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標(biāo)題: 自制nRF24L01無線小車 [打印本頁]

作者: das 時(shí)間: 2015-4-17 22:30
標(biāo)題: 自制nRF24L01無線小車
直接上圖：

以下是編譯后的收發(fā)一體程序可以自行更改：
1.無線子程序文件nRF24L01.h
// nRF24L01.h
#ifndef _NRF_24L01_
#define _NRF_24L01_

#define TX_ADR_WIDTH 5  // 5 bytes TX address width
#define RX_ADR_WIDTH 5  // 5 bytes RX address width
#define TX_PLOAD_WIDTH  20  //20 bytes TX payload
#define RX_PLOAD_WIDTH  20  //20 bytes TX payload

typedef unsigned char BYTE;
typedef unsigned char uchar;
//****************************************************************//
// SPI(nRF24L01) commands
#define READ_REG       0x00 // Define read command to register
#define WRITE_REG    0x20 // Define write command to register
#define RD_RX_PLOAD    0x61 // Define RX payload register address
#define WR_TX_PLOAD    0xA0 // Define TX payload register address
#define FLUSH_TX       0xE1 // Define flush TX register command
#define FLUSH_RX       0xE2 // Define flush RX register command
#define REUSE_TX_PL    0xE3 // Define reuse TX payload register command
#define NOP          0xFF  // Define No Operation, might be used to readstatus register

//***************************************************//
// SPI(nRF24L01) registers(addresses)
#define CONFIG       0x00 // 'Config' register address
#define EN_AA          0x01 // 'Enable Auto Acknowledgment' register address
#define EN_RXADDR    0x02 // 'Enabled RX addresses' register address
#define SETUP_AW       0x03 // 'Setup address width' register address
#define SETUP_RETR    0x04 // 'Setup Auto. Retrans' register address
#define RF_CH          0x05 // 'RF channel' register address
#define RF_SETUP       0x06 // 'RF setup' register address
#define STATUS       0x07 // 'Status' register address
#define OBSERVE_TX    0x08 // 'Observe TX' register address
#define CD             0x09  // 'Carrier Detect' register address
#define RX_ADDR_P0    0x0A // 'RX address pipe0' register address
#define RX_ADDR_P1    0x0B // 'RX address pipe1' register address
#define RX_ADDR_P2    0x0C // 'RX address pipe2' register address
#define RX_ADDR_P3    0x0D // 'RX address pipe3' register address
#define RX_ADDR_P4    0x0E // 'RX address pipe4' register address
#define RX_ADDR_P5    0x0F // 'RX address pipe5' register address
#define TX_ADDR       0x10 // 'TX address' register address
#define RX_PW_P0       0x11 // 'RX payload width, pipe0' register address
#define RX_PW_P1       0x12 // 'RX payload width, pipe1' register address
#define RX_PW_P2       0x13 // 'RX payload width, pipe2' register address
#define RX_PW_P3       0x14 // 'RX payload width, pipe3' register address
#define RX_PW_P4       0x15 // 'RX payload width, pipe4' register address
#define RX_PW_P5       0x16 // 'RX payload width, pipe5' register address
#define FIFO_STATUS    0x17 // 'FIFO Status Register' register address

//***************************************************************//
//                FUNCTION's PROTOTYPES  //
/****************************************************************/
// void SPI_Init(BYTE Mode);    // Init HW or SW SPI
BYTESPI_RW(BYTE byte);                               // Single SPIread/write
BYTESPI_Read(BYTE reg);                            // Read one bytefrom nRF24L01
BYTESPI_RW_Reg(BYTE reg, BYTE byte);                // Write one byte to register'reg'
BYTESPI_Write_Buf(BYTE reg, BYTE *pBuf, BYTE bytes);  // Writes multiply bytes to one register
BYTESPI_Read_Buf(BYTE reg, BYTE *pBuf, BYTE bytes); // Read multiply bytes from one register
//*****************************************************************/

void inerDelay_us(unsigned char n);

void init_io(void) ;

void SetRX_Mode(void);
unsigned char nRF24L01_RxPacket(unsignedchar* rx_buf);
void nRF24L01_TxPacket(unsigned char *tx_buf);

extern uchar constTX_ADDRESS[TX_ADR_WIDTH];//TX address
extern uchar constRX_ADDRESS[RX_ADR_WIDTH];//;RX address

