自制麦克纳姆轮遥控小车

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最新推荐文章于 2025-03-04 11:23:54 发布

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分类专栏：笔记分享经验文章标签：单片机 stm32 机器学习 c语言

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自制麦克纳姆轮遥控小车

1 疫情期间，在家里实在是有大把时间，也不想浪费在游戏上，就想着造一个遥控小车，但是在家里啥都没有，就要买全套的东西，还好过年有压岁钱，学生党，实在是穷，买个东西之前都要货比三家，逛遍了淘宝，京东，拼多多和1688最后买的东西也算是有性价比吧
在这里插入图片描述
2
下面先统计一下花的钱吧，因为之前学的是STM32F4，就买了个stm32vet6的最小系统板，没有选择更便宜的f1系统板，花了大约40元；然后是车轮，之前看到麦克纳姆轮的时候就觉着挺好玩，就买了四个塑料橡胶的那种，80mm车轮四个，带联轴器40元；电机本来想用编码电机，后来看了看价格，算了吧，另一个也是我不会用，就选了tt马达，四个14元吧，电机驱动方面，开始买的是一个L298N和一个tb6612，想着两个都学着用用，结果是我想多了，这两个功能有点不同，相同的pwm波，但是输出的电机速率不同，麦克纳姆轮无法平移，这就少了很多乐趣，就又买了一个tb6612，这三个大概花了20元左右；电池，当时也想着用航模电池，但是一个两千多的航模电池要60多，还得花好几十块钱买充电器，后来又想着用18650，想想不如充电锂电池划算，就买了一块5000多ma的7.4V的锂电池，还带充电器，别问，问就是穷，记得是花了32；因为想弄遥控的，就买了NRF2401两个，也就五块钱左右，大件就差不多了。还有焊枪焊锡，稳压芯片，连接线，开关等等这些也没记住多少钱。开始的时候小车地盘忘了买，就用从家里找了一块铁板，自己打了几个孔，用扎带固定的电机，也算是能用。前前后后花的钱很杂，也不知道值不值，主要是学到东西了就行。
在这里插入图片描述
3
下面先说说电源板，自己焊接的，买的电路板，两个LM2596S降压芯片，一个调成7.4，给电机模块供电，另一个调成3.3v，给单片机供电，电源就解决了。
4
然后是代码部分，因为是四个电机，就用了一个定时器输出四路pwm，STM32f4的定时器有pwm模式，拿过来直接用就行，贴一下代码：
下面展示一些 内联代码片。

// An highlighted block
#include "PWM.h"
#include "led.h"
#include "move.h"
//¶¨Ê±Æ÷4Í¨µÀ1  PD12 
//¶¨Ê±Æ÷4Í¨µÀ2  PD13
//¶¨Ê±Æ÷4Í¨µÀ3  PD14
//¶¨Ê±Æ÷4Í¨µÀ4  PD15
void TIM4_PWM_Init(u32 arr,u32 psc)
{		 					 	
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);  	  //TIM4Ê±ÖÓÊ¹ÄÜ  
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); 	//Ê¹ÄÜPORT AÊ±ÖÓ	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); 	//Ê¹ÄÜPORT BÊ±ÖÓ	
		
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;//GPIOD12,13,14,15
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //¸´ÓÃ¹¦ÄÜ
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//ËÙ¶È100MHz
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //ÍÆÍì¸´ÓÃÊä³ö
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //ÉÏÀ
	GPIO_Init(GPIOD,&GPIO_InitStructure);              //³õÊ¼»¯PD12/13/14/15
	
	
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4); //GPIOD12¸´ÓÃÎª¶¨Ê±Æ÷4
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4); //GPIOD13¸´ÓÃÎª¶¨Ê±Æ÷4
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource14,GPIO_AF_TIM4); //GPIOD14¸´ÓÃÎª¶¨Ê±Æ÷4
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource15,GPIO_AF_TIM4); //GPIOD15¸´ÓÃÎª¶¨Ê±Æ÷4
	
