{"id":74531,"date":"2026-02-10T00:17:37","date_gmt":"2026-02-09T16:17:37","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/74531.html"},"modified":"2026-02-10T00:17:37","modified_gmt":"2026-02-09T16:17:37","slug":"%e8%93%9d%e7%89%99%e9%81%a5%e6%8e%a7%e7%9a%84%e7%94%b5%e5%ad%90%e5%b0%8f%e7%8b%97%ef%bc%81%e3%80%901-2-%e5%9f%ba%e4%ba%8e%e7%91%9e%e8%90%a8ra4m2%e5%8d%95%e7%89%87%e6%9c%ba%e8%ae%be%e8%ae%a1%e7%9a%84","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/74531.html","title":{"rendered":"\u84dd\u7259\u9065\u63a7\u7684\u7535\u5b50\u5c0f\u72d7\uff01\u30101.2 \u57fa\u4e8e\u745e\u8428RA4M2\u5355\u7247\u673a\u8bbe\u8ba1\u7684\u4fdd\u59c6\u7ea7\u6559\u7a0b\u3011"},"content":{"rendered":"

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\u4e00\u3001\u786c\u4ef6\u51c6\u5907<\/h2>\n

1.\u745e\u8428RA4M2\u7cfb\u5217\u5355\u7247\u673a<\/p>\n

2.\u4e00\u5757\u9762\u5305\u677f\u6216\u8005\u4ee5\u53ca\u753b\u597d\u7684PCB\u677f（\u4f5c\u8005\u4f1a\u9644\u4e0a\u81ea\u5df1\u7684PCB\u5236\u677f\u6587\u4ef6\u4e0e\u5de5\u7a0b\u6587\u4ef6）<\/p>\n

3.\u675c\u90a6\u7ebf\u82e5\u5e72<\/p>\n

4.\u53ef\u8f93\u51fa3.3v\u548c5v\u7684\u7535\u6e90\u6a21\u5757，3.3v\u4e3a\u5355\u7247\u673a\u548c\u8235\u673a\u4f9b\u7535，5v\u4e3a\u84dd\u7259\u6a21\u5757\u4f9b\u7535<\/p>\n

5.5\u4e2a\u53ef\u75313.3v\u7535\u538b\u9a71\u52a8\u7684SG90\u8235\u673a\u6a21\u5757<\/p>\n

6.DX-BT24\u84dd\u7259\u6a21\u5757（\u4f4e\u529f\u8017\u84dd\u7259\u900f\u4f20\u6a21\u5757）<\/p>\n

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\u00a0 \u00a0 \u00a0 \u00a0 （2）Renesas Flash Programmer ：\u8fd9\u662f\u745e\u8428\u7535\u5b50\u5b98\u65b9\u63d0\u4f9b\u7684\u4e00\u6b3e\u72ec\u7acb\u7684\u95ea\u5b58\u7f16\u7a0b\u5de5\u5177，\u4e13\u95e8\u7528\u4e8e\u5bf9\u745e\u8428\u5fae\u63a7\u5236\u5668（MCU）\u7684\u5185\u7f6e\u95ea\u5b58\u8fdb\u884c\u7f16\u7a0b（\u70e7\u5f55）\u548c\u64e6\u9664\u3002\u6211\u4eec\u9700\u8981\u7528\u5b83\u6765\u8fdb\u884c\u7a0b\u5e8f\u7684\u70e7\u5f55\u3002<\/p>\n<\/p>\n

\"\"<\/p>\n

\u4e09\u3001\u5de5\u7a0b\u521b\u5efa<\/h2>\n

1.\u9009\u53d6\u5de5\u4f5c\u7a7a\u95f4<\/h3>\n

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\"\"<\/p>\n

2.\u521b\u5efa\u65b0\u5de5\u7a0b<\/h3>\n

2.1\u65b0\u5efa\u9879\u76ee<\/h4>\n

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\u00a02.2\u9009\u53d6\u5de5\u7a0b\u6a21\u677f<\/h4>\n

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\"\"<\/p>\n

2.3\u786e\u5b9a\u9879\u76ee\u540d\u79f0<\/h4>\n

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\"\"<\/p>\n

2.4\u8bbe\u5907\u4e0e\u5de5\u5177\u9009\u62e9<\/h4>\n

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\u00a0 \u00a0 \u00a0 \u00a0 （1）\u786e\u8ba4FSP\u7248\u672c：\u4f5c\u8005\u4f7f\u7528\u7684\u7248\u672c\u4e3a5.9.0，\u4e0d\u540c\u7248\u672c\u4e4b\u95f4，\u51fd\u6570\u7684\u4f7f\u7528\u53ef\u80fd\u5b58\u5728\u4e00\u4e9b\u5dee\u5f02\u3002<\/p>\n

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\u00a0 \u00a0 \u00a0 \u00a0 （5）\u70b9\u51fb\u4e0b\u4e00\u6b65\u00a0 \u00a0 \u00a0 \u00a0\"\"<\/p>\n

\n

2.5\u5176\u4ed6\u914d\u7f6e<\/h4>\n

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\u56db\u3001\u56fe\u5f62\u5316\u914d\u7f6e<\/h3>\n

1.\u6253\u5f00\u56fe\u5f62\u5316\u914d\u7f6e<\/h4>\n

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\"\"<\/p>\n

2.\u65f6\u949f\u6811\u914d\u7f6e<\/h4>\n

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3.\u8c03\u8bd5\u5f15\u811a\u914d\u7f6e<\/h4>\n

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4.\u5b9a\u65f6\u5668\u914d\u7f6e<\/h4>\n

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4.1\u521b\u5efa\u7ec4\u4ef6<\/h5>\n

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New Stacks\u9009\u9879，\u5728\u5176\u4e2d\u9009\u62e9Timers，\u968f\u540e\u9009\u62e9PWM\u751f\u6210\u6a21\u5f0f\u3002<\/p>\n

\"\"<\/p>\n

4.2\u5c5e\u6027\u914d\u7f6e<\/h5>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u521b\u5efa\u5b8c\u6210\u540e\u6211\u4eec\u9009\u4e2d\u521a\u521a\u521b\u5efa\u7684\u7ec4\u4ef6，\u8fdb\u884c\u5c5e\u6027\u914d\u7f6e\u3002<\/p>\n

（1）\u4fee\u6539\u5b9a\u65f6\u5668\u7684\u540d\u5b57，\u8fd9\u91cc\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u8fdb\u884c\u4fee\u6539，\u6839\u672c\u76ee\u7684\u662f\u4e3a\u4e86\u63d0\u9ad8\u540e\u7eed\u4ee3\u7801\u7684\u53ef\u8bfb\u6027，\u8981\u4e0d\u7136\u5230\u65f6\u5019\u5199\u7740\u5199\u7740\u90fd\u4e0d\u77e5\u9053\u81ea\u5df1\u8fd9\u4e2a\u5b9a\u65f6\u5668\u662f\u5e72\u5565\u7684\u4e86，\u6bd4\u5982\u4f5c\u8005\u5c06\u8981\u4f7f\u7528\u8fd9\u4e2a\u5b9a\u65f6\u5668\u751f\u6210PWM\u6765\u9a71\u52a8\u7535\u5b50\u5c0f\u72d7\u7684\u53f3\u524d\u817f，\u5c31\u53ef\u4ee5\u628a\u540d\u5b57\u6539\u6210R_Front_Foot<\/p>\n

