#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BMP085_U.h>
#include <Adafruit_L3GD20_U.h>
#include <LSM303.h>
 
 
Adafruit_BMP085_Unified bmp = Adafruit_BMP085_Unified(10085);
Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20);
LSM303 compass;
 
 
void displaySensorDetails(void)
{
  sensor_t sensor;
  bmp.getSensor(&sensor);
  Serial.println("------------------------------------");
  Serial.print  ("Sensor:       "); Serial.println(sensor.name);
  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);
  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);
  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" hPa");
  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" hPa");
  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" hPa");  
  Serial.println("------------------------------------");
  Serial.println("");
 
 
  gyro.getSensor(&sensor);
  Serial.println("------------------------------------");
  Serial.print  ("Sensor:       "); Serial.println(sensor.name);
  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);
  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);
  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" rad/s");
  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" rad/s");
  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" rad/s");  
  Serial.println("------------------------------------");
  Serial.println("");
 
 
 
  delay(500);
}
 
void setup(void) 
{
  Serial.begin(9600);
  Serial.println("Pressure Sensor Test"); Serial.println("");
  Wire.begin();
 
  /* Initialise the sensor */
  if(!bmp.begin())
  {
    /* There was a problem detecting the BMP085 ... check your connections */
    Serial.print("Ooops, no BMP085 detected ... Check your wiring or I2C ADDR!");
    while(1);
  }
 
  /* Initialise the sensor */
  if(!gyro.begin())
  {
    /* There was a problem detecting the L3GD20 ... check your connections */
    Serial.println("Ooops, no L3GD20 detected ... Check your wiring!");
    while(1);
  }
 
  /* Enable auto-ranging */
  gyro.enableAutoRange(true);
 
 
  /* Initialise the sensor */
  compass.init();
  compass.enableDefault();
 
  /* Display some basic information on this sensor */
  displaySensorDetails();
}
 
void loop(void) 
{
  /* Get a new sensor event */ 
  sensors_event_t event;
  bmp.getEvent(&event);
 
  /* Display the results (barometric pressure is measure in hPa) */
  if (event.pressure)
  {
    /* Display atmospheric pressue in hPa */
    Serial.print("Pressure:    ");
    Serial.print(event.pressure);
    Serial.println(" hPa");
 
    /* Calculating altitude with reasonable accuracy requires pressure    *
     * sea level pressure for your position at the moment the data is     *
     * converted, as well as the ambient temperature in degress           *
     * celcius.  If you don't have these values, a 'generic' value of     *
     * 1013.25 hPa can be used (defined as SENSORS_PRESSURE_SEALEVELHPA   *
     * in sensors.h), but this isn't ideal and will give variable         *
     * results from one day to the next.                                  *
     *                                                                    *
     * You can usually find the current SLP value by looking at weather   *
     * websites or from environmental information centers near any major  *
     * airport.                                                           *
     *                                                                    *
     * For example, for Paris, France you can check the current mean      *
     * pressure and sea level at: http://bit.ly/16Au8ol                   */
 
    /* First we get the current temperature from the BMP085 */
    float temperature;
    bmp.getTemperature(&temperature);
    Serial.print("Temperature: ");
    Serial.print(temperature);
    Serial.println(" C");
 
    /* Then convert the atmospheric pressure, and SLP to altitude         */
    /* Update this next line with the current SLP for better results      */
    float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
    Serial.print("Altitude:    "); 
    Serial.print(bmp.pressureToAltitude(seaLevelPressure,
                                        event.pressure)); 
    Serial.println(" m");
    Serial.println("");
  }
  else
  {
    Serial.println("Sensor error");
  }
 
 
  gyro.getEvent(&event);
 
  /* Display the results (speed is measured in rad/s) */
  Serial.print("X: "); Serial.print(event.gyro.x); Serial.print("  ");
  Serial.print("Y: "); Serial.print(event.gyro.y); Serial.print("  ");
  Serial.print("Z: "); Serial.print(event.gyro.z); Serial.print("  ");
  Serial.println("rad/s ");
 
   compass.read();
 
  /* Display the results (acceleration is measured in m/s^2) */
  Serial.print("X: "); Serial.print(compass.a.x); Serial.print("  ");
  Serial.print("Y: "); Serial.print(compass.a.y); Serial.print("  ");
  Serial.print("Z: "); Serial.print(compass.a.z); Serial.print("  ");Serial.println("m/s^2 ");
 
 
  /* Display the results (magnetic vector values are in micro-Tesla (uT)) */
  Serial.print("X: "); Serial.print(compass.m.x); Serial.print("  ");
  Serial.print("Y: "); Serial.print(compass.m.y); Serial.print("  ");
  Serial.print("Z: "); Serial.print(compass.m.z); Serial.print("  ");Serial.println("uT");
 
  delay(1000);
}