//¶¨Ê±Æ÷4µÄÆµÂÊÉèÖÃ f = 84/(psc+1)*(arr+1) 
	TIM_TimeBaseStructure.TIM_Prescaler=psc;  //¶¨Ê±Æ÷·ÖÆµ
	TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //ÏòÉÏ¼ÆÊýÄ£Ê½
	TIM_TimeBaseStructure.TIM_Period=arr;   //×Ô¶¯ÖØ×°ÔØÖµ
	TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; 
	
	TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);//³õÊ¼»¯¶¨Ê±Æ÷4

	
	//³õÊ¼»¯TIM4 Channel 1 PWMÄ£Ê½	1   ÊýÖµ<ccrÊ±£¬ÎªÓÐÐ§Öµ
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //Ñ¡Ôñ¶¨Ê±Æ÷Ä£Ê½1
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±È½ÏÊä³öÊ¹ÄÜ
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //Êä³ö¼«ÐÔ:TIMÊä³ö±È½Ï¼«ÐÔµÍ  ¾ÍÊÇµÍµçÆ½ÎªÓÐÐ§
	
	TIM_OC1Init(TIM4, &TIM_OCInitStructure);  //¸ù¾ÝTÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèTIM4 4OC1
	TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);  //Ê¹ÄÜTIM4ÔÚCCR1ÉÏµÄÔ¤×°ÔØ¼Ä´æÆ÷ 
	
	TIM_OC2Init(TIM4, &TIM_OCInitStructure);  //¸ù¾ÝTÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèTIM1 4OC2
	TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);  //Ê¹ÄÜTIM4ÔÚCCR2ÉÏµÄÔ¤×°ÔØ¼Ä´æÆ÷ 
	
	TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //¸ù¾ÝTÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèTIM1 4OC3
	TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);  //Ê¹ÄÜTIM4ÔÚCCR3ÉÏµÄÔ¤×°ÔØ¼Ä´æÆ÷ 
	
	TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //¸ù¾ÝTÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèTIM1 4OC4
	TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);  //Ê¹ÄÜTIM4ÔÚCCR4ÉÏµÄÔ¤×°ÔØ¼Ä´æÆ÷ 

  TIM_ARRPreloadConfig(TIM4,ENABLE);//ARPEÊ¹ÄÜ 
	TIM_Cmd(TIM4, ENABLE);  //Ê¹ÄÜTIM3										  
}  

void motor_100()
{ 
	 TIM_SetCompare1(TIM4,0);
	 TIM_SetCompare2(TIM4,0);
	 TIM_SetCompare3(TIM4,0);
	 TIM_SetCompare4(TIM4,0);
}

void motor_50()
{ 
	 TIM_SetCompare1(TIM4,100);
	 TIM_SetCompare2(TIM4,100);
	 TIM_SetCompare3(TIM4,100);
	 TIM_SetCompare4(TIM4,100);
}
void motor_10()
{ 
	 TIM_SetCompare1(TIM4,150);
	 TIM_SetCompare2(TIM4,150);
	 TIM_SetCompare3(TIM4,150);
	 TIM_SetCompare4(TIM4,150);
}

void motor_0()
{ 
	 TIM_SetCompare1(TIM4,300);
	 TIM_SetCompare2(TIM4,300);
	 TIM_SetCompare3(TIM4,300);
	 TIM_SetCompare4(TIM4,300);
}

void motor_right()
{ 
	 TIM_SetCompare1(TIM4, 20);
	 TIM_SetCompare2(TIM4,100);
	 TIM_SetCompare3(TIM4,100);
	 TIM_SetCompare4(TIM4,100);
}

void motor_left()
{ 
	 TIM_SetCompare1(TIM4,100);
	 TIM_SetCompare2(TIM4, 20);
	 TIM_SetCompare3(TIM4,100);
	 TIM_SetCompare4(TIM4,100);
}

5
下面是电机方向控制，直流减速电机就两根线，正接正传，反接就反转，简单的很，下面是控制方向的代码：

move.c

// move.c
#include "move.h"
#include "sys.h"

void move_init()
{
	
			GPIO_InitTypeDef GPIO_InitStructure;
			RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//Ê±ÖÓ|RCC_AHB1Periph_GPIOD

