【XR806开发板试用】驱动总线舵机例程

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  

程序运行视频：
https://www.bilibili.com/vide...