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Hi, I've searched hole forum and the Internet ant haven't found many (to be honest almost none) information if anyone have successfully implemented I2CDev library on BeagleBone Black. I would like to use it with MPU6050. I've started to implement it, but without any success so far. Below, there is one question abut this library, I hope it is not too big offtop. What is the proper way of working this function: int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) All the time I was thinking that it shoud read length bytes starting from regAddr. So for exaple int8_t I2Cdev::readBytes(devAddr, 10, 4, data, timeout) would read bytes from registers 10, 11, 12 and 13. But we have this function (from MPU6050 library): void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data); } and in my opinion it should read length bytes from one register (MPU6050_RA_FIFO_R_W = 74) byte by byte and this is something different from what I described before. I have the same concers about writeBytes function. I would appreciate any help with understanding this functions