#
# This file is part of MicroPython MPU9250 driver
# Copyright (c) 2018 Mika Tuupola
#
# Licensed under the MIT license:
#   http://www.opensource.org/licenses/mit-license.php
#
# Project home:
#   https://github.com/tuupola/micropython-mpu9250
#

"""
MicroPython I2C driver for MPU9250 9-axis motion tracking device
"""

# pylint: disable=import-error
from micropython import const
import ustruct
import utime
import time
import math
from machine import I2C, Pin
import matrix
# pylint: enable=import-error
__version__ = "0.2.0"
# pylint: disable=import-error
# pylint: enable=import-error

_GYRO_CONFIG = const(0x1b)
_ACCEL_CONFIG = const(0x1c)
_ACCEL_CONFIG2 = const(0x1d)
_INT_PIN_CFG = const(0x37)
_ACCEL_XOUT_H = const(0x3b)
_ACCEL_XOUT_L = const(0x3c)
_ACCEL_YOUT_H = const(0x3d)
_ACCEL_YOUT_L = const(0x3e)
_ACCEL_ZOUT_H = const(0x3f)
_ACCEL_ZOUT_L= const(0x40)
_TEMP_OUT_H = const(0x41)
_TEMP_OUT_L = const(0x42)
_GYRO_XOUT_H = const(0x43)
_GYRO_XOUT_L = const(0x44)
_GYRO_YOUT_H = const(0x45)
_GYRO_YOUT_L = const(0x46)
_GYRO_ZOUT_H = const(0x47)
_GYRO_ZOUT_L = const(0x48)
_WHO_AM_I = const(0x75)

#_ACCEL_FS_MASK = const(0b00011000)
ACCEL_FS_SEL_2G = const(0b00000000)
ACCEL_FS_SEL_4G = const(0b00001000)
ACCEL_FS_SEL_8G = const(0b00010000)
ACCEL_FS_SEL_16G = const(0b00011000)

_ACCEL_SO_2G = 16384 # 1 / 16384 ie. 0.061 mg / digit
_ACCEL_SO_4G = 8192 # 1 / 8192 ie. 0.122 mg / digit
_ACCEL_SO_8G = 4096 # 1 / 4096 ie. 0.244 mg / digit
_ACCEL_SO_16G = 2048 # 1 / 2048 ie. 0.488 mg / digit

#_GYRO_FS_MASK = const(0b00011000)
GYRO_FS_SEL_250DPS = const(0b00000000)
GYRO_FS_SEL_500DPS = const(0b00001000)
GYRO_FS_SEL_1000DPS = const(0b00010000)
GYRO_FS_SEL_2000DPS = const(0b00011000)

_GYRO_SO_250DPS = 131
_GYRO_SO_500DPS = 62.5
_GYRO_SO_1000DPS = 32.8
_GYRO_SO_2000DPS = 16.4

# Used for enablind and disabling the i2c bypass access
_I2C_BYPASS_MASK = const(0b00000010)
_I2C_BYPASS_EN = const(0b00000010)
_I2C_BYPASS_DIS = const(0b00000000)

SF_G = 1
SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity
SF_DEG_S = 1
SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s


_WIA = const(0x00)
_HXL = const(0x03)
_HXH = const(0x04)
_HYL = const(0x05)
_HYH = const(0x06)
_HZL = const(0x07)
_HZH = const(0x08)
_ST2 = const(0x09)
_CNTL1 = const(0x0a)
_ASAX = const(0x10)
_ASAY = const(0x11)
_ASAZ = const(0x12)

_MODE_POWER_DOWN = 0b00000000
MODE_SINGLE_MEASURE = 0b00000001
MODE_CONTINOUS_MEASURE_1 = 0b00000010 # 8Hz
MODE_CONTINOUS_MEASURE_2 = 0b00000110 # 100Hz
MODE_EXTERNAL_TRIGGER_MEASURE = 0b00000100
_MODE_SELF_TEST = 0b00001000
_MODE_FUSE_ROM_ACCESS = 0b00001111

OUTPUT_14_BIT = 0b00000000
OUTPUT_16_BIT = 0b00010000

_SO_14BIT = 0.6 # 渭T per digit when 14bit mode
_SO_16BIT = 0.15 # 渭T per digit when 16bit mode

class MPU6500:
    """Class which provides interface to MPU6500 6-axis motion tracking device."""
    def __init__(
        self, i2c, address=0x68,
        accel_fs=ACCEL_FS_SEL_2G, gyro_fs=GYRO_FS_SEL_250DPS,
        accel_sf=SF_M_S2, gyro_sf=SF_RAD_S
    ):
        self.i2c = i2c
        self.address = address

        if 0x71 != self.whoami:
            raise RuntimeError("MPU6500 not found in I2C bus.")

