//https://microcontrollerslab.com/esp32-mpu9250-tutorial/

#include "MPU9250.h"

// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
MPU9250 IMU(Wire, 0x68);
int status;

void setup() {
  // serial to display data
  Serial.begin(115200);
  while (!Serial) {}

  // start communication with IMU
  status = IMU.begin();
  if (status < 0) {
    Serial.println("IMU initialization unsuccessful");
    Serial.println("Check IMU wiring or try cycling power");
    Serial.print("Status: ");
    Serial.println(status);
    while (1) {}
  }
}

void loop() {
  // read the sensor
  IMU.readSensor();
  // display the data
  Serial.print(IMU.getAccelX_mss(), 6);
  Serial.print("\t");
  Serial.print(IMU.getAccelY_mss(), 6);
  Serial.print("\t");
  Serial.print(IMU.getAccelZ_mss(), 6);
  Serial.print("\t");
  Serial.print(IMU.getGyroX_rads(), 6);
  Serial.print("\t");
  Serial.print(IMU.getGyroY_rads(), 6);
  Serial.print("\t");
  Serial.print(IMU.getGyroZ_rads(), 6);
  Serial.print("\t");
  Serial.print(IMU.getMagX_uT(), 6);
  Serial.print("\t");
  Serial.print(IMU.getMagY_uT(), 6);
  Serial.print("\t");
  Serial.print(IMU.getMagZ_uT(), 6);
  Serial.print("\t");
  Serial.println(IMU.getTemperature_C(), 6);
  delay(100);
}