51单片机结合NRF24L01对舵机进行无线控制
来源：互联网 发布：淘宝纸箱加工机器 编辑：程序博客网 时间：2024/05/22 07:53
发送端程序如下：
#include <reg52.h>#include <intrins.h>#include <math.h>typedef unsigned char uchar;typedef unsigned char uint;sbit MISO=P1^5;sbit MOSI=P1^4;sbitSCK=P1^3;sbitCE=P1^1;sbitCSN=P1^2;sbitIRQ=P3^3;sbitKEY1=P3^4;sbitKEY2=P3^5;sbit KEY3=P3^6;sbit KEY4=P3^7;#define TX_ADR_WIDTH 5 #define RX_ADR_WIDTH 5 #define TX_PLOAD_WIDTH 20 #define RX_PLOAD_WIDTH 20 uint const TX_ADDRESS[TX_ADR_WIDTH]= {0x34,0x43,0x10,0x10,0x01};//本地地址uint const RX_ADDRESS[RX_ADR_WIDTH]= {0x34,0x43,0x10,0x10,0x01};//接收地址#define READ_REG 0x00 // 读寄存器指令#define WRITE_REG 0x20 // 写寄存器指令#define RD_RX_PLOAD 0x61 // 读取接收数据指令#define WR_TX_PLOAD 0xA0 // 写待发数据指令#define FLUSH_TX 0xE1 // 冲洗发送 FIFO指令#define FLUSH_RX 0xE2 // 冲洗接收 FIFO指令#define REUSE_TX_PL 0xE3 // 定义重复装载数据指令#define NOP 0xFF // 保留#define CONFIG 0x00 // 配置收发状态，CRC校验模式以及收发状态响应方式#define EN_AA 0x01 // 自动应答功能设置#define EN_RXADDR 0x02 // 可用信道设置#define SETUP_AW 0x03 // 收发地址宽度设置#define SETUP_RETR 0x04 // 自动重发功能设置#define RF_CH 0x05 // 工作频率设置#define RF_SETUP 0x06 // 发射速率、功耗功能设置#define STATUS 0x07 // 状态寄存器#define OBSERVE_TX 0x08 // 发送监测功能#define CD 0x09 // 地址检测 #define RX_ADDR_P0 0x0A // 频道0接收数据地址#define RX_ADDR_P1 0x0B // 频道1接收数据地址#define RX_ADDR_P2 0x0C // 频道2接收数据地址#define RX_ADDR_P3 0x0D // 频道3接收数据地址#define RX_ADDR_P4 0x0E // 频道4接收数据地址#define RX_ADDR_P5 0x0F // 频道5接收数据地址#define TX_ADDR 0x10 // 发送地址寄存器#define RX_PW_P0 0x11 // 接收频道0接收数据长度#define RX_PW_P1 0x12 // 接收频道0接收数据长度#define RX_PW_P2 0x13 // 接收频道0接收数据长度#define RX_PW_P3 0x14 // 接收频道0接收数据长度#define RX_PW_P4 0x15 // 接收频道0接收数据长度#define RX_PW_P5 0x16 // 接收频道0接收数据长度#define FIFO_STATUS 0x17 // FIFO栈入栈出状态寄存器设置void Delay(unsigned int s);void inerDelay_us(unsigned char n);void init_NRF24L01(void);uint SPI_RW(uint uchar);uchar SPI_Read(uchar reg);void SetRX_Mode(void);uint SPI_RW_Reg(uchar reg, uchar value);uint SPI_Read_Buf(uchar reg, uchar *pBuf, uchar uchars);uint SPI_Write_Buf(uchar reg, uchar *pBuf, uchar uchars);unsigned char nRF24L01_RxPacket(unsigned char* rx_buf);void nRF24L01_TxPacket(unsigned char * tx_buf);void Delay(unsigned int s){unsigned int i;for(i=0; i<s; i++);for(i=0; i<s; i++);}uint bdata sta;sbitRX_DR=sta^6;sbitTX_DS=sta^5;sbitMAX_RT=sta^4;void inerDelay_us(unsigned char n){for(;n>0;n--)_nop_();}void init_NRF24L01(void){inerDelay_us(100); CE=0; CSN=1; SCK=0; SPI_Write_Buf(WRITE_REG + TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH);SPI_Write_Buf(WRITE_REG + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH);SPI_RW_Reg(WRITE_REG + EN_AA, 0x01);SPI_RW_Reg(WRITE_REG + EN_RXADDR, 0x01);SPI_RW_Reg(WRITE_REG + RF_CH, 0);SPI_RW_Reg(WRITE_REG + RX_PW_P0, RX_PLOAD_WIDTH);SPI_RW_Reg(WRITE_REG + RF_SETUP, 0x07); }uint SPI_RW(uint uchar){uint bit_ctr; for(bit_ctr=0;bit_ctr<8;bit_ctr++) {MOSI = (uchar & 0x80); uchar = (uchar << 1); SCK = 1; uchar |= MISO; SCK = 0; } return(uchar); }uchar SPI_Read(uchar reg){uchar reg_val;CSN = 0; SPI_RW(reg); reg_val = SPI_RW(0); CSN = 1; return(reg_val); }uint SPI_RW_Reg(uchar reg, uchar value){uint status;CSN = 0; status = SPI_RW(reg); SPI_RW(value); CSN = 1; return(status); }uint SPI_Read_Buf(uchar reg, uchar *pBuf, uchar uchars){uint status,uchar_ctr;CSN = 0; status = SPI_RW(reg); for(uchar_ctr=0;uchar_ctr<uchars;uchar_ctr++)pBuf[uchar_ctr] = SPI_RW(0); CSN = 1; return(status); }uint SPI_Write_Buf(uchar reg, uchar *pBuf, uchar uchars){uint status,uchar_ctr;CSN = 0; status = SPI_RW(reg); for(uchar_ctr=0; uchar_ctr<uchars; uchar_ctr++) SPI_RW(*pBuf++);CSN = 1; return(status); }void SetRX_Mode(void){CE=0;SPI_RW_Reg(WRITE_REG + CONFIG, 0x0f); CE = 1; inerDelay_us(130);}unsigned char nRF24L01_RxPacket(unsigned char* rx_buf){ unsigned char revale=0;sta=SPI_Read(STATUS);if(RX_DR){ CE = 0; SPI_Read_Buf(RD_RX_PLOAD,rx_buf,TX_PLOAD_WIDTH);revale =1;}SPI_RW_Reg(WRITE_REG+STATUS,sta); return revale;}void nRF24L01_TxPacket(unsigned char * tx_buf){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;inerDelay_us(10);}void main(void){unsigned char TxBuf[20]={0}; unsigned char RxBuf[20]={0};init_NRF24L01();TxBuf[1] = 0;TxBuf[2] = 0;TxBuf[3] = 0;TxBuf[4] = 0;nRF24L01_TxPacket(TxBuf);Delay(6000);while(1){ if(KEY1 ==0 ) { TxBuf[1] = 1 ; } if(KEY2 ==0 ) {TxBuf[2] =1 ; } if(KEY3 ==0 ) {TxBuf[3] =1 ; } if(KEY4 ==0 ) {TxBuf[4] =1 ; }nRF24L01_TxPacket(TxBuf);TxBuf[1] = 0x00;TxBuf[2] = 0x00;TxBuf[3] = 0x00;TxBuf[4] = 0x00;Delay(10);SetRX_Mode();nRF24L01_RxPacket(RxBuf);}}接收端程序如下：
#include <reg52.h>#include <intrins.h>#include <math.h>typedef unsigned char uchar;typedef unsigned char uint;sbit MISO=P1^5;sbit MOSI=P1^4;sbitSCK=P1^3;sbitCE=P1^1;sbitCSN=P1^2;sbitIRQ=P3^3;sbit KEY1=P3^4; sbit KEY2=P3^5; sbit KEY3=P3^6; sbit KEY4=P3^7; #define TX_ADR_WIDTH 5 #define RX_ADR_WIDTH 5 #define TX_PLOAD_WIDTH 20 #define RX_PLOAD_WIDTH 20 uint const TX_ADDRESS[TX_ADR_WIDTH]= {0x34,0x43,0x10,0x10,0x01};//本地地址uint const