File content as of revision 0:dceb852b19f3:

/*
    This code is in working condition.
    DMP works in RTOS environment
*/

#include "mbed.h"
#include "rtos.h"
#include "robot.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "DMP.h"



//int main() {
void led2_thread(void const *args){
    DigitalOut reset_pin(PTE5);
    test_dmp();
    MPU6050 mpu;
   
    myled = 0;   //turn on LED

    btSwitch = 1;
    bt.baud(baudRate);   //set baud rate for bluetooth device
    
    start_dmp(mpu);
    
    while(1){
        //bt.baud(baudRate); 
        //reset_pin = 0;
        if(!mpuInterrupt && fifoCount < packetSize);    //interrupt not ready
        else{   //mpu interrupt is ready
            update_dmp(mpu);
            mpuInterrupt = false;   //this resets the interrupt flag
        }       
    }
}

int main() {
    Thread thread(led2_thread);
    
    while (true) {
        Thread::wait(500);
    }
}