File content as of revision 8:97589b322a4f:

#include "mbed.h"
#include "GYRO_DISCO_L476VG.h"
#include "COMPASS_DISCO_L476VG.h"
#define PI 3.14159265358979323846

COMPASS_DISCO_L476VG compass;
GYRO_DISCO_L476VG gyro;

Serial pc(SERIAL_TX, SERIAL_RX);
Ticker tick_mesure;

volatile bool flag_mesure = 0;

void mesure(void){flag_mesure = 1;}//   ISR mesure

int main()
{
    float GyroBuffer[3], offset, GyrY;
    offset = 0;
    wait(0.5);
    for(int i=0; i<100; i++){//     séquence de mise à 0
        gyro.GetXYZ(GyroBuffer);
        offset = offset + GyroBuffer[1];
        wait(0.01);
    }
    offset = offset/100;//-----------------fin mise à 0
    
    tick_mesure.attach(&mesure, 0.01);
    pc.baud(115200);
    
    unsigned int count = 0;   
    float Gyr_angle = 0;
    float Acc_angle;
    int16_t AccBuffer[3];
  
    while(1) {  
        if(flag_mesure){//  mesure Gyro
            gyro.GetXYZ(GyroBuffer);
            GyrY = GyroBuffer[1]-offset;
            Gyr_angle = Gyr_angle + GyrY/100;
            Acc_angle = atan2((float)AccBuffer[0], (float)AccBuffer[2])*180.0/PI;
            
            if(count > 9){
                compass.AccGetXYZ(AccBuffer);       
                pc.printf("$%f %f;", Acc_angle, Gyr_angle/1000);
                count = 0;
            }
            else
                count++;
            flag_mesure = 0;
        }
        //wait(0.1);
    }
}