# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time

import board
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS

# To use LSM6DS33, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 as LSM6DS
# To use ISM330DHCX, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds.lsm330dhcx import ISM330DHCX as LSM6DS
# To use LSM6DS3TR-C, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds.lsm6ds3trc import LSM6DS3TRC as LSM6DS
from adafruit_lis3mdl import LIS3MDL

i2c = board.I2C()  # uses board.SCL and board.SDA
# i2c = board.STEMMA_I2C()  # For using the built-in STEMMA QT connector on a microcontroller
accel_gyro = LSM6DS(i2c)
mag = LIS3MDL(i2c)

while True:
    acceleration = accel_gyro.acceleration
    gyro = accel_gyro.gyro
    magnetic = mag.magnetic
    print("Acceleration: X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} m/s^2".format(*acceleration))
    print("Gyro          X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} rad/s".format(*gyro))
    print("Magnetic      X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} uT".format(*magnetic))
    print("")
    time.sleep(0.5)