// ESP32 Dev Module

#include "Wire.h"

const int MPU_addr=0x68; // I2C address of the MPU-6050 

// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

void setup() {
  Wire.begin();
  Serial.begin(9600);
  
  // Pocakaj na serijski port
  while (!Serial);
  delay(1000);

  Wire.begin(21, 22, 100000); // sda, scl, clock speed
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0); // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
  delay(300); // Ensure gyro has enough time to power up

  Serial.print("AcX");
  Serial.print(" ");
  Serial.print("AcY");
  Serial.print(" ");
  Serial.print("AcZ");
  Serial.print(" ");
  Serial.print("Tmp");
  Serial.print(" ");
  Serial.print("GyX");
  Serial.print(" ");
  Serial.print("GyY");
  Serial.print(" ");
  Serial.println("GyZ");
}

void loop() {
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
  AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  Serial.print(AcX);
  Serial.print(" ");
  Serial.print(AcY);
  Serial.print(" ");
  Serial.print(AcZ);
  Serial.print(" ");
  Serial.print(Tmp);
  Serial.print(" ");
  Serial.print(GyX);
  Serial.print(" ");
  Serial.print(GyY);
  Serial.print(" ");
  Serial.println(GyZ);
}