（2）\u9009\u53d6\u5b9a\u65f6\u5668\u901a\u9053，\u4e0d\u540c\u578b\u53f7\u7684\u5355\u7247\u673a\u81ea\u5e26\u7684\u5b9a\u65f6\u5668\u901a\u9053\u53ef\u80fd\u6709\u6240\u5dee\u5f02，\u5177\u4f53\u6709\u54ea\u4e9b\u5b9a\u65f6\u5668\u901a\u9053，\u611f\u5174\u8da3\u7684\u53ef\u4ee5\u53bb\u67e5\u9605\u624b\u518c，\u4e0d\u786e\u5b9a\u7684\u5c31\u6309\u7167\u4f5c\u8005\u7684\u914d\u7f6e\u65b9\u6cd5\u8fdb\u884c\u914d\u7f6e<\/p>\n

（3）\u5c06Mode\u8bbe\u4e3a <\/span>Periodic<\/span>，\u8868\u793a\u8be5\u5b9a\u65f6\u5668\u5de5\u4f5c\u5728\u5468\u671f\u6a21\u5f0f，\u5c06\u5728\u8bbe\u5b9a\u5468\u671f\u5185\u91cd\u590d\u8fd0\u884c<\/span><\/p>\n

（4）\u5c06Period\u8bbe\u7f6e\u4e3a50，\u5e76\u628aPeriod Unit\u8bbe\u7f6e\u4e3a50HZ，\u56e0\u4e3aSG90\u8235\u673a\u53ea\u80fd\u4f7f\u7528\u9891\u7387\u4e3a50hz\u7684PWM\u6ce2\u8fdb\u884c\u9a71\u52a8，\u5177\u4f53\u4e3a\u4ec0\u4e48\u53ef\u4ee5\u770b\u4f5c\u8005\u4e4b\u524d\u667a\u80fd\u5783\u573e\u6876\u90a3\u7bc7\u6587\u7ae0，\u91cc\u9762\u6709\u63d0\u53ca<\/span><\/p>\n

（5）\u521d\u59cb\u65f6\u5c06Duty Cycle Percent\u8bbe\u7f6e\u4e3a <\/span>50%<\/span>，\u8868\u793a <\/span>PWM <\/span>\u8f93\u51fa\u4fe1\u53f7\u7684\u9ad8\u7535\u5e73\u65f6\u95f4\u5360\u5468\u671f50%，\u4f46\u662f\u6211\u4eec\u540e\u9762\u63a7\u5236\u8235\u673a\u65f6\u4f1a\u6539\u53d8\u5360\u7a7a\u6bd4，\u8fd9\u91cc\u53ef\u4ee5\u8bbe\u7f6e\u6210\u522b\u7684\u6570<\/span><\/p>\n

（6）\u5c06GTIOCA Output Enabled\u8bbe\u7f6e\u4e3a <\/span>True<\/span>，\u542f\u7528 <\/span>GTIOCA<\/span>\u5f15\u811a\u7684\u8f93\u51fa\u529f\u80fd，\u8fd9\u6837\u6211\u4eec\u7684PWM\u4fe1\u53f7\u624d\u80fd\u901a\u8fc7\u5f15\u811a\u5411\u5916\u8f93\u51fa<\/span><\/p>\n

（7）\u5c06GTIOCA Stop Level\u8bbe\u4e3a Pin Level Low，\u8868\u793a\u5b9a\u65f6\u5668\u505c\u6b62\u65f6 GTIOCA \u8f93\u51fa\u4f4e\u7535\u5e73\u3002<\/p>\n

（8）\u6700\u540e\u6211\u4eec\u9009\u62e9\u5408\u9002\u7684\u8f93\u51fa\u5f15\u811a，\u8fd9\u91cc\u4f5c\u8005\u9009\u62e9\u7684\u662fP407<\/p>\n

\"\"\u00a04.3\u5176\u4ed6\u5b9a\u65f6\u5668\u914d\u7f6e<\/h5>\n

\u00a0 \u00a0 \u00a0 \u00a0 \u914d\u7f6e\u5b8c\u53f3\u524d\u817f\u540e\u6211\u4eec\u518d\u8fdb\u884c\u53e6\u5916\u56db\u4e2a\u5b9a\u65f6\u5668\u7684\u914d\u7f6e，\u5206\u522b\u63a7\u5236\u5269\u4e0b\u67654\u4e2a\u8235\u673a，\u5982\u6cd5\u70ae\u5236，\u6d41\u7a0b\u90fd\u662f\u4e00\u6837\u7684，\u8fd9\u91cc\u5c31\u4e0d\u518d\u8d58\u8ff0，\u76f4\u63a5\u653e\u4e0a\u914d\u7f6e\u56fe\u7247~<\/p>\n

\"\"\"\"\"\"\"\"<\/p>\n

5.\u4e32\u53e3\u914d\u7f6e<\/h4>\n

5.1\u521b\u5efa\u7ec4\u4ef6<\/h5>\n

\u00a0 \u00a0 \u00a0 \u00a0 \u50cf\u5b9a\u65f6\u5668\u914d\u7f6e\u4e00\u6837，\u6211\u4eec\u9996\u5148\u521b\u5efa\u7ec4\u4ef6，\u5982\u56fe\u6309\u6b65\u9aa4\u8fdb\u884c\u914d\u7f6e，\u7167\u6837\u5148\u70b9\u51fbNew Stacks，\u968f\u540e\u9009\u62e9Connectivity，\u6700\u540e\u9009\u62e9UART（r_sci_uart）<\/p>\n

\"\"<\/p>\n

5.2\u5c5e\u6027\u914d\u7f6e<\/h5>\n

\u00a0 \u00a0 \u00a0 \u00a0 \u70b9\u51fb\u6211\u4eec\u521a\u521a\u521b\u5efa\u7684\u4e32\u53e3\u7ec4\u4ef6，\u6211\u4eec\u8fdb\u884c\u5c5e\u6027\u914d\u7f6e<\/p>\n

（1）\u7531\u4e8e\u6211\u4eec\u521b\u5efa\u7684\u4e32\u53e3\u7ec4\u4ef6\u5c06\u7528\u4e8e\u548c\u84dd\u7259\u6a21\u5757\u901a\u4fe1，\u6240\u4ee5\u6211\u4eec\u4e0d\u59a8\u5c06\u5b83\u7684\u540d\u5b57\u6539\u4e3aBlue_Tooth<\/p>\n

（2）\u9009\u62e9\u5408\u9002\u7684\u4e32\u53e3\u901a\u9053，\u5982\u679c\u9009\u62e9\u4e86\u9519\u8bef\u7684\u4e32\u53e3\u901a\u9053\u4f1a\u62a5\u9519<\/p>\n

（3）\u7531\u4e8e\u4f5c\u8005\u9009\u7528\u7684\u84dd\u7259\u6a21\u5757\u662fBT24，\u6240\u4ee5\u6570\u636e\u4f4d，\u6821\u9a8c\u4f4d\u548c\u505c\u6b62\u4f4d\u90fd\u4fdd\u6301\u9ed8\u8ba4，\u5982\u679c\u4f60\u9009\u7528\u7684\u662f\u5176\u4ed6\u84dd\u7259\u6a21\u5757\u9700\u8981\u6839\u636e\u6240\u9009\u84dd\u7259\u6a21\u5757\u7684\u53c2\u6570\u8fdb\u884c\u4fee\u6539<\/p>\n