	
//µç»ú1
	    GPIO_InitStructure.GPIO_Pin =GPIO_Pin_0|GPIO_Pin_1;//µç»ú1
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
			GPIO_InitStructure.GPIO_Mode =GPIO_Mode_OUT;//ÍÆÍìÊä³ö
      GPIO_InitStructure.GPIO_OType =GPIO_OType_OD; //¿ªÂ©Êä³ö
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP  ;//ÉÏÀ
			GPIO_Init(GPIOD, &GPIO_InitStructure);
//µç»ú2
			GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_OType =GPIO_OType_OD; //¿ªÂ©Êä³ö
			GPIO_InitStructure.GPIO_Mode =GPIO_Mode_OUT;//ÍÆÍìÊä³ö
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÏÂÀ
			GPIO_Init(GPIOD, &GPIO_InitStructure);
//µç»ú3
			GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_OType =GPIO_OType_OD; //¿ªÂ©Êä³ö
			GPIO_InitStructure.GPIO_Mode =GPIO_Mode_OUT;//ÍÆÍìÊä³ö
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÏÂÀ
			GPIO_Init(GPIOD, &GPIO_InitStructure);
		
//µç»ú4
			GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_OType =GPIO_OType_OD; //¿ªÂ©Êä³ö
			GPIO_InitStructure.GPIO_Mode =GPIO_Mode_OUT;//ÍÆÍìÊä³ö
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÏÂÀ
			GPIO_Init(GPIOD, &GPIO_InitStructure);
	
}

//ÂÖ×Ó·Ö×é  1¡¢3Î»AÂÖ     2¡¢4Î»BÂÖ
void move_go()
{
  motor1_GO 
  motor2_GO 
  motor3_GO 
  motor4_GO	
}

void move_back()
{
  motor1_BACK
  motor2_BACK 
  motor3_BACK 
  motor4_BACK	
}

void move_left()
{
  motor1_BACK
  motor2_GO  
  motor3_BACK 
  motor4_GO	
}

void move_right()
{
  motor1_GO 
  motor2_BACK 
  motor3_GO 
  motor4_BACK	
}

void go_left()
{
  motor1_BACK
  motor2_GO 
  motor3_GO
  motor4_BACK	
}

void go_right()
{
  motor1_GO
  motor2_BACK 
  motor3_BACK
  motor4_GO	
}

move.h

// An highlighted block
#ifndef _MOVE_H
#define _MOVE_H
#include "sys.h"

#define motor1_BACK		{GPIO_SetBits(GPIOD,GPIO_Pin_0);GPIO_ResetBits(GPIOD,GPIO_Pin_1);}//ÄæÊ±Õë
#define motor1_GO		  {GPIO_ResetBits(GPIOD,GPIO_Pin_0);GPIO_SetBits(GPIOD,GPIO_Pin_1);}//Ë³Ê±Õë

#define motor2_BACK		{GPIO_SetBits(GPIOD,GPIO_Pin_2);GPIO_ResetBits(GPIOD,GPIO_Pin_3);}//ÄæÊ±Õë
#define motor2_GO		  {GPIO_ResetBits(GPIOD,GPIO_Pin_2);GPIO_SetBits(GPIOD,GPIO_Pin_3);}//Ë³Ê±Õë

#define motor3_BACK		{GPIO_ResetBits(GPIOD,GPIO_Pin_4);GPIO_SetBits(GPIOD,GPIO_Pin_5);}//ÄæÊ±Õë
#define motor3_GO		  {GPIO_SetBits(GPIOD,GPIO_Pin_4);GPIO_ResetBits(GPIOD,GPIO_Pin_5);}//Ë³Ê±Õë

#define motor4_BACK		{GPIO_ResetBits(GPIOD,GPIO_Pin_6);GPIO_SetBits(GPIOD,GPIO_Pin_7);}//ÄæÊ±Õë
#define motor4_GO		  {GPIO_SetBits(GPIOD,GPIO_Pin_6);GPIO_ResetBits(GPIOD,GPIO_Pin_7);}//Ë³Ê±Õë


void move_init(void);
void move_go(void);
void move_back(void);
void move_left(void);
void move_right(void);
void go_left(void);
void go_right(void);

