# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries
#
# SPDX-License-Identifier: Unlicense
import time

import board
import busio

from adafruit_bno08x import (
    BNO_REPORT_ACCELEROMETER,
    BNO_REPORT_GYROSCOPE,
    BNO_REPORT_MAGNETOMETER,
    BNO_REPORT_ROTATION_VECTOR,
)
from adafruit_bno08x.i2c import BNO08X_I2C

i2c = busio.I2C(board.SCL, board.SDA, frequency=400000)
bno = BNO08X_I2C(i2c)

bno.enable_feature(BNO_REPORT_ACCELEROMETER)
bno.enable_feature(BNO_REPORT_GYROSCOPE)
bno.enable_feature(BNO_REPORT_MAGNETOMETER)
bno.enable_feature(BNO_REPORT_ROTATION_VECTOR)

while True:
    time.sleep(0.5)
    print("Acceleration:")
    accel_x, accel_y, accel_z = bno.acceleration
    print("X: %0.6f  Y: %0.6f Z: %0.6f  m/s^2" % (accel_x, accel_y, accel_z))
    print("")

    print("Gyro:")
    gyro_x, gyro_y, gyro_z = bno.gyro
    print("X: %0.6f  Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z))
    print("")

    print("Magnetometer:")
    mag_x, mag_y, mag_z = bno.magnetic
    print("X: %0.6f  Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z))
    print("")

    print("Rotation Vector Quaternion:")
    quat_i, quat_j, quat_k, quat_real = bno.quaternion
    print("I: %0.6f  J: %0.6f K: %0.6f  Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real))
    print("")