File content as of revision 0:177adc0899a6:

// Example PwmIn class to detect PWM inputs, sford
//  - Note: uses InterruptIn, so not available on p19/p20

#include "mbed.h"
#include "PwmIn.h"
#include "MODSERIAL.h"

#define BAUD 115200
#define TX_PIN p9
#define RX_PIN p10

 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 
 Serial pc(USBTX, USBRX);
 MODSERIAL uart(TX_PIN, RX_PIN);
 
 bool newpacket = false;

PwmIn a(p21);
PwmIn b(p22), c(p23), d(p24), e(p25);

int  yaw=0,pitch=0,roll=0, Dyaw=0,Dpitch=0,Droll=0,chk=0;

int main() 
{   char  ileB=0,kan1=0,kan2=0;
     pc.baud(BAUD);
     uart.baud(BAUD);
    // uart.attach(&rxCallback, MODSERIAL::RxIrq);
    pc.printf("Start\n\r");
    
  while(1)
  { while( uart.rxBufferGetCount() < 21);
  
    {    led1 = 1; // Show start of sending with LED1.
        if(uart.getc()=='s')
        { led2 =1;
           if(uart.getc()=='n')
              if(uart.getc()=='p')
                 if(uart.getc()==0xB7)
                 {  uart.scanf("%c%c%c%2d%2d%2d%2d%2d%2d%2d", ileB,kan1,kan2, yaw,pitch,roll, Dyaw,Dpitch,Droll,chk);
                    led3=1; newpacket=1;
                 }
        }         
    }
    pc.printf("Bajty= %2d, YPR = %5d  %5d  %5d  Delty = %5d  %5d  %5d        Chk %3d\n\r", ileB, yaw,pitch,roll, Dyaw,Dpitch,Droll,chk);
    pc.printf("Kanaly=  %5.3f  %5.3f  %5.3f %5.3f %5.3f\n\r", a.pulsewidth()*1000, a.pulsewidth()*1000, b.pulsewidth()*1000, c.pulsewidth()*1000, d.pulsewidth()*1000, e.pulsewidth()*1000);
    wait(1);
      
  }
}

     // higher than "uart" baud rate below.