File content as of revision 0:353bcc1d30da:

#include "mbed.h"
#include "rtos.h"
DigitalOut l1(LED1);
DigitalOut l2(LED2);
DigitalOut l3(LED3);
DigitalOut l4(LED4);
RawSerial kondo2(PC_1,PC_0);
unsigned char tx_buffer[3];
unsigned char tx_buffer_ptr = 0;
unsigned char tx_buffer_full = false;
unsigned char rx_buffer[6];
unsigned char rx_buffer_ptr = 0;
unsigned char rx_buffer_full = false;
signed short int motorcp[] = {8500,8500};
int MotorID;
Thread servo;
void KONDO2_interrupt_tx();
void KONDO2_interrupt_rx();
void kondo2_update(unsigned char Id, unsigned short int Position)
{
    unsigned char id,lo,hi;
    id=0x80|Id;
    hi=(Position>>7)&0x007F;
    lo=Position&0x007F;
//    NVIC_DisableIRQ(USART3_IRQn);
    tx_buffer[0] = id;
    tx_buffer[1] = hi;
    tx_buffer[2] = lo;
//    NVIC_EnableIRQ(USART3_IRQn);
}
void KONDO2_task() 
{
    for(MotorID=0;MotorID<=1;MotorID++)
    {
        kondo2_update(MotorID,motorcp[MotorID]);
        wait_us(900);
    }
}
void KONDO2_init() 
{
    kondo2.format(8,Serial::Even,1);
    kondo2.baud(115200);
    rx_buffer_ptr = 0;
    rx_buffer_full = false;
    kondo2.attach(&KONDO2_interrupt_rx, Serial::RxIrq);
    kondo2.attach(&KONDO2_interrupt_tx, Serial::TxIrq);
//    NVIC_EnableIRQ(USART3_IRQn);
    RtosTimer motorposition(KONDO2_task);
    motorposition.start(10);
    while(1)
    {
        motorcp[0]=7500;
        motorcp[1]=7500;
        Thread::wait(1000);
        motorcp[0]=8500;
        motorcp[1]=8500;
        Thread::wait(1000);
    }
}
int main()
{
    servo.start(KONDO2_init);
    while(1)
    {
        l1 = !l1;
        Thread::wait(1000);
    }
}
void KONDO2_interrupt_tx() 
{
    while(kondo2.writeable())
    {    
        kondo2.putc(tx_buffer[tx_buffer_ptr]);
        tx_buffer_ptr++;
        if(tx_buffer_ptr==3)
              tx_buffer_ptr = 0;
    }
    return;
}
void KONDO2_interrupt_rx()
{
    while(kondo2.readable())
    {
        rx_buffer[rx_buffer_ptr] = kondo2.getc();
        rx_buffer_ptr++;
        if(rx_buffer_ptr==6)
        {
            rx_buffer_full = true;
            rx_buffer_ptr=0;
        }
    }
}