trs.zip_nrf24e1

#include <reg24e1.h> void Delay100us(volatile unsigned char n) ; /* LED1-LED4 */ sbit LED1 = P0^2; sbit leftkey = P0^4; sbit rightkey = P0^7; //sbit wheel1 = P0^3; sbit wheel2 = P0^5; bit flag=0; bit leftold,rightold; unsigned char i=0; unsigned char adc_dat[3]; static unsigned char tmpforward; unsigned char forward=0; //forward==0说明滚轮未动，forward==1说明前进，forward==2说明后退 unsigned char oldforward[3]; long leftduan,rightduan; unsigned char leftchang,rightchang; int x,y,z,offsety,offsetx; unsigned char savetime=10; unsigned char bi; struct RFConfig { unsigned char n; unsigned char buf[15]; }; typedef struct RFConfig RFConfig; #define ADDR_INDEX 8 // Index to address bytes in RFConfig.buf #define ADDR_COUNT 4 // Number of address bytes #define size 20 volatile unsigned char idata Txdata[size]= { 0x56, 0x32, 0xa6, 0xb9, 0xaa, 0x54, 0xc5, 0x98, 0x5d, 0xcd, 0x11, 0x0d, 0xf5, 0xeb, 0x66, 0xa1, 0xb9, 0xdf, 0x72, 0x4b }; const RFConfig tconf = { 15, 0x20, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xaa, 0xbb, 0x12, 0x34, 0x83, 0x6f, 0x04 }; const RFConfig rconf = { 15, 0x20, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xaa, 0xbb, 0x12, 0x34, 0x83, 0x6f, 0x05 }; void Delay100us(volatile unsigned char n) { unsigned char i; while(n--) for(i=0;i<35;i++) ; } void Delayms(volatile unsigned char m) { unsigned char j; while(m--) for(j=0;j<255;j++); } unsigned char SpiReadWrite(unsigned char b) { EXIF &= ~0x20; // Clear SPI interrupt SPI_DATA = b; // Move byte to send to SPI data register while((EXIF & 0x20) == 0x00) // Wait until SPI hs finished transmitting ; return SPI_DATA; } void TransmitPacket(unsigned char b0,unsigned char b1,unsigned char b2,unsigned char b3) { unsigned char i; CE = 1; Delay100us(0); for(i=0;i<ADDR_COUNT;i++) SpiReadWrite(tconf.buf[ADDR_INDEX+i]); SpiReadWrite(b0); SpiReadWrite(b1); SpiReadWrite(b2); SpiReadWrite(b3); CE = 0; } void Init_Tran(void) { unsigned char j; CS = 1; Delay100us(0); for(j=0;j<tconf.n;j++) { SpiReadWrite(tconf.buf[j]); } CS = 0; } void Init(void) { // Port1 ini P0_ALT = 0x08; // Select alternate functions on pins P0.1 and P0.2, TXD RXD P0_DIR = 0xF8; // P0.0, P0.3 is input(S1, S2), the rest output // P0 = 0xF0; // P0.7-P0.4 = 1 for OFF LED1-LED4 LED1=0; //SPI PWR_UP = 1; // Turn on Radio Delay100us(30); // Wait > 3ms SPICLK = 0; // Max SPI clock (XTAL/8) SPI_CTRL = 0x02; // Connect internal SPI controller to Radio // serial communication ini // TH1 = 243; // 19200@16MHz (when T1M=1 and SMOD=1) // CKCON |= 0x10; // T1M=1 (/4 timer clock) // PCON = 0x80; // SMOD=1 (double baud rate) // SCON = 0x52; // Serial