用NRF2401做遙控小車，硬件沒有問題，不明白為什么不能收到信息

ID:432788 · 發表于 2019-3-23 16:04

附上代碼
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#include<stc15.h>
#include<intrins.h>
#include <STC15F2K60S2.H>
#define unchar unsigned char
#define unint unsigned int
#define MAX_TX 0X10 //???????????ж?
#define TX_OK 0X20 //TX????????ж?
#define RX_OK 0X40 //??????????ж?
//NRF24l01????????
/*******************************************************/
#define TX_ADDR_WITDH 5 //??????????????5?????
#define RX_ADDR_WITDH 5 //??????????????5?????
#define TX_DATA_WITDH 3//??????????2?????
#define RX_DATA_WITDH 3//??????????2?????
/*******************????????***************************/
#define R_REGISTER 0x00//??????ü????
#define W_REGISTER 0x20//д???ü????
#define R_RX_PAYLOAD 0x61//???RX??Ч????
#define W_TX_PAYLOAD 0xa0//дTX??Ч????
#define FLUSH_TX 0xe1//???TXFIFO?????
#define FLUSH_RX 0xe2//???RXFIFO?????
#define REUSE_TX_PL 0xe3//??????????????Ч????
#define NOP 0xff//?????
/******************????????****************************/
#define CONFIG 0x00//???ü????
#define EN_AA 0x01//?????????
#define EN_RXADDR 0x02//??????????0-5?????
#define SETUP_AW 0x03//?????????????????3-5
#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//???????0??????
#define RX_ADDR_P1 0x0b//???????1??????
#define RX_ADDR_P2 0x0c//???????2??????
#define RX_ADDR_P3 0x0d//???????3??????
#define RX_ADDR_P4 0x0e//???????4??????
#define RX_ADDR_P5 0x0f//???????5??????
#define TX_ADDR 0x10//??????
#define RX_PW_P0 0x11//P0?????????????
#define RX_PW_P1 0x12//P1?????????????
#define RX_PW_P2 0x13//P2?????????????
#define RX_PW_P3 0x14//P3?????????????
#define RX_PW_P4 0x15//P4?????????????
#define RX_PW_P5 0x16//P5?????????????
#define FIFO_STATUS 0x17//FIFO???????
#define ADC_POWER 0x80
#define ADC_FLAG 0x10
#define ADC_START 0x08
#define ADC_SPEEDLL 0x00
#define ADC_SPEEDL 0x20
#define ADC_SPEEDH 0x40
#define ADC_SPEEDHH 0x60
#define uchar unsigned char
#define uint unsigned int
sbit IRQ =P2^4;
sbit MISO =P2^5; //????
sbit MOSI =P2^6; //???
sbit SCLK =P2^7; //???
sbit CSN =P0^0; //???
sbit CE =P0^1; //???
unchar code TxAddr[]={0x11,0x98,0x10,0x10,0x01};//??????
unchar code RxAddr[]={0x11,0x98,0x10,0x10,0x01};//??????
uchar aa,bb,cc;
unchar bdata sta; //?????
sbit RX_DR=sta^6;
sbit TX_DS=sta^5;
sbit MAX_RT=sta^4;
void IO_init()
{
P0M0 =0X0F;
P0M1 =0X10;
P1M0 =0X00; //P18?????????
P1M1 =0X0F;
//P0M1=0XFF;
//P0M0=0X00;
//P3M1=0X00;
//P3M0=0X00;
//P4M1=0X00;
//P4M0=0X01;
//
//P6M1=0X80;
//P6M0=0X70;
}
//?????????????
/**********************???????**************************/
void NRFDelay(unint t)
{
unint x,y;
for(x=t;x>0;x--)
for(y=110;y>0;y--);
}
/**********************NRF24L01?????????*******************************/
void NRF24L01Int()
{
NRFDelay(2);//????????????
CE=0;
CSN=1; //????????Ч??
SCLK=0; //?????
IRQ=1; //?ж????????????
}
/***SPI???????????8λ????***********************************/
unchar NRFSPI(unchar date) //?????д???????????
{
unchar i;
for(i=0;i<8;i++) // ???8??
{
if(date&0x80)
MOSI=1;
else
MOSI=0; // byte???λ?????MOSI
date<<=1; // ?θ?λ??λ?????λ
SCLK=1;
if(MISO) // ????SCK??nRF24L01??MOSI????1λ?????????MISO???1λ????
date|=0x01; // ??MISO??byte???λ
SCLK=0; // SCK???
