void send256(void)
{
u8 i;
tbuf[0] = 0x55;
tbuf[1] = 0xaa;
NRF24L01_TxPacket(tbuf);
delay(10);
for (i = 0; i < 8; i++)
NRF24L01_TxPacket(LED_Buf[i]);
}
//Send a packet and receive the ACK
//Return true in case of success.
//Polling implementation
unsigned char NRF24L01_SendPacket(char *payload, char len, char *ackPayload, char *ackLen)
{
char status = 0;
//Send the packet
NRF24L01_TxPacket(payload, len);
//Wait for something to happen
while(((status=NRF24L01_Nop())&0x70) == 0);
// Clear the flags
NRF24L01_WriteReg(REG_STATUS, 0x70);
//Return FALSE if the packet has not been transmited
if (status&BIT_MAX_RT) {
NRF24L01_FlushTx();
return 0;
}
//Receive the ackPayload if any has been received
if (status&BIT_RX_DR)
*ackLen = NRF24L01_RxPacket(ackPayload);
else
*ackLen = 0;
NRF24L01_FlushRx();
return status&BIT_TX_DS;
}
void Data_Send_Voltage(T_RC_Voltage *data)
{
rt_uint8_t _cnt=0;
data_to_send[_cnt++]=0XAA;
data_to_send[_cnt++]=0xAA;
data_to_send[_cnt++]=0x05;//µçѹ¹¦ÄÜ×Ö
data_to_send[_cnt++]=0;
rt_uint16_t _temp;//µçѹ¿Ï¶¨ÎªÕý
_temp = data->Voltage1*100;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->Voltage2*100;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->Voltage3*100;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
data_to_send[3] = _cnt-4;
rt_uint8_t sum = 0;
for(rt_uint8_t i=0;i<_cnt;i++)
sum += data_to_send[i];
data_to_send[_cnt++]=sum;
NRF24L01_TxPacket(data_to_send);
}
int main(void)
{
u8 R='b';
delay_init(72); //延时函数初始化
usart1_init(); //串口初始化
NRF24L01_Init(); //初始化NRF24L01
LED();
while(NRF24L01_Check()); //检查NRF24L01是否在位.
while(1)
{
NRF24L01_TX_Mode();
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE))
{
R =USART_ReceiveData(USART1);
USART_ClearFlag(USART1, USART_FLAG_TC);
USART_SendData(USART1, USART_ReceiveData(USART1));
USART_ClearFlag(USART1, USART_FLAG_RXNE);
}
NRF24L01_TxPacket(&R);
if(R=='a')
GPIO_ResetBits(GPIOE, GPIO_Pin_5); //PE=0,LED亮
if(R=='b')
GPIO_SetBits(GPIOE, GPIO_Pin_5); //PE=1,LED灭
}
}
void nrf24l01_send_ack(void)
{
uint8_t buffer[TX_PLOAD_WIDTH] = {0};
buffer[0] = NRF_ACK;
nrf_state = TX_OK;
NRF24L01_TxPacket(buffer);
}
void rf1send(rt_uint8_t * str)
{
rt_kprintf("\r\n \r\n");
TX_Mode();
rt_kprintf("\r\n RF1 发送数据：%s \r\n", str);
NRF24L01_TxPacket(str);
RX_Mode();
}
void main()
{
while(1)
{
init_NRF24L01();
CE=1;
NRF24L01_TxPacket(Txbuf);
Delay_ms(10);
check_ACK();//发送应答信号检测，LED闪烁标志发送成功
}
}
//发送数据包， 发送完成后自动返回监听自己的通道
//0,ok;1,err
u8 send_pkt(pkt_t * pkt)
{
u32 t;
u8 res;
TX_Mode(&ch);//准备发射//130us
t = systick;
do {
res = NRF24L01_TxPacket((u8 *)pkt);//发送数据 //发送次数超限用时10.7ms//发送成功830us
}while(res != TX_DS && (systick - t < 10));//20ms内不停尝试//5us
RX_Mode(&mych);//最后返回接收模式//100us
return (res != TX_DS);
}
void Data_Send_Senser(T_RC_Sensor *data)
{
rt_uint8_t _cnt=0;
data_to_send[_cnt++]=0XAA;
data_to_send[_cnt++]=0xAA;
data_to_send[_cnt++]=0x02;
data_to_send[_cnt++]=0;
rt_int16_t _temp;
_temp = data->ACC.X;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->ACC.Y;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->ACC.Z;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->GYR.X;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->GYR.Y;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->GYR.Z;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->MAG.X;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->MAG.Y;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->MAG.Z;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
