#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_LSM303_U.h>
#include <Adafruit_L3GD20_U.h>
#include <Adafruit_9DOF.h>

  /* Assign a unique ID to the sensors */
Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301);
Adafruit_LSM303_Mag_Unified   mag   = Adafruit_LSM303_Mag_Unified(30302);
Adafruit_L3GD20_Unified       gyro  = Adafruit_L3GD20_Unified(20);

void displaySensorDetails(void)
{
  sensor_t sensor;
  
  accel.getSensor(&sensor);
  Serial.println(F("----------- ACCELEROMETER ----------"));
  Serial.print  (F("Sensor:       ")); Serial.println(sensor.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(sensor.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(sensor.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(sensor.max_value); Serial.println(F(" m/s^2"));
  Serial.print  (F("Min Value:    ")); Serial.print(sensor.min_value); Serial.println(F(" m/s^2"));
  Serial.print  (F("Resolution:   ")); Serial.print(sensor.resolution); Serial.println(F(" m/s^2"));
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));

  gyro.getSensor(&sensor);
  Serial.println(F("------------- GYROSCOPE -----------"));
  Serial.print  (F("Sensor:       ")); Serial.println(sensor.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(sensor.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(sensor.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(sensor.max_value); Serial.println(F(" rad/s"));
  Serial.print  (F("Min Value:    ")); Serial.print(sensor.min_value); Serial.println(F(" rad/s"));
  Serial.print  (F("Resolution:   ")); Serial.print(sensor.resolution); Serial.println(F(" rad/s"));
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));
  
  mag.getSensor(&sensor);
  Serial.println(F("----------- MAGNETOMETER -----------"));
  Serial.print  (F("Sensor:       ")); Serial.println(sensor.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(sensor.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(sensor.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(sensor.max_value); Serial.println(F(" uT"));
  Serial.print  (F("Min Value:    ")); Serial.print(sensor.min_value); Serial.println(F(" uT"));
  Serial.print  (F("Resolution:   ")); Serial.print(sensor.resolution); Serial.println(F(" uT"));  
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));

  delay(500);
}

void setup(void)
{
  Serial.begin(115200);
  Serial.println(F("Adafruit 9DOF Tester")); Serial.println("");
  
  /* Initialise the sensors */
  if(!accel.begin())
  {
    /* There was a problem detecting the ADXL345 ... check your connections */
    Serial.println(F("Ooops, no LSM303 detected ... Check your wiring!"));
    while(1);
  }
  if(!mag.begin())
  {
    /* There was a problem detecting the LSM303 ... check your connections */
    Serial.println("Ooops, no LSM303 detected ... Check your wiring!");
    while(1);
  }
  if(!gyro.begin())
  {
    /* There was a problem detecting the L3GD20 ... check your connections */
    Serial.print("Ooops, no L3GD20 detected ... Check your wiring or I2C ADDR!");
    while(1);
  }
  
  /* Display some basic information on this sensor */
  displaySensorDetails();
}

void loop(void)
{
  /* Get a new sensor event */
  sensors_event_t event;
   
  /* Display the results (acceleration is measured in m/s^2) */
  accel.getEvent(&event);
  Serial.print(F("ACCEL "));
  Serial.print("X: "); Serial.print(event.acceleration.x); Serial.print("  ");
  Serial.print("Y: "); Serial.print(event.acceleration.y); Serial.print("  ");
  Serial.print("Z: "); Serial.print(event.acceleration.z); Serial.print("  ");Serial.println("m/s^2 ");

  /* Display the results (magnetic vector values are in micro-Tesla (uT)) */
  mag.getEvent(&event);
  Serial.print(F("MAG   "));
  Serial.print("X: "); Serial.print(event.magnetic.x); Serial.print("  ");
  Serial.print("Y: "); Serial.print(event.magnetic.y); Serial.print("  ");
  Serial.print("Z: "); Serial.print(event.magnetic.z); Serial.print("  ");Serial.println("uT");

  /* Display the results (gyrocope values in rad/s) */
  gyro.getEvent(&event);
  Serial.print(F("GYRO  "));
  Serial.print("X: "); Serial.print(event.gyro.x); Serial.print("  ");
  Serial.print("Y: "); Serial.print(event.gyro.y); Serial.print("  ");
  Serial.print("Z: "); Serial.print(event.gyro.z); Serial.print("  ");Serial.println("rad/s ");  

  Serial.println(F(""));
  delay(1000);
}