File content as of revision 0:a3739a2e895d:

#include "mbed.h"
#include "MPU6050.h"
#include "LCD_DISCO_F746NG.h"
#include "stm32746g_discovery_lcd.h"

LCD_DISCO_F746NG lcd;
DigitalOut myled(LED1);
MPU6050 mpu(D14, D15);

int main()
{
    float GyroBuffer[3];
    float zero_level[3] = {0, 0, 0};
    uint8_t buffer[100];
    lcd.Init();
    lcd.DisplayStringAt(10, 10, (uint8_t*)"Gyros_star", CENTER_MODE);
    uint8_t tmpreg = 0;
    read(MPU6050_GYRO_CONFIG_REG,&tmpreg,1);
    switch(tmpreg & MPU6050_GYRO_XOUT_H_REG)
    {
        case MPU6050_GYRO_RANGE_250:
            lcd.DisplayStringAt(20, 20, (uint8_t*)"250", CENTER_MODE);
        break;
    
        case MPU6050_GYRO_RANGE_500:
            lcd.DisplayStringAt(20, 20, (uint8_t*)"500", CENTER_MODE);
        break;
    
        case MPU6050_GYRO_RANGE_2000:
            lcd.DisplayStringAt(20, 20, (uint8_t*)"2000", CENTER_MODE);
        break;
  }
    read(MPU6050_GYRO_YOUT_H_REG ,&tmpreg , 1);
    switch(tmpreg >> 6) {
        case 0:
            lcd.DisplayStringAt(20, 40, (uint8_t*)"", CENTER_MODE);
            break;
        case 1:
            lcd.DisplayStringAt(20, 40, (uint8_t*)"190", CENTER_MODE);
            break;
        case 2:
            lcd.DisplayStringAt(20, 40, (uint8_t*)"380", CENTER_MODE);
            break;
        case 3:
            lcd.DisplayStringAt(20, 40, (uint8_t*)"760", CENTER_MODE);
            break;
    }

    for (int i = 0; i < 50; i++) {
        mpu.getGyro(GyroBuffer);
        zero_level[0] += GyroBuffer[0] / 131;
        zero_level[1] += GyroBuffer[1] / 131;
        zero_level[2] += GyroBuffer[2] / 131;
        
        wait_ms(10);
    }
    for (int i = 0; i < 3; i++)
        zero_level[i] /= 50;
        
    
    float noise_level = 0.0;
    for (int i = 0; i < 50; i++) {
        mpu.getGyroRaw(GyroBuffer[0]);
        if ((GyroBuffer[0] / 131 - zero_level[0]) > noise_level) {
            noise_level = (GyroBuffer[0] / 131 - zero_level[0]);
        } 
        else if ((GyroBuffer[0] / 131 - zero_level[0]) < -noise_level) {
            noise_level = -(GyroBuffer[0] / 131 - zero_level[0]);
        }
        wait_ms(10);
    }
    sprintf((char*)buffer, "Noise = %.2f\n", noise_level);
    lcd.DisplayStringAt(20, 70, buffer, CENTER_MODE);
    sprintf((char*)buffer, "Zero = %.2f\n", zero_level[0]);
    lcd.DisplayStringAt(20, 170, buffer, CENTER_MODE);
    float angle = 0.0, prev_value = 0.0; 
    bool status1 = false, status2 = false;
    while(1) {
        // Read Gyroscope values
        wait(0.02);
        
        mpu.getGyroRaw(GyroBuffer);
        float value = GyroBuffer[0] / 131 - zero_level[0];
        if (value >= noise_level || value <= -noise_level) {
            angle += (value + prev_value) / 2  * 0.02f ;
        }
        if (angle > 45.0){
           status1 = true;
            
            
        }else if  (angle < -45.0){            
            status2 = true;
            
        } else if (status1 == true && status2 == true){
            sprintf((char*)buffer, "Angle = %.3f\n", angle);
            lcd.DisplayStringAt(20, 100, buffer, CENTER_MODE);
            lcd.DisplayStringAt(20, 120, (uint8_t*)"All Right", CENTER_MODE);
            }
        
        prev_value = value;
        sprintf((char*)buffer, "Angle = %.3f\n", angle);
        lcd.DisplayStringAt(20, 100, buffer, CENTER_MODE);
        
        
    }
}