RX_ADDRESS[RX_ADR_WIDTH]= {0x34,0x43,0x10,0x10,0x01};//接收地址#define READ_REG 0x00 // 读寄存器指令#define WRITE_REG 0x20 // 写寄存器指令#define RD_RX_PLOAD 0x61 // 读取接收数据指令#define WR_TX_PLOAD 0xA0 // 写待发数据指令#define FLUSH_TX 0xE1 // 冲洗发送 FIFO指令#define FLUSH_RX 0xE2 // 冲洗接收 FIFO指令#define REUSE_TX_PL 0xE3 // 定义重复装载数据指令#define NOP 0xFF // 保留#define CONFIG 0x00 // 配置收发状态，CRC校验模式以及收发状态响应方式#define EN_AA 0x01 // 自动应答功能设置#define EN_RXADDR 0x02 // 可用信道设置#define SETUP_AW 0x03 // 收发地址宽度设置#define SETUP_RETR 0x04 // 自动重发功能设置#define RF_CH 0x05 // 工作频率设置#define RF_SETUP 0x06 // 发射速率、功耗功能设置#define STATUS 0x07 // 状态寄存器#define OBSERVE_TX 0x08 // 发送监测功能#define CD 0x09 // 地址检测 #define RX_ADDR_P0 0x0A // 频道0接收数据地址#define RX_ADDR_P1 0x0B // 频道1接收数据地址#define RX_ADDR_P2 0x0C // 频道2接收数据地址#define RX_ADDR_P3 0x0D // 频道3接收数据地址#define RX_ADDR_P4 0x0E // 频道4接收数据地址#define RX_ADDR_P5 0x0F // 频道5接收数据地址#define TX_ADDR 0x10 // 发送地址寄存器#define RX_PW_P0 0x11 // 接收频道0接收数据长度#define RX_PW_P1 0x12 // 接收频道0接收数据长度#define RX_PW_P2 0x13 // 接收频道0接收数据长度#define RX_PW_P3 0x14 // 接收频道0接收数据长度#define RX_PW_P4 0x15 // 接收频道0接收数据长度#define RX_PW_P5 0x16 // 接收频道0接收数据长度#define FIFO_STATUS 0x17 // FIFO栈入栈出状态寄存器设置void Delay(unsigned int s);void inerDelay_us(unsigned char n);void init_NRF24L01(void);uint SPI_RW(uint uchar);uchar SPI_Read(uchar reg);void SetRX_Mode(void);uint SPI_RW_Reg(uchar reg, uchar value);uint SPI_Read_Buf(uchar reg, uchar *pBuf, uchar uchars);uint SPI_Write_Buf(uchar reg, uchar *pBuf, uchar uchars);unsigned char nRF24L01_RxPacket(unsigned char* rx_buf);void nRF24L01_TxPacket(unsigned char * tx_buf);uchar flag_0;uchar flag_1;unsigned int num;void Delay(unsigned int s){unsigned int i;for(i=0; i<s; i++);for(i=0; i<s; i++);}uint bdata sta;sbitRX_DR=sta^6;sbitTX_DS=sta^5;sbitMAX_RT=sta^4;void inerDelay_us(unsigned char n){for(;n>0;n--)_nop_();}void init_NRF24L01(void){inerDelay_us(100); CE=0; CSN=1; SCK=0; SPI_Write_Buf(WRITE_REG + TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH);SPI_Write_Buf(WRITE_REG + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH);SPI_RW_Reg(WRITE_REG + EN_AA, 0x01); SPI_RW_Reg(WRITE_REG + EN_RXADDR, 0x01); SPI_RW_Reg(WRITE_REG + RF_CH, 0); SPI_RW_Reg(WRITE_REG + RX_PW_P0, RX_PLOAD_WIDTH); SPI_RW_Reg(WRITE_REG + RF_SETUP, 0x07); }uint SPI_RW(uint uchar){uint bit_ctr; for(bit_ctr=0;bit_ctr<8;bit_ctr++) {MOSI = (uchar & 0x80); uchar = (uchar << 1); SCK = 1; uchar |= MISO; SCK = 0; } return(uchar); }uchar SPI_Read(uchar reg){uchar reg_val;CSN = 