File content as of revision 3:06223ec42c88:

char whoAmI ;
#define MPU6050                          0x68<<1  // Device address when ADO = 0
#define RA_WHO_AM_I         0x75
#define RA_CONFIG           0x1A
#define RA_USER_CTRL        0x6A
#define RA_PWR_ADDR         0x6B
#define RA_SMPLRT_DIV       0x19
#define RA_GYRO_CONFIG      0x1B
#define RA_ACCEL_CONFIG     0x1C
#define RA_INT_PIN_CFG      0x37
#define RA_ACCEL_XOUT_H     0x3B
#define RA_ACCEL_XOUT_L     0x3C
#define RA_ACCEL_YOUT_H     0x3D
#define RA_ACCEL_YOUT_L     0x3E
#define RA_ACCEL_ZOUT_H     0x3F
#define RA_ACCEL_ZOUT_L     0x40
#define RA_TEMP_OUT_H       0x41
#define RA_TEMP_OUT_L       0x42
#define RA_GYRO_XOUT_H      0x43
#define RA_GYRO_XOUT_L      0x44
#define RA_GYRO_YOUT_H      0x45
#define RA_GYRO_YOUT_L      0x46
#define RA_GYRO_ZOUT_H      0x47
#define RA_GYRO_ZOUT_L      0x48
#define AF_SEL                          0x00 
#define ACC_HPF                         0x00  
#define FS_SEL                          0x00  
#define RA_PWR_MGMT_1           0x00
#define USER_CTRL               0x00
#define ACC_SELF_TEST_X         0x00
#define ACC_SELF_TEST_Y         0x00
#define ACC_SELF_TEST_Z         0x00
#define G_SELF_TEST_X           0x00
#define G_SELF_TEST_Y           0x00
#define G_SELF_TEST_Z           0x00
#define PIN_CFG                         2
#define CONFIG                          4
#define SMPLRT_DIV                  19
                       
                              
#include "mbed.h"
#include "MFRC522.h"

// Nucleo Pin for MFRC522 reset (pick another D pin if you need D8)
#define MF_RESET    D8

DigitalOut led(D4);
DigitalOut ledG(D3);
DigitalOut led3(D5);
DigitalIn boton(PC_13); // 0 - presionado 
int aux = 0 ;
int aux2 = 0;
int signal = 0;
//Serial connection to PC for output
Serial pc(SERIAL_TX, SERIAL_RX);
I2C i2c(D14, D15);
MFRC522    RfChip   (SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, MF_RESET);
void giroscope();
void rfid();
void InitMPU();
//int ReadData(int adress_L, int adress_H);
char reg_value[2];
 void WriteData(uint8_t address, uint8_t subAddress, uint8_t data);
int ReadData(int adress_L, int adress_H);

void giroscope(){
    while(1) { 
                pc.printf(" ");
/*
        pc.printf("*");
        pc.printf("%i\t",ReadData(RA_ACCEL_XOUT_L ,RA_ACCEL_XOUT_H));
        pc.printf("%i\t",ReadData(RA_ACCEL_YOUT_L ,RA_ACCEL_YOUT_H));
        pc.printf("%i\t",ReadData(RA_ACCEL_ZOUT_L ,RA_ACCEL_ZOUT_H));
        pc.printf("\n\r");*/
       // pc.printf("%i\t",ReadData(RA_GYRO_XOUT_L ,RA_GYRO_XOUT_H));
        pc.printf("%i\t",ReadData(RA_GYRO_YOUT_L ,RA_GYRO_YOUT_H));
        //pc.printf("%i\t",ReadData(RA_GYRO_ZOUT_L ,RA_GYRO_ZOUT_H));
        pc.printf("\n\r");
        //wait_us(2e6);
        
