基于atmega16的遥控车设计

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1、/**yaokongche_che.c**Created:2015/9/720:56:55*Author:LOVE*//************************************************************************//*常用头文件及宏定义*//************************************************************************/#include#include

2、lay.h>//延时文件#include//睡眠文件#include//中断文件#include//eeprom#defineBIT(x)(1<<(x))#defineucharunsignedchar#defineuintunsignedint//PC6绿色PC7红色PB2蓝色#defineHONG_HPORTC

3、=BIT(7)#defineHONG_LPORTC&=~BIT(7)#defineLV_HPORTC

4、

5、=BIT(6)#defineLV_LPORTC&=~BIT(6)#defineLAN_HPORTB

6、=BIT(2)#defineLAN_LPORTB&=~BIT(2)//PB4SIPB5RCKPB6SCK#defineSI_HPORTB

7、=BIT(4)#defineSI_LPORTB&=~BIT(4)#defineRCKPORTB

8、=BIT(5),PORTB&=~BIT(5)#defineSCK_595PORTB

9、=BIT(6),PORTB&=~BIT(6)//PD4C1PD5C2PD6C3#defin

10、eC1_HPORTD

11、=BIT(4)#defineC1_LPORTD&=~BIT(4)#defineC2_HPORTD

12、=BIT(5)#defineC2_LPORTD&=~BIT(5)#defineC3_HPORTD

13、=BIT(6)#defineC3_LPORTD&=~BIT(6)/************************************************************************//*NRF24L01*//**************************

14、**********************************************///PA0CEPA1CSNPA2SCKPA3MOSIPA4MISOPA5IQR#defineDDR_NRF2401DDRC#definePORT_NRF2401PORTC#definePIN_NRF2401PINC#defineCE_HPORT_NRF2401

15、=BIT(0)#defineCE_LPORT_NRF2401&=~BIT(0)#defineCSN_HPORT_NRF2401

16、=BIT(1)#defi

17、neCSN_LPORT_NRF2401&=~BIT(1)#defineSCKPORT_NRF2401

18、=BIT(2),PORT_NRF2401&=~BIT(2)#defineMOSI_HPORT_NRF2401

19、=BIT(3)#defineMOSI_LPORT_NRF2401&=~BIT(3)#defineMISO_PIN(PIN_NRF2401&BIT(4))#defineIQR_PIN(PIN_NRF2401&BIT(5))chara[3]={0};charread_peizhi(chardizhi

20、){CSN_L;chari;for(i=0;i<8;i++){if(dizhi&BIT(7-i)){MOSI_H;}else{MOSI_L;}SCK;}dizhi=0;for(i=0;i<8;i++){_delay_us(10);if(MISO_PIN){dizhi+=BIT(7-i);}SCK;}CSN_H;returndizhi;}voidwrite_peizhi(chardizhi,charshuju){chari;CSN_L;dizhi+=BIT(5);for(i=0;i<8;i++){if(d

21、izhi&BIT(7-i)){MOSI_H;}else{MOSI_L;}SCK;}for(i=0;i<8;i++){if(shuju&BIT(7-i)){MOSI_H;}else{MOSI_L;}SCK;}CSN_H;}voidread_shuju(ucharn){uchari,j;CSN_L;for(i=0;i<8;i++){if(0x61&BIT(7-i)){MOSI_H;}else{MOSI_L;}SCK;}for(j=0;j