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diff --git a/peripheral/libupm/src/mpu9150/mpu9150.h b/peripheral/libupm/src/mpu9150/mpu9150.h
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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "mpu60x0.h"
+#include "ak8975.h"
+
+#define MPU9150_I2C_BUS 0
+#define MPU9150_DEFAULT_I2C_ADDR  MPU60X0_DEFAULT_I2C_ADDR
+
+
+namespace upm {
+
+  /**
+   * @brief MPU9150 accelerometer library
+   * @defgroup mpu9150 libupm-mpu9150
+   * @ingroup seeed i2c gpio accelerometer compass
+   */
+
+  /**
+   * @library mpu9150
+   * @sensor mpu9150
+   * @comname MPU9150 Inertial Measurement Unit
+   * @altname Grove IMU 9DOF
+   * @type accelerometer compass
+   * @man seeed
+   * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0
+   * @con i2c gpio
+   *
+   * @brief API for MPU9150 chip (Accelerometer, Gyro and Magnometer Sensor)
+   *
+   * This module defines the MPU9150 interface for libmpu9150
+   *
+   * @image html mpu9150.jpg
+   * @snippet mpu9150.cxx Interesting
+   */
+
+  class MPU9150: public MPU60X0
+  {
+  public:
+    /**
+     * MPU9150 constructor
+     *
+     * @param bus I2C bus to use
+     * @param address The address for this device
+     * @param magAddress The address of the connected magnetometer
+     */
+    MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR,
+             int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=false);
+
+    /**
+     * MPU9150 destructor
+     */
+    ~MPU9150 ();
+
+    /**
+     * Set up initial values and start operation
+     *
+     * @return true if successful
+     */
+    bool init();
+
+    /**
+     * Take a measurement and store the current sensor values
+     * internally.  Note, these user facing registers are only updated
+     * from the internal device sensor values when the i2c serial
+     * traffic is 'idle'.  So, if you are reading the values too fast,
+     * the bus may never be idle, and you will just end up reading
+     * the same values over and over.
+     *
+     * Unfortunately, it is is not clear how long 'idle' actually
+     * means, so if you see this behavior, reduce the rate at which
+     * you are calling update().
+     */
+    void update();
+
+    /**
+     * Return the compensated values for the x, y, and z axes.  The
+     * unit of measurement is in micro-teslas (uT).
+     *
+     * @param x Pointer to returned X axis value
+     * @param y Pointer to returned Y axis value
+     * @param z Pointer to returned Z axis value
+     */
+    void getMagnetometer(float *x, float *y, float *z);
+
+#ifdef SWIGJAVA
+    /**
+     * Return the compensated values for the x, y, and z axes.  The
+     * unit of measurement is in micro-teslas (uT).
+     *
+     * @return Array containing X, Y, Z magnetometer values
+     */
+    float *getMagnetometer();
+#endif
+
+
+
+  protected:
+    // magnetometer instance
+    AK8975* m_mag;
+
+
+  private:
+    int m_i2cBus;
+    uint8_t m_magAddress;
+    bool m_enableAk8975;
+  };
+
+}