File content as of revision 4:636bb3f66dcd:

#include "mbed.h"
#include "rtos.h"
#include "math.h"
#include "common.h"
#include "gpio_defs.h"
#include "MPU9150.h"
#include "Quaternion.h"

static MPU9150 imu(PIN_I2C_SCL, PIN_I2C_SDA, PIN_MPU9250_INT); // SCL SDA INT
// SDA = D4
// SCL = D5
// INT = D6

static bool imu_initialized = false;

static void init_sensor(void)
{ 
    if(imu.isReady()){
        printf("MPU9150 is ready\r\n");
    } else {
        printf("MPU9150 initialization failured\r\n");
        while(1){
            Thread::wait(1000);
        }
    }
    imu.initialiseDMP();
    imu_initialized = true;
}

static char buffer[200];

void sensor_main(void)
{
    Quaternion q1;
    printf("Entered to sensor_main\r\n");
    float q[4];
    uint8_t n = 0;
    uint16_t val;
    
    imu.setFifoReset(true);    
    imu.setDMPEnabled(true);    
        
    printf("sensor main loop start\r\n");
    
    while(true){
        
        //StatusLED = StatusLED == 1 ? 0 : 1;
 
        if(imu.getFifoCount() >= 48){
            imu.getFifoBuffer(buffer,  48);
           
           //This is the format of the data in the fifo, 
           /* ================================================================================================ *
             | Default MotionApps v4.1 48-byte FIFO packet structure:                                           |
             |                                                                                                  |
             | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
             |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
             |                                                                                                  |
             | [GYRO Z][      ][MAG X ][MAG Y ][MAG Z ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ] |
             |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41  42  43  44  45  46  47  |
             * ================================================================================================ */

            // 以下の#if 0～#endifを#if 1～#endifに変更すると、シリアルからセンサーの出力データが出る

            // 加速度センサー生値
#if 0
            printf("%d, %d, %d\r\n",  (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]), 
                                            (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]), 
                                            (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
#endif
#if 0
            // 各速度センサー生値
            //pc.printf("%d, %d, %d\r\n",  (int32_t)(((int32_t)buffer[16] << 24) + ((int32_t)buffer[17] << 16) + ((int32_t)buffer[18] << 8) + (int32_t)buffer[19]),
                                            (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
                                            (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
#endif
#if 0                                        
            // 地磁気センサー生値
            //pc.printf("%d, %d, %d\r\n",  (int16_t)(buffer[29] << 8) + buffer[28], 
                                            (int16_t)(buffer[31] << 8) + buffer[30], 
                                            (int16_t)(buffer[33] << 8) + buffer[32]);
#endif
#if 1
            // センサーフュージョンによるQuartanion
            printf("%f, %f, %f, %f\r\n", 
                (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
                (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
#endif
#if 0       // Quartanionによる処理 : ProcessingでPCにてデモしたもの
            q1.decode(buffer);
            //printf("%f, %f, %f, %f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
            q[0] = q1.w;
            q[1] = q1.v.x;
            q[2] = q1.v.y;
            q[3] = q1.v.z;
    
            //TeaPot Demo Packet for MotionFit SDK
            
            putc('$'); //packet start
            putc((char)2); //assume packet type constant

            putc(buffer[0]);
            putc(buffer[1]);
            putc(buffer[4]);
            putc(buffer[5]);
            putc(buffer[8]);
            putc(buffer[9]);
            putc(buffer[12]);
            putc(buffer[13]);

            putc((char)n++);
            putc((char)0);
            putc('\r');
            putc('\n');
#endif
        } else {
            //pc.printf("FIFO not enough\r\n");
        }
        
        Thread::wait(10);
    }
    
}

void TaskSensor(void const *argument)
{
    init_sensor();

    while(true){
        sensor_main();
    }
}