51+nrf2401遥控小车

#include "NRF24L01.H" uchar idata nrf_sta; uchar idata RxBuf[32] = "0"; //接收缓存 存入idata区 uchar idata TxBuf[32] = "0"; //发送缓存 uchar const TX_ADDRESS[TX_ADR_WIDTH]= {0x34,0x43,0x10,0x10,0x01}; //本地地址 uchar const RX_ADDRESS[RX_ADR_WIDTH]= {0x34,0x43,0x10,0x10,0x01}; //接收地址 //===== 粗略的延时 ===== void delayus(uint us) { while(us--); } //================== NRF24L01初始化 ================== void init_NRF24L01(void) { delayus(100); CE = 0; // 片选使能 CSN = 1; // SPI使能 SCK = 0; // SPI时钟拉低 SPI_Write_Buf(WRITE_REG + TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH); //写发送地址 SPI_Write_Buf(WRITE_REG + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH); //写接收端地址 SPI_Write_Reg(WRITE_REG + EN_AA, 0x01); //通道0自动应答 SPI_Write_Reg(WRITE_REG + EN_RXADDR, 0x01); //允许接收地址频道0 SPI_Write_Reg(WRITE_REG + RF_CH, 0x32); //设置信道工作频率，收发必须一致 SPI_Write_Reg(WRITE_REG + RX_PW_P0, RX_PLOAD_WIDTH); //设置接收数据长度 SPI_Write_Reg(WRITE_REG + RF_SETUP, 0x0f); //设置发射速率为2MHZ，发射功率为最大值0dB SPI_Write_Reg(WRITE_REG + NRF_CONFIG, 0x7c); //IRQ引脚不显示中断 掉电模式 1~16CRC校验 } //================== //读取状态标志 //================== void get_nrf_sta(void) { nrf_sta = SPI_Read_Reg(STATUS); SPI_Write_Reg(WRITE_REG+STATUS,nrf_sta); } //================== //设置为接收模式 //================== void nrf_RxMod(void) { CE = 0; SPI_Write_Reg(WRITE_REG+STATUS,0xff); //清除中断标志 SPI_Write_Reg(FLUSH_RX,0x00); //清除RX_FIFO寄存器 SPI_Write_Reg(WRITE_REG + NRF_CONFIG, 0x7f);//IRQ引脚不显示中断 上电 接收模式 1~16CRC校验 CE = 1; delayus(100); } //================== //把接收到的数据存入数组 //================== void nrf_read(uchar *rx_buf) { if(RX_DR == 1) //收到数据 { CE = 0; SPI_Read_Buf(RD_RX_PLOAD,rx_buf,RX_PLOAD_WIDTH);//读取数据 存入数组 SPI_Write_Reg(FLUSH_RX,0x00);//清除rx fifo寄存器 CE = 1; delayus(100); } } //================== //设置为发送模式 //================== void nrf_TxMod(void) { CE = 0; SPI_Write_Reg(WRITE_REG+STATUS,0xff); //清除中断标志 SPI_Write_Reg(FLUSH_TX,0x00); //清除TX_FIFO寄存器 SPI_Write_Reg(WRITE_REG + NRF_CONFIG,0x7e); //IRQ引脚不显示中断 上电 发射模式 1~16CRC校验 CE = 1; delayus(100); } //================== //发送 不做任何判断只管发送 //================== void nrf_trans(uchar *tx_buf) { CE = 0; //StandBy I模式 SPI_Write_Reg(WRITE_REG+STATUS,0xFF); //清除所有中断 SPI_Write_Reg(FLUSH_TX,0x00); //清除tx fifo寄存器 //===== 重要 ===== SPI_Write_Buf(WRITE_REG + RX_ADDR_P0, TX_ADDRESS, TX_ADR_WIDTH); // 装载接收端地址 SPI_Write_Buf(WR_TX_PLOAD,tx_buf,TX_PLOAD_WIDTH); // 装载数据 CE = 1; //置高CE激发数据发送 delayus(100); //此延时必须有 因为从待机模式到收发模式需要时间，最大需要130us } //========================= //将float数编码装载 保留4位小数 //占用5个字节 数据范围+- 65535.9999 //========================= void nrf_load_float(uchar a,float num) { if(num > 0) { TxBuf[a] = '+'; TxBuf[a+1] = (uint)num/256; TxBuf[a+2] = (uint)num%256; TxBuf[a+3] = (uint)((num - (int)num)*10000)/256; TxBuf[a+4] = (uint)((num - (int)num)*10000)%256; } else if(num < 0) { num = -num; TxBuf[a] = '-'; TxBuf[a+1] = (uint)num/256; TxBuf[a+2] = (uint)num%256; TxBuf[a+3] = (uint)((num - (int)num)*10000)/256; TxBuf[a+4] = (uint)((num - (int)num)*10000)%256; } else { TxBuf[a] = '0'; TxBuf[a+1] = 0; TxBuf[a+2] = 0; TxBuf[a+3] = 0; TxBuf[a+4] = 0; } } //======================= //将接收到的float数组解码 //占用5个字节 数据范围+- 65535.9999 //======================= float nrf_unload_float(uchar a) { float num; if(RxBuf[a] == '+'){ num = RxBuf[a+1]*256 + RxBuf[a+2]+ (float)((int)RxBuf[a+3]*256 + RxBuf[a+4])/10000.0; } else if(RxBuf[a] == '-'){ num = RxBuf[a+1]*256 + RxBuf[a+2]+ (float)((int)RxBuf[a+3]*256 + RxBuf[a+4])/10000.0; num = -num; } else if(RxBuf[a] == '0') num = 0; return (num); } //======================= //将float数编码装载 保留2位小数 //占用3个字节 数据范围+- 255.99 //======================= void nrf_load_sfloat(uchar a,float num) { if(num > 0){ TxBuf[a] = '+'; TxBuf[a+1] = (uchar)num; //转换成uchar类型，自动将保留低8位，去除高位。 TxBuf[a+2] = (uint)((num - (int)num)*100); } else if(num < 0){ num = -num; TxBuf[a] = '-'; TxBuf[a+1] = (uchar)num; TxBuf[a+2] = (uint)((num - (int)num)*100); } else{ TxBuf[a] = '0'; TxBuf[a+1] = 0; TxBuf[a+2] = 0; } } //======================= //将float数解码 保留2位小数 //占用3个字节 数据范围+- 255.99 //====================== float nrf_unload_sfloat(uchar a) //a是数据包在数组内的起始位置 { float num; if(RxBuf[a] == '+'){ num = RxBuf[a+1]+ (float)RxBuf[a+2]/100; } else if(RxBuf[a] == '-'){ num = RxBuf[a+1]+ (float)RxBuf[a+2]/100; num = -num; } else if(RxBuf[a] == '0') num = 0; return (num); }