大学生电子设计竞赛（含源码）-小车测试程序（控制声音、中断条脉宽、无线控制）.zip

#include"spi.H" #include <avr/interrupt.h> #define delay_us asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP");asm("NOP"); unsigned int number,count,feedback,setspeed=500; unsigned int pulsewidth=0,pulsewidth1=0; uchar RX_BUF[32]; void delay(unsigned int m) { unsigned int i; for(i=0;i<m;i++) { delay_us; } } SIGNAL(SIG_INTERRUPT0) { SREG=0X00; // DDRD&=0XFE; // PORTC&=0X3F; if(nRF24L01_RxPacket(RX_BUF)) { if(RX_BUF[0]==0X00)//正转 { PORTC&=0x3F; pulsewidth=0; pulsewidth1=0; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; delay(535); pulsewidth=1000; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; } if(RX_BUF[0]==0X01)//反 { PORTC|=0xC0; pulsewidth=1000; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; delay(535); pulsewidth=0; pulsewidth1=0; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; } if(RX_BUF[0]==0X02)//左 { PORTC|=(1<<7); PORTC&=0XBF; pulsewidth=0; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; delay(535); pulsewidth=1000; pulsewidth1=0; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; } if(RX_BUF[0]==0X03)//右 { PORTC|=(1<<6); PORTC&=0X7F; pulsewidth=1000; pulsewidth1=0; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; delay(535); pulsewidth=0; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; } if(RX_BUF[0]==0X04)//右 { PORTC|=0xC0; pulsewidth=1000; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; delay(535); pulsewidth=1000; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; } if(RX_BUF[0]==0X05) { TCCR2=0X1A; OCR2=0XF9; } if(RX_BUF[0]==0X06) { OCR2=0X00; } } SPI_RW_Reg(WRITE_REG+STATUS,0xFF); SREG=0X80; } int main() { uchar i,sta; DDRA=0XFF; DDRC=0XFF; PORTC=0XF0; PORTA=0XF0; DDRB=0X60; DDRE=0XFF; EICRA=0X02;//外部中断初始化 EIMSK=0X01; SREG=0X80; init_NRF24L01(); DDRB|=0XE0; pulsewidth=1000; pulsewidth1=1000; TCCR1A=0XA3;//此频率为10KHz //PB6 TCCR1B=0X19; OCR1A=1000; OCR1B=pulsewidth; TCCR3A=0XA3; TCCR3B=0X19; OCR3A=1000; OCR3B=pulsewidth1; delay(535); SetRX_Mode(); while(1) { SetRX_Mode(); } }