File content as of revision 3:73625a6c9750:

#include "RawSerial.h" 

Serial pc(USBTX, USBRX); // tx, rx 
//Serial device(p13, p14);  // tx, rx 
RawSerial device(p13,p14); 
AnalogIn tx(p19); 
AnalogIn rx(p20); 
#define CAN_ID 10 
CAN can1(p30, p29); 
DigitalOut led1(LED1);           //check 

Ticker ticker; 

uint8_t val[15]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; 
uint8_t check_sum=0; 
int16_t data_angle=0; 
double angle=0; 
bool protect=0; 

char send_data[8]={0,0,0,0,0,0,0,0}; 

void dev_rx () 
{ 
    val[0]=device.getc(); 
    val[1]=device.getc(); 
    if(val[0]==170 && val[1]==0) { 
        for(int i=2; i<14; i++) { 
            val[i]=device.getc(); 
            check_sum+=val[i]; 
        } 
        val[14]=device.getc(); 
        if(check_sum==val[14]) { 
            if(val[4]>0x80)data_angle=((val[3]&0xFF)|((val[4]<<8)&0xFF00))-0xFFFF; 
            else data_angle=((val[3]&0xFF)|((val[4]<<8)&0xFF00)); 
            angle=data_angle/100.0; 
            send_data[0]=data_angle>>8; 
            send_data[1]=data_angle&255; 
            if(can1.write(CANMessage(CAN_ID,send_data,2))) { 
                //pc.printf("send\r\n"); 
            } 
            check_sum=0; 
        } 
    } 
} 

//setting
  device.baud(115200); 
    device.format(8,Serial::None,1); 
    can1.frequency(1000000); 
    //ticker.attach(&dev_rx,0.05); 
    device.attach(dev_rx, Serial::RxIrq); 
    int a=0;