#endif

在这里插入图片描述

6
最后是无线通信模块，用的是nrf2401，作为入门小白，看着数据手册一点一点的写，然后再看看网上的代码，终于是调了出来，因为无线通信吗，我就用了另一个单片机，之前学习用的51单片机，对我来说写一种单片机的代码都费劲，更别说写51和32的了，最后也是看着正点原子的例程改出来了，小车用的nrf代码:

#include "24l01.h"
#include "delay.h"
#include "spi.h"
//////////////////////////////////////////////////////////////////////////////////	 
//±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹ÓÃ£¬Î´¾×÷ÕßÐí¿É£¬²»µÃÓÃÓÚÆäËüÈÎºÎÓÃÍ¾
//ALIENTEK STM32F407¿ª·¢°å
//NRF24L01Çý¶¯´úÂë	   
//ÕýµãÔ×Ó@ALIENTEK
//¼¼ÊõÂÛÌ³:www.openedv.com
//ÐÞ¸ÄÈÕÆÚ:2014/5/9
//°æ±¾£ºV1.0
//°æÈ¨ËùÓÐ£¬µÁ°æ±Ø¾¿¡£
//Copyright(C) ¹ãÖÝÊÐÐÇÒíµç×Ó¿Æ¼¼ÓÐÏÞ¹«Ë¾ 2014-2024
//All rights reserved									  
////////////////////////////////////////////////////////////////////////////////// 	
 
const u8 TX_ADDRESS[TX_ADR_WIDTH]={0x34,0x43,0x10,0x10,0x01}; //·¢ËÍµØÖ·
const u8 RX_ADDRESS[RX_ADR_WIDTH]={0x34,0x43,0x10,0x10,0x01}; //·¢ËÍµØÖ·

void NRF24L01_SPI_Init(void)
{
 
 SPI_InitTypeDef  SPI_InitStructure;
 
 SPI_Cmd(SPI1, DISABLE); //Ê§ÄÜSPIÍâÉè
 
 SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;  //ÉèÖÃSPIµ¥Ïò»òÕßË«ÏòµÄÊý¾ÝÄ£Ê½:SPIÉèÖÃÎªË«ÏßË«ÏòÈ«Ë«¹¤
 SPI_InitStructure.SPI_Mode = SPI_Mode_Master;		//ÉèÖÃSPI¹¤×÷Ä£Ê½:ÉèÖÃÎªÖ÷SPI
 SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;		//ÉèÖÃSPIµÄÊý¾Ý´óÐ¡:SPI·¢ËÍ½ÓÊÕ8Î»Ö¡½á¹¹
 SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;		//´®ÐÐÍ¬²½Ê±ÖÓµÄ¿ÕÏÐ×´Ì¬ÎªµÍµçÆ½
 SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;	//´®ÐÐÍ¬²½Ê±ÖÓµÄµÚ1¸öÌø±äÑØ£¨ÉÏÉý»òÏÂ½µ£©Êý¾Ý±»²ÉÑù
 SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;		//NSSÐÅºÅÓÉÓ²¼þ£¨NSS¹Ü½Å£©»¹ÊÇÈí¼þ£¨Ê¹ÓÃSSIÎ»£©¹ÜÀí:ÄÚ²¿NSSÐÅºÅÓÐSSIÎ»¿ØÖÆ
 SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256;		//¶¨Òå²¨ÌØÂÊÔ¤·ÖÆµµÄÖµ:²¨ÌØÂÊÔ¤·ÖÆµÖµÎª256
 SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;	//Ö¸¶¨Êý¾Ý´«Êä´ÓMSBÎ»»¹ÊÇLSBÎ»¿ªÊ¼:Êý¾Ý´«Êä´ÓMSBÎ»¿ªÊ¼
 SPI_InitStructure.SPI_CRCPolynomial = 7;	//CRCÖµ¼ÆËãµÄ¶àÏîÊ½
 SPI_Init(SPI1, &SPI_InitStructure);  //¸ù¾ÝSPI_InitStructÖÐÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯ÍâÉèSPIx¼Ä´æÆ÷

