基于atmega16的遥控车遥控器设计.doc

/* * yaokongqi.c * * Created: 2015/9/8 19:55:29 * Author: LOVE */ /*/* 常用头文件及宏定义 */*/#include #include /延时文件#include /睡眠文件#include /中断文件#include /eeprom#define BIT(x)(1(x)#define ucharunsigned char#define uintunsigned int/*/* NRF24L01 */*/PA0 CEPA1 CSN PA2 SCK PA3 MOSI PA4 MISO PA5 IQR#define DDR_NRF2401DDRB#define PORT_NRF2401PORTB#define PIN_NRF2401PINB#define CE_HPORT_NRF2401|=BIT(0)#define CE_LPORT_NRF2401&=BIT(0)#define CSN_HPORT_NRF2401|=BIT(1)#define CSN_LPORT_NRF2401&=BIT(1)#define SCKPORT_NRF2401|=BIT(2),PORT_NRF2401&=BIT(2)#define MOSI_HPORT_NRF2401|=BIT(3)#define MOSI_LPORT_NRF2401&=BIT(3)#define MISO_PIN(PIN_NRF2401&BIT(4)#define IQR_PIN(PIN_NRF2401&BIT(5)char a3=0;uchar b4=0;char read_peizhi(char dizhi)CSN_L;char i;for (i=0;i8;i+)if (dizhi&BIT(7-i)MOSI_H;elseMOSI_L;SCK;dizhi=0;for (i=0;i8;i+)_delay_us(10);if (MISO_PIN)dizhi+=BIT(7-i);SCK;CSN_H;return dizhi;void write_peizhi(char dizhi,char shuju)char i;CSN_L;dizhi+=BIT(5);for (i=0;i8;i+)if (dizhi&BIT(7-i)MOSI_H; elseMOSI_L;SCK;for (i=0;i8;i+)if (shuju&BIT(7-i)MOSI_H;elseMOSI_L;SCK;CSN_H;void read_shuju(uchar n)uchar i,j;CSN_L;for (i=0;i8;i+)if (0x61&BIT(7-i)MOSI_H;elseMOSI_L;SCK;for (j=0;jn;j+)aj=0;for (i=0;i8;i+)_delay_us(10);if (MISO_PIN)aj+=BIT(7-i);SCK;CSN_H;void write_shuju(uchar n)uchar i,j;CSN_L;for (i=0;i8;i+)if (0xa0&BIT(7-i)MOSI_H; elseMOSI_L;SCK;for (j=0;jn;j+)for (i=0;i8;i+)if (bj&BIT(7-i)MOSI_H;elseMOSI_L;SCK;CSN_H;void qingchu_tx()char i;CSN_L;for (i=0;i8;i+)if (0xe1&BIT(7-i)MOSI_H; elseMOSI_L;SCK;CSN_H;void qingchu_rx()char i;CSN_L;for (i=0;i8;i+)if (0xe2&BIT(7-i)MOSI_H;elseMOSI_L;SCK;CSN_H;char read_zhuangtai()CSN_L;char i,zhuangtai=0;MOSI_H;for (i=0;i8;i+)SCK;_delay_us(40);if (MISO_PIN)zhuangtai+=BIT(7-i);CSN_H;return zhuangtai;void read_dizhi(char dizhi,char *shuju,char zijie)CSN_L;char i,j;for (i=0;i8;i+)if (dizhi&BIT(7-i)MOSI_H;elseMOSI_L;SCK;shuju+=zijie;for (j=0;jzijie;j+)shuju-; *shuju=0;for (i=0;i8;i+)_delay_us(10);if (MISO_PIN)*shuju+=BIT(7-i);SCK;CSN_H;void write_dizhi(char dizhi,char *shuju,char zijie)char i,j;CSN_L;dizhi+=BIT(5);for (i=0;i8;i+)if (dizhi&BIT(7-i)MOSI_H;elseMOSI_L;SCK;shuju+=zijie;for (j=0;jzijie;j+)shuju-;for (i=0;i8;i+)if (*shuju&BIT(7-i)MOSI_H;elseMOSI_L;SCK;CSN_H;void chushihua_nrf2401()DDR_NRF2401|=BIT(0)|BIT(1)|BIT(2)|BIT(3);DDR_NRF2401&=(BIT(4)|BIT(5);PORT_NRF2401|=BIT(4)|BIT(5);CSN_H;CE_L;char dizhi5=l,o,v,e,0x01;write_peizhi(0x00,0x0a);write_peizhi(0x02,0x01);write_peizhi(0x04,0x00);write_dizhi(0x0a,dizhi,5);/接收地址love01write_dizhi(0x10,dizhi,5);/发送地址love01write_peizhi(0x11,0x03);/接收数据宽 3/*/* 按键 */*/#define DDR_ANJIANDDRD#define PORT_ANJIANPORTD#define PIN_ANJIANPINDuchar sudu=1,zhuangxiang=1;char en=1;void chushihua_anjian()DDR_ANJIAN=0;PORT_ANJIAN=0xff;void jianma()if (PIN_ANJIAN!=0xff)_delay_ms(10);if (PIN_ANJIAN!=0xff)switch(PIN_ANJIAN)case 0xfe:/1 速度+if (sudu!=4)sudu+;while(PIN_ANJIAN!=0xff);break;case 0xfd:/2 速度-if (sudu!=1)sudu-;while(PIN_ANJIAN!=0xff);break;case 0xfb:/3 转向+while(PIN_ANJIAN!=0xff);break;case 0xf7:/4 转向-while(PIN_ANJIAN!=0xff);break;case 0xef:/5 蜂鸣器b2|=BIT(4);break;case 0xdf:/6 刹车b3&=b2|0xf3;b2|=BIT(2)|BIT(3);break;case 0xcf:/5+6组合键 蜂鸣器+刹车b3&=b2|0xf3;b2|=BIT(2)|BIT(3)|BIT(4);break;default:;/*/* ADC */*/int dianya3=0;uchar tongdao=0,dianchi=100;void chushihua_adc()DDRA&=(BIT(1)|BIT(2)|BIT(3);ADMUX=0x43;ADCSRA|=BIT(ADEN)|BIT(ADSC)|BIT(ADIE)|BIT(ADPS2)|BIT(ADPS1)|BIT(ADPS0);while(!(ADCSRA&BIT(ADIF);/等待转换结束dianya2=ADCL+(ADCH511)b0=(dianya0-511)/20+98; elseb0=98-(511-dianya0)/20;if (dianya1511)b1=(dianya1-511)/3;if (b12)b2&=BIT(5);elseif (en)b2|=BIT(5);elseb2&=BIT(5);b2|=BIT(3);b2&=BIT(2);elseswitch(sudu)case 1:b1=(511-dianya1)/4;if (b13)b2&=BIT(5);elseif (en)b2|=BIT(5);elseb2&=BIT(5);break;case 2:b1=(511-dianya1)/3;if (b13)b2&=BIT(5);elseif (en)b2|=BIT(5);elseb2&=BIT(5);break;case 3:b1=(511-dianya1)/8+160;if (b1163)b2&=BIT(5);elseif (en)b2|=BIT(5);elseb2&=BIT(5);break;case 4:b1=(511-dianya1)/10+200;if (b10)i=(dianya2-700)*100/(1023-700)+5;elsei=0;if (idianchi)dianchi=i; jianma();if (!IQR_PIN)zhuangtai=read_peizhi(0x07);if (zhuangtai&BIT(5)write_peizhi(0x07,BIT(5);qingchu_tx();if (zhuangtai&BIT(4)write_peizhi(0x07,BIT(4);qingchu_tx();if (zhuangtai&BIT(6)write_peizhi(0x07,BIT(6);elsewrite_shuju(3);CE_H;_delay_us(10);CE_L;b2&=BIT(4);b2&=b3;b3=0xff;ntongdao=0;numtongdao=0;switch(tongdao)case 0:ADMUX=0x42;tongdao=