#include <DHT.h>
#define DHT_SENSOR_PIN 4 // ESP32 pin GPIO21 connected to DHT22 sensor
#define DHT_SENSOR_TYPE DHT22
TaskHandle_t Task1;
TaskHandle_t Task2;
DHT dht_sensor(DHT_SENSOR_PIN, DHT_SENSOR_TYPE);
#include <Wire.h>
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;

void Task1code( void * pvParameter);
void Task2code( void * pvParameter);

void setup() {
  Serial.begin(9600);
  dht_sensor.begin(); // initialize the DHT sensor
  
  xTaskCreatePinnedToCore(
    Task1code, /* Function to implement the task */
    "Task1", /* Name of the task */
    10000, /* Stack size in words */
    NULL, /* Task input parameter */
    1, /* Priority of the task */
    &Task1, /* Task handle. */
    0); /* Core where the task should run */
  
  xTaskCreatePinnedToCore(
    Task2code, /* Function to implement the task */
    "Task2", /* Name of the task */
    20000, /* Stack size in words */
    NULL, /* Task input parameter */
    1, /* Priority of the task */
    &Task2, /* Task handle. */
    1); /* Core where the task should run */
  
  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);
  Serial.println("Setup complete");
}

void loop() {
  // Empty loop as tasks are being used.
}

void Task1code( void * pvParameter) {
  Serial.print("Task1 running on core ");
  Serial.print(xPortGetCoreID());
  Serial.print(". |");
  for(;;) {
    // read humidity
    float humi = dht_sensor.readHumidity();
    // read temperature in Celsius
    float tempC = dht_sensor.readTemperature();
    // read temperature in Fahrenheit
    float tempF = dht_sensor.readTemperature(true);
    // check whether the reading is successful or not
    if ( isnan(tempC) || isnan(tempF) || isnan(humi)) {
      Serial.println("Failed to read from DHT sensor!");
    } else {
      Serial.print("Humidity: ");
      Serial.print(humi);
      Serial.print("%");
      Serial.print(" | ");
      Serial.print("Temperature: ");
      Serial.print(tempC);
      Serial.print("°C ~ ");
      Serial.print(tempF);
      Serial.println("°F");
    }
    // wait a 2 seconds between readings
    vTaskDelay(pdMS_TO_TICKS(2000));
  }
}

void Task2code(void *pvParameter) {
  Serial.print("Task2 running on core ");
  Serial.print(xPortGetCoreID());
  Serial.print(". |");
  for (;;) {
    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

    // read the sensor values
    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)

    // print the sensor values
    Serial.print("AcX = "); Serial.print(AcX);
    Serial.print(" | AcY = "); Serial.print(AcY);
    Serial.print(" | AcZ = "); Serial.print(AcZ);
    Serial.print(" | Tmp = "); Serial.print(Tmp / 605.0 + 31); // convert to Celsius
    Serial.print("C | GyX = "); Serial.print(GyX);
    Serial.print(" | GyY = "); Serial.print(GyY);
    Serial.print(" | GyZ = "); Serial.println(GyZ);

    // wait for a second before the next reading
    vTaskDelay(pdMS_TO_TICKS(1000));
  }
}