File content as of revision 1:8e8aac99a366:

#include "mbed.h"
#include "rtos.h"
#include "Servo.h"
#include "LSM9DS1.h"
#define PI 3.14159  // Used in IMU code
#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA (Used in IMU code) 


// OBJECTS
Servo servoFrontLeft(p21);
Servo servoFrontRight(p22);
Servo servoBackLeft(p23);
Servo servoBackRight(p24);
LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);  
Serial blue(p28,p27); // bluetooth 
//BusOut myled(LED1,LED2,LED3,LED4); //bluetooth debugging
Thread thread1;
Serial pc(USBTX, USBRX); // Debugging


// VARIABLE DECLARATIONS 
volatile char bluetoothRead = 0;
volatile float xAccel = 0;
volatile float yAccel = 0;
volatile float zAccel = 0;
volatile float tuning = 1;


// FUNCTION DECLARATIONS
void bluetooth_recv()
{
    bluetoothRead = blue.getc();
    /*if (blue.getc()=='!') {
            if (blue.getc()=='B') { //button data
                bluetoothRead = blue.getc(); //button number
                if ((bluetoothRead>='1')&&(bluetoothRead<='4')) //is a number button 1..4
                    myled[bluetoothRead-'1']=blue.getc()-'0'; //turn on/off that num LED
            }
    } */
}

// IMU - caluclate pitch and roll
void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
{
    float roll = atan2(ay, az);
    float pitch = atan2(-ax, sqrt(ay * ay + az * az));
    // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
    mx = -mx;
    float heading;
    if (my == 0.0)
        heading = (mx < 0.0) ? 180.0 : 0.0;
    else
        heading = atan2(mx, my)*360.0/(2.0*PI);
    //pc.printf("heading atan=%f \n\r",heading);
    heading -= DECLINATION; //correct for geo location
    if(heading>180.0) heading = heading - 360.0;
    else if(heading<-180.0) heading = 360.0 + heading;
    else if(heading<0.0) heading = 360.0  + heading;
    // Convert everything from radians to degrees:
    //heading *= 180.0 / PI;
    pitch *= 180.0 / PI;
    roll  *= 180.0 / PI;
    pc.printf("Pitch: %f,    Roll: %f degress\n\r",pitch,roll);
    pc.printf("Magnetic Heading: %f degress\n\r",heading);
}

// IMU - read and display magnetometer, gyroscope, acceleration values
void getIMUData()
{
    while(!IMU.magAvailable(X_AXIS));
    IMU.readMag();
    while(!IMU.accelAvailable());
    IMU.readAccel();
    while(!IMU.gyroAvailable());
    IMU.readGyro();
    pc.printf("        X axis    Y axis    Z axis\n\r");
    pc.printf("gyro:  %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
    pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
    pc.printf("mag:   %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
    printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
                  IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
                  
    zAccel = IMU.calcAccel(IMU.az));//setting global variable for storage of z-Axis acceleration
    yAccel = IMU.calcAccel(IMU.ay));
    xAccel = IMU.calcAccel(IMU.ax));
} 


// THREADS 
void thread1Name() {
   while (true) {
        // things
        Thread::wait(100);
    }
}

//Prints the acceraltion data to the bluetooth UART window
void blue_rec()
{    
    while(1){
        dev.putc(zAccel);
        Thread::wait(1000);
    }
}

/*
//take in data from UART window on bluetooth to adjust tuning variables
void blue_tuning()
{
    while(dev.readable()) {
        tuning = dev.getc();
    }
}
*/

int main() {
    // initialise IMU
    IMU.begin();
    if (!IMU.begin()) {
        pc.printf("Failed to communicate with LSM9DS1.\n");
    }
    IMU.calibrate(1);
    IMU.calibrateMag(0);
    
    // Start threads
    thread1.start(thread1Name);
    
    blue.baud(9600); //set baud rate for UART window
    blue.attach(&blue_rec, Serial::RxIrq);
    
    while(1) {
        // things
        Thread::wait(1000);
    }
}