#endif  //_NRF_24L01_
2.接口設(shè)定文件：//def.h
#ifndef _DEF_
#define _DEF_

#include <reg52.h>
#include <intrins.h>

//hard pin mapping
sbit       MISO    =P1^3;
sbit       MOSI    =P1^4;
sbit  SCK       =P1^5;
sbit  CE    =P1^6;
sbit  CSN             =P3^7;
sbit  IRQ       =P1^2;

sbit LED2 =P3^5;
sbit LED1 =P3^4;
sbit LED3 =P3^6;
sbit LED4 =P3^7;
sbit KEY1 =P3^0;
sbit KEY2 =P3^1;
sbit KEY3 =P3^2;
sbit KEY4 =P3^3;

#endif //_DEF_
3.頭文件：REG52.H
#ifndef __REG52_H__
#define __REG52_H__

/* BYTE Registers  */
sfr P0 = 0x80;
sfr P1 = 0x90;
sfr P2 = 0xA0;
sfr P3 = 0xB0;
sfr PSW  = 0xD0;
sfr ACC  = 0xE0;
sfr B = 0xF0;
sfr SP = 0x81;
sfr DPL  = 0x82;
sfr DPH  = 0x83;
sfr PCON = 0x87;
sfr TCON = 0x88;
sfr TMOD = 0x89;
sfr TL0  = 0x8A;
sfr TL1  = 0x8B;
sfr TH0  = 0x8C;
sfr TH1  = 0x8D;
sfr IE = 0xA8;
sfr IP = 0xB8;
sfr SCON = 0x98;
sfr SBUF = 0x99;

/* 8052 Extensions  */
sfr T2CON = 0xC8;
sfr RCAP2L = 0xCA;
sfr RCAP2H = 0xCB;
sfr TL2 = 0xCC;
sfr TH2 = 0xCD;

/* BIT Registers  */
/* PSW  */
sbit CY = PSW^7;
sbit AC = PSW^6;
sbit F0 = PSW^5;
sbit RS1  = PSW^4;
sbit RS0  = PSW^3;
sbit OV = PSW^2;
sbit P = PSW^0; //8052 only

/* TCON  */
sbit TF1  = TCON^7;
sbit TR1  = TCON^6;
sbit TF0  = TCON^5;
sbit TR0  = TCON^4;
sbit IE1  = TCON^3;
sbit IT1  = TCON^2;
sbit IE0  = TCON^1;
sbit IT0  = TCON^0;

/* IE  */
sbit EA = IE^7;
sbit ET2  = IE^5; //8052 only
sbit ES = IE^4;
sbit ET1  = IE^3;
sbit EX1  = IE^2;
sbit ET0  = IE^1;
sbit EX0  = IE^0;

/* IP  */
sbit PT2  = IP^5;
sbit PS = IP^4;
sbit PT1  = IP^3;
sbit PX1  = IP^2;
sbit PT0  = IP^1;
sbit PX0  = IP^0;

/* P3  */
sbit RD = P3^7;
sbit WR = P3^6;
sbit T1 = P3^5;
sbit T0 = P3^4;
sbit INT1 = P3^3;
sbit INT0 = P3^2;
sbit TXD  = P3^1;
sbit RXD  = P3^0;

/* SCON  */
sbit SM0  = SCON^7;
sbit SM1  = SCON^6;
sbit SM2  = SCON^5;
sbit REN  = SCON^4;
sbit TB8  = SCON^3;
sbit RB8  = SCON^2;
sbit TI = SCON^1;
sbit RI = SCON^0;

/* P1  */
sbit T2EX = P1^1; // 8052 only
sbit T2 = P1^0; // 8052 only

/* T2CON  */
sbit TF2 = T2CON^7;
sbit EXF2  = T2CON^6;
sbit RCLK  = T2CON^5;
sbit TCLK  = T2CON^4;
sbit EXEN2 = T2CON^3;
sbit TR2 = T2CON^2;
sbit C_T2  = T2CON^1;
sbit CP_RL2 = T2CON^0;

