1、#include "HT66FU70A.h"#define uchar unsigned char#define uint unsigned int#define led _pc2 /led/*NRF24L01端口宏定義*/#define MOSI _pa3/MOSI/#define SCK _pa4/SCK/#define CE _pa5 /CE/#define CSN _pa6 /CSN/#define MISO _pa1/MISO輸入/#define IRQ _pa7 /IRQ輸入/*NRF24L01*#define TX_ADR_WIDTH 5 / 5 字節(jié)寬度的發(fā)

2、射地址#define RX_ADR_WIDTH 5 / 5 字節(jié)寬度的接收地址#define TX_PLOAD_WIDTH 1 / 數(shù)據(jù)通道有效數(shù)據(jù)寬度#define RX_PLOAD_WIDTH 1 / 數(shù)據(jù)通道有效數(shù)據(jù)寬度uchar TX_ADDRESSTX_ADR_WIDTH= 0x34,0x43,0x10,0x10,0x01; /發(fā)送地址uchar RX_ADDRESSRX_ADR_WIDTH= 0x34,0x43,0x10,0x10,0x01; /接收地址uchar gs10=0x00,0x01,0x80,0x01,0x00,0x02,0x80,0x02,0x00,0x03;/低字節(jié)

3、高字節(jié) 占空比數(shù)組 1,83.3,66.7,50,33.3/*NRF24L01相關(guān)命令的宏定義*#define READ_REG 0x00 / 讀寄存器命令#define WRITE_REG 0x20 / 寫寄存器命令#define RD_RX_PLOAD 0x61 / 讀取接收數(shù)據(jù)命令#define WR_TX_PLOAD 0xA0 / 寫待發(fā)數(shù)據(jù)指令#define FLUSH_TX 0xE1 / 沖洗發(fā)送FIFO指令#define FLUSH_RX 0xE2 / 沖洗接收FIFO指令#define REUSE_TX_PL 0xE3 / 定義重復裝載數(shù)據(jù)命令#define NOP 0xFF

4、/ ?/*SPI(nRF24L01)相關(guān)地址的宏定義*#define CONFIG 0x00 #define EN_AA 0x01 #define EN_RXADDR 0x02 #define SETUP_AW 0x03 #define SETUP_RETR 0x04 #define RF_CH 0x05 #define RF_SETUP 0x06 #define STATUS 0x07 #define OBSERVE_TX 0x08 #define CD 0x09 #define RX_ADDR_P0 0x0A #define RX_ADDR_P1 0x0B #define RX_ADDR_

5、P2 0x0C #define RX_ADDR_P3 0x0D #define RX_ADDR_P4 0x0E #define RX_ADDR_P5 0x0F #define TX_ADDR 0x10 #define RX_PW_P0 0x11 #define RX_PW_P1 0x12 #define RX_PW_P2 0x13 #define RX_PW_P3 0x14 #define RX_PW_P4 0x15 #define RX_PW_P5 0x16 #define FIFO_STATUS 0x17 /uuchar TxBuf2=;uchar RxBuf1;/*uchar sta;u

6、char m=3; unsigned char IN1,IN2,IN3,IN4;/對應芯片如向前1000void pwn_1();void car_qian();void car_hou();void car_zuo();void car_you();void car_stop();void time_init();void CAR_Q();void CAR_H();/*延遲函數(shù)ms*/void delay200ms(unsigned int x)unsigned int i;for(i=0;i<x;i+)GCC_DELAY(200000);/*小車控制函數(shù)*/void car_qian

7、()_pcs2=0b00100000;/STM0 C5 pwm_pcc5=0;_pcpu5=1;_pcs3=0b00000000;/STM0 C6 0_pcc6=0;_pc6=0;void car_hou()_pcs2=0b00000000;/STM0 C5 0_pcc5=1;_pcpu5=0;_pcs3=0b00000001;/STM0 C6 pwm_pcc6=0;_pcpu6=1;void car_zuo()_pds0=0b00000001;/STM3 D0 pwm_pdc0=0;_pdpu=1;_pds1=0b00000000;/STM3 D3 0_pdc3=0;_pd3=0;void