（4）\u8bbe\u7f6e\u6ce2\u7279\u7387，BT24\u84dd\u7259\u6a21\u5757\u9700\u8981\u7684\u6ce2\u7279\u7387\u662f9600，\u53ea\u6709\u5f53\u6ce2\u7279\u7387\u76f8\u540c\u65f6，\u5355\u7247\u673a\u624d\u80fd\u548c\u84dd\u7259\u6a21\u5757\u5b9e\u73b0\u901a\u4fe1<\/p>\n

（5）\u6253\u5f00\u6ce2\u7279\u7387\u8c03\u5236\u6a21\u5f0f，\u5355\u7247\u673a\u53ef\u4ee5\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u81ea\u9002\u5e94\u7684\u8c03\u5236\u6ce2\u7279\u7387<\/p>\n

（6）\u5f00\u542f\u4e32\u53e3\u7684\u4e2d\u65ad\u56de\u8c03\u6a21\u5f0f，\u521d\u59cb\u65f6Callback\u8fd9\u4e00\u884c\u4f1a\u663e\u793aNULL\u8868\u793a\u672a\u5f00\u542f，\u6211\u4eec\u7ed9\u5b83\u547d\u540d\u540e\u5219\u9ed8\u8ba4\u5f00\u59cb，\u6b64\u5904\u6700\u597d\u540e\u7f00\u52a0\u4e0acallback，\u5728\u540e\u7eed\u4ee3\u7801\u7f16\u5199\u4e2d\u6211\u4eec\u53ef\u4ee5\u8f7b\u677e\u7684\u5206\u8fa8\u51fa\u8fd9\u662f\u4e2d\u65ad\u56de\u8c03\u51fd\u6570\u3002\u4e2d\u65ad\u56de\u8c03\u987e\u540d\u601d\u4e49，\u5f53\u6ee1\u8db3\u7279\u6b8a\u6761\u4ef6\u65f6\u5c06\u4f1a\u6253\u65ad\u4e3b\u7a0b\u5e8f\u800c\u53bb\u6267\u884c\u8be5\u51fd\u6570\u4e2d\u7684\u5185\u5bb9，\u6bd4\u5982\u5f53\u4e32\u53e3\u4fe1\u53f7\u63a5\u6536\u5b8c\u6210\u65f6\u4f1a\u89e6\u53d1\u4e2d\u65ad，\u5728Callback\u4e0b\u65b9\u6709\u5217\u4e3e\u89e6\u53d1\u4e2d\u65ad\u7684\u4e8b\u4ef6<\/p>\n

（7）\u4e2d\u65ad\u4e8b\u4ef6\u7684\u4f18\u5148\u7ea7\u53ef\u4ee5\u4fdd\u6301\u9ed8\u8ba4，\u56e0\u4e3a\u6211\u4eec\u7684\u7a0b\u5e8f\u4e0d\u662f\u5f88\u590d\u6742，\u5f53\u524d\u53ea\u6709\u8fd9\u4e00\u4e2a\u4e2d\u65ad<\/p>\n

（8）\u9009\u53d6\u5408\u9002\u7684\u5f15\u811a\u8fdb\u884c\u914d\u7f6e，TX\u662f\u5355\u7247\u673a\u53d1\u51fa\u4fe1\u53f7\u7684\u5f15\u811a，RX\u662f\u5355\u7247\u673a\u63a5\u6536\u4fe1\u53f7\u7684\u5f15\u811a，\u90a3\u4e48\u5230\u65f6\u5019\u5355\u7247\u673a\u7684TX\u5c31\u5f97\u548c\u84dd\u7259\u6a21\u5757\u7684RX\u8fdb\u884c\u8fde\u63a5，\u800c\u5355\u7247\u673a\u7684RX\u5219\u5f97\u548c\u84dd\u7259\u6a21\u5757\u7684TX\u8fdb\u884c\u8fde\u63a5\u3002
\n\u00a0<\/p>\n

\"\"<\/p>\n<\/p>\n

6.Generate Project Content<\/h4>\n

\u00a0 \u00a0 \u00a0 \u00a0 \u5728\u5b8c\u6210\u6240\u6709\u7684\u56fe\u5f62\u5316\u914d\u7f6e\u540e\u4e00\u5b9a\u8981\u70b9\u51fb\u53f3\u4e0a\u89d2\u7684Generate Project Content<\/span>，<\/span>\u5b83\u7684\u6838\u5fc3\u4f5c\u7528\u662f\u5c06\u4f60\u5728 FSP \u914d\u7f6e\u89c6\u56fe\u4e2d\u8fdb\u884c\u7684\u6240\u6709\u56fe\u5f62\u5316\u8bbe\u7f6e，\u8f6c\u6362\u4e3a\u5b9e\u9645\u7684\u9879\u76ee\u6e90\u4ee3\u7801\u548c\u914d\u7f6e\u6587\u4ef6\u3002<\/p>\n

\u4e94\u3001\u4ee3\u7801\u7f16\u5199<\/h2>\n

1.PWM\u9a71\u52a8\u7f16\u5199<\/h3>\n

\u00a0 \u00a0 \u00a0 \u00a0 （1）\u5728\u8fd9\u90e8\u5206\u4e2d\u6211\u4eec\u4f1a\u7528\u5230\u8bb8\u591a\u4e0e\u5b9a\u65f6\u5668\u76f8\u5173\u7684\u51fd\u6570，\u4f46\u7531\u4e8e\u6211\u4eec\u8fd9\u662f\u901f\u6210\u6559\u7a0b，\u540c\u5b66\u4eec\u53ea\u9700\u8981\u5b66\u4f1a\u600e\u4e48\u79fb\u690d\u5c31\u884c\u4e86\u3002\u6240\u6709\u5e26_ctrl\u548c_cfg\u540e\u7f00\u7684\u90fd\u662f\u7cfb\u7edf\u5df2\u7ecf\u521b\u5efa\u597d\u7684\u7ed3\u6784\u4f53，\u6211\u4eec\u53ea\u9700\u8981\u5c06\u5b83\u4eec\u524d\u9762\u7684\u90e8\u5206\u6362\u6210\u81ea\u5df1\u521b\u5efa\u7684\u5b9a\u65f6\u5668\u7684\u540d\u5b57，\u81ea\u5b9a\u4e49\u51fd\u6570\u7684\u540d\u79f0\u4e5f\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u559c\u597d\u8fdb\u884c\u4fee\u6539\u3002<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （2）\u63a5\u4e0b\u6765\u6211\u4eec\u9700\u8981\u5c06\u4f5c\u8005\u63d0\u4f9b\u7684\u4ee3\u7801\u642c\u8fd0\u5230\u81ea\u5df1\u7684\u5de5\u7a0b\u4e2d，\u6211\u4eec\u5728\u5de6\u4fa7\u7684\u9879\u76ee\u8d44\u6e90\u7ba1\u7406\u5668\u4e2d\u627e\u5230src\u6587\u4ef6\u5939，\u53f3\u952e，\u9009\u62e9\u65b0\u5efa，\u9009\u62e9\u65b0\u5efa\u6e90\u6587\u4ef6，\u8bb0\u4f4f\u4e3a\u65b0\u5efa\u6e90\u6587\u4ef6\u547d\u540d\u65f6\u4e00\u5b9a\u8981\u52a0\u4e0a.c\u540e\u7f00<\/p>\n

