File content as of revision 6:275462c61b74:

/*CODED by Qiyong Mu on 21/06/2014
kylongmu@msn.com
*/
#include "mbed.h"
#include "MPU9250.h"        //Include library
 
DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
SPI spi(p5, p6, p7);
mpu9250_spi imu(spi,p8);   //define the mpu9250 object
int main(){
    pc.baud(115200);
    if(imu.init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
        printf("\nCouldn't initialize MPU9250 via SPI!");
    }    
    printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
    wait(1);    
    printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
    wait(1);  
    printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
    wait(1);
    printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
    wait(0.1);  
    imu.AK8963_calib_Magnetometer();
    while(1) {
        //myled = 1;
        wait(0.1);
        
        //imu.read_temp();
        imu.read_acc();
        imu.read_rot();
        imu.AK8963_read_Magnetometer();
        
        imu.read_all();
        printf("%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f,%10.3f\n", 
            //imu.Temperature,
            imu.gyroscope_data[0],
            imu.gyroscope_data[1],
            imu.gyroscope_data[2],
            imu.accelerometer_data[0],
            imu.accelerometer_data[1],
            imu.accelerometer_data[2],
            imu.Magnetometer[0],
            imu.Magnetometer[1],
            imu.Magnetometer[2]
            );
           /*float mx,my,F;
           mx = (imu.Magnetometer[0])*cos(7*3.1415/180);
           my = (imu.Magnetometer[1])*cos(7*3.1415/180);
          //float mz = imu.Magnetometer[2];
         
            F = atan2(my,mx)*180/3.1415;
          printf("degree=%10.5f\n",F);
        //myled = 0;*/
        wait(0.5);
    }
}