers. - */
+/* ----------------------- */
+
+/* --------------------------- */
+/* - Global and Static vars. - */
+/* --------------------------- */
+
+/* ---------------- */
+/* - Definitions. - */
+/* ---------------- */
+
+inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len)
+{
+    FILE *fp;
+    int bytesRead;
+
+    fp = fopen(MLCFG_FILE, "rb");
+    if (fp == NULL) {
+        MPL_LOGE("Unable to open \"%s\" for read\n", MLCFG_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+    bytesRead = fread(cfg, 1, len, fp);
+    if (bytesRead != len) {
+        MPL_LOGE("bytes read (%d) don't match requested length (%d)\n",
+                 bytesRead, len);
+        return INV_ERROR_FILE_READ;
+    }
+    fclose(fp);
+
+    if (((unsigned int)cfg[0] << 24 | cfg[1] << 16 | cfg[2] << 8 | cfg[3])
+        != MLCFG_ID) {
+        return INV_ERROR_ASSERTION_FAILURE;
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len)
+{
+    FILE *fp;
+    int bytesWritten;
+    unsigned char cfgId[4];
+
+    fp = fopen(MLCFG_FILE,"wb");
+    if (fp == NULL) {
+        MPL_LOGE("Unable to open \"%s\" for write\n", MLCFG_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+
+    cfgId[0] = (unsigned char)(MLCFG_ID >> 24);
+    cfgId[1] = (unsigned char)(MLCFG_ID >> 16);
+    cfgId[2] = (unsigned char)(MLCFG_ID >> 8);
+    cfgId[3] = (unsigned char)(MLCFG_ID);
+    bytesWritten = fwrite(cfgId, 1, 4, fp);
+    if (bytesWritten != 4) {
+        MPL_LOGE("CFG ID could not be written on file\n");
+        return INV_ERROR_FILE_WRITE;
+    }
+
+    bytesWritten = fwrite(cfg, 1, len, fp);
+    if (bytesWritten != len) {
+        MPL_LOGE("bytes write (%d) don't match requested length (%d)\n",
+                 bytesWritten, len);
+        return INV_ERROR_FILE_WRITE;
+    }
+
+    fclose(fp);
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len)
+{
+    FILE *fp;
+    int bytesRead;
+    inv_error_t result = INV_SUCCESS;
+
+    fp = fopen(MLCAL_FILE,"rb");
+    if (fp == NULL) {
+        MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+    bytesRead = fread(cal, 1, len, fp);
+    if (bytesRead != len) {
+        MPL_LOGE("bytes read (%d) don't match requested length (%d)\n",
+                 bytesRead, len);
+        result = INV_ERROR_FILE_READ;
+        goto read_cal_end;
+    }
+
+    /* MLCAL_ID not used
+    if (((unsigned int)cal[0] << 24 | cal[1] << 16 | cal[2] << 8 | cal[3])
+        != MLCAL_ID) {
+        result = INV_ERROR_ASSERTION_FAILURE;
+        goto read_cal_end;
+    }
+    */
+read_cal_end:
+    fclose(fp);
+    return result;
+}
+
+inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len)
+{
+    FILE *fp;
+    int bytesWritten;
+    inv_error_t result = INV_SUCCESS;
+
+    fp = fopen(MLCAL_FILE,"wb");
+    if (fp == NULL) {
+        MPL_LOGE("Cannot open file \"%s\" for write\n", MLCAL_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+    bytesWritten = fwrite(cal, 1, len, fp);
+    if (bytesWritten != len) {
+        MPL_LOGE("bytes written (%d) don't match requested length (%d)\n",
+                 bytesWritten, len);
+        result = INV_ERROR_FILE_WRITE;
+    }
+    fclose(fp);
+    return result;
+}
+
+inv_error_t inv_serial_get_cal_length(unsigned int *len)
+{
+    FILE *calFile;
+    *len = 0;
+
+    calFile = fopen(MLCAL_FILE, "rb");
+    if (calFile == NULL) {
+        MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE);
+        return INV_ERROR_FILE_OPEN;
+    }
+
+    *len += (unsigned char)fgetc(calFile) << 24;
+    *len += (unsigned char)fgetc(calFile) << 16;
+    *len += (unsigned char)fgetc(calFile) << 8;
+    *len += (unsigned char)fgetc(calFile);
+
+    fclose(calFile);
+
+    if (*len <= 0)
+        return INV_ERROR_FILE_READ;
