#include <Adafruit_MPU6050.h>
#include <SD.h>
#include <SPI.h>
#include <Adafruit_Sensor.h>

Adafruit_MPU6050 mpu;
const int chipSelect = 5 ; // Pino de seleção do chip SD (pode variar dependendo do seu hardware)
File dataFile;

void setup() {
    Serial.begin(115200);
    Wire.begin();
    delay(2000);

    // Inicializar o MPU9250
    if (!mpu.begin(0x68)) {  // change to your own address
        while (1) {
            Serial.println("MPU connection failed. Please check your connection with connection_check example.");
            delay(5000);
        }
    }

    // Inicializar o cartão SD
    if (!SD.begin(chipSelect)) {
        Serial.println("SD card initialization failed!");
        while (1);
    }
    Serial.println("SD card initialized.");

    calibrar();
}

void calibrar(){
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G); 
  //set define o intervalo de medição do acelerômetro (8g).
  Serial.print("Accelerometer range set to: ");
  switch (mpu.getAccelerometerRange()) { //get obtém o intervalo configurado.
  case MPU6050_RANGE_2_G:
    Serial.println("+-2G");
     // Imprime o alcance configurado no monitor serial.
    break;
  case MPU6050_RANGE_4_G:
    Serial.println("+-4G");
    break;
  case MPU6050_RANGE_8_G:
    Serial.println("+-8G");
    break;
  case MPU6050_RANGE_16_G:
    Serial.println("+-16G");
    break;
  }
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  Serial.print("Gyro range set to: ");
  switch (mpu.getGyroRange()) {
  case MPU6050_RANGE_250_DEG:
    Serial.println("+- 250 deg/s");
    break;
  case MPU6050_RANGE_500_DEG:
    Serial.println("+- 500 deg/s");
    break;
  case MPU6050_RANGE_1000_DEG:
    Serial.println("+- 1000 deg/s");
    break;
  case MPU6050_RANGE_2000_DEG:
    Serial.println("+- 2000 deg/s");
    break;
  }

  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  //Define a largura de banda do filtro digital interno do sensor para reduzir ruídos.
  Serial.print("Filter bandwidth set to: ");
  switch (mpu.getFilterBandwidth()) { 
  case MPU6050_BAND_94_HZ:
    Serial.println("94 Hz");
    break;
  case MPU6050_BAND_44_HZ:
    Serial.println("44 Hz");
    break;
  case MPU6050_BAND_21_HZ:
    Serial.println("21 Hz");
    break;
  case MPU6050_BAND_10_HZ:
    Serial.println("10 Hz");
    break;
  case MPU6050_BAND_5_HZ:
    Serial.println("5 Hz");
    break;
  }
}

void coleta(){
  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  /* Print out the values */
  Serial.print("Acceleration X: ");
  Serial.print(a.acceleration.x);
  Serial.print(", Y: ");
  Serial.print(a.acceleration.y);
  Serial.print(", Z: ");
  Serial.print(a.acceleration.z);
  Serial.println(" m/s^2");

  Serial.print("Rotation X: ");
  Serial.print(g.gyro.x);
  Serial.print(", Y: ");
  Serial.print(g.gyro.y);
  Serial.print(", Z: ");
  Serial.print(g.gyro.z);
  Serial.println(" rad/s");

  Serial.print("Temperature: ");
  Serial.print(temp.temperature);
  Serial.println(" degC");

  Serial.println("");
  delay(500);
}


void sdcard(){
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

    // Criar ou abrir o arquivo de dados
      dataFile = SD.open("dataFile.txt", FILE_WRITE);
    if (dataFile) {
      //printa no arquivo os dados
         dataFile.print("Acceleration X: ");
         dataFile.print(a.acceleration.x);
         dataFile.print(", Y: ");
         dataFile.print(a.acceleration.y);
         dataFile.print(", Z: ");
         dataFile.print(a.acceleration.z);
         dataFile.println(" m/s^2");

         dataFile.print("Rotation X: ");
         dataFile.print(g.gyro.x);
         dataFile.print(", Y: ");
         dataFile.print(g.gyro.y);
         dataFile.print(", Z: ");
         dataFile.print(g.gyro.z);
         dataFile.println(" rad/s");

         dataFile.print("Temperature: ");
         dataFile.print(temp.temperature);
         dataFile.println(" degC");
        dataFile.close();
    }
   else {
		// Caso o arquivo não abra, essa será a mensagem:
    Serial.println("Erro ao abrir o arquivo para armazenar os dados");
  }
   
}
void loop() {
  coleta();
  sdcard();
}

void variaveis(){
  
  
}