File content as of revision 0:f7be77a7663f:

#include "mbed.h"
#include "i2cslave.h"
#include "define.h"

char Registar[128]= {};
void check();

int main()
{
    PwmOut Servos[4] = { PwmOut(dp24), PwmOut(dp1), PwmOut(dp2), PwmOut(dp18) };
    char servodata[4] = {};
    for(int i = 0; i < 4; i++)
    {
        Servos[i] = 0;
    }
    NVIC_SetPriority(TIMER_16_0_IRQn, 20);
    NVIC_SetPriority(TIMER_16_1_IRQn, 20);
    NVIC_SetPriority(TIMER_32_0_IRQn, 20);
    NVIC_SetPriority(TIMER_32_1_IRQn, 20);
    NVIC_SetPriority(I2C_IRQn, 10);
    i2cslave i2c(dp5, dp27, Registar);
    /*change address every micon***********/
    i2c.address(SERVO1_addr);
    /**************************************/
    i2c.frequency(1000000);
    Ticker tic;
    tic.attach(check, 0.1);
    while(1)
    {
        for(int i = 0; i < 4; i++)
        {
            servodata[i] = (Registar[motor1_state] >> i) & 1;
            if(servodata[i])
            {
                Servos[i].pulsewidth(0.0010);
            }
            else
            {
                Servos[i].pulsewidth(0.0006);
            }
            wait_ms(60);
        }
    }
}

void check()
{
    Registar[check_reg]++;
    if(Registar[check_reg] > 2)
    {
        NVIC_SystemReset();
    }
}