 SPI_Cmd(SPI1, ENABLE); //Ê¹ÄÜSPIÍâÉè
 
}

//³õÊ¼»¯24L01µÄIO¿Ú
void NRF24L01_Init(void)
{  
 GPIO_InitTypeDef  GPIO_InitStructure;


 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//Ê¹ÄÜGPIOBÊ±ÖÓ
 
//GPIOB0³õÊ¼»¯ÉèÖÃ:ÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//ÆÕÍ¨Êä³öÄ£Ê½
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//ÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÉÏÀ
GPIO_Init(GPIOB, &GPIO_InitStructure);//³õÊ¼»¯PB14
 
 //GPIOG6,7ÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//ÆÕÍ¨Êä³öÄ£Ê½
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//ÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÉÏÀ
GPIO_Init(GPIOB, &GPIO_InitStructure);//³õÊ¼»¯PG6,7
 
 //GPIOG.8ÉÏÀÊäÈë
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//ÊäÈë
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÉÏÀ
GPIO_Init(GPIOB, &GPIO_InitStructure);//³õÊ¼»¯PG8

GPIO_SetBits(GPIOB,GPIO_Pin_0);//PB14Êä³ö1,·ÀÖ¹SPI FLASH¸ÉÈÅNRFµÄÍ¨ÐÅ 

 SPI1_Init();    		//³õÊ¼»¯SPI1  
 
 NRF24L01_SPI_Init();//Õë¶ÔNRFµÄÌØµãÐÞ¸ÄSPIµÄÉèÖÃ

 NRF24L01_CE=0; 			//Ê¹ÄÜ24L01
 NRF24L01_CSN=1;			//SPIÆ¬Ñ¡È¡Ïû	 		 	 
}
//¼ì²â24L01ÊÇ·ñ´æÔÚ
//·µ»ØÖµ:0£¬³É¹¦;1£¬Ê§°Ü	
u8 NRF24L01_Check(void)
{
 u8 buf[5]={0XA5,0XA5,0XA5,0XA5,0XA5};
 u8 i;
 SPI1_SetSpeed(SPI_BaudRatePrescaler_8); //spiËÙ¶ÈÎª10.5Mhz£¨24L01µÄ×î´óSPIÊ±ÖÓÎª10Mhz£©   	 
 NRF24L01_Write_Buf(NRF_WRITE_REG+TX_ADDR,buf,5);//Ð´Èë5¸ö×Ö½ÚµÄµØÖ·.	
 NRF24L01_Read_Buf(TX_ADDR,buf,5); //¶Á³öÐ´ÈëµÄµØÖ·  
 for(i=0;i<5;i++)if(buf[i]!=0XA5)break;	 							   
 if(i!=5)return 1;//¼ì²â24L01´íÎó	
 return 0;		 //¼ì²âµ½24L01
}	 	 
//SPIÐ´¼Ä´æÆ÷
//reg:Ö¸¶¨¼Ä´æÆ÷µØÖ·
//value:Ð´ÈëµÄÖµ
u8 NRF24L01_Write_Reg(u8 reg,u8 value)
{
 u8 status;	
NRF24L01_CSN=0;                 //Ê¹ÄÜSPI´«Êä
status =SPI1_ReadWriteByte(reg);//·¢ËÍ¼Ä´æÆ÷ºÅ 
SPI1_ReadWriteByte(value);      //Ð´Èë¼Ä´æÆ÷µÄÖµ
NRF24L01_CSN=1;                 //½ûÖ¹SPI´«Êä	   
return(status);       			//·µ»Ø×´Ì¬Öµ
}
//¶ÁÈ¡SPI¼Ä´æÆ÷Öµ
//reg:Òª¶ÁµÄ¼Ä´æÆ÷
u8 NRF24L01_Read_Reg(u8 reg)
{
 u8 reg_val;	    
NRF24L01_CSN = 0;          //Ê¹ÄÜSPI´«Êä		
SPI1_ReadWriteByte(reg);   //·¢ËÍ¼Ä´æÆ÷ºÅ
reg_val=SPI1_ReadWriteByte(0XFF);//¶ÁÈ¡¼Ä´æÆ÷ÄÚÈÝ
NRF24L01_CSN = 1;          //½ûÖ¹SPI´«Êä		    
return(reg_val);           //·µ»Ø×´Ì¬Öµ
}	
//ÔÚÖ¸¶¨Î»ÖÃ¶Á³öÖ¸¶¨³¤¶ÈµÄÊý¾Ý
//reg:¼Ä´æÆ÷(Î»ÖÃ)
//*pBuf:Êý¾ÝÖ¸Õë
//len:Êý¾Ý³¤¶È
//·µ»ØÖµ,´Ë´Î¶Áµ½µÄ×´Ì¬¼Ä´æÆ÷Öµ 
