Convenience function to calculate uca0br bytes given a baud rate - uses FOSC
Calculating ucb0br value using FOSC. Currently set to 400kHz, max, and working.
Added state flags for dmp mode or motion detect mode. Fixed motion detect mode enable code(added interrupt setup for p2). Set to calibrated 16MHz - tested and working. I can get motion detect only interrupts from mpu6050 if I first run the dmp_init() code then run the motion detect code (sending 'm' to device).
Increased delay due to increasing FOSC. This should be max required.