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All documentation on how to use the DMP is now freely available from InvenSense here. This means you can either rewrite this library so it works with all aspects of the DMP, or you can use the documentation and sample code written by InvenSense, to make the DMP work without this library. This information has been released for over two years... I hope you finally get to fully appreciate the DMP, instead using this half working library made by hacking an evaluation board. (To the creator: Your work has been to great help for many people, and now finally we get to use the DMP fully. Hadn't this been released, I would have been very grateful for your work.)