linux多串口通信，usb-can控制八个电机，usb-485（胜为）读编码器

通过linux串口usb-can发送指令控制电机，通过usb-485去编码器，usb-can有串口协议帧头0x00 0xe0帧尾0x55

#include “kbhit.h“

#include   
#include   
//#include   
//#include   
#include   
//#include   

static struct termios initial_settings new_settings;
static int peek_character = -1;

void init_keyboard（）
{
tcgetattr（0&initial_settings）;
new_settings = initial_settings;
new_settings.c_lflag &= ~ICANON;
new_settings.c_lflag &= ~ECHO;
new_settings.c_lflag &= ~ISIG;
new_settings.c_cc[VMIN] = 1;
new_settings.c_cc[VTIME] = 0;
tcsetattr（0 TCSANOW &new_settings）;
}

void close_keyboard（）
{
tcsetattr（0 TCSANOW &initial_settings）;
}

int kbhit（）
{
unsigned char ch;
int nread;

if （peek_character != -1） return 1;
new_settings.c_cc[VMIN]=0;
tcsetattr（0 TCSANOW &new_settings）;
nread = read（0&ch1）;
new_settings.c_cc[VMIN]=1;
tcsetattr（0 TCSANOW &new_settings）;
if（nread == 1） 
{
peek_character = ch;
return 1;
}
return 0;
}

int readch（）
{
char ch;

if（peek_character != -1） 
{
ch = peek_character;
peek_character = -1;
return ch;
}
read（0&ch1）;
return ch;
}

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-03-28 20:12  power-drive\
     文件        1028  2018-03-26 00:41  power-drive\kbhit.c
     文件         127  2018-03-26 00:41  power-drive\kbhit.h
     文件        3448  2018-03-26 00:41  power-drive\kbhit.o
     文件       36009  2018-03-26 00:41  power-drive\main.c
     文件       36056  2018-03-26 00:41  power-drive\main.o
     文件         199  2018-03-26 00:41  power-drive\makefile
     文件       35384  2018-03-26 00:41  power-drive\power-driven_machin