data_to_send[3] = _cnt-4;
rt_uint8_t sum = 0;
for(rt_uint8_t i=0;i<_cnt;i++)
sum += data_to_send[i];
data_to_send[_cnt++]=sum;
NRF24L01_TxPacket(data_to_send);
}
//todo
void nrf24l01_send_position(Point pos)
{
uint8_t buffer[TX_PLOAD_WIDTH];
uint32_t posx = pos.x*1000+0.5f;
uint32_t posy = pos.y*1000+0.5f;
buffer[0] = posx>>24;
buffer[1] = posx>>16;
buffer[2] = posx>>8;
buffer[3] = posx;
buffer[4] = posy>>24;
buffer[5] = posy>>16;
buffer[6] = posy>>8;
buffer[7] = posy;
nrf_state = TX_OK;
NRF24L01_TxPacket(buffer);
}
void Data_Send_Status(T_RC_Status *data)
{
rt_uint8_t _cnt=0;
data_to_send[_cnt++]=0XAA;
data_to_send[_cnt++]=0xAA;
data_to_send[_cnt++]=0x01;
data_to_send[_cnt++]=0;
rt_int16_t _temp;
_temp = data->ANGLE.rol*100;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->ANGLE.pit*100;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->ANGLE.yaw*100;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
_temp = data->ALT_CSB;
data_to_send[_cnt++]=BYTE1(_temp);
data_to_send[_cnt++]=BYTE0(_temp);
data_to_send[_cnt++]=BYTE3(data->ALT_PRS);
data_to_send[_cnt++]=BYTE2(data->ALT_PRS);
data_to_send[_cnt++]=BYTE1(data->ALT_PRS);
data_to_send[_cnt++]=BYTE0(data->ALT_PRS);
if(data->ARMED==0)
data_to_send[_cnt++]=0xA0; //Ëø¶¨
else if(data->ARMED==1)
data_to_send[_cnt++]=0xA1;
data_to_send[3] = _cnt-4;
rt_uint8_t sum = 0;
for(rt_uint8_t i=0;i<_cnt;i++)
sum += data_to_send[i];
data_to_send[_cnt++]=sum;
NRF24L01_TxPacket(data_to_send);
}
//任务0
void KEY0_TASK()
{
u8 key,mode;
u16 t=0;
u8 tmp_buf[33];
u8 key_buf[33] = "key0_pres";
LCD_Clear(WHITE);
Show_Str(50,50,200,24,"当前任务0 :",24,0);
NRF24L01_TX_Mode();
mode=' ';//从空格键开始
//
while(1)
{
if(NRF24L01_TxPacket(tmp_buf)==TX_OK)
{
LCD_ShowString(30,170,239,32,16,"Sended DATA:");
LCD_ShowString(0,190,lcddev.width-1,32,16,tmp_buf);
for(t=0; t<32; t++)
{
tmp_buf[t]=key_buf[t];
}
tmp_buf[32]=0;//加入结束符
}
else
{
LCD_Fill(0,170,lcddev.width,170+16*3,WHITE);//清空显示
LCD_ShowString(30,170,lcddev.width-1,32,16,"Send Failed ");
}
LED0=!LED0;
delay_ms(1500);
}
}
void main( void )
{
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
button_init();
led_init();
Clock_Init();
NRF24L01_init(1,1);
NRF24L01_ConfigMode(MODETX);
NRF24L01_TxPacket(temp);
NRF24L01_ConfigMode(MODERX);
while(1)
{
LPM3;
//SMG_Display(rece_buf[0]);
led1_on(0);
Delay_ms(300);
led1_off(0);
Delay_ms(300);
}
}
void TIM4_IRQHandler(void) //1ms中断一次,用于程序读取6050等
{
if( TIM_GetITStatus(TIM4 , TIM_IT_Update) != RESET )
{
Ledcounter++;
if(Ledcounter==59)Led1=1;
if(Ledcounter==60){Led1=0;Ledcounter=0;}
TxBuf[0]=(Throttle*10)&0xff;
TxBuf[1]=((Throttle*10)>>8); //油门量装入待发送数组的前两个字节
TxBuf[2]=Pitch; //俯仰角装入第3个字节
TxBuf[3]=Roll; //横滚角转入第4个字节
TxBuf[4]=Yaw; //偏航角装入第5个字节
TxBuf[31]=(Throttle<=5) ? 0:0xA5;//紧急熄火标志字节控制
NRF24L01_TxPacket(TxBuf); //数据包发送，最大重发次数15次
TIM_ClearITPendingBit(TIM4 , TIM_FLAG_Update); //清除中断标志
}
//触摸画板功能演示函数
void Wireless_Play(void)
{
u8 err=0,i;
u8 key;
u8 mode;//24L01的模式设置
u8 tmp_buf[5];//低4个字节,传递坐标值,最高一个字节:0,正常画图,1清除;2,退出;
mode=Wireless_Mode_Set();
if(mode==0)
{
SPIx_Init();//设置回原来的
SPIx_SetSpeed(SPI_SPEED_4);//18Mhz
return;//24L01检测失败,直接退出
}
if(mode==2)
{
Load_Gui_Show("清除","发送","返回");//加载界面
TX_Mode();//发送模式
}else
{
Load_Gui_Show("清除","接收","返回");//加载界面
RX_Mode();//接收模式
}
LCD_Fill(0,0,240,296,LGRAY);//填充灰色
POINT_COLOR=BLUE;//设置字体为蓝色
while(1)
{
key=AI_Read_TP(20);//得到触点的状态
if(mode==1)//接收模式
{
if(NRF24L01_RxPacket(tmp_buf)==0)//一旦接收到信息,则显示出来.
