Sparky

This provides support for a target Sparky.

In addition there is an MPU9150 driver which is essentially an MPU6050 and a mag in a single package. This means the MPU9150 code is mostly the MPU6050 code copy and pasted.  I thought about trying to use the MPU6050 directly but then we'd need a separate task for the mag and the init code has a few more lines.