#include <Wire.h>
#include <OneWire.h>
#include <DallasTemperature.h>

// MPU6050 I2C address
#define MPU6050_ADDR 0x68

// DS18B20 setup
#define ONE_WIRE_BUS 2
OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature ds18b20(&oneWire);

void setup() {
  Serial.begin(115200);

  // Start I2C
  Wire.begin();  // defaults to SDA = 21, SCL = 22 on ESP32
  initMPU6050();

  // Start DS18B20
  ds18b20.begin();
}

void loop() {
  // Read temperature from DS18B20
  ds18b20.requestTemperatures();
  float temperatureC = ds18b20.getTempCByIndex(0);
  Serial.print("DS18B20 Temperature: ");
  Serial.print(temperatureC);
  Serial.println(" °C");

  // Read accelerometer and gyroscope data from MPU6050
  int16_t ax, ay, az, gx, gy, gz;
  readMPU6050(ax, ay, az, gx, gy, gz);

  Serial.print("Accel X: "); Serial.print(ax);
  Serial.print(" Y: "); Serial.print(ay);
  Serial.print(" Z: "); Serial.println(az);

  Serial.print("Gyro X: "); Serial.print(gx);
  Serial.print(" Y: "); Serial.print(gy);
  Serial.print(" Z: "); Serial.println(gz);

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

void initMPU6050() {
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
}

void readMPU6050(int16_t &ax, int16_t &ay, int16_t &az, int16_t &gx, int16_t &gy, int16_t &gz) {
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(0x3B); // starting register for accelerometer readings
  Wire.endTransmission(false);
  Wire.requestFrom(MPU6050_ADDR, 14, true); // request a total of 14 registers

  ax = Wire.read() << 8 | Wire.read();
  ay = Wire.read() << 8 | Wire.read();
  az = Wire.read() << 8 | Wire.read();
  Wire.read(); Wire.read(); // skip temperature registers
  gx = Wire.read() << 8 | Wire.read();
  gy = Wire.read() << 8 | Wire.read();
  gz = Wire.read() << 8 | Wire.read();
}