MPU6050+NRF24L01（主要是求助24L01的问题）

合肥-文盲

主函数如下：<br />
<div>#include "usart.h"</div>
<div>#include "sys.h"</div>
<div>#include "delay.h"</div>
<div>#include "mpu6050.h"</div>
<div>#include "led.h"</div>
<div>#include "key.h"</div>
<div>#include "24l01.h"</div>
<div><br />
</div>
<div>u8 tmp_buf[32];</div>
<div><br />
</div>
<div>int main(void)</div>
<div>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>u8 key,mode;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>u16 t=0;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>int16_t Y,P,R;<span class="Apple-tab-span" style="white-space:pre;">                        </span>&nbsp;</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>NVIC_Configuration();</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>delay_init();<span class="Apple-tab-span" style="white-space:pre;">                        </span>//SYSTICK的时钟固定为HCLK时钟的1/8,SYSCLK:系统时钟为72MHz.</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>uart_init(9600);<span class="Apple-tab-span" style="white-space:pre;">                </span>//串口1初始化,波特率为9600,工作在全双工收发模式</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>LED_Init();<span class="Apple-tab-span" style="white-space:pre;">                                </span>//LED初始化,GPIOA8对应于LED0,GPIOD2对应于LED1.</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>KEY_Init();</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>NRF24L01_Init(); &nbsp; &nbsp;<span class="Apple-tab-span" style="white-space:pre;">        </span>//初始化NRF24L01</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>MPU6050_Init();<span class="Apple-tab-span" style="white-space:pre;">                        </span>//MPU6050初始化设置DMP和DMP_FIFO</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>while(NRF24L01_Check())//检测不到24L01</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>printf("24L01 Check Failed!\n");</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>delay_ms(500);</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>printf("lease Check!\n");</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>delay_ms(500);</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>LED0=!LED0;//DS0闪烁</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>}</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>printf("24L01 Ready!\n");</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>printf("KEY0:RX_Mode &nbsp;KEY1:TX_Mode\n");<span class="Apple-tab-span" style="white-space:pre;">        </span>//显示提示信息</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>while(1)//在该部分确定进入哪个模式!</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>key=KEY_Scan(0);</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>if(key==1)</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>mode=0; &nbsp;&nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>break;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>}</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>else if(key==2)</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>mode=1;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>break;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>}</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>t++;<span class="Apple-tab-span" style="white-space:pre;">        </span></div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>if(t==200)</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>t=0;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>printf("KEY0:RX_Mode &nbsp;KEY1:TX_Mode\n");<span class="Apple-tab-span" style="white-space:pre;">        </span>//显示提示信息</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>}</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>delay_ms(5);</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>}</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>if(mode==0)//RX模式</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>RX_Mode();<span class="Apple-tab-span" style="white-space:pre;">                </span> &nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>while(1)</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>{<span class="Apple-tab-span" style="white-space:pre;">        </span> &nbsp;<span class="Apple-tab-span" style="white-space:pre;">                </span> &nbsp; &nbsp;<span class="Apple-tab-span" style="white-space:pre;">                </span> &nbsp; &nbsp;<span class="Apple-tab-span" style="white-space:pre;">                                </span>&nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>while(NRF24L01_RxPacket(tmp_buf)!=0);<span class="Apple-tab-span" style="white-space:pre;">        </span>//等待接收信息.</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span></div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>Y=((int16_t)tmp_buf[0]&lt;&lt;8)+tmp_buf[1];<span class="Apple-tab-span" style="white-space:pre;">        </span>//接收信息处理</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>=((int16_t)tmp_buf[2]&lt;&lt;8)+tmp_buf[3];</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>R=((int16_t)tmp_buf[4]&lt;&lt;8)+tmp_buf[5];</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>UART1_Report_IMU(Y,P,R,1,1,1,100);<span class="Apple-tab-span" style="white-space:pre;">                </span>//串口打印接收到的信息&nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                                                        </span> &nbsp; &nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>}<span class="Apple-tab-span" style="white-space:pre;">        </span></div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>}</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>else//TX模式</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>{<span class="Apple-tab-span" style="white-space:pre;">                                                        </span> &nbsp; &nbsp;<span class="Apple-tab-span" style="white-space:pre;">        </span></div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>TX_Mode(); &nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>while(1)</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>{</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>MPU6050_Pose();<span class="Apple-tab-span" style="white-space:pre;">                        </span>//检测传感器姿态变化<span class="Apple-tab-span" style="white-space:pre;">        </span></div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span> &nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>tmp_buf[0]=Yaw&gt;&gt;8;<span class="Apple-tab-span" style="white-space:pre;">                </span>//对检测到的数据进行处理</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>tmp_buf[1]=Yaw;</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>tmp_buf[2]=Pitch&gt;&gt;8;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>tmp_buf[3]=Pitch;</div>
<div><br />
</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>tmp_buf[4]=Roll&gt;&gt;8;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>tmp_buf[5]=Roll;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                                        </span> &nbsp; <span class="Apple-tab-span" style="white-space:pre;">                                </span>&nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                        </span>while(NRF24L01_TxPacket(tmp_buf)!=TX_OK);//等待信息发送完毕</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span> &nbsp; &nbsp;</div>
<div><span class="Apple-tab-span" style="white-space:pre;">                </span>}</div>
<div><span class="Apple-tab-span" style="white-space:pre;">        </span>} &nbsp; &nbsp; <span class="Apple-tab-span" style="white-space:pre;">                </span> &nbsp; <span class="Apple-tab-span" style="white-space:pre;">        </span></div>
<div>}</div>
<div><br />
<br />
没有用无线传输的时候不会出现抖动，现在用了无线传输以后，数据抖动很厉害，也就是猛烈的变化一下，又回到正确的值，然后又猛烈变化一下，又回到正确的值！原子哥，这是无线通讯的什么原因呀<br />
<br />
<br />
</div>