mode1, enable receiver // TMOD = 0x20; // Timer1 8bit auto reload // TCON = 0x40; // Start timer1 EX0=1; //外部中断０允许 PX0=1;//高优先级 IT0=1; //外部中断０为边沿触发方式 //定时器2中断 TR2=0; CKCON|=0x20; //定时器2时钟CUP_CLK/4 RCAP2L=0x00; //1KHz时钟 0x63c0~100Hz; 0xf060~1kHz; 0xe0c0~500Hz RCAP2H=0x63; TF2=0; //清除定时器2溢出标志位 TR2=1; //定时器2开始计时 ET2=1; //定时器2中断使能 //AD初始化 ADCSTATIC&=0x1C; //DIFFM=0,SLEEP=0,CLK8=0 ADCSTATIC|=0x01; //8bit ADCCON=0x30; //CHANNEL=0 } void main(void) { EA=0; Init(); Init_Tran(); Delayms(3); //延时，等待传感器准备好 EA=1; while(1) { if(flag==1) { /////////////////////////////////////// if (leftkey==0) { leftduan++; if (leftduan>100) { leftchang=1; leftduan=0; } } if (leftkey==1) { leftchang=0; leftduan=0; } /////////////////////////////////////// if (rightkey==0) { rightduan++; if (rightduan>100) { rightchang=1; rightduan=0; } } if (rightkey==1) { rightchang=0; rightduan=0; } ////////////////////////////////////////// CS = 1; Delay100us(0); for(bi=0;bi<tconf.n;bi++) { SpiReadWrite(tconf.buf[bi]); } CS = 0; x=130-adc_dat[2]; y=130-adc_dat[1]; if (leftkey==0&&leftold==1) { TransmitPacket(1,0,0,z); //如果按下左键，则左击 } if (leftkey==1&&leftold==0) { TransmitPacket(0,0,0,z); //如果放开左键 } if (rightkey==0&&rightold==1) { TransmitPacket(2,0,0,z); //如果按下右键，则右击 } if (rightkey==1&&rightold==0) { TransmitPacket(0,0,0,z); //如果放开右键 } if (leftchang==1) { TransmitPacket(1,y,x,z); //如果左键长按则拖拽 } if (rightchang==1) { TransmitPacket(0,y,x,z); //如果右键长按则移动 } if (z!=0) { TransmitPacket(0,0,0,z); //如果滚轮动作，则z为-2或+2 } z=0; leftold=leftkey; rightold=rightkey; flag=0; } /* if(flag==1) { CS = 1; Delay100us(0); for(bi=0;bi<tconf.n;bi++) { SpiReadWrite(tconf.buf[bi]); } CS = 0; x=133-adc_dat[2]; y=133-adc_dat[1]; TransmitPacket(1,1,1,0); //发送包头 flag=0; } */ } } void encoder(void) interrupt 0 //外部中断0 { PWR_UP = 1; if (wheel2) { Delay100us(30); if (INT0==0) { oldforward[i]=0; i++; if (i>2) {i=0;} } } else { oldforward[i]=1; i++; if (i>2) {i=0;} } if ((oldforward[0]+oldforward[1]+oldforward[2])>1) { z=2; LED1=1; } else { z=-2; LED1=0; } IE0=0; } //定时中断2，采集AD转换数据，并发送出去 void Timer2ISR(void) interrupt 5 using 1 { TF2=0;//清定时器2中断标志位 EA=0; flag=1; adc_dat[0]=0x34; adc_dat[1]=0x67; //采集AD转换数据 ADCCON&= ~0x80; ADCCON&= 0xF8; ADCCON|=0x82;//通道2,x轴 ADCCON&=~0x80;//开始新的AD转换 ADCCON|=0x80; while((EXIF&0x10)==0) ; EXIF&=0xEF; adc_dat[0]=ADCDATAH; ADCCON&= ~0x80; ADCCON&= 0xF8; ADCCON|=0x81;//通道1，Y轴 ADCCON&= ~0x80;//开始新的AD转换 ADCCON|=0x80; while((EXIF&0x10)==0) ; EXIF&=0xEF; adc_dat[1]=ADCDATAH; ADCCON&= ~0x80; ADCCON&= 0xF8; ADCCON|=0x80;//通道1，Z轴 ADCCON&= ~0x80;//开始新的AD转换 ADCCON|=0x80; while((EXIF&0x10)==0) ; EXIF&=0xEF; adc_dat[2]=ADCDATAH; EA=1; }