        self._accel_so = self._accel_fs(accel_fs)
        self._gyro_so = self._gyro_fs(gyro_fs)
        self._accel_sf = accel_sf
        self._gyro_sf = gyro_sf

        # Enable I2C bypass to access for MPU9250 magnetometer access.
        char = self._register_char(_INT_PIN_CFG)
        char &= ~_I2C_BYPASS_MASK # clear I2C bits
        char |= _I2C_BYPASS_EN
        self._register_char(_INT_PIN_CFG, char)
		
    @property
    def temperature(self):
        tempbuf=self._register_short(0x41)
        return tempbuf/333.87 + 21  # I think
		
    # @property
    def acceleration(self):
        """
        Acceleration measured by the sensor. By default will return a
        3-tuple of X, Y, Z axis acceleration values in m/s^2 as floats. Will
        return values in g if constructor was provided `accel_sf=SF_M_S2`
        parameter.
        """
        so = self._accel_so
        sf = self._accel_sf

        xyz = self._register_three_shorts(_ACCEL_XOUT_H)
        return tuple([value / so * sf for value in xyz])

    @property
    def gyro(self):
        """
        X, Y, Z radians per second as floats.
        """
        so = self._gyro_so
        sf = self._gyro_sf

        xyz = self._register_three_shorts(_GYRO_XOUT_H)
        return tuple([value / so * sf for value in xyz])

    @property
    def whoami(self):
        """ Value of the whoami register. """
        return self._register_char(_WHO_AM_I)

    def _register_short(self, register, value=None, buf=bytearray(2)):
        if value is None:
            self.i2c.readfrom_mem_into(self.address, register, buf)
            return ustruct.unpack(">h", buf)[0]

        ustruct.pack_into(">h", buf, 0, value)
        return self.i2c.writeto_mem(self.address, register, buf)

    def _register_three_shorts(self, register, buf=bytearray(6)):
        self.i2c.readfrom_mem_into(self.address, register, buf)
        return ustruct.unpack(">hhh", buf)

    def _register_char(self, register, value=None, buf=bytearray(1)):
        if value is None:
            self.i2c.readfrom_mem_into(self.address, register, buf)
            return buf[0]

        ustruct.pack_into("<b", buf, 0, value)
        return self.i2c.writeto_mem(self.address, register, buf)

    def _accel_fs(self, value):
        self._register_char(_ACCEL_CONFIG, value)

        # Return the sensitivity divider
        if ACCEL_FS_SEL_2G == value:
            return _ACCEL_SO_2G
        elif ACCEL_FS_SEL_4G == value:
            return _ACCEL_SO_4G
        elif ACCEL_FS_SEL_8G == value:
            return _ACCEL_SO_8G
        elif ACCEL_FS_SEL_16G == value:
            return _ACCEL_SO_16G

    def _gyro_fs(self, value):
        self._register_char(_GYRO_CONFIG, value)

        # Return the sensitivity divider
        if GYRO_FS_SEL_250DPS == value:
            return _GYRO_SO_250DPS
        elif GYRO_FS_SEL_500DPS == value:
            return _GYRO_SO_500DPS
        elif GYRO_FS_SEL_1000DPS == value:
            return _GYRO_SO_1000DPS
        elif GYRO_FS_SEL_2000DPS == value:
            return _GYRO_SO_2000DPS

    def __enter__(self):
        return self

    def __exit__(self, exception_type, exception_value, traceback):
        pass

class AK8963:
    """Class which provides interface to AK8963 magnetometer."""
    def __init__(
        self, i2c, address=0x0c,
        mode=MODE_CONTINOUS_MEASURE_1, output=OUTPUT_16_BIT,
        offset=(0, 0, 0), scale=(1, 1, 1)
    ):
        self.i2c = i2c
        self.address = address
        self._offset = offset
        self._scale = scale

        if 0x48 != self.whoami:
            raise RuntimeError("AK8963 not found in I2C bus.")

