那些年坑死的24L01+，终于搞好了~~ - 智能车制作

#include "24L01.h"
#include "N5110.h"
//unsigned char nr24l01_data[34]=0;//用于向24L01寄存器发送的命令或者数据
unsigned char nr24L01_data[33]=0;//用于向24L01寄存器发送的内容
unsigned char nr24L01_input[8]; //status状态寄存器专用数组
unsigned char nr24L01_data_receive[33];//用于保存从24L01+接收到的数据
unsigned char nr24l01_register_data_send[6]=0;//仅用于向24L01寄存器发送的内容(不用于发送数据)
unsigned char nr24l01_status = 0;//用于24L01状态寄存器
unsigned char send_status = 0;//发送状态；0代表发送成功，1代表失败
unsigned char receive_status = 0;//接收状态；0代表发送成功，1代表失败
unsigned char send_data_number = 0;//准备向TX_FIFO寄存器写入的数据的数目
unsigned char receive_data_number = 0;//接收到的数据的数目
unsigned int volatile nrf24l01_k = 0;//用于延时
//向24L01写单字节命令,返回状态寄存器值，不带有CS功能
unsigned char nr24L01_write_singlecom(unsigned char com)
{
unsigned char i = 0;
unsigned char j = 128;
unsigned char status = 0;
for(i=8;i!=0;i--)
{
if((com&0x80)==0x80) MOSI = 1;
else MOSI = 0;//准备好向24L01发送的比特位
com = com << 1;
nr24l01_CLK = 1;//CLK上升沿
if(MISO == 1)
{
nr24L01_input[i-1] = 1;
status = status + j;
}
else nr24L01_input[i-1] = 0;//读取24l01p传来的状态寄存器
nr24l01_CLK = 0;//CLK下降沿
j = j/2;
}
return status;
}
//向24L01写单字节命令,返回状态寄存器值，带有CS功能
unsigned char nr24L01_write_singlecom_withCS(unsigned char com)
{
unsigned char i = 0;
unsigned char j = 128;
unsigned char status = 0;
nr24l01_CS = 0;
for(i=8;i!=0;i--)
{
if((com&0x80)==0x80) MOSI = 1;
else MOSI = 0;//准备好向24L01发送的比特位
com = com << 1;
nr24l01_CLK = 1;//CLK上升沿
if(MISO == 1)
{
nr24L01_input[i-1] = 1;
status = status + j;
}
else nr24L01_input[i-1] = 0;//读取24l01p传来的状态寄存器
nr24l01_CLK = 0;//CLK下降沿
j = j/2;
}
nr24l01_CS = 1;
return status;
}
//向24L01读、写单字节数据
unsigned char nr24L01_write_singledata(unsigned char data_transmit)
{
unsigned char o = 0;
unsigned char p = 128;
unsigned char data_receive = 0;
for(o=8;o!=0;o--)
{
if((data_transmit&0x80)==0x80) MOSI = 1;
else MOSI = 0;//准备好向24L01发送的比特位
data_transmit = data_transmit << 1;
nr24l01_CLK = 1;//CLK上升沿
if(MISO == 1)
{
data_receive = data_receive + p;
}
nr24l01_CLK = 0;//CLK下降沿
p = p/2;
}
return data_receive;
}
//向24L01寄存器写数据，变量为：寄存器命令，数据指针，要写入的数据字节数（不包括命令字节）
unsigned char nr24L01_write_register(unsigned char com,unsigned char *data,unsigned char data_byte_number)
{
unsigned status = 0;
nr24l01_CS = 0;
status = nr24L01_write_singlecom(com);//发送命令字
while(data_byte_number--)
{
nr24L01_write_singledata(*data);//发送数据;
data++;
}
nr24l01_CS = 1;
return status;
}
//向24L01寄存器读取数据，变量为：寄存器命令，要读取的数据字节数（不包括命令字节）
unsigned char nr24L01_read_register(unsigned char com,unsigned char data_byte_number)
{
unsigned char status = 0;
unsigned char r = 0;
nr24l01_CS = 0;
status = nr24L01_write_singlecom(com);//发送命令字
for(r=0;r<data_byte_number;r++)
{
nr24L01_data_receive[r] = nr24L01_write_singledata(0xFF);//发送空数据，用于读取数据;
}
nr24l01_CS = 1;
return status;
}
//24L01初始化函数
void nr24L01_init(void)
{
unsigned int z = 0;
//初始化24L01p的6个引脚
DDRS = 0b11100100;//PortS2567设定为输出
nr24l01_CS = 1;//CS=1
nr24l01_CE = 0;//CE=0
nr24l01_CLK = 0;//CLK=0
MISO = 0;//MISO=0
MOSI = 0;//MOSI=0
PIEJ_PIEJ6 = 1;//使能PortJ6中断，用于IRQ中断申请
nr24L01_write_register(0xE1,nr24l01_register_data_send,0);//清空TX FIFO
nr24L01_write_register(0xE2,nr24l01_register_data_send,0);//清空RX FIFO
nr24l01_register_data_send[0]=0x70;
nr24L01_write_register(0x27,nr24l01_register_data_send,1);//清除MAX_RT、TX_IRQ、RX_IRQ标志位
nr24l01_register_data_send[0]=0x13;
nr24L01_write_register(0x24,nr24l01_register_data_send,1);//初始化4号寄存器,//自动重发延迟设为500us，重发次数设为3
nr24l01_register_data_send[0]=0x55;
