File content as of revision 6:0bb3c17bdaf1:

#include "mbed.h"
#include "I2Cdev.h"
#include "helper_3dmath.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "MPU6050.h"


MPU6050 mpu;
Serial serOut(D8, D2);

// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

int count = 0;

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}

int main()
{
    serOut.baud(115200);
    /*
    // Join the bus here
    
    // initialize device
    serOut.printf("Initializing I2C devices...\r\n");
    mpu.initialize();

    // verify connection
    serOut.printf("Testing device connections...\r\n");
    serOut.printf(mpu.testConnection() ? "MPU6050 connection successful\r\n" : "MPU6050 connection failed\r\n");

    // load and configure the DMP
    serOut.printf("Initializing DMP...\r\n");
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(0);
    mpu.setYGyroOffset(0);
    mpu.setZGyroOffset(0);
    mpu.setZAccelOffset(0); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0)
    {
        // turn on the DMP, now that it's ready
        serOut.printf("Enabling DMP...\r\n");
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        serOut.printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n");
        //attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        serOut.printf("DMP ready! Waiting for first interrupt...\r\n");
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    }
    else
    {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        serOut.printf("DMP Initialization failed (code \r\n");
        serOut.printf("%d", devStatus);
        serOut.printf(")\r\n");
    }
    */
}