File content as of revision 1:20b0a21f3b43:

// IMU2 Ver1
// Subete Suuji hyouji

#include "mbed.h"
#include "I2cLCD.h"

I2cLCD lcd(p28,p27,p26); //sda scl reset
Serial IMU(p9,p10);// p9=Tx,p10=Rx 

DigitalOut mled0(LED1);
DigitalOut mled1(LED2);
DigitalIn tsw(p11);

#define ON 1
#define OFF 0
#define XON 0
#define XOFF 1

float rx,px,hx;

void offset_can(){
   int i;
   lcd.cls();   
   IMU.printf("$TSC,OFC,10*CC\r\n");
   IMU.printf("$TSC,HRST*75\r\n");                 
   lcd.printf("Offset cansel\n");
   for(i=0;i<5;i++){
      lcd.printf(".");
      wait(0.5);
   }
   lcd.cls();
}

void IMU_get(){
  int i;
  unsigned char c1,c2;  

  while(IMU.getc()!='$'){
  }
  for(i=1;i<=8;i++){
    c1=IMU.getc();
  }
  for(i=1;i<=20;i++){
    c1=IMU.getc();
  }
  c1=IMU.getc();
  c2=IMU.getc();
    rx=float((c1 << 8) | c2);
  c1=IMU.getc();
  c2=IMU.getc();
    px=float((c1 << 8) | c2);
  c1=IMU.getc();
  c2=IMU.getc();
    hx=float((c1 << 8) | c2);
}


int main() {

      IMU.baud(119200);
      lcd.cls();
      lcd.locate(0,0);
      lcd.printf("IMU2 Test03\n");
      lcd.printf("Init now...");
      IMU.printf("$TSC,HRST*75\r\n");
      wait(0.1);
      IMU.printf("$TSC,RAW,10\r\n");
      wait(0.1);
  
      lcd.cls();
      wait(0.1);
      mled0=OFF;
      
    while (1) {
      if(tsw==XON){
        mled0=ON;
        offset_can();
      }
      mled0=OFF;
      
      IMU_get();

      lcd.locate(0,0);
      lcd.printf("r:%5.1f,p:%5.1f",180*rx/32768,180*px/32768);
      lcd.locate(0,1);
      lcd.printf("h:%5.1f",180*hx/32768);
 
    }//while
}//main