  }
    
    
    }


void rfid(){
    
    while(true){
    if (boton == 0){
        led = !led;
        pc.printf("boton presionado\n\r");
        pc.printf(" %X02",aux);
        }
             led=0;
            // Look for new cards
            if ( ! RfChip.PICC_IsNewCardPresent())
            {
              wait_ms(200);
              //pc.printf("1 ");
              pc.printf("%i\t\n\r",ReadData(RA_GYRO_YOUT_L ,RA_GYRO_YOUT_H));
              continue;
            }
        
            // Select one of the cards
            if ( ! RfChip.PICC_ReadCardSerial())
            {
              wait_ms(200);
              continue;
            }
        
        
            led=1;
            // Print Card UID
           // pc.printf("Card UID: ");
            for (uint8_t i = 0; i < RfChip.uid.size; i++)
            {
             /* pc.printf(" %X02", RfChip.uid.uidByte[i]);
              pc.printf("-A1-\n\r");*/
                         if (aux == 0) {
              
                          aux = RfChip.uid.uidByte[i]; //registra la primera tarjeta que entre
                          led3 = 1;
                          aux2 = 2;
                         
                        }else if (aux2 ==2){
                            
                            
                            aux2 = RfChip.uid.uidByte[i]; //registrar tarjeta
                            ledG = 1;  
                            led3 = 0; 
                            signal = 1;
                            
                                                       
                       }else if (RfChip.uid.uidByte[i] == aux){ 
                         
                            ledG = 1;  
                            led3 = 0;
                            signal = 1; 
                            pc.printf("15000\n\r");
                            /*------*/
                            wait_us(5e6);
                            ledG = 0;
                            signal = 0;
                            pc.printf("-15000\n\r");
                            led3 = 1;
                                                       
                       }     
            }    
    
        pc.printf("\n\r");
        
    }
}

void leer (){
    if (boton == 1){
        led = !led;
        pc.printf("boton presionado\n\r");
        }
        
}
int ReadData(int adress_L, int adress_H){
        char data_L;
    char data_H;
    char adress_data_L[1] ;
    char adress_data_H[1] ;
    adress_data_L[0]= adress_L;
    adress_data_H[0]= adress_H;
    i2c.write(MPU6050, adress_data_L, 1,1);
    i2c.read(MPU6050,&data_L, 1,0);
    i2c.write(MPU6050, adress_data_H, 1,1);
    i2c.read(MPU6050,&data_H, 1,0);

    return (int16_t)((data_H<<8) | data_L);
    
}
 void WriteData(uint8_t address, uint8_t subAddress, uint8_t data)
{
   char data_write[2];
   data_write[0] = subAddress;
   data_write[1] = data;
   i2c.write(address, data_write, 2, false);
}

void InitMPU(){
    WriteData(MPU6050,RA_PWR_ADDR,RA_PWR_MGMT_1);   
    wait(0.1);
    WriteData(MPU6050,RA_USER_CTRL,USER_CTRL);   
    WriteData(MPU6050, RA_INT_PIN_CFG,PIN_CFG);
    WriteData(MPU6050,RA_SMPLRT_DIV,SMPLRT_DIV); 
    int GConfig = G_SELF_TEST_X | G_SELF_TEST_Y | G_SELF_TEST_Z | FS_SEL;
    int AConfig = ACC_SELF_TEST_X | ACC_SELF_TEST_Y | ACC_SELF_TEST_Z | AF_SEL | ACC_HPF;
    WriteData(MPU6050,RA_GYRO_CONFIG,GConfig); 
    WriteData(MPU6050,RA_ACCEL_CONFIG,AConfig); 

}

int main(void) {
  pc.baud(9600);
  i2c.frequency(400000);
  InitMPU();
  
  pc.printf("starting...\n\r");
   
    
  // Init. RC522 Chip
  RfChip.PCD_Init();
    
    
    
  while (true) {
    pc.printf("buscando\n\r");
    //pc.attach(&leer);
    
    rfid();
     //wait_ms(200);
  }
}