}
return(date); // ?????????????
}
/*****************SPI***??***????????????*********************************/
unchar NRFReadReg(unchar RegAddr)
{
unchar BackDate;
CSN=0;//??????
NRFSPI(RegAddr);//д????????
BackDate=NRFSPI(0x00);//д???????????
CSN=1;
return(BackDate); //??????
}
/*****************SPI***д***????????????*********************************/
unchar NRFWriteReg(unchar RegAddr,unchar date)
{
unchar BackDate;
CSN=0;//??????
BackDate=NRFSPI(RegAddr);//д????
NRFSPI(date);//д???
CSN=1;
return(BackDate);
}
/*****************SPI***???***RXFIFO????????********************************/
unchar NRFReadRxDate(unchar RegAddr,unchar *RxDate,unchar DateLen)
{ //????????//????????????//??????????//???????
unchar BackDate,i;
CSN=0; //??????????Ч
BackDate=NRFSPI(RegAddr); //д???????????????
for(i=0;i<DateLen;i++) //???????
{
RxDate[i]=NRFSPI(0x00);
}
CSN=1;
return(BackDate);
}
/*****************SPI***д??***TXFIFO????????**********************************/
unchar NRFWriteTxDate(unchar RegAddr,unchar *TxDate,unchar DateLen) //RegAddr =0x30 , DateLen ???????5
{
//????????//д???????????//??????????//???????
unchar BackDate,i;
CSN=0;
BackDate=NRFSPI(RegAddr);//д???д??????????
for(i=0;i<DateLen;i++) //д??????
{
NRFSPI(*TxDate++);
}
CSN=1;
return(BackDate);
}
//????????????????
//???????0 ?????1 ???
unchar Check()
{
int i;
unchar buf[5]={0XA5,0XA5,0XA5,0XA5,0XA5};
NRFWriteTxDate ( W_REGISTER + TX_ADDR , buf , TX_ADDR_WITDH ); //д??????
NRFReadRxDate ( R_REGISTER + TX_ADDR , buf , RX_ADDR_WITDH); //????????
for(i=0;i<5;i++) //?ж?
if(buf[i]!=0XA5)
break;
if(i==5)
return 0;
return 1;
}
/****????????????????????*************/
void NRF24L01_TX_Mode()
{
NRFWriteTxDate ( W_REGISTER + TX_ADDR , TxAddr , TX_ADDR_WITDH ); //дTX?????
NRFWriteTxDate ( W_REGISTER + RX_ADDR_P0 , RxAddr , RX_ADDR_WITDH ); //????RX????????????????ACK
NRFWriteReg( W_REGISTER + EN_AA , 0X01); //??????0??????
NRFWriteReg( W_REGISTER + EN_RXADDR , 0X01); //??????0???????
NRFWriteReg( W_REGISTER + SETUP_RETR , 0X1A); //??????????????500us + 86us?????????????????10??
NRFWriteReg( W_REGISTER + RF_CH , 40); //????RF????40
NRFWriteReg( W_REGISTER + RF_SETUP , 0X0F); //????TX?????????2M,0db???棬?????????濪??
NRFWriteReg( W_REGISTER + CONFIG , 0X0E); //????????????????????PWR_UP,EN_CRC,16BIT_CRC,?????????????????ж?
}
void Delay100us() //@11.0592MHz
{
unsigned char i, j;
_nop_();
_nop_();
i = 2;
j = 15;
do
{
while (--j);
} while (--i);
}
/*****???????????********
txbuf????????????????
//????????????????
***************************/
unchar NRF24L01_TxPacket(unchar *txbuf)
{
CE = 0;
NRFWriteTxDate ( W_TX_PAYLOAD , txbuf , TX_DATA_WITDH ); //д?????TX BUF?У?2?????
CE = 1; //???????
Delay100us(); //??????????
sta = NRFReadReg(STATUS); //?????????????
if(TX_DS||MAX_RT) //????????ж?
{
NRFWriteReg(W_REGISTER+STATUS,0xff); // ???TX_DS??MAX_RT?ж???
CSN=0;
NRFSPI( FLUSH_TX );//???????FIFO ????????????????????????????????????????????