\"\"<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （3）\u521b\u5efa\u5b8c\u6210\u540e\u5c06\u4e0b\u9762\u8fd9\u6bb5\u4ee3\u7801\u590d\u5236\u5230\u6e90\u6587\u4ef6\u4e2d，\u62a5\u9519\u5185\u5bb9\u5148\u4e0d\u8981\u7ba1<\/p>\n

#include "pwm.h"<\/p>\n

\/\/\u53f3\u524d\u817f\u521d\u59cb\u5316
\nvoid R_Front_Init(void)
\n{
\n \/* \u521d\u59cb\u5316 GPT \u6a21\u5757 *\/
\n R_GPT_Open(&R_Front_Foot_ctrl, &R_Front_Foot_cfg);
\n \/* \u542f\u52a8 GPT \u5b9a\u65f6\u5668 *\/
\n R_GPT_Start(&R_Front_Foot_ctrl);
\n}<\/p>\n

\/\/\u5de6\u524d\u817f\u521d\u59cb\u5316
\nvoid L_Front_Init(void)
\n{
\n \/* \u521d\u59cb\u5316 GPT \u6a21\u5757 *\/
\n R_GPT_Open(&L_Front_Foot_ctrl, &L_Front_Foot_cfg);
\n \/* \u542f\u52a8 GPT \u5b9a\u65f6\u5668 *\/
\n R_GPT_Start(&L_Front_Foot_ctrl);
\n}
\n\/\/\u53f3\u540e\u817f\u521d\u59cb\u5316
\nvoid R_Rear_Init(void)
\n{
\n \/* \u521d\u59cb\u5316 GPT \u6a21\u5757 *\/
\n R_GPT_Open(&R_Rear_Foot_ctrl, &R_Rear_Foot_cfg);
\n \/* \u542f\u52a8 GPT \u5b9a\u65f6\u5668 *\/
\n R_GPT_Start(&R_Rear_Foot_ctrl);
\n}
\n\/\/\u5de6\u540e\u817f\u521d\u59cb\u5316
\nvoid L_Rear_Init(void)
\n{
\n \/* \u521d\u59cb\u5316 GPT \u6a21\u5757 *\/
\n R_GPT_Open(&L_Rear_Foot_ctrl, &L_Rear_Foot_cfg);
\n \/* \u542f\u52a8 GPT \u5b9a\u65f6\u5668 *\/
\n R_GPT_Start(&L_Rear_Foot_ctrl);
\n}
\n\/\/\u5c3e\u5df4\u521d\u59cb\u5316
\nvoid Tail_Init(void)
\n{
\n \/* \u521d\u59cb\u5316 GPT \u6a21\u5757 *\/
\n R_GPT_Open(&Tail_ctrl, &Tail_cfg);
\n \/* \u542f\u52a8 GPT \u5b9a\u65f6\u5668 *\/
\n R_GPT_Start(&Tail_ctrl);
\n}<\/p>\n

\/\/\u8bbe\u7f6e\u53f3\u524d\u817f\u7684\u5360\u7a7a\u6bd4
\nvoid R_Front_SetDuty(uint8_t duty)
\n{
\n timer_info_t info1;
\n uint32_t current_period_counts1;
\n uint32_t duty_cycle_counts1;<\/p>\n

if (duty > 100)
\n duty = 100; \/\/\u9650\u5236\u5360\u7a7a\u6bd4\u8303\u56f4：0~100<\/p>\n

\/* \u83b7\u5f97GPT\u7684\u4fe1\u606f *\/
\n R_GPT_InfoGet(&R_Front_Foot_ctrl, &info1);<\/p>\n

\/* \u83b7\u5f97\u8ba1\u65f6\u5668\u4e00\u4e2a\u5468\u671f\u9700\u8981\u7684\u8ba1\u6570\u6b21\u6570 *\/
\n current_period_counts1 = info1.period_counts;<\/p>\n

\/* \u6839\u636e\u5360\u7a7a\u6bd4\u548c\u4e00\u4e2a\u5468\u671f\u7684\u8ba1\u6570\u6b21\u6570\u8ba1\u7b97GTCCR\u5bc4\u5b58\u5668\u7684\u503c *\/
\n duty_cycle_counts1 = (uint32_t)(((uint64_t) current_period_counts1 *(100 – duty)) \/ 100);<\/p>\n

\/* \u6700\u540e\u8c03\u7528FSP\u5e93\u51fd\u6570\u8bbe\u7f6e\u5360\u7a7a\u6bd4 *\/
\n R_GPT_DutyCycleSet(&R_Front_Foot_ctrl, duty_cycle_counts1, GPT_IO_PIN_GTIOCA);
\n}<\/p>\n

\/\/\u8bbe\u7f6e\u5de6\u524d\u817f\u7684\u5360\u7a7a\u6bd4
\nvoid L_Front_SetDuty(uint8_t duty)
\n{
\n timer_info_t info;
\n uint32_t current_period_counts;
\n uint32_t duty_cycle_counts;<\/p>\n

if (duty > 100)
\n duty = 100; \/\/\u9650\u5236\u5360\u7a7a\u6bd4\u8303\u56f4：0~100<\/p>\n

\/* \u83b7\u5f97GPT\u7684\u4fe1\u606f *\/
\n R_GPT_InfoGet(&L_Front_Foot_ctrl, &info);<\/p>\n

\/* \u83b7\u5f97\u8ba1\u65f6\u5668\u4e00\u4e2a\u5468\u671f\u9700\u8981\u7684\u8ba1\u6570\u6b21\u6570 *\/
\n current_period_counts = info.period_counts;<\/p>\n

\/* \u6839\u636e\u5360\u7a7a\u6bd4\u548c\u4e00\u4e2a\u5468\u671f\u7684\u8ba1\u6570\u6b21\u6570\u8ba1\u7b97GTCCR\u5bc4\u5b58\u5668\u7684\u503c *\/
\n duty_cycle_counts = (uint32_t)(((uint64_t) current_period_counts *(100 – duty)) \/ 100);<\/p>\n

\/* \u6700\u540e\u8c03\u7528FSP\u5e93\u51fd\u6570\u8bbe\u7f6e\u5360\u7a7a\u6bd4 *\/
\n R_GPT_DutyCycleSet(&L_Front_Foot_ctrl, duty_cycle_counts, GPT_IO_PIN_GTIOCA);
\n}<\/p>\n

\/\/\u8bbe\u7f6e\u5de6\u540e\u817f\u7684\u5360\u7a7a\u6bd4
\nvoid L_Rear_SetDuty(uint8_t duty)
\n{
\n timer_info_t info;
\n uint32_t current_period_counts;
\n uint32_t duty_cycle_counts;<\/p>\n

if (duty > 100)
\n duty = 100; \/\/\u9650\u5236\u5360\u7a7a\u6bd4\u8303\u56f4：0~100<\/p>\n

\/* \u83b7\u5f97GPT\u7684\u4fe1\u606f *\/
\n R_GPT_InfoGet(&L_Rear_Foot_ctrl, &info);<\/p>\n