        # Sensitivity adjustement values
        self._register_char(_CNTL1, _MODE_FUSE_ROM_ACCESS)
        asax = self._register_char(_ASAX)
        asay = self._register_char(_ASAY)
        asaz = self._register_char(_ASAZ)
        self._register_char(_CNTL1, _MODE_POWER_DOWN)

        # Should wait atleast 100us before next mode
        self._adjustement = (
            (0.5 * (asax - 128)) / 128 + 1,
            (0.5 * (asay - 128)) / 128 + 1,
            (0.5 * (asaz - 128)) / 128 + 1
        )

        # Power on
        self._register_char(_CNTL1, (mode | output))

        if output is OUTPUT_16_BIT:
            self._so = _SO_16BIT
        else:
            self._so = _SO_14BIT
	
   	
    @property
    def magnetic(self):
        """
        X, Y, Z axis micro-Tesla (uT) as floats.
        """
        xyz = list(self._register_three_shorts(_HXL))
        self._register_char(_ST2) # Enable updating readings again

        # Apply factory axial sensitivy adjustements
        xyz[0] *= self._adjustement[0]
        xyz[1] *= self._adjustement[1]
        xyz[2] *= self._adjustement[2]

        # Apply output scale determined in constructor
        so = self._so
        xyz[0] *= so
        xyz[1] *= so
        xyz[2] *= so

        # Apply hard iron ie. offset bias from calibration
        xyz[0] -= self._offset[0]
        xyz[1] -= self._offset[1]
        xyz[2] -= self._offset[2]

        # Apply soft iron ie. scale bias from calibration
        xyz[0] *= self._scale[0]
        xyz[1] *= self._scale[1]
        xyz[2] *= self._scale[2]

        return tuple(xyz)

    @property
    def adjustement(self):
        return self._adjustement

    @property
    def whoami(self):
        """ Value of the whoami register. """
        return self._register_char(_WIA)

    def calibrate(self, count=3, delay=200):
        self._offset = (0, 0, 0)
        self._scale = (1, 1, 1)

        reading = self.magnetic
        minx = maxx = reading[0]
        miny = maxy = reading[1]
        minz = maxz = reading[2]

        while count:
            utime.sleep_ms(delay)
            reading = self.magnetic
            minx = min(minx, reading[0])
            maxx = max(maxx, reading[0])
            miny = min(miny, reading[1])
            maxy = max(maxy, reading[1])
            minz = min(minz, reading[2])
            maxz = max(maxz, reading[2])
            count -= 1


        # Hard iron correction
        offset_x = (maxx + minx) / 2
        offset_y = (maxy + miny) / 2
        offset_z = (maxz + minz) / 2

        self._offset = (offset_x, offset_y, offset_z)

        # Soft iron correction
        avg_delta_x = (maxx - minx) / 2
        avg_delta_y = (maxy - miny) / 2
        avg_delta_z = (maxz - minz) / 2

        avg_delta = (avg_delta_x + avg_delta_y + avg_delta_z) / 3

        scale_x = avg_delta / avg_delta_x
        scale_y = avg_delta / avg_delta_y
        scale_z = avg_delta / avg_delta_z

        self._scale = (scale_x, scale_y, scale_z)

        return self._offset, self._scale

    def _register_short(self, register, value=None, buf=bytearray(2)):
        if value is None:
            self.i2c.readfrom_mem_into(self.address, register, buf)
            return ustruct.unpack("<h", buf)[0]

        ustruct.pack_into("<h", buf, 0, value)
        return self.i2c.writeto_mem(self.address, register, buf)

    def _register_three_shorts(self, register, buf=bytearray(6)):
        self.i2c.readfrom_mem_into(self.address, register, buf)
        return ustruct.unpack("<hhh", buf)

    def _register_char(self, register, value=None, buf=bytearray(1)):
        if value is None:
            self.i2c.readfrom_mem_into(self.address, register, buf)
            return buf[0]

        ustruct.pack_into("<b", buf, 0, value)
        return self.i2c.writeto_mem(self.address, register, buf)

    def __enter__(self):
        return self

    def __exit__(self, exception_type, exception_value, traceback):
        pass
		

class MPU9250:
    """Class which provides interface to MPU9250 9-axis motion tracking device."""
    def __init__(self, i2c, mpu6500 = None, ak8963 = None):
        if mpu6500 is None:
            self.mpu6500 = MPU6500(i2c)
        else:
            self.mpu6500 = mpu6500

        if ak8963 is None:
            self.ak8963 = AK8963(i2c)
        else:
            self.ak8963 = ak8963