u8 NRF24L01_Read_Buf(u8 reg,u8 *pBuf,u8 len)
{
u8 status,u8_ctr;	       
NRF24L01_CSN = 0;           //Ê¹ÄÜSPI´«Êä
status=SPI1_ReadWriteByte(reg);//·¢ËÍ¼Ä´æÆ÷Öµ(Î»ÖÃ),²¢¶ÁÈ¡×´Ì¬Öµ   	   
for(u8_ctr=0;u8_ctr<len;u8_ctr++)pBuf[u8_ctr]=SPI1_ReadWriteByte(0XFF);//¶Á³öÊý¾Ý
NRF24L01_CSN=1;       //¹Ø±ÕSPI´«Êä
return status;        //·µ»Ø¶Áµ½µÄ×´Ì¬Öµ
}
//ÔÚÖ¸¶¨Î»ÖÃÐ´Ö¸¶¨³¤¶ÈµÄÊý¾Ý
//reg:¼Ä´æÆ÷(Î»ÖÃ)
//*pBuf:Êý¾ÝÖ¸Õë
//len:Êý¾Ý³¤¶È
//·µ»ØÖµ,´Ë´Î¶Áµ½µÄ×´Ì¬¼Ä´æÆ÷Öµ
u8 NRF24L01_Write_Buf(u8 reg, u8 *pBuf, u8 len)
{
u8 status,u8_ctr;	    
 NRF24L01_CSN = 0;          //Ê¹ÄÜSPI´«Êä
status = SPI1_ReadWriteByte(reg);//·¢ËÍ¼Ä´æÆ÷Öµ(Î»ÖÃ),²¢¶ÁÈ¡×´Ì¬Öµ
for(u8_ctr=0; u8_ctr<len; u8_ctr++)SPI1_ReadWriteByte(*pBuf++); //Ð´ÈëÊý¾Ý	 
NRF24L01_CSN = 1;       //¹Ø±ÕSPI´«Êä
return status;          //·µ»Ø¶Áµ½µÄ×´Ì¬Öµ
}				   
//Æô¶¯NRF24L01·¢ËÍÒ»´ÎÊý¾Ý
//txbuf:´ý·¢ËÍÊý¾ÝÊ×µØÖ·
//·µ»ØÖµ:·¢ËÍÍê³É×´¿ö
u8 NRF24L01_TxPacket(u8 *txbuf)
{
 u8 sta;
 SPI1_SetSpeed(SPI_BaudRatePrescaler_8);//spiËÙ¶ÈÎª10.5Mhz£¨24L01µÄ×î´óSPIÊ±ÖÓÎª10Mhz£©   
 NRF24L01_CE=0;
NRF24L01_Write_Buf(WR_TX_PLOAD,txbuf,TX_PLOAD_WIDTH);//Ð´Êý¾Ýµ½TX BUF  32¸ö×Ö½Ú
 NRF24L01_CE=1;//Æô¶¯·¢ËÍ	   
 while(NRF24L01_IRQ!=0);//µÈ´ý·¢ËÍÍê³É
 sta=NRF24L01_Read_Reg(STATUS);  //¶ÁÈ¡×´Ì¬¼Ä´æÆ÷µÄÖµ	   
 NRF24L01_Write_Reg(NRF_WRITE_REG+STATUS,sta); //Çå³ýTX_DS»òMAX_RTÖÐ¶Ï±êÖ¾
 if(sta&MAX_TX)//´ïµ½×î´óÖØ·¢´ÎÊý
 {
 	NRF24L01_Write_Reg(FLUSH_TX,0xff);//Çå³ýTX FIFO¼Ä´æÆ÷ 
 	return MAX_TX; 
 }
 if(sta&TX_OK)//·¢ËÍÍê³É
 {
 	return TX_OK;
 }
 return 0xff;//ÆäËûÔÒò·¢ËÍÊ§°Ü
}
//Æô¶¯NRF24L01·¢ËÍÒ»´ÎÊý¾Ý
//txbuf:´ý·¢ËÍÊý¾ÝÊ×µØÖ·
//·µ»ØÖµ:0£¬½ÓÊÕÍê³É£»ÆäËû£¬´íÎó´úÂë
u8 NRF24L01_RxPacket(u8 *rxbuf)
{
 u8 sta;		    							   
 SPI1_SetSpeed(SPI_BaudRatePrescaler_8); //spiËÙ¶ÈÎª10.5Mhz£¨24L01µÄ×î´óSPIÊ±ÖÓÎª10Mhz£©   
 sta=NRF24L01_Read_Reg(STATUS);  //¶ÁÈ¡×´Ì¬¼Ä´æÆ÷µÄÖµ    	 
 NRF24L01_Write_Reg(NRF_WRITE_REG+STATUS,sta); //Çå³ýTX_DS»òMAX_RTÖÐ¶Ï±êÖ¾
 if(sta&RX_OK)//½ÓÊÕµ½Êý¾Ý
 {
 	NRF24L01_Read_Buf(RD_RX_PLOAD,rxbuf,RX_PLOAD_WIDTH);//¶ÁÈ¡Êý¾Ý
 	NRF24L01_Write_Reg(FLUSH_RX,0xff);//Çå³ýRX FIFO¼Ä´æÆ÷ 
 	return 0; 
 }	   
 return 1;//Ã»ÊÕµ½ÈÎºÎÊý¾Ý
}					    
//¸Ãº¯Êý³õÊ¼»¯NRF24L01µ½RXÄ£Ê½
//ÉèÖÃRXµØÖ·,Ð´RXÊý¾Ý¿í¶È,Ñ¡ÔñRFÆµµÀ,²¨ÌØÂÊºÍLNA HCURR
//µ±CE±ä¸ßºó,¼´½øÈëRXÄ£Ê½,²¢¿ÉÒÔ½ÓÊÕÊý¾ÝÁË		   
void NRF24L01_RX_Mode(void)
{
NRF24L01_CE=0;	  
NRF24L01_Write_Buf(NRF_WRITE_REG+RX_ADDR_P0,(u8*)RX_ADDRESS,RX_ADR_WIDTH);//Ð´RX½ÚµãµØÖ·
   
