//Easy to use:  works with Arduino DUE or Arduino Zero (SAMD21 boards)
#include <SPI2C.h>
#include <Wire.h>

#include <SPI.h> // includE SPI
#include "MPU6X_PARTIAL.h" //Not a complete library
#define SER SerialUSB  
MPU6XXX32 MPU_I2C;
MPU6XXX32 MPU_SPI;

//  TYPE - I2C_ADDRESS/SPI_CS_PIN  - I2C_CLOCK/SPI_CLOCK - IC32_NA/SPI BIT DIR  I2C_NA/SPI_MOD
SPI2C_config spi2cI2CConfig =  { SPI2C_type_e::SPI2C_I2C,0x68,SPI2C_I2C_CLOCK_400, SPI2C_NOT_USED,SPI2C_NOT_USED };
SPI2C_config spi2cSPIConfig = { SPI2C_type_e::SPI2C_SPI_TRANSACTIONAL,10,1000000, MSBFIRST,SPI_MODE3 };
 
SPISettings setting(1000000, MSBFIRST, SPI_MODE3);
void setup()
{
	SER.begin(115200);
	while (!SER);

	// Setup SPI pin 10
	pinMode(10, OUTPUT);
	digitalWrite(10, HIGH);

	//library expects SPI & WIRE to best started if used.
  SPI.begin();
  Wire.begin();

  // init both MPUs - comment out seperatly if you don't have two boards
  MPU_I2C.init(&spi2cI2CConfig);
  MPU_SPI.init(&spi2cSPIConfig);

	 
}
int16_t ax, ay, az;
int16_t gx, gy, gz;
 // Instructions if you have two mpu6500 or mpu9250 hook 2 up at a time if not comment out appropriate section.
void loop()
{
//SPI VERSION
	int tim_me = micros();
	MPU_SPI.getAcceleration(&ax, &ay, &az);
	MPU_SPI.getRotation(&gx, &gy, &gz);
		SER.print("spi ");
		SER.print(micros() - tim_me); SER.print("gyro \t");
		SER.print(gx); SER.print("\t"); SER.print(gy); SER.print("\t"); SER.print(gz); SER.print("\t ac ");
		SER.print(ax); SER.print("\t"); SER.print(ay); SER.print("\t"); SER.print(az); SER.println("\t");
 

//I2C VERSION
	tim_me = micros();
	MPU_I2C.getAcceleration(&ax, &ay, &az);

	MPU_I2C.getRotation(&gx, &gy, &gz);
	SER.print("i2c ");
	SER.print(micros() - tim_me); SER.print("gyro \t");
	SER.print(gx); SER.print("\t"); SER.print(gy); SER.print("\t"); SER.print(gz); SER.print("\t ac ");
  SER.print(ax); SER.print("\t"); SER.print(ay); SER.print("\t"); SER.print(az); SER.println("\t");

	delay(100);
}