8、car_you()_pds0=0b00000000;/STM3 D0 0_pdc0=1;_pdpu0=0;_pds1=0b00010000;/STM D3 pwm_pdc3=0;_pdpu3=1;void car_stop()_pcs2=0x00;_pcs3=0x00;_pds0=0x00;_pds1=0x00;_pcc6=0;_pc6=0;_pcc5=1;_pcpu5=0;_pdc0=1;_pdpu0=0;_pdc3=0;_pd3=0;void car_clear() /清楚上次位移端口影響_pcs2=0x00;_pcs3=0x00;_pds0=0x00;_pds1=0x00;GCC_DEL

9、AY(20);/*pwm占空比*void pwm_gs()if(m>5)m=5;if(m<1)m=1;switch(m)case 1: _tm0al = 0x00;_tm0ah = 0x01; _tm3al = 0x00; _tm3ah = 0x01;break;case 2: _tm0al = 0x80;_tm0ah = 0x01; _tm3al = 0x80; _tm3ah = 0x01;break;case 3: _tm0al = 0x00;_tm0ah = 0x02; _tm3al = 0x00; _tm3ah = 0x02;break;case 4: _tm0al = 0

10、x80;_tm0ah = 0x02; _tm3al = 0x80; _tm3ah = 0x02;break;case 5: _tm0al = 0x00;_tm0ah = 0x03; _tm3al = 0x00; _tm3ah = 0x03;break;GCC_DELAY(10);time_init();void Mcu_init()_pas1=0x00;_pac3=0;_pas2=0x00;_pac4=0;_pas2=0x00;_pac5=0;_pas3=0x00;_pac6=0; /pa3-6 配置為輸出io口無線模塊配置_pas0=0x00;_pac1=1;_papu1=1;_pas3=0

11、x00;_pac7=1;_papu7=1;_pcs1=0x00;_pcc2=0; /寫一個字節(jié)到nrf24l01，同時從nrf24l01讀出一個字節(jié)/*uchar SPI_RW(uchar data) uchar i,temp=0; for(i=0;i<8;i+) / output 8-bit if(data & 0x80)=0x80) _pa3=1; / output 'uuchar', MSB to MOSI else _pa3=0; data = (data << 1); / shift next bit into MSB. temp<&l

12、t;=1; _pa4=1; / Set SCK high. if(_pa1=1)temp+; / capture current MISO bit xiugai pa1 _pa4=0; / .then set SCK low again return(temp); / return read uuchar/從reg寄存器讀一個字節(jié)/*uchar SPI_Read(uchar reg) uchar reg_val; _pa6=0; / CSN low, initialize SPI communication. SPI_RW(reg); / Select register to read fro

13、m. reg_val = SPI_RW(0); / .then read registervalue _pa6=1; / CSN high, terminate SPI communication return(reg_val); / return register value/寫數(shù)據(jù)到reg寄存器/*uchar SPI_RW_Reg(uchar reg, uchar value) uchar status1; _pa6=0; / CSN low, init SPI transaction status1 = SPI_RW(reg); / select register SPI_RW(valu

14、e); / .and write value to it. _pa6=1; / CSN high again return(status1); / return nRF24L01 status uuchar/用于讀數(shù)據(jù)/*uchar SPI_Read_Buf(uchar reg, uchar *pBuf, uchar uchars) uchar status2,uuchar_ctr; _pa6=0; / Set CSN low, init SPI tranaction status2 = SPI_RW(reg); / Select register to write to and read s

15、tatus uuchar for(uuchar_ctr=0;uuchar_ctr<uchars;uuchar_ctr+) pBufuuchar_ctr = SPI_RW(0); _pa6=1; return(status2); / return nRF24L01 status uuchar/用于寫數(shù)據(jù) /*uchar SPI_Write_Buf(uchar reg, uchar *pBuf, uchar uchars) uchar status1,uuchar_ctr; _pa6=0; /SPI使能 status1 = SPI_RW(reg); for(uuchar_ctr=0; uuc

16、har_ctr<uchars; uuchar_ctr+) SPI_RW(*pBuf+); _pa6=1; /關(guān)閉SPI return(status1);void SetRX_Mode(void) _pa5=0; SPI_RW_Reg(WRITE_REG + CONFIG, 0x0f); / IRQ收發(fā)完成中斷響應，16位CRC，主接收 _pa5=1; GCC_DELAY(2000); /注意不能太小uchar nRF24L01_RxPacket(uchar* rx_buf) uchar revale=0; sta=SPI_Read(STATUS); / 讀取狀態(tài)寄存其來判斷數(shù)據(jù)接收狀況

