File content as of revision 4:876bfa91934c:

#include "mbed.h"
#include "nRF24L01P.h"
#include "SoftPWM.h"
#define JY901transfersize 11
#define TRANSFER_SIZE   11
#include"JY901.h"
#define pwm_period 1
int flagg = 0;

char targetdata[3];
char receivedata[4];
float change[4];
int receivedatacnt = 0;
SoftPWM PWM1(PA_2),PWM2(PA_3),PWM3(PA_6),PWM4(PA_7),PWM5(PB_0),PWM6(PB_1);

int rollx=0,rolly=0,rollz=0,drx,dry,drz,ax,ay,az;
float kp,ki,kd;
void pwm_init()
{
    PWM1.period_ms(pwm_period);
    PWM2.period_ms(pwm_period);
    PWM3.period_ms(pwm_period);
    PWM4.period_ms(pwm_period);
    PWM5.period_ms(pwm_period);
    PWM6.period_ms(pwm_period);
    PWM1=0.0;PWM2=0.0;PWM3=0.0;PWM4=0.0;PWM5=0.0;PWM6=0.0;
}

JY901 _JY901(PA_9,PA_10);
//nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PC_1, PC_2, PC_0);
char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
    int JY901cnt = 0;
    int txDataCnt = 0;
    int rxDataCnt = 0;
void transferdata(){
    _JY901.receiveData();
    float acc[3];
            _JY901.getAttitude(acc[0], acc[1], acc[2]);
           PWM1=0.2;//0.13+0.13*(float)rollx/32767.0;
        PWM2=0.4;//0.13-0.13*(float)rolly/32767.0;
        PWM3=0.1-0.1*acc[0]/180;
}

int PIDcontrol(char *targetdata,char *data,float *change){
    return 1;
}

void update_roll()
{
   // char *s;
    /*char data[JY901transfersize];
    char flag =0,flag2 = 0;
    int q=1;
    while(q < 1000){
        q++;
        switch(flag){
            case 0:
                flag2=JY901.getc();
                if(flag2==0x55) flag++;
            break;
            case 1:
                flag2=JY901.getc();
                if(flag2 == 0x53){
                    flag++;
                    data[0] = 0x55;
                    data[1] = flag2;
                    }
                else flag--;
            break;
            case 2:
                for(int i = 2;i != JY901transfersize;i++)
                    data[i] = JY901.getc();
                q = 1001;
            break;
        }        
    }*/

   // rollx+=drx;
   // rolly+=dry;
    //rollz+=drz;
   // sprintf(s,"%f",rollx*180/32767);
   // my_nrf24l01p.write( NRF24L01P_PIPE_P0,s,11);
}
int main() { 
  //  my_nrf24l01p.powerUp();  
   // my_nrf24l01p.setTransferSize( 11);
   // my_nrf24l01p.setReceiveMode();
  //  my_nrf24l01p.enable();  

    Ticker time;
    time.attach(&transferdata,0.1); 
    while(1){
   
       // pc.printf("succes");
 
    
    } 
       
}