diff --git a/Mfrc522.c b/Mfrc522.c deleted file mode 100644 index 9503c57..0000000 --- a/Mfrc522.c +++ /dev/null @@ -1,561 +0,0 @@ -/* - File: Mfrc522.cpp - Mfrc522 - Library for communicating with MFRC522 based NFC Reader/Writers - Created by Eelco Rouw - Mainly based on code from Grant Gibson (www.grantgibson.co.uk) and Dr.Leong ( WWW.B2CQSHOP.COM ) - Lightly modified by Frank Milburn - Lightly modified by Roy Bakker C++ --> C - Released into the public domain - Lightly modified by Mats van Reenen: use other SPI interface -*/ - -#include -#include -#include -//#include - -void RC522_init(int chipSelectPin, int NRSTPD) -{ - _chipSelectPin = chipSelectPin; - P1DIR |= _chipSelectPin; - P1OUT |= _chipSelectPin; - - _NRSTPD = NRSTPD; - P1DIR |= _NRSTPD; - P1OUT |= _NRSTPD; - - RC522_reset(); - - //Timer: TPrescaler*TreloadVal/6.78MHz = 24ms - RC522_writeReg(TModeReg, 0x8D); //Tauto=1; f(Timer) = 6.78MHz/TPreScaler - RC522_writeReg(TPrescalerReg, 0x3E); //TModeReg[3..0] + TPrescalerReg - RC522_writeReg(TReloadRegL, 30); - RC522_writeReg(TReloadRegH, 0); - - RC522_writeReg(TxAutoReg, 0x40); //100%ASK - RC522_writeReg(ModeReg, 0x3D); - - //RC522_clearBitMask(Status2Reg, 0x08); //MFCrypto1On=0 - //RC522_writeReg(RxSelReg, 0x86); //RxWait = RxSelReg[5..0] - //RC522_writeReg(RFCfgReg, 0x7F); //RxGain = 48dB - - RC522_antennaOn(); -} - -/* - * Function: WriteReg - * Description: write a byte data into one register of MR RC522 - * Input parameter: addr--register address；val--the value that need to write in - * Return: Null - */ -void RC522_writeReg(unsigned char addr, unsigned char val) -{ - SPIInitSend(_chipSelectPin, SPI_Mode0, SPI_Clock_4MHz); - - SPI_packet[3] = (addr<<1)&0x7E; - SPI_packet[4] = val; - SPI_packetC = 3; - - SPISend(); - - // P1OUT &= ~(_chipSelectPin); - - // SPI_transfer((addr<<1)&0x7E); - // SPI_transfer(val); - - // P1OUT |= _chipSelectPin; -} - -/* - * Function: ReadReg - * Description: read a byte data into one register of MR RC522 - * Input parameter: addr--register address - * Return: return the read value - */ -unsigned char RC522_readReg(unsigned char addr) -{ - SPIInitSend(_chipSelectPin, SPI_Mode0, SPI_Clock_4MHz); - - SPI_packet[3] = ((addr<<1)&0x7E) | 0x80; - SPI_packet[4] = 0; - SPI_packetC = 3; - - SPISend(); - - return SPI_packet[4]; - - // unsigned char val; - // P1OUT &= ~(_chipSelectPin); - - // SPI_transfer(((addr<<1)&0x7E) | 0x80); - // val = SPI_transfer(0x00); - - // P1OUT |= _chipSelectPin; - - // return val; -} - -/* - * Function: SetBitMask - * Description: set RC522 register bit - * Input parameter: reg--register address;mask--value - * Return: null - */ -void RC522_setBitMask(unsigned char reg, unsigned char mask) -{ - unsigned char tmp; - tmp = RC522_readReg(reg); - RC522_writeReg(reg, tmp | mask); // set bit mask -} - -/* - * Function: ClearBitMask - * Description: clear RC522 register bit - * Input parameter: reg--register address;mask--value - * Return: null - */ -void RC522_clearBitMask(unsigned char reg, unsigned char mask) -{ - unsigned char tmp; - tmp = RC522_readReg(reg); - RC522_writeReg(reg, tmp & (~mask)); // clear bit mask -} - - -/* - * Function: AntennaOn - * Description: Turn on antenna, every time turn on or shut down antenna need at least 1ms delay - * Input parameter: null - * Return: null - */ -void RC522_antennaOn(void) -{ - unsigned char temp; - - temp = RC522_readReg(TxControlReg); - if (!(temp & 0x03)) - { - RC522_setBitMask(TxControlReg, 0x03); - } -} - - -/* - * Function: AntennaOff - * Description: Turn off antenna, every time turn on or shut down antenna need at least 1ms delay - * Input parameter: null - * Return: null - */ -void RC522_antennaOff(void) -{ - RC522_clearBitMask(TxControlReg, 0x03); -} - -/** - * Set the MFRC522 Receiver Gain (RxGain) to value specified by given mask. - * See 9.3.3.6 / table 98 in http://www.nxp.com/documents/data_sheet/MFRC522.pdf - * NOTE: Given mask is scrubbed with (0x07<<4)=01110000b as RCFfgReg may use reserved bits. - */ -void RC522_setAntennaGain(unsigned char mask) { - RC522_clearBitMask(RFCfgReg, (0x07<<4)); // clear needed to allow 000 pattern - RC522_setBitMask(RFCfgReg, (mask & 0x07)<<4); // only set