\/* \u83b7\u5f97\u8ba1\u65f6\u5668\u4e00\u4e2a\u5468\u671f\u9700\u8981\u7684\u8ba1\u6570\u6b21\u6570 *\/
\n current_period_counts = info.period_counts;<\/p>\n

\/* \u6839\u636e\u5360\u7a7a\u6bd4\u548c\u4e00\u4e2a\u5468\u671f\u7684\u8ba1\u6570\u6b21\u6570\u8ba1\u7b97GTCCR\u5bc4\u5b58\u5668\u7684\u503c *\/
\n duty_cycle_counts = (uint32_t)(((uint64_t) current_period_counts *(100 – duty)) \/ 100);<\/p>\n

\/* \u6700\u540e\u8c03\u7528FSP\u5e93\u51fd\u6570\u8bbe\u7f6e\u5360\u7a7a\u6bd4 *\/
\n R_GPT_DutyCycleSet(&L_Rear_Foot_ctrl, duty_cycle_counts, GPT_IO_PIN_GTIOCA);
\n}
\n\/\/\u8bbe\u7f6e\u53f3\u540e\u817f\u7684\u5360\u7a7a\u6bd4
\nvoid R_Rear_SetDuty(uint8_t duty)
\n{
\n timer_info_t info;
\n uint32_t current_period_counts;
\n uint32_t duty_cycle_counts;<\/p>\n

if (duty > 100)
\n duty = 100; \/\/\u9650\u5236\u5360\u7a7a\u6bd4\u8303\u56f4：0~100<\/p>\n

\/* \u83b7\u5f97GPT\u7684\u4fe1\u606f *\/
\n R_GPT_InfoGet(&R_Rear_Foot_ctrl, &info);<\/p>\n

\/* \u83b7\u5f97\u8ba1\u65f6\u5668\u4e00\u4e2a\u5468\u671f\u9700\u8981\u7684\u8ba1\u6570\u6b21\u6570 *\/
\n current_period_counts = info.period_counts;<\/p>\n

\/* \u6839\u636e\u5360\u7a7a\u6bd4\u548c\u4e00\u4e2a\u5468\u671f\u7684\u8ba1\u6570\u6b21\u6570\u8ba1\u7b97GTCCR\u5bc4\u5b58\u5668\u7684\u503c *\/
\n duty_cycle_counts = (uint32_t)(((uint64_t) current_period_counts *(100 – duty)) \/ 100);<\/p>\n

\/* \u6700\u540e\u8c03\u7528FSP\u5e93\u51fd\u6570\u8bbe\u7f6e\u5360\u7a7a\u6bd4 *\/
\n R_GPT_DutyCycleSet(&R_Rear_Foot_ctrl, duty_cycle_counts, GPT_IO_PIN_GTIOCA);
\n}
\n\/\/\u8bbe\u7f6e\u5c3e\u5df4\u7684\u5360\u7a7a\u6bd4
\nvoid Tail_SetDuty(uint8_t duty)
\n{
\n timer_info_t info;
\n uint32_t current_period_counts;
\n uint32_t duty_cycle_counts;<\/p>\n

if (duty > 100)
\n duty = 100; \/\/\u9650\u5236\u5360\u7a7a\u6bd4\u8303\u56f4：0~100<\/p>\n

\/* \u83b7\u5f97GPT\u7684\u4fe1\u606f *\/
\n R_GPT_InfoGet(&Tail_ctrl, &info);<\/p>\n

\/* \u83b7\u5f97\u8ba1\u65f6\u5668\u4e00\u4e2a\u5468\u671f\u9700\u8981\u7684\u8ba1\u6570\u6b21\u6570 *\/
\n current_period_counts = info.period_counts;<\/p>\n

\/* \u6839\u636e\u5360\u7a7a\u6bd4\u548c\u4e00\u4e2a\u5468\u671f\u7684\u8ba1\u6570\u6b21\u6570\u8ba1\u7b97GTCCR\u5bc4\u5b58\u5668\u7684\u503c *\/
\n duty_cycle_counts = (uint32_t)(((uint64_t) current_period_counts *(100 – duty)) \/ 100);<\/p>\n

\/* \u6700\u540e\u8c03\u7528FSP\u5e93\u51fd\u6570\u8bbe\u7f6e\u5360\u7a7a\u6bd4 *\/
\n R_GPT_DutyCycleSet(&Tail_ctrl, duty_cycle_counts, GPT_IO_PIN_GTIOCA);
\n}<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （4）\u63a5\u7740\u6211\u4eec\u5982\u6cd5\u70ae\u5236，\u5728src\u6587\u4ef6\u5939\u65b0\u5efa\u4e00\u4e2a\u6e90\u6587\u4ef6，\u540c\u6837\u5728\u4e3a\u6e90\u6587\u4ef6\u547d\u540d\u65f6\u4e00\u5b9a\u8981\u52a0\u4e0a.h\u540e\u7f00，\u521b\u5efa\u5b8c\u6210\u540e\u5c06\u4f5c\u8005\u5173\u4e8ePWM\u9a71\u52a8\u6e90\u6587\u4ef6\u7684\u4ee3\u7801\u590d\u5236\u5230\u4f60\u6240\u521b\u5efa\u7684\u6e90\u6587\u4ef6\u4e2d<\/p>\n

#ifndef PWM_PWM_H_
\n#define PWM_PWM_H_<\/p>\n

#include "hal_data.h"
\n\/\/\u6a21\u5757\u521d\u59cb\u5316
\nvoid R_Front_Init(void);
\nvoid L_Front_Init(void);
\nvoid R_Rear_Init(void);
\nvoid L_Rear_Init(void);
\nvoid Tail_Init(void);<\/p>\n

\/\/\u5360\u7a7a\u6bd4\u8bbe\u7f6e
\nvoid R_Front_SetDuty(uint8_t duty);
\nvoid L_Front_SetDuty(uint8_t duty);
\nvoid R_Rear_SetDuty(uint8_t duty);
\nvoid L_Rear_SetDuty(uint8_t duty);
\nvoid Tail_SetDuty(uint8_t duty);<\/p>\n

