#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h>
#include <MPU6050_tockn.h>

#define SEALEVELPRESSURE_HPA (1013.25)

//#define TESTING  // Define to test on Serial Monitor

Adafruit_BME280 bme;
MPU6050 mpu6050(Wire);

int counter = 0;
int RXLED = 17;  // The RX LED has a defined Arduino pin
long timer = 0;
int bmePresent;
int greenLED = 9;
int blueLED = 8;

void setup() {

  Serial.begin(9600); // Serial Monitor for testing

  Serial1.begin(9600);  // Pi UART

  Serial.println("Starting!");

  digitalWrite(RXLED, LOW);   // set the RX LED ON
  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
  delay(50);              // wait for a second
  digitalWrite(RXLED, HIGH);   // set the RX LED ON
  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF

  if (bme.begin(0x76)) {
    bmePresent = 1;
  } else {
    Serial.println("Could not find a valid BME280 sensor, check wiring!");
    bmePresent = 0;
  }
  
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);

  pinMode(greenLED, OUTPUT);
  pinMode(blueLED, OUTPUT);

  digitalWrite(greenLED, HIGH);   // turn the LED on (HIGH is the voltage level)
  digitalWrite(blueLED, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(100);              // wait for a second
  digitalWrite(greenLED, LOW);    // turn the LED off by making the voltage LOW
  digitalWrite(blueLED, LOW);   // turn the LED on (HIGH is the voltage level)
}
  
void loop() {

#ifdef TESTING
  if (Serial.available() > 0) {
    digitalWrite(RXLED, LOW);   // set the RX LED ON
    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
    delay(50);              // wait for a second
    digitalWrite(RXLED, HIGH);   // set the RX LED ON
    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
    char result = Serial.read();
 //       Serial.println(result);  
     
    if (result == 'R') {
      Serial.println("OK");
      delay(500);
      setup(); 
    }
    if (bmePresent) {
      Serial.print("OK BME280 ");
      Serial.print(bme.readTemperature());
      Serial.print(" ");
      Serial.print(bme.readPressure() / 100.0F);
      Serial.print(" ");
      Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
      Serial.print(" ");
      Serial.print(bme.readHumidity());
    } else
    {
       Serial.print("OK BME280 0.0 0.0 0.0 0.0");
    }
    mpu6050.update();
    
    Serial.print(" MPU6050 ");
    Serial.print(mpu6050.getGyroX());
    Serial.print(" ");
    Serial.print(mpu6050.getGyroY());
    Serial.print(" ");
    Serial.println(mpu6050.getGyroZ());

    float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()* mpu6050.getGyroZ()); 
    float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ()); 
//    Serial.print(rotation);
//    Serial.print(" ");
//    Serial.println(acceleration);

    if (acceleration > 1.2)
        digitalWrite(greenLED, HIGH);
    else
        digitalWrite(greenLED, LOW);
        
    if (rotation > 5)
        digitalWrite(blueLED, HIGH);
    else
        digitalWrite(blueLED, LOW);   
  
    //  Serial1.println(counter++);
  }
#else
  if (Serial1.available() > 0) {
    digitalWrite(RXLED, LOW);   // set the RX LED ON
    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
    delay(50);              // wait for a second
    digitalWrite(RXLED, HIGH);   // set the RX LED ON
    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
    char result = Serial1.read();
//    Serial1.println(result);

    if (result == 'R') {
      Serial1.println("OK");
      delay(500);
      setup(); 
    }  
    if (bmePresent) {  
      Serial1.print("OK BME280 ");
      Serial1.print(bme.readTemperature());
      Serial1.print(" ");
      Serial1.print(bme.readPressure() / 100.0F);
      Serial1.print(" ");
      Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
      Serial1.print(" ");
      Serial1.print(bme.readHumidity());
    } else
    {
       Serial1.print("OK BME280 0.0 0.0 0.0 0.0");
    }
    mpu6050.update();
    
    Serial1.print(" MPU6050 ");
    Serial1.print(mpu6050.getGyroX());
    Serial1.print(" ");
    Serial1.print(mpu6050.getGyroY());
    Serial1.print(" ");
    Serial1.println(mpu6050.getGyroZ());   

    float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()* mpu6050.getGyroZ()); 
    float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ()); 
//    Serial.print(rotation);
//    Serial.print(" ");
//    Serial.println(acceleration);

    if (acceleration > 1.2)
        digitalWrite(greenLED, HIGH);
    else
        digitalWrite(greenLED, LOW);
        
    if (rotation > 5)
        digitalWrite(blueLED, HIGH);
    else
        digitalWrite(blueLED, LOW);   
         
//  Serial1.println(counter++);
  }
#endif
  
  delay(100);
}