/Codice scrittura solo dati accelerometro
//proviamo con i micros()

#include <SPI.h>
#include <SdFat.h>

#include <Wire.h>

#define SerialMonitor Serial


#define ARDUINO_USD_CS 10 // uSD card CS pin (pin 10 on SparkFun GPS Logger Shield)

#define MAX_LOG_FILES 100 // Number of log files that can be made
char logFileName[13] = "gpslogXX.csv";



#define LOG_COLUMN_HEADER \
  "time," "Acc.X," "Acc.Y," "Acc.Z," "Gy.X," "Gy.Y," "Gy.Z"

#define LOG_RATE 1000000 // Log every n microseconds
unsigned long lastLog = 0; // Global var to keep of last time we logged

const int MPU=0x68;  // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,GyX,GyY,GyZ;


  // SD definition
  SdFat SD;
  File  dataFile;

  void setup()
  {
    Wire.begin();
    Wire.beginTransmission(MPU);
    Wire.write(0x6B);  // PWR_MGMT_1 register
    Wire.write(0);     // set to zero (wakes up the MPU-6050)
    Wire.endTransmission(true);
    SerialMonitor.begin(9600);

    updateFileName(); // Each time we start, create a new file, increment the number
     // see if the card is present and can be initialized:
     if (!SD.begin(ARDUINO_USD_CS))
   {
    SerialMonitor.println( F("Error initializing SD card.") );
    } else {
    dataFile = SD.open( logFileName, FILE_WRITE );
    // Print a header at the top of the new file
    dataFile.println( F(LOG_COLUMN_HEADER) );
  }

}

  void loop()
  {
    Wire.beginTransmission(MPU);
    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false);
    Wire.requestFrom(MPU,14,true);   // request a total of 14 registers
    AcX=Wire.read()<<8;
    AcX|= Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
    AcY=Wire.read()<<8;
    AcY|=Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
    AcZ=Wire.read()<<8;
    AcZ|=Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
    GyX=Wire.read()<<8;
    GyX|=Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
    GyY=Wire.read()<<8 ;
    GyY|=Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
    GyZ=Wire.read()<<8;
    GyZ|=Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
    if ((lastLog + LOG_RATE) <= micros()) {

  printImuData(dataFile,lastLog, AcX, AcY, AcZ, GyX, GyY, GyZ);
  dataFile.flush();
  lastLog=micros();
  }
  }

static void printImuData(Print &printer, unsigned long lastLog,
        int16_t AcX, int16_t AcY, int16_t AcZ,
        int16_t GyX, int16_t GyY, int16_t GyZ)
{//Printing the mpu6050 information
    printer.print(lastLog); printer.print(",");
    printer.print(AcX);     printer.print(",");
    printer.print(AcY);     printer.print(",");
    printer.print(AcZ);     printer.print(",");
    printer.print(GyX);     printer.print(",");
    printer.print(GyY);     printer.print(",");
    printer.println(GyZ);

}

// updateFileName() - Looks through the log files already present on a card,
// and creates a new file with an incremented file index.
void updateFileName()
{
  for (uint8_t i; i < MAX_LOG_FILES; i++)
  {
    // Set logFileName to "gpslogXX.csv":
    logFileName[6] = (i/10) + '0';
    logFileName[7] = (i%10) + '0';
 if (!SD.exists(logFileName))
      break; // We found our index

    SerialMonitor.print(logFileName);
    SerialMonitor.println( F(" exists") );
  }
  SerialMonitor.print( F("File name: ") );
  SerialMonitor.println(logFileName);
}