#endif \/* PWM_PWM_H_ *\/<\/p>\n

2.\u5c0f\u72d7\u52a8\u4f5c\u51fd\u6570\u7f16\u5199<\/h3>\n

\u00a0 \u00a0 \u00a0 \u00a0 （1）\u63a7\u5236\u8235\u673a\u65f6\u53ea\u80fd\u7528\u9891\u7387\u4e3a50hz，\u5360\u7a7a\u6bd4\u4e3a2.5%\u523012.5%\u7684PWM\u6ce2\u63a7\u5236，\u6839\u636e\u4f5c\u8005\u521a\u521a\u5728PWM\u6e90\u6587\u4ef6\u4e2d\u4e3a\u5927\u5bb6\u63d0\u4f9b\u7684\u8bbe\u7f6e\u5360\u7a7a\u6bd4\u7684\u51fd\u6570，\u6211\u4eec\u53ea\u9700\u8981\u5728\u51fd\u6570\u4e2d\u586b\u51652~13\u4e4b\u95f4\u7684\u6574\u6570，\u5373\u53ef\u63a7\u5236\u8235\u673a\u57280~180\u5ea6\u4e4b\u95f4\u65cb\u8f6c\u3002<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （2）\u7531\u6b64，\u6211\u4eec\u53ef\u4ee5\u8bbe\u8ba1\u51fa\u591a\u6837\u5316\u7684\u52a8\u4f5c，\u4e0b\u9762\u4f5c\u8005\u540c\u6837\u4e3a\u5927\u5bb6\u63d0\u4f9b\u4e86\u63a7\u5236\u52a8\u4f5c\u7684\u6e90\u6587\u4ef6\u4e0e\u5934\u6587\u4ef6，\u5f53\u7136\u4f5c\u8005\u7ed9\u51fa\u7684\u6570\u503c\u662f\u57fa\u4e8e\u4f5c\u8005\u8235\u673a\u7684\u6446\u653e\u4f4d\u7f6e\u6d4b\u7b97\u51fa\u6765\u7684\u5408\u9002\u6570\u503c，\u5982\u679c\u8235\u673a\u7684\u5b89\u653e\u4f4d\u7f6e\u4e0e\u4f5c\u8005\u4e0d\u540c，\u90a3\u4e48\u4f60\u9700\u8981\u81ea\u5df1\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u8c03\u6574\u5360\u7a7a\u6bd4，\u60f3\u8981\u81ea\u5df1\u8bbe\u8ba1\u65b0\u7684\u52a8\u4f5c\u4e5f\u662f\u4e00\u4e2a\u9053\u7406\u3002<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （3）\u4e0b\u56fe\u662f\u4f5c\u8005\u8235\u673a\u7684\u6446\u653e\u65b9\u4f4d（\u7b2c\u4e8c\u957f\u56fe\u4ece\u5de6\u5f80\u53f3\u6570\u7b2c\u4e00\u4e2a\u8235\u673a\u662f\u5de6\u524d\u817f）<\/p>\n

\"\"\"\"<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （4）\u4e0b\u9762\u662f\u52a8\u4f5c\u63a7\u5236\u7684\u6e90\u6587\u4ef6<\/p>\n

#include "action.h"
\n#include "PWM.h"<\/p>\n

void stand()\/\/\u7ad9\u8d77\u6765
\n{
\n R_Front_SetDuty(7);
\n L_Front_SetDuty(7);
\n R_Rear_SetDuty(7);
\n L_Rear_SetDuty(7);<\/p>\n

}
\nvoid sleep()\/\/\u8db4\u4e0b
\n{
\n R_Front_SetDuty(3);
\n L_Front_SetDuty(11);
\n R_Rear_SetDuty(3);
\n L_Rear_SetDuty(11);<\/p>\n

}<\/p>\n

void Forward()\/\/\u524d\u8fdb
\n{
\n for(int i = 0;i<5;i++)
\n {
\n R_Front_SetDuty(10);
\n L_Rear_SetDuty(4);
\n R_Rear_SetDuty(10);
\n L_Front_SetDuty(4);
\n R_BSP_SoftwareDelay(150, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

R_Front_SetDuty(7);
\n L_Rear_SetDuty(7);
\n R_Rear_SetDuty(10);
\n L_Front_SetDuty(4);
\n R_BSP_SoftwareDelay(150, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

R_Front_SetDuty(7);
\n L_Rear_SetDuty(7);
\n R_Rear_SetDuty(7);
\n L_Front_SetDuty(7);
\n R_BSP_SoftwareDelay(150, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

R_Front_SetDuty(10);
\n L_Rear_SetDuty(4);
\n R_Rear_SetDuty(7);
\n L_Front_SetDuty(7);
\n R_BSP_SoftwareDelay(150, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

}<\/p>\n

}<\/p>\n

void Turn_Right()
\n{
\n L_Front_SetDuty(10);
\n for(int i = 0;i<5;i++)
\n {
\n R_Front_SetDuty(4);
\n R_Rear_SetDuty(10);
\n L_Rear_SetDuty(10);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

R_Front_SetDuty(10);
\n R_Rear_SetDuty(4);
\n L_Rear_SetDuty(4);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);
\n }
\n}<\/p>\n

void Turn_Left()
\n {
\n R_Front_SetDuty(10);
\n for(int i = 0;i<5;i++)
\n {
\n L_Front_SetDuty(4);
\n R_Rear_SetDuty(10);
\n L_Rear_SetDuty(10);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

L_Front_SetDuty(10);
\n R_Rear_SetDuty(4);
\n L_Rear_SetDuty(4);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);
\n }
\n }<\/p>\n

void Shake_Tail()
\n {
\n R_Front_SetDuty(3);
\n L_Front_SetDuty(11);
\n R_Rear_SetDuty(7);
\n L_Rear_SetDuty(7);
\n for(int i = 0;i<5;i++)
\n {
\n Tail_SetDuty(3);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);
\n Tail_SetDuty(11);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);
\n }
\n }<\/p>\n

void Shake_Hand()
\n {
\n R_Rear_SetDuty(3);
\n L_Rear_SetDuty(11);
\n L_Front_SetDuty(7);
\n for(int i = 0;i<5;i++)
\n {
\n R_Front_SetDuty(12);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);
\n R_Front_SetDuty(9);
\n R_BSP_SoftwareDelay(250, BSP_DELAY_UNITS_MILLISECONDS);
\n }<\/p>\n

}<\/p>\n

void Gasp()
\n {
\n R_Rear_SetDuty(7);
\n L_Rear_SetDuty(7);
\n R_Front_SetDuty(7);
\n L_Front_SetDuty(7);<\/p>\n

}<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （5）\u4e0b\u9762\u662f\u52a8\u4f5c\u9a71\u52a8\u7684\u6e90\u6587\u4ef6<\/p>\n

#ifndef ACTION_H_
\n#define ACTION_H_<\/p>\n

void stand();
\nvoid sleep();\/\/\u8db4\u4e0b
\nvoid Forward();\/\/\u524d\u8fdb
\nvoid Turn_Left();
\nvoid Turn_Right();
\nvoid Shake_Tail();
\nvoid Shake_Hand();
\nvoid Gasp();<\/p>\n

#endif \/* ACTION_H_ *\/<\/p>\n

3.\u4e3b\u51fd\u6570\u7f16\u5199<\/h3>\n

\u00a0 \u00a0 \u00a0 \u00a0 （1）\u5728\u5de6\u4fa7\u9879\u76ee\u8d44\u6e90\u7ba1\u7406\u5668\u4e2d\u6253\u5f00src\u6587\u4ef6，\u5176\u4e2d\u7684hal_entry.c\u5c31\u662f\u6211\u4eec\u7684\u4e3b\u51fd\u6570\u6587\u4ef6，\u5728\u5f00\u5934\u5148\u5f15\u5165\u6211\u4eec\u521a\u521a\u521b\u5efa\u7684\u4e24\u4e2a\u5934\u6587\u4ef6<\/p>\n

