File content as of revision 6:95bced85b8e5:

#include "mbed.h"
#include "mbed_events.h"
#include "eCompass_Lib.h"
#include "MAG3110.h"
#include "MMA8451Q.h"
#include "SLCD.h"

#define MMA8451_I2C_ADDRESS (0x1d<<1)

eCompass compass;
MAG3110  mag( PTE25, PTE24);
MMA8451Q acc( PTE25, PTE24, MMA8451_I2C_ADDRESS);
DigitalOut red(LED_RED);
DigitalOut green(LED_GREEN);
Serial pc(USBTX, USBRX);
SLCD slcd;

extern axis6_t axis6;
extern uint32_t seconds;
extern uint32_t compass_type;
extern int32_t tcount;
extern uint8_t cdebug; 


MotionSensorDataCounts mag_raw;
MotionSensorDataCounts acc_raw;

/*
 * Thread Priorities
 * Compass Thread,      High Priority
 * Compass calibration, Above Normal
 * Console/LCD Update,  Below Normal
 * main(),              Normal
 */
 
Thread threadCalibrate(osPriorityAboveNormal);
Thread threadCompass(osPriorityHigh);
Thread threadDebug(osPriorityBelowNormal);

EventQueue queueCalibrate;
EventQueue queueCompass;
EventQueue queueDebug;

// HAL Map for KL46 Freedom board MMA8451Q & MAG3110 sensors
//
// This routing move and negates data as needed the
// properly align the sensor axis for our desired compass (NED)
// For more information see Freescale appication note AN4696
//
void hal_map( MotionSensorDataCounts * acc_data, MotionSensorDataCounts * mag_data)
{
    int16_t t;
    // swap and negate accelerometer x & y
    t = acc_data->y;
    acc_data->y = acc_data->x * -1;
    acc_data->x = t * -1;

    // negate magnetometer y
    mag_data->y *= -1;
}

//
// This is the 50Hz thread where the magic happens
//
int  l = 0;
void compass_thread() {
    // get raw data from the sensors
    mag.getAxis(mag_raw);
    acc.getAxis(acc_raw);
    if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
    if(l++ >= 50) { // take car of business once a second
        seconds++;
        l = 0;
        green = !green;
    }
    tcount++;
}

//
// Recalibrate compass at 1Hz
//
void calibrate_thread() {
    red = !red;
    compass.calibrate();
}
 
//
// Print data values for debug at 1Hz
//
void debug_thread(void)
{
    int h, m, s;
    h = seconds / 3600;
    m = (seconds % 3600) / 60;
    s = seconds % 60;
    // Some useful printf statements for debug
    printf("Runtime= %d:%02d:%02d\r\n", h, m, s);
    printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
    printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f    ", axis6.fGax, axis6.fGay, axis6.fGaz);
    printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
    printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); 
} 

//
// Update LCD at 5Hz 
//
void lcd_thread() {
    slcd.printf("%04d", axis6.yaw); // print the heading (NED compass) to the LCD
}
                               
int main() {
    slcd.clear();
    red = 1;
    green = 1;

    seconds = 0; 
    compass_type = NED_COMPASS;  
    tcount = 0;
    cdebug = 0; // Set to 1 to disable eCompass in order to observe raw mag data. 

    mag.enable();
    acc.enable();
    // Say hello to our sensors
    // Native KL46-FRDM sensors
    printf("\r\nMMA8451Q ID= %X\r\n", acc.whoAmI());
    printf("MAG3110 ID= %X\r\n", mag.whoAmI());
    mag.getAxis(mag_raw); // flush the magnetmeter
    
    // Events on the queues are called periodically, interval in milliseconds
    queueCalibrate.call_every(1000, calibrate_thread); 
    queueCompass.call_every(20, compass_thread); 
    queueDebug.call_every(200, lcd_thread);  
    queueDebug.call_every(1000, debug_thread); 
    
    // Queues run in different threads with different priorities
    threadCalibrate.start(callback(&queueCalibrate, &EventQueue::dispatch_forever));
    threadCompass.start(callback(&queueCompass, &EventQueue::dispatch_forever));
    threadDebug.start(callback(&queueDebug, &EventQueue::dispatch_forever));
}