File content as of revision 2:2c0cd1aaae83:

#include "mbed.h"

//#include "SerialRPCInterface.h"

#include "MPU6050.h"

//SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);

typedef struct imu_struct_t{
    float accel_x;
    float accel_y;
    float accel_z;
    float gyro_x;
    float gyro_y;
    float gyro_z;
} imu_struct_t;

imu_struct_t imu;

//RPCVariable<imu_struct_t> rpc_imu(&imu, "imu");

MPU6050 mpu6050;

DigitalOut init_done(LED1);
DigitalOut imu_good(LED2);
DigitalOut main_loop(LED3);

int main() {
    init_done = 0;
    imu_good = 0;
    main_loop = 0;
    
    // setup the classes that can be created dynamically
    /*Base::add_rpc_class<AnalogIn>();
    Base::add_rpc_class<AnalogOut>();
    Base::add_rpc_class<DigitalIn>();
    Base::add_rpc_class<DigitalOut>();
    Base::add_rpc_class<DigitalInOut>();
    Base::add_rpc_class<PwmOut>();
    Base::add_rpc_class<Timer>();
    Base::add_rpc_class<SPI>();
    Base::add_rpc_class<BusOut>();
    Base::add_rpc_class<BusIn>();
    Base::add_rpc_class<BusInOut>();
    Base::add_rpc_class<Serial>();*/
    
    imu.accel_x = 0.0;
    imu.accel_y = 0.0;
    imu.accel_z = 0.0;
    imu.gyro_x = 0.0;
    imu.gyro_y = 0.0;
    imu.gyro_z = 0.0;
    
    //Set up I2C
    i2c.frequency(400000);  // use fast (400 kHz) I2C
    
    bool imu_ready = false;
    
    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
    
    if (whoami == 0x68) // WHO_AM_I should always be 0x68
    {
        mpu6050.MPU6050SelfTest(SelfTest);
        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers  
            mpu6050.initMPU6050();
            mpu6050.getAres();
            mpu6050.getGres();
            imu_ready = true;
            imu_good = 1;
        }
    }
    
    init_done = 1;
    
    while(1) {
        wait_ms(100);
        
        main_loop = !main_loop;
        
        if (imu_ready) {    
            imu.accel_x = imu.accel_x + 0.1;
            
            /*
            if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
                mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
                mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values

                // Now we'll calculate the accleration value into actual g's
                ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
                ay = (float)accelCount[1]*aRes - accelBias[1];   
                az = (float)accelCount[2]*aRes - accelBias[2];  
               
                // Calculate the gyro value into actual degrees per second
                gx = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
                gy = (float)gyroCount[1]*gRes - gyroBias[1];  
                gz = (float)gyroCount[2]*gRes - gyroBias[2];
            }
            */
        }
    }
}