CSN=1;
return 0x01;
}
return 0XFF;
}
void Delay1000ms() //@11.0592MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 43;
j = 6;
k = 203;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
// int k,m;
void Delay(unsigned int s)
{
unsigned int i;
for(i=0; i<s; i++);
for(i=0; i<s; i++);
}
//*********************************?????A/D???*************************************************
void adc_init()
{
P1ASF=0xff;
ADC_RES=0;
ADC_CONTR = ADC_POWER | ADC_SPEEDLL;
Delay(10); //??????
}
//**********************************???A/D?????????********************************************
uint getADCResult(char ch)
{
// uint result;
ADC_CONTR = ADC_POWER | ADC_SPEEDLL | ch | ADC_START;
_nop_(); //???4??NOP
_nop_();
_nop_();
_nop_();
while (!(ADC_CONTR & ADC_FLAG));//?????????
ADC_CONTR &= ~ADC_FLAG; //??
return ADC_RES;
}
void main()
{
unchar j=0;
unchar T_X[3]={0x00,0x00,0x00};
_nop_();
IO_init(); //I/O????????
NRF24L01Int();
j=Check();
if(j==0)
{
//???
P22= 1;
}
if(j==1)
{
while(1)
{
P22=!P22;
Delay1000ms();
}
}
NRF24L01_TX_Mode(); //????????????ó??????
adc_init();
while(1)
{
P21=1;P36=1; P37=1;P23=1;
T_X[0]=getADCResult(0x03);
T_X[1]=getADCResult(0x00);
NRF24L01_TxPacket(T_X);
aa=getADCResult(0x03);
if(aa>140)
{
P36=0;
}
else if(aa<115)
{
P37=0;
}
bb=getADCResult(0x00);
if(bb>140)
{
P23=0;
}
else if(bb<115)
{
P21=0;
}
}
[/i][/i][i][i]}[/i][/i]
接收：
#include <STC15F2K60S2.H>
#include <intrins.h>
#define unchar unsigned char
#define unint unsigned int
//?ж?
#define MAX_TX 0X10 //???????????ж?
#define TX_OK 0X20 //TX????????ж?
#define RX_OK 0X40 //??????????ж?
//NRF24l01????????
/*******************************************************/
#define TX_ADDR_WITDH 5 //??????????????5?????
#define RX_ADDR_WITDH 5 //??????????????5?????
#define TX_DATA_WITDH 3//??????????2?????
#define RX_DATA_WITDH 3//??????????2?????
/*******************????????***************************/
#define R_REGISTER 0x00//??????ü????
#define W_REGISTER 0x20//д???ü????
#define R_RX_PAYLOAD 0x61//???RX??Ч????
#define W_TX_PAYLOAD 0xa0//дTX??Ч????
#define FLUSH_TX 0xe1//???TXFIFO?????
#define FLUSH_RX 0xe2//???RXFIFO?????
#define REUSE_TX_PL 0xe3//??????????????Ч????
#define NOP 0xff//?????
/******************????????****************************/
#define CONFIG 0x00//???ü????
#define EN_AA 0x01//?????????
#define EN_RXADDR 0x02//??????????0-5?????
#define SETUP_AW 0x03//?????????????????3-5
#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//???????0??????
#define RX_ADDR_P1 0x0b//???????1??????
#define RX_ADDR_P2 0x0c//???????2??????
#define RX_ADDR_P3 0x0d//???????3??????
#define RX_ADDR_P4 0x0e//???????4??????
#define RX_ADDR_P5 0x0f//???????5??????
#define TX_ADDR 0x10//??????
#define RX_PW_P0 0x11//P0?????????????
#define RX_PW_P1 0x12//P1?????????????
#define RX_PW_P2 0x13//P2?????????????
#define RX_PW_P3 0x14//P3?????????????
#define RX_PW_P4 0x15//P4?????????????
#define RX_PW_P5 0x16//P5?????????????
#define FIFO_STATUS 0x17//FIFO???????