0; SPI_RW(reg); reg_val = SPI_RW(0); CSN = 1; return(reg_val); }uint SPI_RW_Reg(uchar reg, uchar value){uint status;CSN = 0; status = SPI_RW(reg); SPI_RW(value); CSN = 1; return(status); }uint SPI_Read_Buf(uchar reg, uchar *pBuf, uchar uchars){uint status,uchar_ctr;CSN = 0; status = SPI_RW(reg); for(uchar_ctr=0;uchar_ctr<uchars;uchar_ctr++)pBuf[uchar_ctr] = SPI_RW(0); CSN = 1; return(status); }uint SPI_Write_Buf(uchar reg, uchar *pBuf, uchar uchars){uint status,uchar_ctr;CSN = 0; status = SPI_RW(reg); for(uchar_ctr=0; uchar_ctr<uchars; uchar_ctr++)SPI_RW(*pBuf++);CSN = 1; return(status); }void SetRX_Mode(void){CE=0;SPI_RW_Reg(WRITE_REG + CONFIG, 0x0f); CE = 1; inerDelay_us(130);}unsigned char nRF24L01_RxPacket(unsigned char* rx_buf){unsigned char revale=0;sta=SPI_Read(STATUS);if(RX_DR){ CE = 0; SPI_Read_Buf(RD_RX_PLOAD,rx_buf,TX_PLOAD_WIDTH);revale =1;}SPI_RW_Reg(WRITE_REG+STATUS,sta); return revale;}void nRF24L01_TxPacket(unsigned char * tx_buf){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; inerDelay_us(10);}sbit PWM_OUT0=P2^1;sbit PWM_OUT1=P2^2;unsigned int PWM_Value[2];uchar order=0;void Init_Timer0() { TMOD=0x11; TH0=(65536-500)/256; TL0=(65536-500)%256; EA=1; ET0=1; TR0=1; PT0=1;} void main(void){ unsigned char RxBuf[20]={0};init_NRF24L01();Delay(6000);PWM_Value[0]=1500;PWM_Value[1]=1500;Init_Timer0();while(1){SetRX_Mode();nRF24L01_RxPacket(RxBuf); if(RxBuf[1]|RxBuf[2]){if(RxBuf[1]==1){ flag_0=1;}if(RxBuf[2]==1){flag_0=2;}}else{flag_0=0;}if(RxBuf[3]|RxBuf[4]){if(RxBuf[3]==1){ flag_1=1;}if(RxBuf[4]==1){flag_1=2;}}else{flag_1=0;}Delay(10);}}void timer0(void) interrupt 1 { if(flag_0==1)PWM_Value[0]+=1;if(flag_0==2)PWM_Value[0]-=1;if(flag_1==1)PWM_Value[1]+=1;if(flag_1==2)PWM_Value[1]-=1;if(PWM_Value[0]>=2500)PWM_Value[0]=2500;if(PWM_Value[1]>=2500)PWM_Value[1]=2500;if(PWM_Value[0]<=500)PWM_Value[0]=500;if(PWM_Value[1]<=500)PWM_Value[1]=500;switch(order){case 1:PWM_OUT0=1;TH0=(65536-PWM_Value[0])>>8;TL0=(uchar)(65536-PWM_Value[0]);break; case 2:PWM_OUT0=0;TH0=(65536-(5000-PWM_Value[0]))>>8;TL0=(uchar)(65536-(5000-PWM_Value[0]));break; case 3:PWM_OUT1=1;TH0=(65536-PWM_Value[1])>>8;TL0=(uchar)(65536-PWM_Value[1]);break;case 4:PWM_OUT1=0;TH0=(65536-(5000-PWM_Value[1]))>>8;TL0=(uchar)(65536-(5000-PWM_Value[1]));break;case 5:TH0=60536>>8;TL0=(uchar)60536;break;case 6:TH0=60536>>8;TL0=(uchar)60536;order=0;break;default: order=0;break; }order++;} 2 0
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