    # @property
    # def acceleration(self):
    #     """
    #     Acceleration measured by the sensor. By default will return a
    #     3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
    #     pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
    #     """
    #     return self.mpu6500.acceleration
    def mpu9250_get_temperature(self):
		return self.mpu6500.temperature
		
    def mpu9250_get_values(self):
        """
        Acceleration measured by the sensor. By default will return a
        3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
        pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
        """
        g = self.mpu6500.acceleration()
        a = [round(x/9.8, 2) for x in g]
        return tuple(a)

    def mpu9250_get_x(self):
        """
        Acceleration measured by the sensor. By default will return a
        3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
        pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
        """
        return round(self.mpu6500.acceleration()[0]/9.8, 2)
    
    def mpu9250_get_y(self):
        """
        Acceleration measured by the sensor. By default will return a
        3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
        pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
        """
        return round(self.mpu6500.acceleration()[1]/9.8, 2)

    def mpu9250_get_z(self):
        """
        Acceleration measured by the sensor. By default will return a
        3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
        pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
        """
        return round(self.mpu6500.acceleration()[2]/9.8, 2)

           
    def mpu9250_is_gesture(self,choice):
    	if choice == 'face up':
    		if self.mpu6500.acceleration()[2] <= -9:
    			return True
    		else:
    			return False
    	if choice == 'face down':
    		if self.mpu6500.acceleration()[2] >= 9:
    			return True
    		else:
    			return False
        if choice == 'shake':
    		if abs(self.mpu6500.acceleration()[0]) >= 9 and abs(self.mpu6500.acceleration()[1]) >= 9 :
    			return True
    		else:
    			return False
        if choice == 'up':
    		if self.mpu6500.acceleration()[0] >= 9:
    			return True
    		else:
    			return False
    	if choice == 'down':
    		if self.mpu6500.acceleration()[0] <= -9:
    			return True
    		else:
    			return False
        if choice == 'right':
    		if self.mpu6500.acceleration()[1] <= -9:
    			return True
    		else:
    			return False
    	if choice == 'left':
    		if self.mpu6500.acceleration()[1] >= 9:
    			return True
    		else:
    			return False

    @property
    def mpu9250_gyro(self):
        """
        Gyro measured by the sensor. By default will return a 3-tuple of
        X, Y, Z axis values in rad/s as floats. To get values in deg/s pass
        `gyro_sf=SF_DEG_S` parameter to the MPU6500 constructor.
        """
        return self.mpu6500.gyro

    def mpu9250_gyro_x(self):
        return self.mpu6500.gyro[0]

    def mpu9250_gyro_y(self):
        return self.mpu6500.gyro[1]

    def mpu9250_gyro_z(self):
        return self.mpu6500.gyro[2]

    def mpu9250_gyro_values(self):
        return self.mpu6500.gyro

    @property
    def mpu9250_magnetic(self):
        """
        X, Y, Z axis micro-Tesla (uT) as floats.
        """
        return self.ak8963.magnetic

    def mpu9250_magnetic_x(self):
        return self.mpu9250_magnetic[0]

    def mpu9250_magnetic_y(self):
        return self.mpu9250_magnetic[1]

    def mpu9250_magnetic_z(self):
        return self.mpu9250_magnetic[2]

    def mpu9250_magnetic_values(self):
        return self.mpu9250_magnetic
        
    # @property
    def mpu9250_get_field_strength(self):
    	x=self.mpu9250_magnetic[0]
    	y=self.mpu9250_magnetic[1]
    	z=self.mpu9250_magnetic[2]
    	return (x**2+y**2+z**2)**0.5*1000

    def mpu9250_heading(self):
        x=self.mpu9250_magnetic[0]
        y=self.mpu9250_magnetic[1]
        z=self.mpu9250_magnetic[2]
        a=math.atan(z/x)
        b=math.atan(z/y)
        xr=x*math.cos(a)+y*math.sin(a)*math.sin(b)-z*math.cos(b)*math.sin(a)
        yr=x*math.cos(b)+z*math.sin(b)
        return 60*math.atan(yr/xr)

