// NodeMCU 0.9 (ESP-12 module)

#include <Wire.h>

/*#include <BluetoothSerial.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
*/

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

const float MPU_GYRO_250_SCALE = 131.0;
const float MPU_GYRO_500_SCALE = 65.5;
const float MPU_GYRO_1000_SCALE = 32.8;
const float MPU_GYRO_2000_SCALE = 16.4;
const float MPU_ACCL_2_SCALE = 16384.0;
const float MPU_ACCL_4_SCALE = 8192.0;
const float MPU_ACCL_8_SCALE = 4096.0;
const float MPU_ACCL_16_SCALE = 2048.0;

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

void setup() {
  pinMode(LED_BUILTIN, OUTPUT);
  Wire.begin();
  Serial.begin(115200);

  check_I2c(MPU_addr);
  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(30); // Ensure gyro has enough time to power up

  //SerialBT.begin("MotionGlove");
  //Serial.print("BT on");
}

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

/*
  SerialBT.write("/accel/0/x/" + String(AcX) + "\n");
  SerialBT.write("/accel/0/y/" + String(AcY) + "\n");
  SerialBT.write("/accel/0/z/" + String(AcZ) + "\n");
  SerialBT.write("/gy/0/x/" + String(GyX) + "\n");
  SerialBT.write("/gy/0/y/" + String(GyY) + "\n");
  SerialBT.write("/gy/0/z/" + String(GyZ) + "\n");
  SerialBT.write("/tmp/0/val/" + String(Tmp) + "\n");
*/

  // Blink blink
  digitalWrite(LED_BUILTIN, 1);
  //delay(500);
  digitalWrite(LED_BUILTIN, 0);
  Serial.print("\n");
}

byte check_I2c(byte addr){
  // We are using the return value of
  // the Write.endTransmisstion to see if
  // a device did acknowledge to the address.
  byte error;
  Wire.beginTransmission(addr);
  error = Wire.endTransmission();
   
  if (error == 0) {
    Serial.print(" Device Found at 0x");
    Serial.println(addr,HEX);
  } else {
    Serial.print(" No Device Found at 0x");
    Serial.println(addr,HEX);
  }
  return error;
}