#!/usr/bin/python

import smbus
import math
import time
import sys
import curses
import signal

screen = curses.initscr()

# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

def signal_handler(signal, frame):
    curses.endwin()
    sys.exit()

def read_byte(adr):
    return bus.read_byte_data(address, adr)

def read_word(adr):
    high = bus.read_byte_data(address, adr)
    low = bus.read_byte_data(address, adr+1)
    val = (high << 8) + low
    return val

def read_word_2c(adr):
    val = read_word(adr)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val

def dist(a,b):
    return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
    radians = math.atan2(x, dist(y,z))
    return -math.degrees(radians)

def get_x_rotation(x,y,z):
    radians = math.atan2(y, dist(x,z))
    return math.degrees(radians)

signal.signal(signal.SIGINT, signal_handler)
bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
address = 0x68       # This is the address value read via the i2cdetect command

# Now wake the 6050 up as it starts in sleep mode
bus.write_byte_data(address, power_mgmt_1, 0)

#Set up basic screen labels
screen.addstr(0,0,"gyro data")
screen.addstr(1,0,"---------"
screen.addstr(2,0,"gyro_xout:")
screen.addstr(2,0,"scaled:")
screen.addstr(3,0,"gyro_yout:")
screen.addstr(3,0,"scaled")
screen.addstr(4,0,"gyro_zout:")
screen.addstr(4,0,"scaled:")

while True:
	gyro_xout = read_word_2c(0x43)
	gyro_yout = read_word_2c(0x45)
	gyro_zout = read_word_2c(0x47)

    screen.addstr(12,2,gyro_xout)
    screen.addstr(0,0,(gyro_xout / 131))
    screen.addstr(0,3,gyro_yout)
    screen.addstr(0,0,(gyro_yout / 131))
    screen.addstr(0,3,gyro_zout)
    screen.addstr(0,0,(gyro_zout / 131))

	#print ""
	#print "accelerometer data"
	#print "------------------"

	accel_xout = read_word_2c(0x3b)
	accel_yout = read_word_2c(0x3d)
	accel_zout = read_word_2c(0x3f)

	accel_xout_scaled = accel_xout / 16384.0
	accel_yout_scaled = accel_yout / 16384.0
	accel_zout_scaled = accel_zout / 16384.0

	#print "accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled
	#print "accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled
	#print "accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled

	#print "x rotation: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
	#print "y rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)

	time.sleep(0.2)