1.下载样例代码
①.gitee仓库地址
https://gitee.com/hihope_iot/hispark-pegasus-smart-car.git
②.克隆代码到本地
git clone https://gitee.com/hihope_iot/hispark-pegasus-smart-car.git
③.将样例代码拷贝到openharmony
目录：hispark-pegasus-smart-car\智能循迹避障小车样例代码\robot_demo
拷贝到：openharmony\applications\sample\wifi-iot\app\
2.使能编译IIC驱动
目录：openharmony\device\hisilicon\hispark_pegasus\sdk_liteos\build\config\usr_config.mk。
找到这里
# CONFIG_FACTORY_TEST_SUPPORT is not set
# end of Factory Test Settings
#
# BSP Settings
#
CONFIG_I2C_SUPPORT=y 《《《打开编译IIC驱动，改成这样
# CONFIG_I2S_SUPPORT is not set
# CONFIG_SPI_SUPPORT is not set
# CONFIG_DMA_SUPPORT is not set
# CONFIG_SDIO_SUPPORT is not set
# CONFIG_SPI_DMA_SUPPORT is not set
# CONFIG_UART_DMA_SUPPORT is not set
CONFIG_PWM_SUPPORT=y
CONFIG_PWM_HOLD_AFTER_REBOOT=y
CONFIG_AT_SUPPORT=y
CONFIG_FILE_SYSTEM_SUPPORT=y
CONFIG_UART0_SUPPORT=y
CONFIG_UART1_SUPPORT=y
# CONFIG_UART2_SUPPORT is not set
# end of BSP Settings
3.把样例加入编译
目录：openharmony3\applications\sample\wifi-iot\app\BUILD.gn。
import("//build/lite/config/component/lite_component.gni")
lite_component("app") {
features = [
"robot_demo:robot_demo",
"robot_demo/ssd1306:oled_ssd1306",
]
}
注意：官方样例使用说明 https://gitee.com/hihope_iot/hispark-pegasus-smart-car 里面的 BUILD.gn 未将 oled_ssd1306 加入编译，不加入会报错。
4.编译样例
①.设置编译路径
hb set
.(英文字符)
复制②.选择wifiiot_hispark_pegasus
③.执行编译
hb build -f
5.烧录
①打开HiBurn烧录工具
②. 选择要烧录的文件
点击select fine
选择该路径：openharmony\out\hispark_pegasus\wifiiot_hispark_pegasus 下的Hi3861_loader_signed.bin和Hi3861_wifiiot_app_allinone.bin
复制
③.勾选上 Auto burn
④.烧录
点击Connect⑤.开发板复位
开始烧录。
⑥.烧录完成，点击disconnect按钮
6.测试结果
测试成功!
7.报错解决
①.未使能驱动编译
报错提示：
[OHOS ERROR] riscv32-unknown-elf-ld: ohos/libs/libhal_iothardware.a(libhal_iothardware.hal_iot_i2c.o): in function `IoTI2cInit':
[OHOS ERROR] hal_iot_i2c.c:(.text.IoTI2cInit+0x10): undefined reference to `hi_i2c_init'
解决办法：
目录：openharmony\device\hisilicon\hispark_pegasus\sdk_liteos\build\config\usr_config.mk。
找到这里
# CONFIG_FACTORY_TEST_SUPPORT is not set
# end of Factory Test Settings
#
# BSP Settings
#
CONFIG_I2C_SUPPORT=y 《《《打开编译IIC驱动，改成这样
# CONFIG_I2S_SUPPORT is not set
# CONFIG_SPI_SUPPORT is not set
# CONFIG_DMA_SUPPORT is not set
# CONFIG_SDIO_SUPPORT is not set
# CONFIG_SPI_DMA_SUPPORT is not set
# CONFIG_UART_DMA_SUPPORT is not set
CONFIG_PWM_SUPPORT=y
CONFIG_PWM_HOLD_AFTER_REBOOT=y
CONFIG_AT_SUPPORT=y
CONFIG_FILE_SYSTEM_SUPPORT=y
CONFIG_UART0_SUPPORT=y
CONFIG_UART1_SUPPORT=y
# CONFIG_UART2_SUPPORT is not set
# end of BSP Settings
②.未加入编译
报错提示：
[OHOS ERROR] ssd1306_test.c:(.text.Ssd1306TestTask+0x3c): undefined reference to `ssd1306_Init'
[OHOS ERROR] riscv32-unknown-elf-ld: ssd1306_test.c:(.text.Ssd1306TestTask+0x46): undefined reference to `ssd1306_Fill'
[OHOS ERROR] riscv32-unknown-elf-ld: ssd1306_test.c:(.text.Ssd1306TestTask+0x52): undefined reference to `ssd1306_SetCursor'
解决办法：
目录：openharmony3\applications\sample\wifi-iot\app\BUILD.gn。
import("//build/lite/config/component/lite_component.gni")
lite_component("app") {
features = [
"robot_demo:robot_demo",
"robot_demo/ssd1306:oled_ssd1306",
]
}
③.HiSpark Wi-Fi IoT开发板上电没反应
可能原因：使用了双头Type-C数据线供电，导致无法供电，因为开发板没有受电端诱骗芯片。