#define uchar unsigned char
#define uint unsigned int
#define CYCLE 5000
sbit INL1=P2^0;
sbit INL2=P4^4;
sbit INR1=P4^2;
sbit INR2=P4^1;
sbit INZ1=P7^1;
sbit INZ2=P7^0;
sbit IRQ =P4^0;
sbit MISO =P6^5; //????
sbit MOSI =P6^7; //???
sbit SCLK =P6^4; //???
sbit CSN =P6^6; //???
sbit CE =P3^2; //???
sbit ENL=P2^1;
sbit ENR=P4^3;
unchar code TxAddr[]={0x11,0x98,0x10,0x10,0x01};//??????
unchar code RxAddr[]={0x11,0x98,0x10,0x10,0x01};//??????
uchar AD[3];
uchar aa,ab,bb,ba,j;
void dire(uchar x);
void Cspeed(uchar x);
void IO_Init()
{
P1M0 =0X1B;
P1M1 =0X20;
P0M0 =0X00;
P0M1 =0X00;
P2M1=0x00;
P2M0=0x00;
P3M1=0x00;
P3M0=0x00;
P4M1=0X00;
P4M0=0X00;
P5M1=0x00;
P5M0=0x00;
P6M1=0X00;
P6M0=0X00;
P7M1=0x00;
P7M0=0x00;
}
void PWM_Init()
{
P_SW2|=0x80; //??BIT7λ??1????XSFR
PWMCFG|=0x0C; //????PWM4PEM5?????????????1
PWMCKS&=0xE0; //PWMCKS,PWM??????PwmC1K_1T
PWMC=CYCLE; //PWM???????????? 2.2KHz
PWM4T1=0; //????η??????
PWM4T2=4500;
PWM5T1=0; //????η??????
PWM5T2=4500;
PWM4CR&=0XF0; //PWM4??????P2.2?????ж?
PWMCR&=~0x40; //???PWM???????????ж?
PWMCR|=0x0C; //PWM4,PWM5???
PWMCR|=0x80; //???PWM???η???????PWM?????????????
P_SW2&=~0x80; //???????XRAM
ENL=0;
ENR=0;
}
void NRFDelay(unint t)
{
unint x,y;
for(x=t;x>0;x--)
for(y=110;y>0;y--);
}
/**********************NRF24L01?????????*******************************/
void NRF24L01Int()
{
NRFDelay(2);//????????????
CE=0;
CSN=1; //????????Ч??
SCLK=0; //?????
IRQ=1; //?ж????????????
}
/***SPI???????????8λ????***********************************/
unchar NRFSPI(unchar date)
{
unchar i;
for(i=0;i<8;i++) // ???8??
{
if(date&0x80)
MOSI=1;
else
MOSI=0; // byte???λ?????MOSI
date<<=1; // ?θ?λ??λ?????λ
SCLK=1;
if(MISO) // ????SCK??nRF24L01??MOSI????1λ?????????MISO???1λ????
date|=0x01; // ??MISO??byte???λ
SCLK=0; // SCK???
}
return(date); // ?????????????
}
/*****************SPI***??***????????????*********************************/
unchar NRFReadReg(unchar RegAddr)
{
unchar BackDate;
CSN=0;//??????
NRFSPI(RegAddr);//д????????
BackDate=NRFSPI(0x00);//д???????????
CSN=1;
return(BackDate); //??????
}
/*****************SPI***д***????????????*********************************/
unchar NRFWriteReg(unchar RegAddr,unchar date)
{
unchar BackDate;
CSN=0;//??????
BackDate=NRFSPI(RegAddr);//д????
NRFSPI(date);//д???
CSN=1;
return(BackDate);
}
/*****************SPI***???***RXFIFO????????********************************/
unchar NRFReadRxDate(unchar RegAddr,unchar *RxDate,unchar DateLen)
{ //????????//????????????//??????????//???????
unchar BackDate,i;
CSN=0; //??????????Ч
BackDate=NRFSPI(RegAddr); //д???????????????
for(i=0;i<DateLen;i++) //???????
{
RxDate[i]=NRFSPI(0x00);
}
CSN=1;
return(BackDate);
}
/*****************SPI***д??***TXFIFO????????**********************************/
unchar NRFWriteTxDate(unchar RegAddr,unchar *TxDate,unchar DateLen)
{
//????????//д???????????//??????????//???????
unchar BackDate,i;
CSN=0;
BackDate=NRFSPI(RegAddr);//д???д??????????
for(i=0;i<DateLen;i++) //д??????
{
NRFSPI(*TxDate++);
}
CSN=1;
return(BackDate);
}
//????????????????
//???????0 ?????1 ???
unchar Check()
{
int i;
unchar buf[5]={0XA5,0XA5,0XA5,0XA5,0XA5};
//д??????
