File content as of revision 0:ebfdfa4739aa:

 #include    "mbed.h"
 #include    "math.h"
 #include    "BNO055.h"
 
 #define PI 3.141593
 
 Serial pc(USBTX,USBRX);
 BNO055 imu(PTE25, PTE24);         // SDA, SCL 
 
 double y;
 double x;
 double z;
 double angleToNorth;
 double result;
 double pitchAcc;
 double rollAcc;
 double pitch = 0;
 double roll = 0;
 double yaw = 0;
 Timer t;
 
 int main() {
     imu.reset();
     pc.printf("Bosch Sensortec BNO055 test program on \r\n");//" __DATE__ "/" __TIME__ "\r\n");
     while (imu.check() == 0){
         pc.printf("Bosch BNO055 is NOT available!!\r\n");
         wait(.5);
     }
    pc.printf("BNO055 found\r\n\r\n");
    pc.printf("Chip          ID: %0z\r\n",imu.ID.id);
    pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
    pc.printf("Gyroscope     ID: %0z\r\n",imu.ID.gyro);
    pc.printf("Magnetometer  ID: %0z\r\n\r\n",imu.ID.mag);
    pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
    pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
    imu.set_accel_units(MPERSPERS);
    imu.setmode(OPERATION_MODE_AMG);
    imu.read_calibration_data();
    imu.write_calibration_data();
    imu.set_angle_units(DEGREES);
    t.start();
    while(1)
    {
        imu.setmode(OPERATION_MODE_AMG);
        imu.get_accel();
        imu.get_gyro();

        pitch = atan2 (imu.accel.y ,( sqrt ((imu.accel.x * imu.accel.x) + (imu.accel.z * imu.accel.z))));
        roll = atan2(-imu.accel.x ,( sqrt((imu.accel.y * imu.accel.y) + (imu.accel.z * imu.accel.z))));


        roll = roll*57.3;
        pitch = pitch*57.3;

        yaw = (yaw - t.read()*imu.gyro.z);
        t.reset();
        if(yaw > 360)
            yaw -= 360;
        if(yaw < 0)
            yaw += 360;

        pc.printf("Euler angles: x %f\ty %f\t z %f \r\n\n", pitch, roll, yaw);
    }
}