#endif
4.子程序文件INTRINS.H
#ifndef __INTRINS_H__
#define __INTRINS_H__

extern void       _nop_    (void);
extern bit          _testbit_ (bit);
extern unsigned char _cror_ (unsigned char, unsigned char);
extern unsigned int  _iror_ (unsigned int,  unsigned char);
extern unsigned long _lror_ (unsigned long, unsigned char);
extern unsigned char _crol_ (unsigned char, unsigned char);
extern unsigned int  _irol_ (unsigned int,  unsigned char);
extern unsigned long _lrol_ (unsigned long, unsigned char);
extern unsigned char _chkfloat_(float);
extern void       _push_ (unsigned char _sfr);
extern void       _pop_    (unsigned char _sfr);

#endif
無線程序文件nRF24L01.c
#include "nRF24L01.h"
#include "..\\def.h"

uchar const TX_ADDRESS[TX_ADR_WIDTH]  = {0x34,0x43,0x10,0x10,0x01}; // Define astatic TX address
uchar const RX_ADDRESS[RX_ADR_WIDTH]  = {0x34,0x43,0x10,0x10,0x01}; // Define astatic RX address

uchar    bdatasta;
sbit  RX_DR =sta^6;
sbit  TX_DS =sta^5;
sbit  MAX_RT    =sta^4;

void inerDelay_us(unsigned char n)
{
   for(;n>0;n--)
            _nop_();
}

void init_io(void)
{
inerDelay_us(100);
   CE=0;  // chip enable
   CSN=1;  // Spi disable
   SCK=0;  // Spi clock line init high
}

/**************************************************
Function: SPI_RW();

Description:
Writes one byte to nRF24L01, and return the byte read
from nRF24L01 during write, according to SPI protocol
/**************************************************/
uchar SPI_RW(uchar byte)
{
   ucharbit_ctr;
   for(bit_ctr=0;bit_ctr<8;bit_ctr++) //output 8-bit
   {
            MOSI= (byte & 0x80);       // output'byte', MSB to MOSI
            byte= (byte << 1);          // shiftnext bit into MSB..
            SCK= 1;                   // Set SCKhigh..
            byte|= MISO;                // capture currentMISO bit
            SCK= 0;                   // ..then set SCK lowagain
   }
return(byte);                      // return read byte
}
/**************************************************/

/**************************************************
Function: SPI_RW_Reg();

Description:
Writes value 'value' to register 'reg'
/**************************************************/
uchar SPI_RW_Reg(BYTE reg, BYTE value)
{
   ucharstatus;

   CSN= 0;                // CSN low, initSPI transaction
   status= SPI_RW(reg);    // select register
   SPI_RW(value);          // ..and write value to it..
   CSN= 1;                // CSN high again

   return(status);          // return nRF24L01 status byte
}
/**************************************************/

/**************************************************
Function: SPI_Read();

Description:
Read one byte from nRF24L01 register, 'reg'
/**************************************************/
BYTE SPI_Read(BYTE reg)
{
   BYTEreg_val;

   CSN= 0;             // CSN low,initialize SPI communication...
   SPI_RW(reg);          // Select register to read from..
   reg_val= SPI_RW(0); // ..then readregistervalue
   CSN= 1;             // CSN high,terminate SPI communication

   return(reg_val);       // return register value
}
/**************************************************/

/**************************************************
Function: SPI_Read_Buf();

Description:

/**************************************************/
uchar SPI_Read_Buf(BYTE reg, BYTE *pBuf,BYTE bytes)
{
   ucharstatus,byte_ctr;

   CSN= 0;                         // Set CSN low, init SPI tranaction
   status= SPI_RW(reg);                // Select register to write to and readstatus byte

   for(byte_ctr=0;byte_ctr<bytes;byte_ctr++)
            pBuf[byte_ctr]= SPI_RW(0); //

   CSN= 1;

   return(status);                   // return nRF24L01 statusbyte
}
/**************************************************/

/**************************************************
Function: SPI_Write_Buf();

Description:
Writes contents of buffer '*pBuf' to nRF24L01
Typically used to write TX payload, Rx/Tx address
/**************************************************/
uchar SPI_Write_Buf(BYTE reg, BYTE *pBuf,BYTE bytes)
{
   ucharstatus,byte_ctr;