NRF24L01_Write_Reg(NRF_WRITE_REG+EN_AA,0x01);    //Ê¹ÄÜÍ¨µÀ0µÄ×Ô¶¯Ó¦´ð    
NRF24L01_Write_Reg(NRF_WRITE_REG+EN_RXADDR,0x01);//Ê¹ÄÜÍ¨µÀ0µÄ½ÓÊÕµØÖ·  	 
NRF24L01_Write_Reg(NRF_WRITE_REG+RF_CH,0x40);	     //ÉèÖÃRFÍ¨ÐÅÆµÂÊ		  
NRF24L01_Write_Reg(NRF_WRITE_REG+RX_PW_P0,RX_PLOAD_WIDTH);//Ñ¡ÔñÍ¨µÀ0µÄÓÐÐ§Êý¾Ý¿í¶È 	    
NRF24L01_Write_Reg(NRF_WRITE_REG+RF_SETUP,0x0f);//ÉèÖÃTX·¢Éä²ÎÊý,0dbÔöÒæ,2Mbps,µÍÔëÉùÔöÒæ¿ªÆô   
NRF24L01_Write_Reg(NRF_WRITE_REG+CONFIG, 0x0f);//ÅäÖÃ»ù±¾¹¤×÷Ä£Ê½µÄ²ÎÊý;PWR_UP,EN_CRC,16BIT_CRC,½ÓÊÕÄ£Ê½ 
NRF24L01_CE = 1; //CEÎª¸ß,½øÈë½ÓÊÕÄ£Ê½ 
//	delay_us(20);
}						 
//¸Ãº¯Êý³õÊ¼»¯NRF24L01µ½TXÄ£Ê½
//ÉèÖÃTXµØÖ·,Ð´TXÊý¾Ý¿í¶È,ÉèÖÃRX×Ô¶¯Ó¦´ðµÄµØÖ·,Ìî³äTX·¢ËÍÊý¾Ý,Ñ¡ÔñRFÆµµÀ,²¨ÌØÂÊºÍLNA HCURR
//PWR_UP,CRCÊ¹ÄÜ
//µ±CE±ä¸ßºó,¼´½øÈëRXÄ£Ê½,²¢¿ÉÒÔ½ÓÊÕÊý¾ÝÁË		   
//CEÎª¸ß´óÓÚ10us,ÔòÆô¶¯·¢ËÍ.	 
void NRF24L01_TX_Mode(void)
{														 
 NRF24L01_CE=0;	    
NRF24L01_Write_Buf(NRF_WRITE_REG+TX_ADDR,(u8*)TX_ADDRESS,TX_ADR_WIDTH);//Ð´TX½ÚµãµØÖ· 
NRF24L01_Write_Buf(NRF_WRITE_REG+RX_ADDR_P0,(u8*)RX_ADDRESS,RX_ADR_WIDTH); //ÉèÖÃTX½ÚµãµØÖ·,Ö÷ÒªÎªÁËÊ¹ÄÜACK	  