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_open(char const *port, void **sl_handle)
+{
+    INVENSENSE_FUNC_START;
+
+    if (NULL == port) {
+        port = I2CDEV;
+    }
+    *sl_handle = (void*)(uintptr_t) open(port, O_RDWR);
+    if((intptr_t)*sl_handle < 0) {
+        /* ERROR HANDLING; you can check errno to see what went wrong */
+        MPL_LOGE("inv_serial_open\n");
+        MPL_LOGE("I2C Error %d: Cannot open Adapter %s\n", errno, port);
+        return INV_ERROR_SERIAL_OPEN_ERROR;
+    } else {
+        MPL_LOGI("inv_serial_open: %s\n", port);
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_close(void *sl_handle)
+{
+    INVENSENSE_FUNC_START;
+
+    close((int)(uintptr_t)sl_handle);
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_reset(void *sl_handle)
+{
+    return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+inv_error_t inv_serial_single_write(void *sl_handle,
+                               unsigned char slaveAddr,
+                               unsigned char registerAddr,
+                               unsigned char data)
+{
+    unsigned char buf[2];
+    buf[0] = registerAddr;
+    buf[1] = data;
+    return inv_serial_write(sl_handle, slaveAddr, 2, buf);
+}
+
+inv_error_t inv_serial_write(void *sl_handle,
+                         unsigned char slaveAddr,
+                         unsigned short length,
+                         unsigned char const *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    inv_error_t result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = 0; /* not used */
+    msg.length  = length;
+    msg.data    = (unsigned char*)data;
+
+    if ((result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE, &msg))) {
+        MPL_LOGE("I2C Error: could not write: R:%02x L:%d %d \n",
+                 data[0], length, result);
+       return result;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, sizeof(data_buff));
+        }
+        MPL_LOGI("I2C Write Success %02x %02x: %s \n",
+                 data[0], length, data_buff);
+    }
+
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_read(void *sl_handle,
+                        unsigned char  slaveAddr,
+                        unsigned char  registerAddr,
+                        unsigned short length,
+                        unsigned char  *data)
+{
+    INVENSENSE_FUNC_START;
+    int result = INV_SUCCESS;
+    struct mpu_read_write msg;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = registerAddr;
+    msg.length  = length;
+    msg.data    = data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_READ, &msg);
+
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error %08x: could not read: R:%02x L:%d\n",
+                 result, registerAddr, length);
+        result = INV_ERROR_SERIAL_READ;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, sizeof(data_buff));
+        }
+        MPL_LOGI("I2C Read  Success %02x %02x: %s \n",
+                  registerAddr, length, data_buff);
+    }
+
+    return (inv_error_t) result;
+}
+
+inv_error_t inv_serial_write_mem(void *sl_handle,
+                            unsigned char mpu_addr,
+                            unsigned short memAddr,
+                            unsigned short length,
+                            const unsigned char *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    msg.address = memAddr;
+    msg.length  = length;
+    msg.data    = (unsigned char *)data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE_MEM, &msg);
+    if (result) {
+        LOG_RESULT_LOCATION(result);
+        return result;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, sizeof(data_buff));
+        }
+        MPL_LOGI("I2C WriteMem Success %04x %04x: %s \n",
+                 memAddr, length, data_buff);
+    }