   CSN= 0;
   status= SPI_RW(reg);
   for(byte_ctr=0;byte_ctr<bytes; byte_ctr++) //
            SPI_RW(*pBuf++);
   CSN= 1;                // Set CSN highagain
   return(status);       //
}
/**************************************************/

/**************************************************
Function: RX_Mode();

Description:

/**************************************************/
void SetRX_Mode(void)
{
   CE=0;
   SPI_Write_Buf(WRITE_REG+ RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH); // Use the same address on the RXdevice as the TX device

   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);
   SPI_RW_Reg(WRITE_REG+ CONFIG, 0x0f);

   CE= 1;
   inerDelay_us(130);

}
/**************************************************/
unsigned char nRF24L01_RxPacket(unsignedchar* rx_buf)
{
unsigned char revale=0;

   //SetRX_Mode();

   sta=SPI_Read(STATUS);    // read register STATUS's value
   if(RX_DR)                         // if receive dataready (RX_DR) interrupt
   {
         CE = 0;
            SPI_Read_Buf(RD_RX_PLOAD,rx_buf,TX_PLOAD_WIDTH);//read receive payload from RX_FIFO buffer
            revale=1;//we have receive data
   }
   SPI_RW_Reg(WRITE_REG+STATUS,sta);//clear RX_DR or TX_DS or MAX_RT interrupt flag

   returnrevale;
}

/**************************************************
Function: nRF24L01_TxPacket();

Description:
This function initializes one nRF24L01 device to
  TXmode, set TX address, set RX address for auto.ack,
fill TX payload, select RF channel, datarate & TX pwr.
PWR_UP is set, CRC(2 bytes) is enabled, & PRIM:TX.

   ToDo:One high pulse(>10us) on CE will now send this
   packetand expext an acknowledgment from the RX device.
/**************************************************/
void nRF24L01_TxPacket(unsigned char *tx_buf)
{
   CE=0;

   SPI_Write_Buf(WRITE_REG+ TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH); //
   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+ EN_AA, 0x01);    //
   SPI_RW_Reg(WRITE_REG+ EN_RXADDR, 0x01);  //
   SPI_RW_Reg(WRITE_REG+ SETUP_RETR, 0x1a); //
   SPI_RW_Reg(WRITE_REG+ RF_CH, 0);       //
   SPI_RW_Reg(WRITE_REG+ RF_SETUP, 0x07); //
   SPI_RW_Reg(WRITE_REG+ CONFIG, 0x0e);    //
   CE=1;
   inerDelay_us(10);
   //sta=SPI_Read(STATUS);    // read register STATUS's value
   //SPI_RW_Reg(WRITE_REG+STATUS,SPI_Read(READ_REG+STATUS)); // clear interrupt flag(TX_DS)
   主程序文件main.c
#include".\\nRF24L01\\nRF24L01.h"
#include "def.h"

void Delay(unsigned int s)
{
   unsignedint i;
   for(i=0;i<s; i++);
   for(i=0;i<s; i++);
}

void main(void)
{
   unsignedchar leng =0;
   unsignedchar tf =0;
   unsignedchar TxBuf[20]={0};    //
   unsignedchar RxBuf[20]={0};

init_io() ;

   LED1= 0;
   LED2= 0;

LED3 = 0;

LED4 = 0;

   //TxBuf[0]= 8 ;
   TxBuf[1]= 1 ;
   TxBuf[2]= 1 ;

TxBuf[3] = 1 ;

TxBuf[4] = 1 ;

nRF24L01_TxPacket(TxBuf); // Transmit Tx buffer data
Delay(6000);

LED1 = 1

LED2 = 1;

LED3 = 1;

LED4 =1;

   while(1)
   {
         //SetRX_Mode();
         if(KEY1 ==0 )
         {
               LED1= 0;
               TxBuf[1] = 1 ;
               tf = 1 ;
                  //while(KEY1==0);
         }
      if(KEY2 ==0 )
      {
                  LED2= 0;
                  TxBuf[2]= 1 ;
                  tf= 1 ;
                  //while(KEY2==0);
      }
if(KEY3 ==0 )
      {
                  LED3= 0;
                  TxBuf[3]= 1 ;
                  tf= 1 ;
                  //while(KEY3==0);
      }
if(KEY4 ==0 )
      {
                  LED4= 0;
                  TxBuf4]= 1 ;
                  tf= 1 ;
                  //while(KEY4==0);
      }

      if (tf==1)
   {
                  nRF24L01_TxPacket(TxBuf);    // Transmit Tx buffer data
                  TxBuf[1]= 0x00;
                  TxBuf[2]= 0x00;
                  tf=0;
                  Delay(1000);
                  LED1= 1;
                  LED2= 1;

