text: #ifndef OPEN_INTERFACE_H
  #define OPEN_INTERFACE_H
  
  #include <termios.h>
  
  #define CAN_DEV "can0"
  
  #define BT_DEVICE "/dev/ttyS5"
  #define BT_DEVICE_4 "/dev/ttyS4"
  
  #define UART_DEV_0 "/dev/ttyS0"
  #define UART_DEV_1 "/dev/ttyS1"
  #define UART_DEV_3 "/dev/ttyS3"
  #define UART_DEV_4 "/dev/ttyS4"
  #define UART_DEV_6 "/dev/ttyS6"
  #define UART_DEV_5 "/dev/ttyS5"
  #define UART_DEV_7 "/dev/ttyS7"
  #define UART_DEV_8 "/dev/ttyS8"
  #define UART_DEV_9 "/dev/ttyS9"
  
  #define STOP_KEY "/dev/input/event0"
  
  #define P 0.53 //perimeter
  
  #define M_speed(V) (int)(((60*V)/P)+0.5) //m/s--> rpm
  #define M_speed_rev(V) (int)(((60*V)/P)-0.5) // -m/s--> rpm
  
  #define L 0.482 //wheel distance
  
  #define Forward_turn_R(V,W) (V+L*W/2)  //Turn right speed
  #define Forward_turn_L(V,W) (V-L*W/2)  //Turn left speed
  #define Backward_turn_R(V,W) (V-L*W/2)
  #define Backward_turn_L(V,W) (V+L*W/2)
  
  int open_can(const char *dev_name);//打开can
  int open_uart(const char *dev_name,speed_t speed);//打开uart（bt和超声）
  int open_key(const char *dev_name);//打开按键设备（急停）
  
  #endif
  
  