12 files changed, 9 insertions, 489 deletions

diff --git a/invensense/mlsdk/mllite/compass.c b/invensense/mlsdk/mllite/compass.c
index dcae0cd..c008fbf 100644
--- a/invensense/mlsdk/mllite/compass.c
+++ b/invensense/mlsdk/mllite/compass.c
@@ -304,48 +304,7 @@ inv_error_t inv_get_compass_data(long *data)
         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]);
diff --git a/invensense/mlsdk/mllite/dmpKey.h b/invensense/mlsdk/mllite/dmpKey.h
index 0c5ab0a..3e2e667 100644
--- a/invensense/mlsdk/mllite/dmpKey.h
+++ b/invensense/mlsdk/mllite/dmpKey.h
@@ -372,7 +372,6 @@
 #define DINC7A 0x7a
 #define DINC7B 0x7b
 
-#if defined CONFIG_MPU_SENSORS_MPU3050
 #define DINA80 0x80
 #define DINA90 0x90
 #define DINAA0 0xa0
@@ -394,39 +393,6 @@
 #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/ml.c b/invensense/mlsdk/mllite/ml.c
index 5ee91d0..d830be7 100644
--- a/invensense/mlsdk/mllite/ml.c
+++ b/invensense/mlsdk/mllite/ml.c
@@ -233,13 +233,8 @@ inv_error_t inv_apply_calibration(void)
     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
+        /* sensitivity adjustment, typically = 2 (for +/- 2 gee) */
+        inv_obj.accel_sens /= 2;
     }
     if (NULL != mldl_cfg->compass){
         RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->compass->range, magScale);
@@ -460,7 +455,7 @@ inv_error_t inv_reset_motion(void)
     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;
@@ -469,8 +464,7 @@ inv_error_t inv_reset_motion(void)
         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);
@@ -804,12 +798,7 @@ inv_error_t inv_set_accel_calibration(float range, signed char *orientation)
     }
 
     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;
@@ -831,15 +820,8 @@ inv_error_t inv_set_accel_calibration(float range, signed char *orientation)
 
         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)
@@ -949,16 +931,9 @@ inv_error_t inv_set_gyro_calibration(float range, signed char *orientation)
     }
 
     {
-#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;
@@ -1125,16 +1100,11 @@ inv_error_t inv_set_dead_zone(void)
     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);
@@ -1817,70 +1787,5 @@ void inv_set_mode_change(inv_error_t(*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
index 838cd49..67e47e2 100644
--- a/invensense/mlsdk/mllite/ml.h
+++ b/invensense/mlsdk/mllite/ml.h
@@ -456,13 +456,6 @@ struct inv_obj_t {
     /*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);
diff --git a/invensense/mlsdk/mllite/mlBiasNoMotion.c b/invensense/mlsdk/mllite/mlBiasNoMotion.c
index 0afe627..aaf98d2 100644
--- a/invensense/mlsdk/mllite/mlBiasNoMotion.c
+++ b/invensense/mlsdk/mllite/mlBiasNoMotion.c
@@ -71,30 +71,6 @@ inv_error_t inv_set_motion_callback(void (*func) (unsigned short motion_state))
     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;
@@ -237,7 +213,6 @@ inv_error_t MLPollMotionStatus(struct inv_obj_t * inv_obj)
 
     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;
@@ -309,52 +284,7 @@ inv_error_t MLPollMotionStatus(struct inv_obj_t * inv_obj)
             }
         }
     }
-#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;
 }
 
@@ -365,14 +295,6 @@ inv_error_t inv_enable_bias_no_motion(void)
     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;
 }
 
@@ -381,13 +303,5 @@ 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/mlFIFO.c b/invensense/mlsdk/mllite/mlFIFO.c
index 221e72d..a5d0c9f 100644
--- a/invensense/mlsdk/mllite/mlFIFO.c
+++ b/invensense/mlsdk/mllite/mlFIFO.c
@@ -33,15 +33,7 @@
 
