File content as of revision 0:220ae68e7dd4:

#include "mbed.h"
#include "rtos.h"
#include "ModbusSlaveRTU.h"
#include "MessageQueue.h"
#include "SerialPortHandler.h"

DigitalOut led(LED1);
Serial pc(SERIAL_TX, SERIAL_RX);
MessageQueue<uint8_t> txQueue(64);
MessageQueue<uint8_t> rxQueue(64);
SerialPortHandler sph(&pc, &txQueue, &rxQueue);
ModbusSlaveRTU* mbus;
Thread* modbus_process_thread;
Thread* data_send_thread;

uint8_t cRegs[]  = {1,2,3,4,5,6,7,8,9,0,1,2,3,4,5,6,7,8,9,0};
uint8_t inRegs[] = {1,2,3,4,5,6,7,8,9,0,1,2,3,4,5,6,7,8,9,0};
uint8_t hRegs[]  = {1,2,3,4,5,6,7,8,9,0,1,2,3,4,5,6,7,8,9,0};

ThreadSafeArray_t hR;
ThreadSafeArray_t cR;
ThreadSafeArray_t iR;
    
void rx_interrupt(void);

void modbus_process (void const *args) {

    while (true) {
        mbus->FSM();
        Thread::wait(10);    
    }
}

void data_send_process(void const *args)
{
    while (true) { 
       if (!txQueue.isEmpty())
       {           
           sph.transmitPacket();
           txQueue.reset();
       }
       Thread::wait(500);
    }    
}

int main (void) {
    pc.attach(&rx_interrupt);
    
    hR.length = 20;
    hR.data      = hRegs;
    
    cR.length = 20;
    cR.data      = cRegs;

    iR.length = 20;
    iR.data      = inRegs;
    
    mbus = new ModbusSlaveRTU(0x01, &txQueue, &rxQueue, &cR, &iR, &hR);    
    modbus_process_thread = new Thread(modbus_process);
    data_send_thread= new Thread(data_send_process);
    
    while(true)
    {
        Thread::wait(1000);     
        led = !led;
        mbus->trigger();
    }
}

void rx_interrupt(void) {
    sph.receivePacket();
    return;
}