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diff --git a/sensorlib/comp_dcm.h b/sensorlib/comp_dcm.h
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+//*****************************************************************************
+//
+// comp_dcm.h - Prototypes for the complementary filter direction cosine matrix
+//              functions.
+//
+// Copyright (c) 2012-2014 Texas Instruments Incorporated.  All rights reserved.
+// Software License Agreement
+// 
+// Texas Instruments (TI) is supplying this software for use solely and
+// exclusively on TI's microcontroller products. The software is owned by
+// TI and/or its suppliers, and is protected under applicable copyright
+// laws. You may not combine this software with "viral" open-source
+// software in order to form a larger program.
+// 
+// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
+// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
+// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
+// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
+// DAMAGES, FOR ANY REASON WHATSOEVER.
+// 
+// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+
+#ifndef __SENSORLIB_COMP_DCM_H__
+#define __SENSORLIB_COMP_DCM_H__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The structure that defines the internal state of the complementary filter
+// DCM algorithm.
+//
+//*****************************************************************************
+typedef struct
+{
+    //
+    // The state of the direction cosine matrix.
+    //
+    float ppfDCM[3][3];
+
+    //
+    // The time delta between updates to the DCM.
+    //
+    float fDeltaT;
+
+    //
+    // The scaling factor for the DCM update based on the accelerometer
+    // reading.
+    //
+    float fScaleA;
+
+    //
+    // The scaling factor for the DCM update based on the gyroscope reading.
+    //
+    float fScaleG;
+
+    //
+    // The scaling factor for the DCM update based on the magnetometer reading.
+    //
+    float fScaleM;
+
+    //
+    // The most recent accelerometer readings.
+    //
+    float pfAccel[3];
+
+    //
+    // The most recent gyroscope readings.
+    //
+    float pfGyro[3];
+
+    //
+    // The most recent magnetometer readings.
+    //
+    float pfMagneto[3];
+}
+tCompDCM;
+
+//*****************************************************************************
+//
+// Prototypes.
+//
+//*****************************************************************************
+extern void CompDCMInit(tCompDCM *psDCM, float fDeltaT, float fScaleA,
+                        float fScaleG, float fScaleM);
+extern void CompDCMAccelUpdate(tCompDCM *psDCM, float fAccelX, float fAccelY,
+                               float fAccelZ);
+extern void CompDCMGyroUpdate(tCompDCM *psDCM, float fGyroX, float fGyroY,
+                              float fGyroZ);
+extern void CompDCMMagnetoUpdate(tCompDCM *psDCM, float fMagnetoX,
+                                 float fMagnetoY, float fMagnetoZ);
+extern void CompDCMStart(tCompDCM *psDCM);
+extern void CompDCMUpdate(tCompDCM *psDCM);
+extern void CompDCMMatrixGet(tCompDCM *psDCM, float ppfDCM[3][3]);
+extern void CompDCMComputeEulers(tCompDCM *psDCM, float *pfRoll,
+                                 float *pfPitch, float *pfYaw);
+extern void CompDCMComputeQuaternion(tCompDCM *psDCM, float pfQuaternion[4]);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __SENSORLIB_COMP_DCM_H__