全国电子设计大赛C组程序清单.doc

程序清单/*/主程序/*/*-Atmega16主控芯片 晶振频率8MHZ-*/#include#include#includemotor.h#includesensor.h#includewireless.h#includectr.h#includedebug.h#includedef.hvolatile unsigned char SpiRxDatRX_PLOAD_WIDTH;volatile unsigned char UartRxByte;/串口接收字volatile unsigned char UartTxByte;/串口发送控制字节BYTE Mode=0;/模式：默认主车void InitMCU() /初始化串口 UCSRB|=(1RXCIE)|(1RXEN)|(1TXEN);/开接受发送 开接收中断 UBRRL=51;/波特率9600bit/s /初始化中断 GICR|=(1INT2);/开外部中断2 响应nRF24L01接收数据中断默认下降沿触发int main() InitMCU(); init_NRF24L01(); InitSensor(); InitSmg(); while(1) FlushOpState();/刷新光电传感器的状态 AnalySta();/分析小车状态 Ctrl();/输出控制命令 SIGNAL(SIG_INTERRUPT2)/接收到nRF24L01的数据 SetRX_Mode(); nRF24L01_RxPacket(unsigned char*)SpiRxDat);SIGNAL(SIG_UART_RECV)/接收来自M8的数据/*/转弯90度并向前行驶适当距离/*/#includewireless.h#include#include#define KEY1_DOWN !(PIND&(1PD2)#define KEY2_DOWN !(PIND&(1PD3)unsigned char TX_BufTX_PLOAD_WIDTH=0;unsigned char RX_BufTX_PLOAD_WIDTH=0;void UartTxByte(unsigned char byte) while(!(UCSRA&(1UDRE); UDR=byte;void UartTxStr(unsigned char str) unsigned char i=0; while(stri!=0) UartTxByte(stri);i+; DelayMs(2); int main() unsigned char UartIsOk=UartIsOK!; DDRB|=0x03;/LED输出 PORTB|=0x03; MCUCR|=(1ISC11)|(1ISC01); GICR|=(1INT0)|(1INT1)|(1INT2); UCSRB=(1RXEN)|(1TXEN); UBRRL=51; init_NRF24L01(); sei(); UartTxStr(UartIsOk); while(1);SIGNAL(SIG_INTERRUPT0)/按键1 两轮以相同速度前行100脉冲再停下 if(KEY1_DOWN) DelayMs(200);if(KEY1_DOWN) PORTB&=(PB1); TX_Buf0=0x01; nRF24L01_TxPacket(unsigned char *)TX_Buf); TX_Buf0=0x00; PORTB|=0x03; SIGNAL(SIG_INTERRUPT1)/按键2 右轮前进左轮后退以相同速度走50脉冲 if(KEY2_DOWN) DelayMs(200);if(KEY2_DOWN) PORTB&=(PB1); TX_Buf0=0x02; nRF24L01_TxPacket(unsigned char *)TX_Buf); TX_Buf0=0x00; PORTB|=0x03; SIGNAL(SIG_INTERRUPT2)/无线中断 SetRX_Mode(); if(nRF24L01_RxPacket(RX_Buf) PORTB&=(PB0);/接收到数据点亮LED7 UartTxStr(RX_Buf); PORTB|=0x03; /*/无线通讯/*/#includewireless.h#includeunsigned char TX_ADDRESSTX_ADR_WIDTH=0x34,0x43,0x10,0x10,0x01; /发送地址unsigned char RX_ADDRESSRX_ADR_WIDTH=0x34,0x43,0x10,0x10,0x01; /接收地址/-延时函数-/-#define XTAL 8/晶振：8MHZvoid DelayUs(unsigned int us) unsigned int i; for(i=0;ius;i+) _delay_loop_2(XTAL/4);void DelayMs(unsigned int ms) unsigned int i; for(i=0;ims;i+) _delay_loop_2(XTAL*250);/-NRF24L01初始化-/-void init_spi() /SPI端口方向设置 DDRB|=(1PB3)|(1PB4)|(1PB5)|(1PB7); /SPI控制寄存器设置 SPCR=(1SPE)|(1MSTR)|(1SPR1);/使能SPI接口,主机模式,MSB低位在前,模式0,64分频,SPI时钟void init_NRF24L01(void) init_spi(); CE_CLR;/空闲模式 CSN_SET;/SPI关闭 SCK_CLR;/关闭时钟 /-SPI驱动：写的同时读-/-unsigned char SPI_RW(unsigned char dat) SPDR=dat; while(!