程序_11-27_可以反馈的程序.zip_mapal6_member4tt_pid_pid 增量算法_Ｃ５１

/* * nrf24l01.c * * Created on: 2016年4月13日 * Author: CrazyCpu */ #include "stc15.h" #include <string.h> #include "nrf24l01.h" #include "spi.h" sbit NRF_CE = P1^4; sbit NRF_CSN = P1^5; sbit NRF_IRQ = P1^1; #define Nrf_CSN_High NRF_CSN=1 #define Nrf_CSN_Low NRF_CSN=0 #define Nrf_CE_High NRF_CE=1 #define Nrf_CE_Low NRF_CE=0 #define Nrf_IRQ NRF_IRQ /* 接收Px地址 */ const unsigned char Rx_Addr_P0[5] = {0xE7,0xE7,0xE7,0xE7,0xE7}; const unsigned char Rx_Addr_P1[5] = {0xC2,0xC2,0xC2,0xC2,0xC2}; const unsigned char Rx_Addr_P2[5] = {0xC2,0xC2,0xC2,0xC2,0xC3}; const unsigned char Rx_Addr_P3[5] = {0xC2,0xC2,0xC2,0xC2,0xC4}; const unsigned char Rx_Addr_P4[5] = {0xC2,0xC2,0xC2,0xC2,0xC5}; const unsigned char Rx_Addr_P5[5] = {0xC2,0xC2,0xC2,0xC2,0xC6}; /* 发送地址 */ const unsigned char Tx_Addr[5] = {0xE7,0xE7,0xE7,0xE7,0xE7}; /* nrf24l01状态 */ volatile unsigned char Nrf_Status = 0x00; extern void Delay10ms(); //@11.0592MHz void Nrf24l01_Init(void) { /* SPI通信初始化 */ SPI_Init(); Nrf_CSN_High; Nrf_CE_Low; /* Nrf24l01 工作特点配置 */ Nrf24l01_Write_Register(CONFIG,0x0F); // 接收模式；接收、发送、最大重发次数中断使能；有CRC Nrf24l01_Write_Register(SETUP_AW,0x03); // 5个字节地址宽度 Nrf24l01_Write_Register(SETUP_RETR,0x1A); // 等待 500+86us,自动重发10次 Nrf24l01_Write_Register(RF_CH,9); // 使用射频通道9 Nrf24l01_Write_Register(RF_SETUP,0x0F); // 2Mbps,0dbm /* The Data Ready interrupt is set by a new packet arrival event. The procedure for handling this interrupt should be: 1) read payload via SPI, 2) clear RX_DR interrupt, 3) read FIFO_STATUS to check if there are more payloads available in RX FIFO, 4) if there are more data in RX FIFO, repeat from 1). */ } int Nrf24L01_Check(void) { unsigned char tmp_addr[5] = {0x53,0x53,0x53,0x53,0x53}; Nrf_CE_Low; Nrf24l01_Write_Buff(TX_ADDR,(const unsigned char *)tmp_addr,Addr_Width); memset(tmp_addr,0x00,5); Nrf24l01_Read_Buff(TX_ADDR,tmp_addr,Addr_Width); if((tmp_addr[0]==0x53) && (tmp_addr[1]==0x53) && (tmp_addr[2]==0x53) && (tmp_addr[3]==0x53) && (tmp_addr[4]==0x53)) return 0; else return 1; } void Nrf24l01_Write_Register(unsigned char cmd_addr,unsigned char byte) { Nrf_CSN_Low; SPI_RW_Byte(cmd_addr|W_REG_CMD); SPI_RW_Byte(byte); Nrf_CSN_High; } unsigned char Nrf24l01_Read_Register(unsigned char cmd_addr) { unsigned char res = 0x00; Nrf_CSN_Low; SPI_RW_Byte(cmd_addr|R_REG_CMD); res = SPI_RW_Byte(0xFF); Nrf_CSN_High; return res; } void Nrf24l01_Write_Buff(unsigned char cmd_addr,const unsigned char *buff,int width) { int k = 0; Nrf_CSN_Low; SPI_RW_Byte(cmd_addr|W_REG_CMD); for(k=0; k<width; k++) { SPI_RW_Byte(*buff); buff++; } Nrf_CSN_High; } void Nrf24l01_Read_Buff(unsigned