File content as of revision 0:c1476d342c13:

#include "mbed.h"
#include "microinfinity.h"

Serial device(p13,p14);
DigitalOut led1(LED1);

int32_t val[15]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int i=0;
int sum=0;
int end=0;
double t=0;
char check=0;
int32_t degree=0;
int32_t r_degree=0;
int32_t s_degree=0;
char counter[4]= {0,0,0,0};
int round=0;
double degree0=0;
double theta0=0;
//char counter=0;



void dev_rx()
{
    //times.start();
    val[i]=device.getc();
    sum+=val[i];
    i++;
    if(i>14) {
        sum=sum%256;
        check=val[14]*2;
        if(sum==check) {
            if(val[4]>0x80)degree=((val[3]&0xFF)|((val[4]<<8)&0xFF00))-0xFFFF;
            else degree=((val[3]&0xFF)|((val[4]<<8)&0xFF00));
            if((r_degree>10000)&&(degree<-10000))round++; //1s-8000deg-Error
            if((r_degree<-10000)&&(degree>10000))round--;
            s_degree=36000*round+degree;
            counter[0]=(char)s_degree;
            counter[1]=(char)(s_degree>>8);
            counter[2]=(char)(s_degree>>16);
            counter[3]=(char)(s_degree>>24);
            //pc.printf("degree:%d %d %d\r\n",s_degree,degree,round);

            r_degree=degree;

            degree0=-degree/100.0-theta0;
            if(degree0 < -180) {
                degree0 += 360;
            } else if(degree0 > 180) {
                degree0 -= 360;
            }
        }
        i=0;
    }
    if((i==1)&&(val[0]!=170))i=0;
    if((i==1)&&(val[0]==170))sum=0;
    //times.stop();
    //printf("%d %f %d\r\n",i,times.read(),val[i]);
    //times.reset();
}


void check_gyro()
{
    led1=1;
    printf("CruizCore R1370 is self-checking now");
    wait(0.5);
    printf(".");
    wait(0.5);
    printf(".");
    wait(0.5);
    printf(".");
    wait(0.5);
    while(1) {
        if(abs(degree0)<100) {
            printf("\r\nSelf-checking is passed!!\r\n");
            break;
        } else {
            led1=!led1;
            printf("\r\nSelf-checking was failed!!");
            printf(":degree0=%d\r\n",degree0);
            wait(0.5);
        }
    }
    led1=0;
}