简介

申请到XR806开发板很高兴，因为它可以基于鸿蒙L0系统下开发。在试用中，这个开发板的编译环境的搭建，程序的编写，都走很多的弯路，遇到了很多的坑。编译环境的搭建就用了很长的时间。也谢谢群里的大佬的帮助和极术小姐姐的鼓励，才能完成这次测试。

编译环境

Windows下安装VMware虚拟机，虚拟机中安装Ubuntu20.04.2 64位桌面版。搭建教程是参考的【XR806开发板试用】shell脚本一键配置XR806开发环境。

总线舵机说明

总线舵机：

舵机参数说明

总线舵机是通过单线收发串口数据，通过之前做的RT-PI的扩展板实现。电路如图

工作原理

XR806通过UART1串口发送十位十六进制的数据，扩展板将串口数据转换为单线串口和舵机通讯，完成总线舵机的控制。
舵机数据协议图

程序说明

程序结构图

1.ohosdemo文件夹下的BUILD.gn文件

group("ohosdemo"){
   deps = [
      #"TD-LED:app_TDLED",
      "uart_demo:app_uart",
     #"LED:app_led",
     # "hello_demo:app_hello",
       ]
       }

2.uart_demo文件夹下的BUILD.gn文件

import("//device/xradio/xr806/liteos_m/config.gni")

  static\_library("app\_uart") {  
    configs = \[\]  

  sources = \[  

    "src/main.c",
    #"src/test_flash.c",
    #"src/test_gpio.c",
    #"src/test_i2c.c",
    #"src/test_lowpower.c",
    #"src/test_pwm.c",
    #"src/test_reset.c",
    #"src/test_uart.c",
    #"src/test_watchdog.c",

   \]  

   cflags = board\_cflags  

   include\_dirs = board\_include\_dirs  
   include\_dirs += \[  

    "//kernel/liteos_m/kernel/arch/include",
    "include",
    "//base/iot_hardware/peripheral/interfaces/kits",

   \]  
   }

3.uart_demo/src/main.c代码如下

#include <stdio.h>
   #include "ohos\_init.h"
   #include "kernel/os/os.h"
   #include <string.h>
   #include "iot\_uart.h"
   #include "driver/chip/hal\_uart.h"
   #define UARTID UART1\_ID
   #define UART\_BUFFER\_MAXSIZE 50
   #define UART\_RECEIVE\_DATALED 30 

   const uint8\_t play\_Buffer\[10\] = {0xFA,0xAF,0x00,0x01,0x96,0x00,0x00,0x00,0x97,0xED};  
   const uint8\_t play\_Buffer1\[10\] = {0xFA,0xAF,0x00,0x01,0x00,0x00,0x00,0x00,0x01,0xED};  
   static OS\_Thread\_t g\_main\_thread;  
 
   static int uart\_init(void)  
   {  

   HAL_Status status = HAL_ERROR;
   UART_InitParam param;
   
   param.baudRate = 115200;   // 波特率为115200
   param.dataBits = UART_DATA_BITS_8;
   param.stopBits = UART_STOP_BITS_1;
   param.parity = UART_PARITY_NONE;
   param.isAutoHwFlowCtrl = 0;
   
   status = HAL_UART_Init(UARTID, &param);
     if (status != HAL_OK)
       printf("uart init error %d\n", status);
   return status;

   }  
 
   static void MainThread(void \*arg)  
   {  

   unsigned char uart_buffer[UART_BUFFER_MAXSIZE];
   uart_init();
   
   while (1) {
       HAL_UART_Transmit_Poll(UARTID, (uint8_t *)play_Buffer, 10);
       LOS_Msleep(2000);
       HAL_UART_Transmit_Poll(UARTID, (uint8_t *)play_Buffer1, 10);
   
       LOS_Msleep(2000);
   
      }

    }  
 
    void UARTMain(void)  
   {  
    printf("UART Test Start\\n");  
    if (OS\_ThreadCreate(&g\_main\_thread, "MainThread",   MainThread, NULL,  

      OS_THREAD_PRIO_APP, 4 * 1024) != OS_OK) {
   printf("[ERR] Create MainThread Failed\n");

    }  
   }  
 
   SYS\_RUN(UARTMain); // Harmony线程入口

演示视频：https://www.bilibili.com/video/BV15m4y1o7fv?zw