char cmd_addr,unsigned char *buff,int width) { int k = 0; Nrf_CSN_Low; SPI_RW_Byte(cmd_addr|R_REG_CMD); for(k=0; k<width; k++) { *buff = SPI_RW_Byte(0xFF); buff++; } Nrf_CSN_High; } int Nrf24l01_TX_Packet( unsigned char *tx_buff, unsigned char width) { int res = 1; Nrf_CE_Low; /* 1 配置寄存器位 PRIM_RX 为低 */ Nrf24l01_Write_Register(CONFIG,NRF_TX_MODE); /* 2 当 MCU 有数据要发送时 接收节点地址 TX_ADDR 和有效数据(TX_PLD)通过 SPI 接口写入nRF24L01 发送数据的长度以字节计数从 MCU 写入 TX FIFO */ Nrf24l01_Write_Buff(TX_ADDR,Tx_Addr,Addr_Width); // 发送地址 Nrf24l01_Write_Buff(W_TX_PAYLOAD,tx_buff,Data_Width); // 写入数据 /* 讲一个通道设置为接收来接收自动应答 */ Nrf24l01_Write_Register(EN_RXADDR,0x01); // P0 使能接收 Nrf24l01_Write_Buff(RX_ADDR_P0,Rx_Addr_P0,Addr_Width); // P0 接收地址 /* 3 设置 CE 为高 启动发射 CE 高电平持续时间最小为 10 us */ Nrf_CE_High; while( Nrf_IRQ ); /* CE 置低 则系统进入待机模式 I */ Nrf_CE_Low; Nrf_Status = Nrf24l01_Read_Register(STATUS); /* 4.如果接收到有效应答，发送成功，TX_DS置1，IRQ中断，TX FIFO清除 */ if(Nrf_Status&TX_DS) { res = 0; Nrf24l01_Write_Register(STATUS,TX_DS); Nrf24l01_Write_Register(FLUSH_TX,0xFF); } /* 5.如果没有接收到有效应答，自动重发数据。如果自动重发计数器 ARC_CNT 溢出 ，MAX_RT置1， 不清除 TX FIFO，IRQ中断 */ if(Nrf_Status&MAX_RT) { res = 1; Nrf24l01_Write_Register(STATUS,MAX_RT); Nrf24l01_Write_Register(FLUSH_TX,0xFF); } if(Nrf_Status&RX_DR) { Nrf24l01_Write_Register(STATUS,RX_DR); // 以防万一，清除MAX_RT Nrf24l01_Write_Register(FLUSH_RX,0xFF); } return res; } int Nrf24l01_RX_Packet(unsigned char *rx_buff,unsigned char width) { int res = 1; Nrf_CE_Low; /* 1.配置寄存器位 PRIM_RX 为高 */ Nrf24l01_Write_Register(CONFIG,NRF_RX_MODE); /* 2.准备接收数据的通道必须被使能（ EN_RXADDR 寄存器） */ Nrf24l01_Write_Register(EN_RXADDR,0x01); // P0 使能接收 Nrf24l01_Write_Register(EN_AA,0x01); // P0 自动应答 /* 3.有效数据宽度是由 RX_PW_Px 寄存器来设置 */ Nrf24l01_Write_Register(RX_PW_P0,Data_Width); /* 4.地址建立 */ Nrf24l01_Write_Buff(RX_ADDR_P0,Rx_Addr_P0,Addr_Width); /* 接收模式由设置 CE为高来启动 */ Nrf_CE_High; /* 接收到有效的数据包后, 数据存储在 RX_FIFO 中,RX_DR 位置高 并产生中断,状态寄存器中 RX_P_NO 位显示数据是由哪个通道接收到的 */ while(Nrf_IRQ); //delay_ms(10); // ***************************************** /* MCU 设置 CE 脚为低 进入待机模式 I */ Nrf_CE_Low; /* MCU 将数据以合适的速率通过 SPI 口将数据读出 */ Nrf_Status = Nrf24l01_Read_Register(STATUS); if(Nrf_Status&RX_DR) { res = 0; Nrf24l01_Read_Buff(R_RX_PAYLOAD,rx_buff,width); Nrf24l01_Write_Register(STATUS,RX_DR); // 清除RX_DR中断 Nrf24l01_Write_Register(FLUSH_RX,0xFF); } if(Nrf_Status&MAX_RT) { Nrf24l01_Write_Register(STATUS,MAX_RT); Nrf24l01_Write_Register(FLUSH_TX,0xFF); } if(Nrf_Status&TX_DS) { Nrf24l01_Write_Register(STATUS,TX_DS); Nrf24l01_Write_Register(FLUSH_TX,0xFF); } return res; /* 芯片准备好进入发送模式 接收模式或掉电模式 */ } void Delay10ms() //@11.0592MHz { unsigned char i, j; i = 108; j = 145; do { while (--j); } while (--i); }