合肥-文盲

肿么只有看的，没有回答的呀

xiaoyan

帮顶

rfinchina

换型号
<br>主机可以通过切换频率参数来分别和B&nbsp;C节点通讯，方法如下
<br>&nbsp;
<br>第一步-&gt;&nbsp;设置电平SETA=1&nbsp;SETB=1&nbsp;进入参数设置模式
<br>第二步-&gt;&nbsp;0xFF&nbsp;0x56&nbsp;0xAE&nbsp;0x35&nbsp;0xA9&nbsp;0x55&nbsp;0x9F&nbsp;0x00&nbsp;0x03&nbsp;0x07&nbsp;0x2f&nbsp;0xD8
<br>第三步-&gt;&nbsp;等待返回0x24&nbsp;0x24&nbsp;0x24&nbsp;0x07&nbsp;0x2f&nbsp;0xD8&nbsp;后再设置电平SETA=0&nbsp;SETB=0&nbsp;进入正常收发模式
<br>第四步-&gt;&nbsp;输入要传的数据即可将数据传输给B节点
<br>&nbsp;
<br>&nbsp;
<br>第五步-&gt;&nbsp;设置电平SETA=1&nbsp;SETB=1&nbsp;进入参数设置模式
<br>第六步-&gt;&nbsp;0xFF&nbsp;0x56&nbsp;0xAE&nbsp;0x35&nbsp;0xA9&nbsp;0x55&nbsp;0x9F&nbsp;0x00&nbsp;0x03&nbsp;0x07&nbsp;0x33&nbsp;0xC0
<br>第七步-&gt;&nbsp;等待返回0x24&nbsp;0x24&nbsp;0x24&nbsp;0x07&nbsp;0x33&nbsp;0xC0后再设置电平SETA=0&nbsp;SETB=0&nbsp;进入正常收发模式
<br>第八步-&gt;&nbsp;输入要传的数据即可将数据传输给C节点
<br>&nbsp;
<br>更多节点以此类推即可
<br>&nbsp;
<br>@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
<br>例如变址多点通讯，
<br>@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
<br>&nbsp;
<br>例如
<br>当主机为WLK01L39模块，
<br>主机A本机地址1：0x01，本机地址2：0x01，
<br>从机B本机地址1：0x02&nbsp;,本机地址2：0x01&nbsp;,
<br>从机C本机地址1：0x03，本机地址2：0x01&nbsp;,&nbsp;&nbsp;
<br>主机可以通过切换目标地址参数来分别和B&nbsp;C节点通讯，因为在频率一样的前提下
<br>只有主机的目标地址和从机的本机地址一致时，对应从机才能与其建立通讯，并接收数据方法如下
<br>&nbsp;
<br>第一步-&gt;&nbsp;设置电平SETA=1&nbsp;SETB=1&nbsp;进入参数设置模式
<br>第二步-&gt;&nbsp;0xFF&nbsp;0x56&nbsp;0xAE&nbsp;0x35&nbsp;0xA9&nbsp;0x55&nbsp;0x8E&nbsp;0x00&nbsp;0x01&nbsp;0x02&nbsp;
<br>第三步-&gt;&nbsp;等待返回0x24&nbsp;0x24&nbsp;0x24&nbsp;&nbsp;0x02&nbsp;后再&nbsp;设置电平SETA=0&nbsp;SETB=0&nbsp;进入正常收发模式
<br>第四步-&gt;&nbsp;输入要传的数据即可将数据传输给B节点
<br>&nbsp;
<br>&nbsp;
<br>第五步-&gt;&nbsp;设置电平SETA=1&nbsp;SETB=1&nbsp;进入参数设置模式
<br>第六步-&gt;&nbsp;0xFF&nbsp;0x56&nbsp;0xAE&nbsp;0x35&nbsp;0xA9&nbsp;0x55&nbsp;0x8E&nbsp;0x00&nbsp;0x01&nbsp;0x03
<br>第七步-&gt;&nbsp;等待返回0x24&nbsp;0x24&nbsp;0x24&nbsp;&nbsp;0x03&nbsp;后再设置电平SETA=0&nbsp;SETB=0&nbsp;进入正常收发模式
<br>第八步-&gt;&nbsp;输入要传的数据即可将数据传输给C节点
<br>&nbsp;
<br>更多节点以此类推即可
<br>&nbsp;
<br>###################################################################
<br>多点通讯还有一种最简单的方式，就是点名通讯
<br>###################################################################
<br>1.主机和从机的参数都完全一样
<br>2.都处于正常收发模式
<br>3.当主机A发0x01（该指令可自定义），
<br>&nbsp;&nbsp;当从机B和从机C都收到0x01，
<br>&nbsp;&nbsp;从机B视0x01为上传数据命令，立刻发射要上传数据，然后主机A会收到B上传数据，而从机C视0x01为无效指令，不发送数据
<br>&nbsp;&nbsp;当主机A发0x02（该指令可自定义），
<br>&nbsp;&nbsp;当从机B和从机C都收到0x01，
<br>&nbsp;&nbsp;从机C视0x02为上传数据指令，立刻发射要上传数据，然后主机A会收到C上传数据，而从机B视0x02为无效指令，不发送数据
<br>更多节点以此类推即可
<br>------------------
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