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_read_mem(void *sl_handle,
+                           unsigned char  mpu_addr,
+                           unsigned short memAddr,
+                           unsigned short length,
+                           unsigned char  *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = memAddr;
+    msg.length  = length;
+    msg.data    = data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_READ_MEM, &msg);
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error %08x: could not read memory: A:%04x L:%d\n",
+                 result, memAddr, length);
+        return INV_ERROR_SERIAL_READ;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, sizeof(data_buff));
+        }
+        MPL_LOGI("I2C ReadMem Success %04x %04x: %s\n",
+                 memAddr, length, data_buff);
+    }
+    return INV_SUCCESS;
+}
+
+inv_error_t inv_serial_write_fifo(void *sl_handle,
+                             unsigned char mpu_addr,
+                             unsigned short length,
+                             const unsigned char *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = 0; /* Not used */
+    msg.length  = length;
+    msg.data    = (unsigned char *)data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE_FIFO, &msg);
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error: could not write fifo: %02x %02x\n",
+                  MPUREG_FIFO_R_W, length);
+        return INV_ERROR_SERIAL_WRITE;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, sizeof(data_buff));
+        }
+        MPL_LOGI("I2C Write Success %02x %02x: %s\n",
+                 MPUREG_FIFO_R_W, length, data_buff);
+    }
+    return (inv_error_t) result;
+}
+
+inv_error_t inv_serial_read_fifo(void *sl_handle,
+                            unsigned char  mpu_addr,
+                            unsigned short length,
+                            unsigned char  *data)
+{
+    INVENSENSE_FUNC_START;
+    struct mpu_read_write msg;
+    int result;
+
+    if (NULL == data) {
+        return INV_ERROR_INVALID_PARAMETER;
+    }
+
+    msg.address = MPUREG_FIFO_R_W; /* Not used */
+    msg.length  = length;
+    msg.data    = data;
+
+    result = ioctl((int)(uintptr_t)sl_handle, MPU_READ_FIFO, &msg);
+    if (result != INV_SUCCESS) {
+        MPL_LOGE("I2C Error %08x: could not read fifo: R:%02x L:%d\n",
+                 result, MPUREG_FIFO_R_W, length);
+        return INV_ERROR_SERIAL_READ;
+    } else if (SERIAL_FULL_DEBUG) {
+        char data_buff[4096] = "";
+        char strchar[3];
+        int ii;
+        for (ii = 0; ii < length; ii++) {
+            snprintf(strchar, sizeof(strchar), "%02x", data[0]);
+            strncat(data_buff, strchar, sizeof(data_buff));
+        }
+        MPL_LOGI("I2C ReadFifo Success %02x %02x: %s\n",
+                 MPUREG_FIFO_R_W, length, data_buff);
+    }
+    return INV_SUCCESS;
+}
+
+/**
+ *  @}
+ */
+
+
diff --git a/libsensors/Android.mk b/libsensors/Android.mk
index 0382254..5f15228 100644
--- a/libsensors/Android.mk
+++ b/libsensors/Android.mk
@@ -26,7 +26,7 @@ LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
 LOCAL_MODULE_TAGS := optional
 
 LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
-LOCAL_C_INCLUDES += hardware/invensense/60xx/libsensors
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/../invensense/libinvensense_hal/
 LOCAL_SRC_FILES := \
 	sensors.cpp \
 	InputEventReader.cpp \
@@ -36,7 +36,7 @@ LOCAL_SRC_FILES := \
 	SamsungSensorBase.cpp \
 	TemperatureSensor.cpp
 
-LOCAL_SHARED_LIBRARIES := libinvensense_hal liblog libcutils libutils libdl
+LOCAL_SHARED_LIBRARIES := libinvensense_hal.$(TARGET_BOOTLOADER_BOARD_NAME) liblog libcutils libutils libdl
 LOCAL_CLANG := true
 
 include $(BUILD_SHARED_LIBRARY)