NRFWriteTxDate ( W_REGISTER + TX_ADDR , buf , TX_ADDR_WITDH );
//????????
NRFReadRxDate ( R_REGISTER + TX_ADDR , buf , RX_ADDR_WITDH);
//?ж?
for(i=0;i<5;i++)
if(buf[i]!=0XA5)
break;
if(i==5)
return 0;
return 1;
}
//void Delay(unsigned int s)
//{
// unsigned int i;
// for(i=0; i<s; i++);
// for(i=0; i<s; i++);
//}
/*****????????????????????******/
void NRF24L01_RX_Mode(void)
{
NRFWriteTxDate ( W_REGISTER + RX_ADDR_P0 , RxAddr , RX_ADDR_WITDH );
NRFWriteReg( W_REGISTER + EN_AA , 0X01); //??????0??????
NRFWriteReg( W_REGISTER + EN_RXADDR , 0X01); //??????0???????
NRFWriteReg( W_REGISTER + RF_CH , 40); //????RF????40
NRFWriteReg( W_REGISTER + RX_PW_P0 , RX_DATA_WITDH); //2?????
NRFWriteReg( W_REGISTER + RF_SETUP , 0X0F); //????TX?????????0db???棬?????????濪??
NRFWriteReg( W_REGISTER + CONFIG , 0X0F);
CE = 1; //?????????
}
/********???????************/
unchar NRF24L01_RxPacket(unchar *rxbuf)
{
unchar sta;
sta = NRFReadReg(STATUS); //?????????????
NRFWriteReg( W_REGISTER + STATUS , sta);
if(sta & RX_OK)
{
NRFReadRxDate( R_RX_PAYLOAD , rxbuf , RX_DATA_WITDH ); //??????????
NRFSPI( FLUSH_RX ); //???RX
return 0;
}
return 1; //??н????????
}
void Delay1000ms() //@11.0592MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 43;
j = 6;
k = 203;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
void dire(uchar x) //???????
{
switch(x)
{
case 0:INL1=1; INL2=0; //??
INR1=0; INR2=1;
break;
case 1:INL1=1; INL2=0; //??
INR1=1; INR2=0;
break;
case 2:INL1=0; INL2=1; //?
INR1=0; INR2=1;
break;
case 3:INL1=0; INL2=1; //??
INR1=1; INR2=0;
break;
case 4:INL1=0; INL2=0; //??
INR1=0; INR2=0;
break;
default : break;
}
}
void transAD()
{
if(AD[0]>140)
{
Cspeed(0);
}
if(AD[0]<110)
{
Cspeed(1);
}
if(AD[1]>140)
{
Cspeed(2);
}
if(AD[1]<110)
{
Cspeed(3);
}
if(((AD[0]<139)&&(AD[0]>109))&&((AD[1]<139)&&(AD[1]>109)))
{
dire(4);
}
}
void Cspeed(uchar x)
{
switch(x)
{
case 0: aa=AD[0]-128;
P_SW2|=0x80;
PWM4T2=39*aa; //????η???????????
PWM5T2=39*aa; //????η???????????
P_SW2&=~0x80;
dire(0); //??
break;
case 1: ab=128-AD[0];
P_SW2|=0x80;
PWM4T2=39*ab; //????η???????????
PWM5T2=39*ab; //????η???????????
P_SW2&=~0x80;
dire(3); //??
break;
case 2: bb=(AD[1]-128);
P_SW2|=0x80;
PWM4T2=39*bb; //????η???????????
PWM5T2=39*bb; //????η???????????
dire(2);
break;
case 3: ba=(128-AD[1]);
P_SW2|=0x80;
PWM4T2=39*ba; //????η???????????
PWM5T2=39*ba;
dire(1);
break;
default: dire(4);
break;
}
}
void main()
{
IO_Init(); //I/O????????
NRF24L01Int();
NRF24L01_RX_Mode();
PWM_Init();
j=Check();
if(j==0)
{
//???
P77=0;
}
if(j==1)
{
while(1)
{
P77=!P77;
Delay1000ms();
}
}
dire(4);
while(1)
{
if(NRF24L01_RxPacket(AD))
{
P77=0;
Delay1000ms();
P77=1;
Delay1000ms();
}
transAD();
}
}

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用NRF2401做遙控小車，硬件沒有問題，不明白為什么不能收到信息