#include "MPU9250.h"
#include "MPU9250_asukiaaa.h"
#include "ArduinoJson.h"

// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
MPU9250 IMU(Wire,0x68);
int status;
void setup() {
  // serial to display data
  Serial.begin(9600);
  while(!Serial) {}

  // start communication with IMU 
  status = IMU.begin();

  IMU.setAccelRange(MPU9250::ACCEL_RANGE_8G);
  // setting the gyroscope full scale range to +/-500 deg/s
  IMU.setGyroRange(MPU9250::GYRO_RANGE_500DPS);
  // setting DLPF bandwidth to 20 Hz
  IMU.setDlpfBandwidth(MPU9250::DLPF_BANDWIDTH_20HZ);
  // setting SRD to 19 for a 50 Hz update rate
  IMU.setSrd(19);
}

void loop() {

  // dilosi metablitwn typoy json gia tin apostoli dedomenwn
  StaticJsonDocument<50> accelarator;
  StaticJsonDocument<50> gyroscope;
  StaticJsonDocument<50> magnometer;
  StaticJsonDocument<200> data;
 
  // read the sensor
  IMU.readSensor();

  // ta tria eisagogika mpainoun gia na diabazontai os eniaio string apo to rasbery kai na apothikeuontai sthn db
   Serial.write("\"\"\"");
    // anathesi timon apo ton sensora sthn metabliti typoy accelarator
    accelarator["X"] = IMU.getAccelX_mss();
    accelarator["Y"] = IMU.getAccelY_mss();
    accelarator["Z"] = IMU.getAccelZ_mss();
    // eisagogi toy accelator se ena eniaio json data pou tha perilambanei olous tous aisthitires
    data["A"] = accelarator;

     // anathesi timon apo ton sensora sthn metabliti typoy gyroscope
     gyroscope["X"] = IMU.getGyroX_rads();
     gyroscope["Y"] = IMU.getGyroY_rads();
     gyroscope["Z"] = IMU.getGyroZ_rads();
     
      // eisagogi toy gyroscope se ena eniaio json data pou tha perilambanei olous tous aisthitires
     data["G"] = gyroscope;

     // anathesi timon apo ton sensora sthn metabliti typoy magnometer
     magnometer["X"] = IMU.getMagX_uT();
     magnometer["Y"] = IMU.getMagY_uT();
     magnometer["Z"] = IMU.getMagZ_uT();
     
     // eisagogi toy magnometer se ena eniaio json data pou tha perilambanei olous tous aisthitires
     data["M"] = magnometer;

    // apostoli tou eniaiou json data meso bluetooth (seriakh porta)
    serializeJson(data, Serial);
    // kleisimo twn triwn eisagogikwn kai a;lagi grammhs
    Serial.write("\"\"\"\n");
    // kathysterhsh 100 msec kai katharismos mnhmhs flush prin thn epanalipsi tou loop
  delay(100);
  Serial.flush();
}