File content as of revision 0:090f184c5b52:

#include "mbed.h"

DigitalOut myled(LED1);
SPI spi(p5, p6, p7); // mosi, miso, sclk
DigitalOut cs(p8); // chip sellect
Serial pc(USBTX, USBRX);  // tx, rx

float floatingPointDecoder(uint32_t VALUE) {
    uint32_t value_Temp = 0;
    float val1 = 0.0f;
    float val2 = 0.0f;
    float val3 = 0.0f;
    ( VALUE & (1 << 31) ) ? val1 = -1.0f : val1 = 1.0f;
    value_Temp = VALUE << 1;
    value_Temp = value_Temp >> 24;
    val2 = (float) value_Temp - 127.0f;
    value_Temp = VALUE << 8;
    value_Temp = value_Temp >> 8;
    for(int i=24-1, j=0; i>=0; i--, j++) {
        ( value_Temp & (1 << i) ) ? val3 += 1.0f / ( pow(2.0,j) ) : val3 += 0.0f;
    }
    return val1 * pow(2.0f,val2) * val3;
}

int main() {
    int i = 0;
    uint8_t value[13] = {0};
    uint32_t pyr[3] = {0};
    float yaw = 0.0f, pitch = 0.0f, roll = 0.0f;

    pc.baud(9600);while(1){

    // Chip must be deselected
    cs = 1;

    // Setup the spi for 8 bit data, high steady state clock,
    // second edge capture, with a 1MHz clock rate
    spi.format(8,0);
    spi.frequency(1000000);
    // Select the device by seting chip select low
    cs = 0;

    // Send 0xF6, to start communication on SPI
    value[0] = spi.write(0xF6);
    //printf("F6 is sent and 00 is waiting. The return result is:  0x%X\n", value[0]);

    // Send 0x07, to request untared euler angles
    value[0] = spi.write(0x07);
    //printf("07 is sent and 04 is waiting. The return result is:  0x%X\n", value[0]);

    for(i=0; i<=12; i++) {
        value[i] = spi.write(0xFF);
        if(value[i] == 1) {
            i = 0;
        }
        wait(0.01);
    }

    pyr[0] = value[1];
    pyr[0] = (pyr[0] << 8) + value[2];
    pyr[0] = (pyr[0] << 8) + value[3];
    pyr[0] = (pyr[0] << 8) + value[4];
    pitch = floatingPointDecoder(pyr[0]) * 180.0f / 3.1415926535897932384626433832795;
    pyr[1] = value[5];
    pyr[1] = (pyr[1] << 8) + value[6];
    pyr[1] = (pyr[1] << 8) + value[7];
    pyr[1] = (pyr[1] << 8) + value[8];
    yaw = floatingPointDecoder(pyr[1]) * 180.0f / 3.1415926535897932384626433832795;
    pyr[2] = value[9];
    pyr[2] = (pyr[2] << 8) + value[10];
    pyr[2] = (pyr[2] << 8) + value[11];
    pyr[2] = (pyr[2] << 8) + value[12];
    roll = floatingPointDecoder(pyr[2]) * 180.0f / 3.1415926535897932384626433832795;

    printf("Pitch: %f     Yaw: %f     Roll: %f\n", pitch, yaw, roll);

    // Deselect the device
    cs = 1;
    wait(1);}
}