 #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 "mpu3050.h"
 #include "mlFIFO.h"
 #include "mlFIFOHW.h"
 #include "dmpKey.h"
@@ -765,18 +757,8 @@ inv_error_t inv_process_fifo_packet(const unsigned char *dmpData)
 */
 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
@@ -957,24 +939,8 @@ inv_error_t inv_get_gyro_and_accel_sensor(long *data)
  */
 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
 }
 
 /**
@@ -1298,61 +1264,6 @@ inv_error_t inv_send_quaternion(uint_fast16_t accuracy)
 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,
@@ -1402,7 +1313,6 @@ inv_error_t inv_send_sensor_data(uint_fast16_t elements, uint_fast16_t accuracy)
         fifo_obj.data_config[CONFIG_RAW_DATA] = 0;
 
     return inv_set_footer();
-#endif
 }
 
 /** Sends raw external data to the FIFO.
@@ -1417,56 +1327,7 @@ 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)
 {
-#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
 }
 
 /**
diff --git a/invensense/mlsdk/mllite/mlFIFOHW.c b/invensense/mlsdk/mllite/mlFIFOHW.c
index 1dd5294..e806b95 100644
--- a/invensense/mlsdk/mllite/mlFIFOHW.c
+++ b/invensense/mlsdk/mllite/mlFIFOHW.c
@@ -35,15 +35,7 @@
 #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 "mpu3050.h"
 #include "mlFIFOHW.h"
 #include "ml.h"
 #include "mldl.h"
diff --git a/invensense/mlsdk/mllite/ml_mputest.c b/invensense/mlsdk/mllite/ml_mputest.c
index d7fc608..ffb17cd 100644
--- a/invensense/mlsdk/mllite/ml_mputest.c
+++ b/invensense/mlsdk/mllite/ml_mputest.c
@@ -134,11 +134,7 @@ inv_error_t inv_self_test_factory_calibrate(void *mlsl_handle,
  */
 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
 }
 
 /**
diff --git a/invensense/mlsdk/mllite/mldl.c b/invensense/mlsdk/mllite/mldl.c
index 10470e6..ee7258f 100644
--- a/invensense/mlsdk/mllite/mldl.c
+++ b/invensense/mlsdk/mllite/mldl.c
@@ -39,15 +39,7 @@
 #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 "mpu3050.h"
 #include "mldl.h"
 #include "mldl_cfg.h"
 #include "compass.h"
@@ -422,12 +414,10 @@ 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) {
@@ -617,7 +607,6 @@ inv_error_t inv_set_offsetTC(const unsigned char *tc)
     }
 
     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) {
@@ -636,36 +625,6 @@ inv_error_t inv_set_offsetTC(const unsigned char *tc)
             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;
     }
diff --git a/invensense/mlsdk/mllite/mldl_cfg.h b/invensense/mlsdk/mllite/mldl_cfg.h
index b4914e2..fb2e402 100644
--- a/invensense/mlsdk/mllite/mldl_cfg.h
+++ b/invensense/mlsdk/mllite/mldl_cfg.h
@@ -30,15 +30,7 @@
 #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 "mpu3050.h"
 
 #include "log.h"
 
@@ -106,10 +98,6 @@ struct mldl_cfg {
 	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;
diff --git a/invensense/mlsdk/mllite/mldl_cfg_mpu.c b/invensense/mlsdk/mllite/mldl_cfg_mpu.c
index 74c0f14..5a6f06a 100644
--- a/invensense/mlsdk/mllite/mldl_cfg_mpu.c
+++ b/invensense/mlsdk/mllite/mldl_cfg_mpu.c
@@ -79,9 +79,6 @@ void mpu_print_cfg(struct mldl_cfg * mldl_cfg)
     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);
diff --git a/invensense/mlsdk/mllite/mlsupervisor.c b/invensense/mlsdk/mllite/mlsupervisor.c
index ea6b7ec..a7b35df 100644
--- a/invensense/mlsdk/mllite/mlsupervisor.c
+++ b/invensense/mlsdk/mllite/mlsupervisor.c
@@ -86,16 +86,6 @@ void inv_init_sensor_fusion_supervisor(void)
     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();
     }