    @property
    def whoami(self):
        return self.mpu6500.whoami

    def __enter__(self):
        return self

    def __exit__(self, exception_type, exception_value, traceback):
        pass

class Compass:
    RAD_TO_DEG = 57.295779513082320876798154814105

    def __init__(self, sensor):
        self.sensor = sensor

    def get_x(self):
        return self.sensor.mpu9250_magnetic[0]

    def get_y(self):
        return self.sensor.mpu9250_magnetic[1]

    def get_z(self):
        return self.sensor.mpu9250_magnetic[2]

    def get_field_strength(self):
        return self.sensor.mpu9250_get_field_strength()

    def heading(self):
        from math import atan2
        xyz = self.sensor.mpu9250_magnetic
        return int(((atan2(xyz[1], xyz[0]) * Compass.RAD_TO_DEG) + 180) % 360)

    def calibrate(self):
        if self.is_calibrate() is False:
            # print('The calibration need to shaking in the air (e.g. 8 or 0) and waiting for a moment')
            print('First write 8 or 0 in the air with the board about 30 seconds, and then try to rotate the board in different direnctions several times.')
            matrix.display.set_pixel(int(7), int(3), 1)
            matrix.display.blink_rate(2)
            l1=0
            l2=0
            l3=0
            l4=0
            l5=0
            l6=0
            l7=0
            l8=0
            while True:
                x = self.sensor.mpu6500.acceleration()[0]
                y = self.sensor.mpu6500.acceleration()[1]
                z = self.sensor.mpu6500.acceleration()[2]
                a=(x**2+y**2+z**2)**0.5
                if z > 0:
                    if x > 0 and y > 0 and a >= 12:
                        l1=l1 + 1
                    if x > 0 and y < 0 and a >= 12:
                        l2=l2 + 1
                    if x < 0 and y > 0 and a >= 12:
                        l3=l3 + 1
                    if x < 0 and y < 0 and a >= 12:
                        l4=l4 + 1
                if z < 0:
                    if x > 0 and y > 0 and a >= 12:
                        l5=l5 + 1
                    if x > 0 and y < 0 and a >= 12:
                        l6=l6 + 1
                    if x < 0 and y > 0 and a >= 12:
                        l7=l7 + 1
                    if x < 0 and y < 0 and a >= 12:
                        l8=l8 + 1
                if l1 >= 2:
                    matrix.display.set_pixel(int(7), int(0), 1)
                    matrix.display.set_pixel(int(8), int(0), 1)
                    matrix.display.set_pixel(int(9), int(1), 1)
                if l2 >= 2:
                    matrix.display.set_pixel(int(10), int(2), 1)
                    matrix.display.set_pixel(int(10), int(3), 1)
                if l3 >= 2:
                    matrix.display.set_pixel(int(10), int(4), 1)
                    matrix.display.set_pixel(int(10), int(5), 1)
                if l4 >= 2:
                    matrix.display.set_pixel(int(9), int(6), 1)
                    matrix.display.set_pixel(int(8), int(7), 1)
                if l5 >= 2:
                    matrix.display.set_pixel(int(7), int(7), 1)
                    matrix.display.set_pixel(int(6), int(7), 1)
                if l6 >= 2:
                    matrix.display.set_pixel(int(5), int(6), 1)
                    matrix.display.set_pixel(int(4), int(5), 1)
                if l7 >= 2:
                    matrix.display.set_pixel(int(4), int(4), 1)
                    matrix.display.set_pixel(int(4), int(3), 1)
                if l8 >= 2:
                    matrix.display.set_pixel(int(4), int(2), 1)
                    matrix.display.set_pixel(int(5), int(1), 1)
                    matrix.display.set_pixel(int(6), int(0), 1)
                if l1>=2 and l2>=2 and l3>=2 and l4>=2 and l5>=2 and l6>=2 and l7>=2 and l8>=2:
                    break    
                else:
                    self.sensor.ak8963.calibrate()
                    with open("compass_cfg.py", "w") as f:
                        f.write('\n_offset = ' + str(self.sensor.ak8963._offset) + '\n_scale = ' + str(self.sensor.ak8963._offset))
        else:
            print('The calibration configuration already exists. If you need to recalibrate, enter os.remove("compass_cfg.py") in repl and restart')
            try:
                import compass_cfg
                self.sensor.ak8963._offset = compass_cfg._offset
                self.sensor.ak8963._scale = compass_cfg._scale
            except Exception as e:
                print('compass_cfg error! delete it, please.')
        with open("compass_cfg.py") as f:
            for line in f:
                print(line)

    def is_calibrate(self):
        try:
            import compass_cfg
            return True
        except Exception as e:
            return False

    def reset_calibrate(self):
        import os
        os.remove("compass_cfg.py")
# compass = mpu
# accelerometer = mpu