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diff --git a/sensorlib/vector.c b/sensorlib/vector.c
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+//*****************************************************************************
+//
+// vector.c - Functions for performing vector operations.
+//
+// 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.
+//
+//*****************************************************************************
+
+#include "sensorlib/vector.h"
+
+//*****************************************************************************
+//
+//! \addtogroup vector_api
+//! @{
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! Computes the dot product of two vectors.
+//!
+//! \param pfVectorIn1 is the first vector.
+//! \param pfVectorIn2 is the second vector.
+//!
+//! This function computes the dot product of two 3-dimensional vector.
+//!
+//! \return Returns the dot product of the two vectors.
+//
+//*****************************************************************************
+float
+VectorDotProduct(float pfVectorIn1[3], float pfVectorIn2[3])
+{
+    //
+    // Compute and return the vector dot product.
+    //
+    return((pfVectorIn1[0] * pfVectorIn2[0]) +
+           (pfVectorIn1[1] * pfVectorIn2[1]) +
+           (pfVectorIn1[2] * pfVectorIn2[2]));
+}
+
+//*****************************************************************************
+//
+//! Computes the cross product of two vectors.
+//!
+//! \param pfVectorOut is the output vector.
+//! \param pfVectorIn1 is the first vector.
+//! \param pfVectorIn2 is the second vector.
+//!
+//! This function computes the cross product of two 3-dimensional vectors.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+VectorCrossProduct(float pfVectorOut[3], float pfVectorIn1[3],
+                   float pfVectorIn2[3])
+{
+    //
+    // Compute the cross product of the input vectors.
+    //
+    pfVectorOut[0] = ((pfVectorIn1[1] * pfVectorIn2[2]) -
+                      (pfVectorIn1[2] * pfVectorIn2[1]));
+    pfVectorOut[1] = ((pfVectorIn1[2] * pfVectorIn2[0]) -
+                      (pfVectorIn1[0] * pfVectorIn2[2]));
+    pfVectorOut[2] = ((pfVectorIn1[0] * pfVectorIn2[1]) -
+                      (pfVectorIn1[1] * pfVectorIn2[0]));
+}
+
+//*****************************************************************************
+//
+//! Scales a vector.
+//!
+//! \param pfVectorOut is the output vector.
+//! \param pfVectorIn is the input vector.
+//! \param fScale is the scale factor.
+//!
+//! This function scales a 3-dimensional vector by multiplying each of its
+//! components by the scale factor.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+VectorScale(float pfVectorOut[3], float pfVectorIn[3], float fScale)
+{
+    //
+    // Scale each component of the vector by the scale factor.
+    //
+    pfVectorOut[0] = pfVectorIn[0] * fScale;
+    pfVectorOut[1] = pfVectorIn[1] * fScale;
+    pfVectorOut[2] = pfVectorIn[2] * fScale;
+}
+
+//*****************************************************************************
+//
+//! Adds two vectors.
+//!
+//! \param pfVectorOut is the output vector.
+//! \param pfVectorIn1 is the first vector.
+//! \param pfVectorIn2 is the second vector.
+//!
+//! This function adds two 3-dimensional vectors.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+VectorAdd(float pfVectorOut[3], float pfVectorIn1[3], float pfVectorIn2[3])
+{
+    //
+    // Add the components of the two vectors.
+    //
+    pfVectorOut[0] = pfVectorIn1[0] + pfVectorIn2[0];
+    pfVectorOut[1] = pfVectorIn1[1] + pfVectorIn2[1];
+    pfVectorOut[2] = pfVectorIn1[2] + pfVectorIn2[2];
+}
+
+//*****************************************************************************
+//
+// Close the Doxygen group.
+//! @}
+//
+//*****************************************************************************