#include "PWM.h"
\n#include "action.h"<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （2）\u9996\u5148\u6211\u4eec\u627e\u5230 void hal_entry(void) \u51fd\u6570，\u5728\u5176\u4e2d\u521d\u59cb\u5316\u6a21\u5757，\u5e76\u4e14\u5f00\u542f\u4e32\u53e3\u63a5\u6536<\/p>\n

void hal_entry(void)
\n{
\n \/* TODO: add your own code here *\/
\n R_Front_Init();\/\/\u521d\u59cb\u5316\u53f3\u524d\u817f
\n L_Front_Init();\/\/\u521d\u59cb\u5316\u5de6\u524d\u817f
\n R_Rear_Init();\/\/\u521d\u59cb\u5316\u53f3\u540e\u817f
\n L_Rear_Init();\/\/\u521d\u59cb\u5316\u5de6\u540e\u817f
\n Tail_Init();\/\/\u521d\u59cb\u5316\u5c3e\u5df4<\/p>\n

R_SCI_UART_Open(&Blue_Tooth_ctrl,&Blue_Tooth_cfg);\/\/\u5f00\u542f\u4e32\u53e3
\n R_SCI_UART_Read(&Blue_Tooth_ctrl,MODE,1);\/\/\u5f00\u542f\u4e32\u53e3\u63a5\u6536
\n}<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （3）\u7531\u4e8e\u6211\u4eec\u7684\u7535\u5b50\u5c0f\u72d7\u5b58\u5728\u591a\u79cd\u52a8\u4f5c\u6a21\u5f0f，\u6211\u4eec\u5c06\u4ee3\u7801\u653e\u5728while（1）\u6b7b\u5faa\u73af\u4e2d，\u4e0d\u65ad\u5224\u65ad\u5f53\u524d\u662f\u5426\u8981\u505a\u52a8\u4f5c，\u518d\u4f7f\u7528\u4e00\u4e2aswitch\u8bed\u53e5\u6765\u5224\u65ad\u5f53\u524d\u7a76\u7adf\u8be5\u6267\u884c\u54ea\u4e2a\u52a8\u4f5c，\u5e76\u5728\u6267\u884c\u5b8c\u6210\u52a8\u4f5c\u540e\u518d\u6b21\u6253\u5f00\u4e32\u53e3\u63a5\u6536<\/p>\n

while (1)
\n {
\n if(Flag == 1)
\n {
\n Flag = 0;
\n switch(MODE[0])\/\/\u884c\u4e3a\u6a21\u5f0f\u5224\u522b
\n {
\n case Stand_mode:
\n stand();
\n break;
\n case Sleep_mode:
\n sleep();
\n break;
\n case Forward_mode:
\n Forward();
\n break;
\n case Turn_Left_mode:
\n Turn_Left();
\n break;
\n case Turn_Right_mode:
\n Turn_Right();
\n break;
\n case Tail_mode:
\n Shake_Tail();
\n break;
\n case Shake_Hand_mode:
\n Shake_Hand();
\n break;
\n case Gasp_mode:
\n Gasp();
\n break;
\n default:
\n break;
\n }
\n R_SCI_UART_Read(&Blue_Tooth_ctrl,MODE,1);\/\/\u5f00\u542f\u4e32\u53e3\u63a5\u6536
\n }<\/p>\n

R_BSP_SoftwareDelay(20, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

}<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （4）\u6a21\u5f0f\u7684\u5207\u6362\u6211\u4eec\u653e\u5728\u4e2d\u65ad\u56de\u8c03\u51fd\u6570\u4e2d，\u5f53\u4e32\u53e3\u63a5\u6536\u5b8c\u6210\u6570\u636e\u540e，\u4f1a\u4e2d\u65ad\u4e3b\u51fd\u6570\u8fdb\u5165\u56de\u8c03\u51fd\u6570，\u6211\u4eec\u5728\u8be5\u51fd\u6570\u4e2d\u5c06\u662f\u5426\u6267\u884c\u52a8\u4f5c\u7684\u6807\u5fd7\u4f4d\u7f6e1，\u544a\u8bc9\u4e3b\u51fd\u6570\u53ef\u4ee5\u5f00\u59cb\u505a\u52a8\u4f5c\u4e86<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （5）\u4f5c\u8005\u901a\u8fc7\u624b\u673a\u84dd\u7259\u52a9\u624b\u53d1\u9001\u7684\u4fe1\u53f7\u662f\u5b57\u7b26\u7c7b\u578b\u768412345\u7b49\u7b49\u6570\u5b57，\u4ed6\u4eec\u7684\u672c\u8d28\u662fAscll\u7801，\u5e76\u4e0d\u662f\u771f\u6b63\u7684\u6570\u5b571234，\u6211\u4eec\u9700\u8981\u7ecf\u8fc7\u5904\u7406，\u5c06\u4ed6\u4eec\u4e0e\u5b57\u7b260\u76f8\u51cf\u4ece\u800c\u5c06\u4ed6\u4eec\u8f6c\u5316\u4e3a\u6574\u6570\u7c7b\u578b\u76841234\u7528\u4e8eswitch\u4e2d\u6a21\u5f0f\u7684\u5224\u65ad<\/p>\n

uint8_t MODE[1];
\nuint8_t Flag = 0;
\nvoid Blue_Tooth_Callback(uart_callback_args_t *p_args)
\n{
\n if(p_args->event == UART_EVENT_RX_COMPLETE)
\n {
\n Flag = 1;
\n MODE[0] = MODE[0] – '0';
\n \/\/R_SCI_UART_Write(&Blue_Tooth_ctrl,MODE,1);\/\/\u5f00\u542f\u4e32\u53e3\u63a5\u6536
\n }
\n}<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （6）\u4e3a\u4e86\u63d0\u5347\u4ee3\u7801\u7684\u53ef\u8bfb\u6027，\u6211\u4eec\u901a\u8fc7\u5b8f\u5b9a\u4e49\u5c061234\u6539\u6210\u66f4\u597d\u8fa8\u8ba4\u7684\u65b9\u5f0f<\/p>\n

\/\/\u6a21\u5f0f\u5b9a\u4e49\u533a
\n#define Stand_mode 0 \/\/\u7ad9\u7acb
\n#define Sleep_mode 1 \/\/\u7761\u89c9
\n#define Forward_mode 2 \/\/\u524d\u8fdb
\n#define Turn_Left_mode 3 \/\/\u5de6\u8f6c
\n#define Turn_Right_mode 4 \/\/\u53f3\u8f6c
\n#define Tail_mode 5 \/\/\u6447\u5c3e\u5df4
\n#define Shake_Hand_mode 6 \/\/\u63e1\u624b
\n#define Gasp_mode 7 \/\/\u54c8\u6c14<\/p>\n

\u00a0 \u00a0 \u00a0 \u00a0 （7）\u4e0b\u9762\u662f\u4e3b\u51fd\u6570\u4e2d\u5b8c\u6574\u7684\u4ee3\u7801\u5c55\u793a<\/p>\n

#include "hal_data.h"
\n#include "PWM.h"
\n#include "action.h"<\/p>\n

\/\/\u6a21\u5f0f\u5b9a\u4e49\u533a
\n#define Stand_mode 0 \/\/\u7ad9\u7acb
\n#define Sleep_mode 1 \/\/\u7761\u89c9
\n#define Forward_mode 2 \/\/\u524d\u8fdb
\n#define Turn_Left_mode 3 \/\/\u5de6\u8f6c
\n#define Turn_Right_mode 4 \/\/\u53f3\u8f6c
\n#define Tail_mode 5 \/\/\u6447\u5c3e\u5df4
\n#define Shake_Hand_mode 6 \/\/\u63e1\u624b
\n#define Gasp_mode 7 \/\/\u54c8\u6c14<\/p>\n