17、if(sta&0x40) / 判斷是否接收到數(shù)據(jù) _pa5=0; /SPI使能 SPI_Read_Buf(RD_RX_PLOAD,rx_buf,TX_PLOAD_WIDTH); / read receive payload fromRX_FIFO buffer revale =1; /讀取數(shù)據(jù)完成標志 SPI_RW_Reg(WRITE_REG+STATUS,sta); /接收到數(shù)據(jù)后RX_DR,TX_DS,MAX_PT都置高為1，通過寫1來清楚中斷標志 return revale;/發(fā)送tx-buf中數(shù)據(jù)/*void nRF24L01_TxPacket(uuchar *tx_buf)

18、CE=0 ; SPI_Write_Buf(WRITE_REG + RX_ADDR_P0, TX_ADDRESS, TX_ADR_WIDTH); SPI_Write_Buf(WR_TX_PLOAD, tx_buf, TX_PLOAD_WIDTH); SPI_RW_Reg(WRITE_REG + CONFIG, 0x0e); CE=1; delay_us(100);*/void init_NRF24L01(void) GCC_DELAY(250); _pa5=0 ; / chip enable _pa6=1; / Spi disable _pa4=0; / Spi clock line init

19、high SPI_Write_Buf(WRITE_REG + TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH); / 寫本地地址 SPI_Write_Buf(WRITE_REG + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH); / 寫接收端地址 SPI_RW_Reg(WRITE_REG + EN_AA, 0x01); / 頻道0自動 ACK應答允許 SPI_RW_Reg(WRITE_REG + EN_RXADDR, 0x01); / 允許接收地址只有頻道0，如果需要多頻道可以參考Page21 SPI_RW_Reg(WRITE_REG + RF

20、_CH, 0); / 設(shè)置信道工作為2.4GHZ，收發(fā)必須一致 SPI_RW_Reg(WRITE_REG + RX_PW_P0, RX_PLOAD_WIDTH); /設(shè)置接收數(shù)據(jù)長度，本次設(shè)置為32字節(jié) SPI_RW_Reg(WRITE_REG + RF_SETUP, 0x07); /設(shè)置發(fā)射速率為1MHZ，發(fā)射功率為最大值0dB SPI_RW_Reg(WRITE_REG + CONFIG, 0x0E); / IRQ收發(fā)完成中斷響應，16位CRC ，主接收void time_init(void)/保持對應的I/O口的原來功能 _phs0 = 0; _tm0c0 = 0x00; /增強型TM(查

21、找TM1C0寄存器)，4分頻 / _tm0dl = 0x00;/ _tm0dh = 0x00;_tm0c0=0b10010110; /7.784M 停止不分頻關(guān)閉100 512P高三位 本來應該8m實驗測得7.784M_tm0c1=0b10101000; /工作模式輸出模式高有效同相向上計數(shù)（p匹配雙pwm輸出模式）/ _tm0c2=0b10101000;/工作模式輸出模式高有效同相邊沿對齊/_tm0al = 0x80;/a/_tm0ah = 0x02;/a_tm0c0 &=(1 << 7);/運行定時器_tm0c0 |= (1 << 3);/計數(shù)器On/*_t

22、m0c0 |= (1 << 3);/計數(shù)器On*/_tm3c0 = 0x00; /增強型TM(查找TM3C0寄存器) / _tm3dl = 0x00;/ _tm3dh = 0x00;_tm3c0=0b10010110; /7.784M 停止不分頻關(guān)閉100 512P高三位 本來應該8m實驗測得7.784M_tm3c1=0b10101000; /工作模式輸出模式高有效同相向上計數(shù)（p匹配雙pwm輸出模式）/_tm3al = 0x80;/a/_tm3ah = 0x02;/a_tm3c0 &=(1 << 7);/運行定時器_tm3c0 |= (1 << 3);/計數(shù)器On /* 計數(shù)值的上限是3FFH，這里取計數(shù)初值為356H，即每隔 (3FFH-356H)=169x1/(fsys/4)的時間觸發(fā)一次中斷*/_mf0e = 1; /允許多功能中斷0，多功能中斷包括TM中斷(INTC1寄存器bit1位)_emi = 1;/開總中斷void main() uchar num,zuo,you,qian,hou;num=0;zuo=0;you=0;qian=0;hou=0