File content as of revision 0:645f2b28239f:

/*CODED by Qiyong Mu on 21/06/2014
kylongmu@msn.com
*/
#include "mbed.h"
#include "MPU9250.h"        //Include library

Serial pc(USBTX, USBRX);
Serial xbee(p9,p10); 
DigitalOut myled(LED1);
//Serial pc(USBTX, USBRX);
SPI spi(p5, p6, p7);
mpu9250_spi imu(spi,p8);   //define the mpu9250 object
int main(){
    //float mx,my,mz,F;
    //float ax,ay,az,acc_roll,acc_pitch,calib_az,roll_deg;
    //float mag_x,mag_y,Orient;
    //int i;
    pc.baud(115200);
    //xbee.baud(115200);
    if(imu.init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
        printf("\nCouldn't initialize MPU9250 via SPI!");
    }    
    printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
    wait(1);    
    printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
    wait(1);  
    printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
    wait(1);
    printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
    wait(0.1);  
    imu.AK8963_calib_Magnetometer();
    imu.calib_acc();
    pc.printf("good luck");
    while(1) {
     
        wait(0.1);
        
        //imu.read_temp();
        //imu.read_acc();
        //imu.read_rot();
        //imu.AK8963_read_Magnetometer();
        
        imu.read_all();
    xbee.printf("%f,%f,%f\r\n", 
            //imu.accelerometer_data[0],
            //imu.accelerometer_data[1],
            //imu.accelerometer_data[2],
            imu.Magnetometer[0],
            imu.Magnetometer[1],
            imu.Magnetometer[2]
            );
           /* ax=ay=az=0;
            for(i=0;i<100;i++){
                ax = ax + imu.accelerometer_data[0];
                ay = ay + imu.accelerometer_data[1];
                az = az + imu.accelerometer_data[2];
                }
                wait(1.0);
            ax=ax/100;
            ay=ay/100;
            az=az/100;
           acc_roll = atan2(ay,az);
           //roll_deg = acc_roll*180/3.1415;
           calib_az = ay*sin(acc_roll)+az*cos(acc_roll);
           acc_pitch = atan2(-ax,calib_az);
           mag_x = (imu.Magnetometer[2]+13.755)*sin(acc_roll)-(imu.Magnetometer[1] - 20.469)*cos(acc_roll);
           mag_y = (imu.Magnetometer[0] - 12.983)*cos(acc_pitch)
                   +(imu.Magnetometer[1] - 20.469)*sin(acc_pitch)*sin(acc_roll)+(imu.Magnetometer[2]+13.755)*sin(acc_pitch)*cos(acc_roll);
           Orient = atan2(mag_x,mag_y)*180/3.1415; 
           printf("Orientation=%10.5f\n",Orient);*/       
           //printf("roll=%10.5f,pitch=%10.5f\n",roll_deg,acc_pitch); 
           
          // mx = (imu.Magnetometer[0]- 12.983)*cos(7*3.1415/180);
           //my = (imu.Magnetometer[1]- 20.469)*cos(7*3.1415/180);
           //mz = imu.Magnetometer[2];
         
           // F = atan2(my,mx)*180/3.1415;
          //printf("degree=%10.5f\n",F);
        //myled = 0;*/
        wait(0.5);
    }
}