LED3 = 1;

LED4 =1;

                  //setRxMode();
      }

            SetRX_Mode();
         if(nRF24L01_RxPacket(RxBuf))
            {

                  if( RxBuf[1]==1)
                  {
                        LED1= 0;
                  }
                  if( RxBuf[2]==1)
                  {
                        LED2= 0;
                  }

if( RxBuf[3]==1)

                  {
                        LED3=0;
                  }

if( RxBuf[4]==1)

                  {
                        LED4= 0;
                  }

                  Delay(1000);
                  LED1= 1;
                  LED2= 1;

LED3 = 1;

LED4 =1;

            }

            RxBuf[1]= 0x00;
            RxBuf[2]= 0x00;

RxBuf[3] = 0x00;

RxBuf[4]= 0x00;

}

}

作者: htgq07 時(shí)間: 2015-4-29 18:02
謝謝樓主分享

作者: zhuoyue36524 時(shí)間: 2015-5-7 16:16
前些天找沒找到，現(xiàn)在出來了，謝謝分享

作者: 騰飛的龍 時(shí)間: 2015-9-28 16:39
謝謝分享，樓主這是單通道還多通道的呀，謝謝

作者: ludaijin 時(shí)間: 2015-10-18 15:32
多謝分享，學(xué)習(xí)了

作者: ludaijin 時(shí)間: 2015-10-18 15:32
謝謝分享，樓主這是單通道還多通道的呀，謝謝

作者: ludaijin 時(shí)間: 2015-10-18 15:35
樓主，能不能上傳包啊

作者: lls00 時(shí)間: 2016-1-21 21:14
謝謝樓主分享

作者: Goldenjin 時(shí)間: 2016-2-6 10:05
謝謝樓主分享，下次 STEP BY STEP

作者: zk 時(shí)間: 2016-2-12 09:50
請問你的無線車遙控距離是多少？能上視頻嗎？

作者: 馬曉軍 時(shí)間: 2016-3-16 22:38
樓主能否寫個(gè)注釋

作者: 馬曉軍 時(shí)間: 2016-3-16 22:39
樓主能否寫個(gè)注釋

作者: zhangluzhanglu 時(shí)間: 2016-3-22 20:22

馬曉軍發(fā)表于 2016-3-16 22:39
樓主能否寫個(gè)注釋

NRF24L01的無線溫度檢測系統(tǒng)

作者: zhangluzhanglu 時(shí)間: 2016-3-22 20:33

馬曉軍發(fā)表于 2016-3-16 22:38
樓主能否寫個(gè)注釋

NRF24L01的無線溫度檢測系統(tǒng)

作者: 楊程123 時(shí)間: 2016-8-22 10:28

請問你的無線車遙控距離是多少？能上視頻嗎？

作者: a98765432180 時(shí)間: 2016-8-23 15:18
無限真的蠻酷的，但尚未使用....

作者: 單片機(jī)熱愛796 時(shí)間: 2016-10-23 11:00
好厲害!!

作者: meilidianzhi 時(shí)間: 2017-2-21 14:41
樓主有詳細(xì)的資料吧

作者: 1014967323 時(shí)間: 2017-4-23 13:20
把發(fā)送和接受分開發(fā)吧多弄點(diǎn)中文注釋吧！謝謝樓主分享

作者: 1014967323 時(shí)間: 2017-4-23 13:21
能把發(fā)送和接收分開發(fā)么在多弄帶你中文注釋謝謝樓主分享

作者: lmxzxcvbnm 時(shí)間: 2017-8-28 13:41
謝謝分享

作者: 害羞是種謙虛 時(shí)間: 2017-9-20 21:17
謝謝分享

作者: 心跳的海洋 時(shí)間: 2017-9-25 16:53
樓主能給個(gè) 完整的原理圖嗎

歡迎光臨 (http://www.torrancerestoration.com/bbs/)

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