FSP_CPP_HEADER
\nvoid R_BSP_WarmStart(bsp_warm_start_event_t event);
\nFSP_CPP_FOOTER<\/p>\n

uint8_t MODE[1];
\nuint8_t Flag = 0;
\nvoid Blue_Tooth_Callback(uart_callback_args_t *p_args)
\n{
\n if(p_args->event == UART_EVENT_RX_COMPLETE)
\n {
\n Flag = 1;
\n MODE[0] = MODE[0] – '0';
\n \/\/R_SCI_UART_Write(&Blue_Tooth_ctrl,MODE,1);\/\/\u5f00\u542f\u4e32\u53e3\u63a5\u6536
\n }
\n}<\/p>\n

\/*******************************************************************************************************************\/\/**
\n * main() is generated by the RA Configuration editor and is used to generate threads if an RTOS is used. This function
\n * is called by main() when no RTOS is used.
\n **********************************************************************************************************************\/
\nvoid hal_entry(void)
\n{
\n \/* TODO: add your own code here *\/
\n R_Front_Init();\/\/\u521d\u59cb\u5316\u53f3\u524d\u817f
\n L_Front_Init();\/\/\u521d\u59cb\u5316\u5de6\u524d\u817f
\n R_Rear_Init();\/\/\u521d\u59cb\u5316\u53f3\u540e\u817f
\n L_Rear_Init();\/\/\u521d\u59cb\u5316\u5de6\u540e\u817f
\n Tail_Init();\/\/\u521d\u59cb\u5316\u5c3e\u5df4<\/p>\n

R_SCI_UART_Open(&Blue_Tooth_ctrl,&Blue_Tooth_cfg);\/\/\u5f00\u542f\u4e32\u53e3
\n R_SCI_UART_Read(&Blue_Tooth_ctrl,MODE,1);\/\/\u5f00\u542f\u4e32\u53e3\u63a5\u6536<\/p>\n

while (1)
\n {
\n if(Flag == 1)
\n {
\n Flag = 0;
\n switch(MODE[0])\/\/\u884c\u4e3a\u6a21\u5f0f\u5224\u522b
\n {
\n case Stand_mode:
\n stand();
\n break;
\n case Sleep_mode:
\n sleep();
\n break;
\n case Forward_mode:
\n Forward();
\n break;
\n case Turn_Left_mode:
\n Turn_Left();
\n break;
\n case Turn_Right_mode:
\n Turn_Right();
\n break;
\n case Tail_mode:
\n Shake_Tail();
\n break;
\n case Shake_Hand_mode:
\n Shake_Hand();
\n break;
\n case Gasp_mode:
\n Gasp();
\n break;
\n default:
\n break;
\n }
\n R_SCI_UART_Read(&Blue_Tooth_ctrl,MODE,1);\/\/\u5f00\u542f\u4e32\u53e3\u63a5\u6536
\n }<\/p>\n

R_BSP_SoftwareDelay(20, BSP_DELAY_UNITS_MILLISECONDS);<\/p>\n

}<\/p>\n

#if BSP_TZ_SECURE_BUILD
\n \/* Enter non-secure code *\/
\n R_BSP_NonSecureEnter();
\n#endif
\n}<\/p>\n

\/*******************************************************************************************************************\/\/**
\n * This function is called at various points during the startup process. This implementation uses the event that is
\n * called right before main() to set up the pins.
\n *
\n * @param[in] event Where at in the start up process the code is currently at
\n **********************************************************************************************************************\/
\nvoid R_BSP_WarmStart(bsp_warm_start_event_t event)
\n{
\n if (BSP_WARM_START_RESET == event)
\n {
\n#if BSP_FEATURE_FLASH_LP_VERSION != 0<\/p>\n

\/* Enable reading from data flash. *\/
\n R_FACI_LP->DFLCTL = 1U;<\/p>\n

\/* Would normally have to wait tDSTOP(6us) for data flash recovery. Placing the enable here, before clock and
\n * C runtime initialization, should negate the need for a delay since the initialization will typically take more than 6us. *\/
\n#endif
\n }<\/p>\n

if (BSP_WARM_START_POST_C == event)
\n {
\n \/* C runtime environment and system clocks are setup. *\/<\/p>\n

\/* Configure pins. *\/
\n R_IOPORT_Open (&IOPORT_CFG_CTRL, &IOPORT_CFG_NAME);<\/p>\n

#if BSP_CFG_SDRAM_ENABLED<\/p>\n

\/* Setup SDRAM and initialize it. Must configure pins first. *\/
\n R_BSP_SdramInit(true);
\n#endif
\n }
\n}<\/p>\n

#if BSP_TZ_SECURE_BUILD<\/p>\n

FSP_CPP_HEADER
\nBSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ();<\/p>\n

\/* Trustzone Secure Projects require at least one nonsecure callable function in order to build (Remove this if it is not required to build). *\/
\nBSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ()
\n{<\/p>\n

}
\nFSP_CPP_FOOTER<\/p>\n

#endif<\/p>\n","protected":false},"excerpt":{"rendered":"

\u5728\u672c\u7bc7\u6587\u7ae0\u4e2d，\u4f5c\u8005\u5c06\u4ece\u96f6\u5f00\u59cb\u5e26\u9886\u5927\u5bb6\u5229\u7528\u745e\u8428RA4M2\u7cfb\u5217\u5355\u7247\u673a\u8bbe\u8ba1\u4e00\u6b3e\u5c5e\u4e8e\u81ea\u5df1\u7684\u84dd\u7259\u9065\u63a7\u5c0f\u72d7\u3002\u4ec0\u4e48？\u8fde\u521b\u5efa\u5de5\u7a0b\u90fd\u4e0d\u4f1a！\u6ca1\u5173\u7cfb，\u4f5c\u8005\u5e26\u7740\u4f60\u4ece\u521b\u5efa\u5de5\u7a0b\u5f00\u59cb，\u6025\u901f\u901a\u5173！\u4e00\u3001\u786c\u4ef6\u51c6\u59071.\u745e\u8428RA4M2\u7cfb\u5217\u5355\u7247\u673a2.\u4e00\u5757\u9762\u5305\u677f\u6216\u8005\u4ee5\u53ca\u753b\u597d\u7684PCB\u677f（\u4f5c\u8005\u4f1a\u9644\u4e0a\u81ea\u5df1\u7684PCB\u5236\u677f\u6587\u4ef6\u4e0e\u5de5\u7a0b\u6587\u4ef6）3.\u675c\u90a6\u7ebf\u82e5\u5e724.\u53ef\u8f93\u51fa3.3v\u548c5v\u7684\u7535\u6e90\u6a21\u5757，3.3v\u4e3a\u5355\u7247\u673a\u548c\u8235<\/p>\n","protected":false},"author":2,"featured_media":74511,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[7886,7658,270],"topic":[],"class_list":["post-74531","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-7886","tag-7658","tag-270"],"yoast_head":"\n\u84dd\u7259\u9065\u63a7\u7684\u7535\u5b50\u5c0f\u72d7\uff01\u30101.2 \u57fa\u4e8e\u745e\u8428RA4M2\u5355\u7247\u673a\u8bbe\u8ba1\u7684\u4fdd\u59c6\u7ea7\u6559\u7a0b\u3011 - 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