(SPSR&(1SPIF);/等待发送完成 return SPDR;/-NRF24L01寄存器单字节读写-/-unsigned char SPI_Read(unsigned char reg)/用来读取指定寄存器的状态 unsigned char reg_val; CSN_CLR; SPI_RW(reg); reg_val=SPI_RW(0);/读寄存器指令：0x00 CSN_SET; return (reg_val); unsigned char SPI_RW_Reg(unsigned char reg,unsigned char value)/用来设置工作方式 unsigned char status; CSN_CLR; status=SPI_RW(reg); SPI_RW(value); CSN_SET; return (status);/-NRF24L01寄存器BUFF读写-/-unsigned char SPI_Read_Buf(unsigned char reg,unsigned char *pBuf,unsigned char bytes)/用来读取接收数据包 unsigned char status; unsigned char i; CSN_CLR; status=SPI_RW(reg); for(i=0;ibytes;i+) pBufi=SPI_RW(0); CSN_SET; return (status);unsigned char SPI_Write_Buf(unsigned char reg,unsigned char *pBuf,unsigned char bytes)/用来写发送数据包和收发地址 unsigned char status; unsigned char i; CSN_CLR; status=SPI_RW(reg); for(i=0;ibytes;i+) SPI_RW(*pBuf+); CSN_SET; return (status);/-NRF24L01数据包的收发-/-void SetRX_Mode(void) CE_CLR; SPI_Write_Buf(WRITE_REG+RX_ADDR_P0,RX_ADDRESS,RX_ADR_WIDTH);/写接收地址 SPI_RW_Reg(WRITE_REG+EN_AA,0x01); /0通道自动应答 SPI_RW_Reg(WRITE_REG+EN_RXADDR,0x01); /开启数据通道0 SPI_RW_Reg(WRITE_REG+RF_CH,0); /射频通道 SPI_RW_Reg(WRITE_REG+RX_PW_P0,RX_PLOAD_WIDTH); /写通道0接收数据长度 SPI_RW_Reg(WRITE_REG+RF_SETUP,0x07); /0db 1Mbps SPI_RW_Reg(WRITE_REG+CONFIG,0x0f); /接收模式 CE_SET; /开始接收 DelayUs(300);/延时200微妙unsigned char nRF24L01_RxPacket(unsigned char *rx_buf) unsigned char sta,ref=0;/接收中断标志 sta=SPI_Read(STATUS); if(sta&0x40) CE_CLR; SPI_Read_Buf(RD_RX_PLOAD,rx_buf,TX_PLOAD_WIDTH);ref=1; SPI_RW_Reg(WRITE_REG+STATUS,sta); /接收到数据后RX_DR,TX_DS,MAX_PT都为1，通过写1来清除中断标志 return (ref);void nRF24L01_TxPacket(unsigned char *tx_buf) CE_CLR;/StandBy I模式 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); / 装载接收端地址 SPI_Write_Buf(WR_TX_PLOAD, tx_buf, TX_PLOAD_WIDTH); / 装载数据 SPI_RW_Reg(WRITE_REG + EN_AA, 0x01); / SPI_RW_Reg(WRITE_REG + EN_RXADDR, 0x01); / SPI_RW_Reg(WRITE_REG + SETU