{
Pen_Point.X=tmp_buf[0];
Pen_Point.X=(Pen_Point.X<<8)+tmp_buf[1];
Pen_Point.Y=tmp_buf[2];
Pen_Point.Y=(Pen_Point.Y<<8)+tmp_buf[3];
switch(tmp_buf[4])
{
case 0://正常画点
Draw_Big_Point(Pen_Point.X,Pen_Point.Y);//画点
break;
case 1://清除
LCD_Fill(0,0,240,296,LGRAY);//填充灰色
break;
case 2://退出
Pen_Point.Key_Reg=0;//清除笔状态
SPIx_Init();//设置回原来的
SPIx_SetSpeed(SPI_SPEED_4);//18Mhz
return;
}
}
}
if(key)//触摸屏被按下
{
Pen_Point.Key_Reg|=0x80;//标记按下了按键
if(Pen_Point.Y<296&&mode==2)//在画图区域内,且为发送模式
{
tmp_buf[0]=Pen_Point.X>>8;
tmp_buf[1]=Pen_Point.X&0xFF;
tmp_buf[2]=Pen_Point.Y>>8;
tmp_buf[3]=Pen_Point.Y&0xFF;
tmp_buf[4]=0;//功能为0,正常画图
Draw_Big_Point(Pen_Point.X,Pen_Point.Y);//画点
err=0;
while(NRF24L01_TxPacket(tmp_buf)!=TX_OK)//等待发送完成
{
err++;
if(err>10)return;//连续超过10次错误,则返回
}
}
}else if(Pen_Point.Key_Reg&0X80)//按键松开了
void main()
{
uchar shujv[8];
uchar stop=0;
uchar cejv=1;
uchar flag=0;
uchar helpcejv=0;
init_io();
led0=1;led1=1;ledk=1;
while(NRF_Check())
{
led0=0;
delayms(1000);
led0=1;
delayms(1000);
}
TX_Mode(); //设置为发送模式
/*************自己加的***********************/
while(CNRF_Check()) //检查nrf是否存在
{
led0=0;
delayms(1000);
led0=1;
delayms(1000);
}
CTX_Mode();
/*************自己加的***********************/
stop=byte_read(0x2000); //读取上一次保留的值
while(1)
{
wenshi(shujv); //写入前4个数据
// yali(shujv);//写入第5个数据
// shache(shujv);//写入第六个数据
Get_weight();
if (weight_shiwu/1000<=5)
shujv[4]='0';
else shujv[4]='1';
if(stop==0)
shujv[5]='1';
if(stop==1)
shujv[5]='0';
if(out==0)
shujv[6]='1';
else
shujv[6]='0';
//////////////////////////////
if(NRF24L01_TxPacket(shujv)==TX_OK)
{
led1=0;
delayms(300);
led1=1;
delayms(10);
/////
flag=1;
}
else flag=0;
//////////////////////////////
if(flag==1)
{
if(CNRF24L01_TxPacket(shujv)==TX_OK)
{
led3=0;
delayms(300);
led3=1;
delayms(10);
cejv=0;
helpcejv=0;
}
else
{
helpcejv++;
delayms(100);
if(helpcejv>2)
{ led2=0;
delayms(300);
led2=1;
delayms(10);
cejv=0;
helpcejv=0;
}
}
/////////////////////////////////////////////////
if(shache(cejv,stop)==1)
{
led0=0;
delayms(300);
led0=1;
delayms(10);
stop=1;
SectorErase(0x2000);
byte_write(0x2000,stop);
}
if(checkbutton(cejv,stop)==0)
{stop=1;
SectorErase(0x2000);
byte_write(0x2000,stop);
}
}
}
}
