#include <M5Stack.h>
#include "utility/MPU9250.h"

MPU9250 IMU;

void setup()
{
M5.begin();
Wire.begin();

IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
IMU.initMPU9250();
IMU.initAK8963(IMU.magCalibration);
}

void loop()
{
// If intPin goes high, all data registers have new data
// On interrupt, check if data ready interrupt
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
{
IMU.readAccelData(IMU.accelCount);
IMU.getAres();

IMU.ax = (float)IMU.accelCount[0] * IMU.aRes; // - accelBias[0];
IMU.ay = (float)IMU.accelCount[1] * IMU.aRes; // - accelBias[1];
IMU.az = (float)IMU.accelCount[2] * IMU.aRes; // - accelBias[2];

IMU.readGyroData(IMU.gyroCount);  // Read the x/y/z adc values
IMU.getGres();

// Calculate the gyro value into actual degrees per second
// This depends on scale being set
IMU.gx = (float)IMU.gyroCount[0] * IMU.gRes;
IMU.gy = (float)IMU.gyroCount[1] * IMU.gRes;
IMU.gz = (float)IMU.gyroCount[2] * IMU.gRes;

IMU.readMagData(IMU.magCount);  // Read the x/y/z adc values
IMU.getMres();
// User environmental x-axis correction in milliGauss, should be
// automatically calculated
//IMU.magbias[0] = +470.;
// User environmental x-axis correction in milliGauss TODO axis??
//IMU.magbias[1] = +120.;
// User environmental x-axis correction in milliGauss
//IMU.magbias[2] = +125.;

// Calculate the magnetometer values in milliGauss
// Include factory calibration per data sheet and user environmental
// corrections
// Get actual magnetometer value, this depends on scale being set
IMU.mx = (float)IMU.magCount[0] * IMU.mRes * IMU.magCalibration[0] -
         IMU.magbias[0];
IMU.my = (float)IMU.magCount[1] * IMU.mRes * IMU.magCalibration[1] -
         IMU.magbias[1];
IMU.mz = (float)IMU.magCount[2] * IMU.mRes * IMU.magCalibration[2] -
         IMU.magbias[2];



int x=64+10;
int y=128+20;
int z=192+30;

M5.Lcd.fillScreen(BLACK);
M5.Lcd.setTextColor(GREEN , BLACK);
M5.Lcd.setTextSize(2);
M5.Lcd.setCursor(0, 0); M5.Lcd.print("MPU9250/AK8963");
M5.Lcd.setCursor(0, 32); M5.Lcd.print("x");
M5.Lcd.setCursor(x, 32); M5.Lcd.print("y");
M5.Lcd.setCursor(y, 32); M5.Lcd.print("z");



M5.Lcd.setCursor(0, 64 * 2); M5.Lcd.print((int)(IMU.gx));
M5.Lcd.setCursor(x, 64 * 2); M5.Lcd.print((int)(IMU.gy));
M5.Lcd.setCursor(y, 64 * 2); M5.Lcd.print((int)(IMU.gz));
M5.Lcd.setCursor(z, 64 * 2); M5.Lcd.print("o/s");

M5.Lcd.setCursor(0, 80 * 2); M5.Lcd.print((int)(IMU.mx));
M5.Lcd.setCursor(x, 80 * 2); M5.Lcd.print((int)(IMU.my));
M5.Lcd.setCursor(y, 80 * 2); M5.Lcd.print((int)(IMU.mz));
M5.Lcd.setCursor(z, 80 * 2); M5.Lcd.print("mG");

float headingRadians = atan2((IMU.my), (IMU.mx));
float headingDegrees = headingRadians * 180 / PI;

if (headingDegrees < 0) {
headingDegrees += 360;
}
M5.Lcd.setTextColor(YELLOW , BLACK);
M5.Lcd.setCursor(0, 48 * 2); M5.Lcd.print(headingDegrees);

delay(100);

}

}