File content as of revision 15:55b8bfa4d09c:

#include "mbed.h"
#include "MPU9150.h"
#include "Quaternion.h"
#include "Motor.h"


//led pins
DigitalOut led1(P2_6);
DigitalOut led2(P2_7);
DigitalOut led3(P2_8);
AnalogIn hallSensor(P0_26);
InterruptIn hall1_(P0_5), hall2_(P0_4);
Hallsensor hall1(P1_26, P1_27);

Motor motor1(P2_0, P2_1,&hall1);


Serial RN42(P0_10, P0_11);
Serial debug(P0_2, P0_3);

Ticker infoTicker;

Timer timer;
Timer timer2;


Hallsensor hall2(P0_4, P0_5);
Motor motor2(P2_2, P2_3, &hall2);

MPU9150 imu(P0_28, P0_27, P2_13);

char buffer[200];
void infoTask(void)
{
    led1=!led1;
}
void deneme(void)
{
    led3=!led3;
}
int main()
{
   
    RN42.baud(9600);
    debug.baud(115200);
    //InitTimer0();
     //initialize_connection();

    
    infoTicker.attach(infoTask,0.2f);

    if(imu.isReady()) {
        debug.printf("MPU9150 is ready\r\n");
    } else {
        debug.printf("MPU9150 initialisation failure\r\n");
    }

    imu.initialiseDMP();

    timer.start();
    timer2.start();

            motor2.setVelocity(0.7);
    imu.setFifoReset(true);
    imu.setDMPEnabled(true);

    Quaternion q1;
    while(1) 
    {

        if(imu.getFifoCount() >= 48) {
            imu.getFifoBuffer(buffer,  48);
            led2 = !led2;
            debug.printf("%d\r\n",timer2.read_ms());
            timer2.reset();
        }

        if(timer.read_ms() > 50)
        {
            timer.reset();

            //This is the format of the data in the fifo,
            /* ================================================================================================ *
              | Default MotionApps v4.1 48-byte FIFO packet structure:                                           |
              |                                                                                                  |
              | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
              |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
              |                                                                                                  |
              | [GYRO Z][      ][MAG X ][MAG Y ][MAG Z ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ] |
              |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41  42  43  44  45  46  47  |
              * ================================================================================================ */

            /*
            debug.printf("%d, %d, %d\r\n",  (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]),
                                            (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
                                            (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));

            debug.printf("%d, %d, %d\r\n",  (int32_t)(((int32_t)buffer[16] << 24) + ((int32_t)buffer[17] << 16) + ((int32_t)buffer[18] << 8) + (int32_t)buffer[19]),
                                            (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
                                            (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));

            debug.printf("%d, %d, %d\r\n",  (int16_t)(buffer[29] << 8) + buffer[28],
                                            (int16_t)(buffer[31] << 8) + buffer[30],
                                            (int16_t)(buffer[33] << 8) + buffer[32]);

            debug.printf("%f, %f, %f, %f\r\n",
                (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
            */

            q1.decode(buffer);

            debug.printf("%f, ",hallSensor.read());
            debug.printf("%f, %f, %f, %f ", q1.w, q1.v.x, q1.v.y, q1.v.z);

            Vector3 vector_x(1,0,0),vector_y(0,1,0),vector_z(0,0,1);
            Vector3 pry=q1.getEulerAngles();
            debug.printf("p: %f r: %f y: %f ",pry.x/PI*180,pry.y/PI*180,pry.z/PI*180);
            debug.printf("m1: %d m2: %d \r\n ",motor2.getPulses(),motor2.getPulses());
            motor1.setVelocity(pry.x/90);

        }
    }
    
}