NRF24L01_Write_Reg(NRF_WRITE_REG+EN_AA,0x01);     //Ê¹ÄÜÍ¨µÀ0µÄ×Ô¶¯Ó¦´ð    
NRF24L01_Write_Reg(NRF_WRITE_REG+EN_RXADDR,0x01); //Ê¹ÄÜÍ¨µÀ0µÄ½ÓÊÕµØÖ·  
NRF24L01_Write_Reg(NRF_WRITE_REG+SETUP_RETR,0x1a);//ÉèÖÃ×Ô¶¯ÖØ·¢¼ä¸ôÊ±¼ä:500us + 86us;×î´ó×Ô¶¯ÖØ·¢´ÎÊý:10´Î
NRF24L01_Write_Reg(NRF_WRITE_REG+RF_CH,40);       //ÉèÖÃRFÍ¨µÀÎª40
NRF24L01_Write_Reg(NRF_WRITE_REG+RF_SETUP,0x0f);  //ÉèÖÃTX·¢Éä²ÎÊý,0dbÔöÒæ,2Mbps,µÍÔëÉùÔöÒæ¿ªÆô   
NRF24L01_Write_Reg(NRF_WRITE_REG+CONFIG,0x0e);    //ÅäÖÃ»ù±¾¹¤×÷Ä£Ê½µÄ²ÎÊý;PWR_UP,EN_CRC,16BIT_CRC,½ÓÊÕÄ£Ê½,¿ªÆôËùÓÐÖÐ¶Ï
 NRF24L01_CE=1;//CEÎª¸ß,10usºóÆô¶¯·¢ËÍ
}


var foo = 'bar';

7
51的就不贴上来了，因为写的有点乱，分了好几个文件，不好贴代码。

8
最后效果还是可以的，不管咋说，无线相信还是挺快的，可能距离不是多远，毕竟才入门，慢慢加一些其他传感器，慢慢玩，反正就是个不断学习的过程，嘿嘿。
刚开始写，CSDN的这玩意不大会用，代码贴过来，注释都没了，有点可惜，凑活着看吧
模块图片

降压模块
TB6612