nr24L01_write_register(0x25,nr24l01_register_data_send,1);//初始化5号寄存器,设置通信频率
nr24l01_register_data_send[0]=0x08;
nr24L01_write_register(0x26,nr24l01_register_data_send,1);//初始化6号寄存器,设置传送比特率为2Mbps
nr24l01_register_data_send[0]=0x34;nr24l01_register_data_send[1]=0x43;nr24l01_register_data_send[2]=0x10;nr24l01_register_data_send[3]=0x10;nr24l01_register_data_send[4]=0x01;
nr24L01_write_register(0x2A,nr24l01_register_data_send,5);//初始化A号寄存器,设置0号管道接收地址
nr24l01_register_data_send[0]=0x34;nr24l01_register_data_send[1]=0x43;nr24l01_register_data_send[2]=0x10;nr24l01_register_data_send[3]=0x10;nr24l01_register_data_send[4]=0x01;
nr24L01_write_register(0x30,nr24l01_register_data_send,5);//初始化10号寄存器,设置发送地址
nr24l01_register_data_send[0]=0x3F;
nr24L01_write_register(0x3C,nr24l01_register_data_send,1);//初始化1C号寄存器,使能6个管道的动态载荷长度
nr24l01_register_data_send[0]=0x06;
nr24L01_write_register(0x3D,nr24l01_register_data_send,1);//初始化1D号寄存器,使能应答载荷包和动态载荷长度功能
nr24l01_register_data_send[0]=0x0A;
nr24L01_write_register(0x20,nr24l01_register_data_send,1);//初始化0号CONFIG寄存器
for(z=0;z<60000;z++);//延时
for(z=0;z<60000;z++);//延时
for(z=0;z<60000;z++);//延时
for(z=0;z<60000;z++);//延时
}
void nr24L01(void)//24L01主执行函数
{
nr24l01_CE = 1;//进入发送模式
if(((nr24L01_write_singlecom_withCS(0xFF))&0x10) == 0x10)//若MAX_RT最大重发次数中断为1
{
send_status = 1;//发送失败标志置1
receive_status = 1;//接收失败标志置1;
nr24l01_status = nr24L01_write_singlecom_withCS(0xE1);//清空TX_FIFO
nr24l01_register_data_send[0]=0b01110000;
nr24l01_status = nr24L01_write_register(0b00100111,nr24l01_register_data_send,1);//清除MAX_RT、TX_IRQ、RX_IRQ标志位
}
else//若MAX_RT最大重发次数中断不为1
{
if((nr24L01_write_singlecom_withCS(0xFF)&0x40) == 0x40)//若RX_IRQ数据接收中断为1
{
nr24l01_status = nr24L01_read_register(0x60,1);//读取管道0的接收数据长度
if(nr24L01_data_receive[0]<=32)//若管道0接收的数据长度小于等于32字节(即数据有效）
{
receive_data_number = nr24L01_data_receive[0];//存储接收到的数据的数目
nr24l01_status = nr24L01_read_register(0x61,receive_data_number);//读取RX FIFO数据
nr24L01_data_receive[receive_data_number] = '\0';//加入空结束字符
N5110_write_string_6_8(0, 4,nr24L01_data_receive);//
receive_status = 0;//接收失败标志清0;
}
else//若管道0接收的数据长度大于32字节(即数据无效）
{
receive_status = 1;//接收失败标志置1;
nr24l01_status = nr24L01_write_register(0xE2,nr24l01_register_data_send,0);//清空RX FIFO
}
nr24l01_register_data_send[0]=0b01000000;
nr24l01_status = nr24L01_write_register(0b00100111,nr24l01_register_data_send,1);//清除RX_IRQ标志位
}
if((nr24L01_write_singlecom_withCS(0xFF)&0x20) == 0x20)//若TX_IRQ数据发送中断为1
{
send_status = 0;//发送失败标志清0
nr24l01_register_data_send[0]=0b00100000;
nr24l01_status = nr24L01_write_register(0b00100111,nr24l01_register_data_send,1);//清除TX_IRQ标志位
nr24l01_status = nr24L01_write_register(0xA0,nr24L01_data,send_data_number);//利用此语句写数据至TX FIFO
nr24L01_data[0] = nr24L01_data[0] +1;//更换发送字符，可用其他控制命令代替
if( nr24L01_data[0] >126) nr24L01_data[0] = 48;//更换发送字符，可用其他控制命令代替
}
else//若TX_IRQ数据发送中断不为1
{
if((nr24L01_write_singlecom_withCS(0xFF)&0x01) == 0x01)//若TX_FIFO已满
{
receive_status = 1;//接收失败标志置1;
nr24l01_status = nr24L01_write_singlecom_withCS(0xE1);//清空TX_FIFO
}
else//若TX_FIFO未满
{
nr24l01_status = nr24L01_write_register(0xA0,nr24L01_data,send_data_number);//利用此语句写数据至TX FIFO
}
}
}
nr24l01_status = nr24L01_read_register(0x07,1);//读取寄存器内容
N5110_change_num(0,5,nr24l01_status);//向屏幕输出状态寄存器内容
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
for(nrf24l01_k=0;nrf24l01_k<60770;nrf24l01_k++);//延时20ms(主频40M，k为unsigned int volatile)
}

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