/* SD card attached to SPI bus as follows:
 ** MOSI - pin 11
 ** MISO - pin 12
 ** CLK - pin 13
 ** CS - pin 4 (for MKRZero SD: SDCARD_SS_PIN) */

//Carrega a biblioteca SPI
#include <SPI.h>

//Carrega a biblioteca SD
#include <SD.h>

//Carrega a biblioteca Wire
#include<Wire.h>

//Endereco I2C do MPU6050
const int MPU=0x68;

//Arquivo
File myFile;

//Variaveis para armazenar valores dos sensores
int AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
unsigned long time=0;
int cont=0;


void setup(){
  Serial.begin(9600);
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);

  //Inicializa o MPU-6050
  Wire.write(0);
  Wire.endTransmission(true);

  if (!SD.begin(4)) {
    Serial.println("initialization failed!");
    return;
  }

  myFile = SD.open("test.txt", FILE_WRITE);

  if (myFile) {

   myFile.println("");

  }

  //myFile.close();

}

void loop(){
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);

  //Solicita os dados do sensor
  Wire.requestFrom(MPU,14,true);

  //Armazena o valor dos sensores nas variaveis correspondentes
  AcX=Wire.read()<<8|Wire.read(); //0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY=Wire.read()<<8|Wire.read(); //0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=Wire.read()<<8|Wire.read(); //0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=Wire.read()<<8|Wire.read(); //0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=Wire.read()<<8|Wire.read(); //0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read(); //0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read(); //0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)


  //Mostra os valores na serial
  Serial.print("Acel. X = "); Serial.print(AcX);
  Serial.print(" | Y = "); Serial.print(AcY);
  Serial.print(" | Z = "); Serial.print(AcZ);
  Serial.print(" | Gir. X = "); Serial.print(GyX);
  Serial.print(" | Y = "); Serial.print(GyY);
  Serial.print(" | Z = "); Serial.print(GyZ);
  Serial.print(" | Temp = "); Serial.println(Tmp/340.00+36.53);

  time = millis();

  if (myFile) {

   myFile.print(time);
   myFile.print(";");
   myFile.print(GyX);
   myFile.print(";");
   myFile.print(GyY);
   myFile.print(";");
   myFile.println(GyZ);

  }

  if(cont==200){
    myFile.close();
    cont = 0;
    myFile = SD.open("test.txt", FILE_WRITE);
  }

  cont++;

  //Aguarda 150 ms e reinicia o processo
  delay(10);
}