RxGain[2:0] bits -} - -/* - * Function: Reset - * Description: reset RC522 - * Input parameter: null - * Return: null - */ -void RC522_reset(void) -{ - RC522_writeReg(CommandReg, PCD_RESETPHASE); -} - -/* - * Function: Request - * Description: Searching card, read card type - * Input parameter: reqMode--search methods， - * TagType--return card types - * 0x4400 = Mifare_UltraLight - * 0x0400 = Mifare_One(S50) - * 0x0200 = Mifare_One(S70) - * 0x0800 = Mifare_Pro(X) - * 0x4403 = Mifare_DESFire - * Return: return MI_OK if successed - */ -unsigned char RC522_request(unsigned char reqMode, unsigned char *TagType) -{ - unsigned char status; - unsigned int backBits; - - RC522_writeReg(BitFramingReg, 0x07); //TxLastBists = BitFramingReg[2..0] ??? - - TagType[0] = reqMode; - status = RC522_toCard(PCD_TRANSCEIVE, TagType, 1, TagType, &backBits); - - if ((status != MI_OK) || (backBits != 0x10)) - { - status = MI_ERR; - } - - return status; -} - -/* - * Function: ToCard - * Description: communicate between RC522 and ISO14443 - * Input parameter: command--MF522 command bits - * sendData--send data to card via rc522 - * sendLen--send data length - * backData--the return data from card - * backLen--the length of return data - * Return: return MI_OK if successed - */ -unsigned char RC522_toCard(unsigned char command, unsigned char *sendData, unsigned char sendLen, unsigned char *backData, unsigned int *backLen) -{ - unsigned char status = MI_ERR; - unsigned char irqEn = 0x00; - unsigned char waitIRq = 0x00; - unsigned char lastBits; - unsigned char n; - unsigned int i; - - switch (command) - { - case PCD_AUTHENT: - { - irqEn = 0x12; - waitIRq = 0x10; - break; - } - case PCD_TRANSCEIVE: - { - irqEn = 0x77; - waitIRq = 0x30; - break; - } - default: - break; - } - - RC522_writeReg(CommIEnReg, irqEn|0x80); - RC522_clearBitMask(CommIrqReg, 0x80); - RC522_setBitMask(FIFOLevelReg, 0x80); - - RC522_writeReg(CommandReg, PCD_IDLE); - - for (i=0; i MAX_LEN) - { - n = MAX_LEN; - } - - for (i=0; i C - Released into the public domain -*/ -#ifndef Mfrc522_h -#define Mfrc522_h - -/* - MFRC522 and Card specific defines. For the role of each define, please consult the datasheet. -*/ - -#define MAX_LEN 16 - -//MF522 - Commands -#define PCD_IDLE 0x00 -#define PCD_AUTHENT 0x0E -#define PCD_RECEIVE 0x08 -#define PCD_TRANSMIT 0x04 -#define PCD_TRANSCEIVE 0x0C -#define PCD_RESETPHASE 0x0F -#define PCD_CALCCRC 0x03 - -//Mifare_One - Commands -#define PICC_REQIDL 0x26 -#define PICC_REQALL 0x52 -#define PICC_ANTICOLL 0x93 -#define PICC_SElECTTAG 0x93 -#define PICC_AUTHENT1A 0x60 -#define PICC_AUTHENT1B 0x61 -#define PICC_READ 0x30 -#define PICC_WRITE 0xA0 -#define PICC_DECREMENT 0xC0 -#define PICC_INCREMENT 0xC1 -#define PICC_RESTORE 0xC2 -#define PICC_TRANSFER 0xB0 -#define PICC_HALT 0x50 - -//MF522 - Status -#define MI_OK 0 -#define MI_NOTAGERR 1 -#define MI_ERR 2 - -//MF522 - Registers -//Page 0:Command and Status -#define Reserved00 0x00 -#define CommandReg 0x01 -#define CommIEnReg 0x02 -#define DivlEnReg 0x03 -#define CommIrqReg 0x04 -#define DivIrqReg 0x05 -#define ErrorReg 0x06 -#define Status1Reg 0x07 -#define Status2Reg 0x08 -#define FIFODataReg 0x09 -#define FIFOLevelReg 0x0A -#define WaterLevelReg 0x0B -#define ControlReg 0x0C -#define BitFramingReg 0x0D -#define CollReg 0x0E -#define Reserved01 0x0F - -//Page 1:Command -#define Reserved10 0x10 -#define ModeReg 0x11 -#define TxModeReg 0x12 -#define RxModeReg 0x13 -#define TxControlReg 0x14 -#define TxAutoReg 0x15 -#define TxSelReg 0x16 -#define RxSelReg 0x17 -#define RxThresholdReg 0x18 -#define DemodReg 0x19 -#define Reserved11 0x1A -#define Reserved12 0x1B -#define MifareReg 0x1C -#define Reserved13 0x1D -#define Reserved14 0x1E -#define SerialSpeedReg 0x1F - -//Page 2:CFG -#define Reserved20 0x20 -#define CRCResultRegM 0x21 -#define CRCResultRegL 0x22 -#define Reserved21 0x23 -#define ModWidthReg 0x24 -#define Reserved22 0x25 -#define RFCfgReg 0x26 -#define GsNReg 0x27 -#define CWGsPReg 0x28 -#define ModGsPReg 0x29 -#define TModeReg 0x2A -#define TPrescalerReg 0x2B -#define TReloadRegH 0x2C -#define TReloadRegL 0x2D -#define TCounterValueRegH 0x2E -#define TCounterValueRegL 0x2F - -//Page 3:TestRegister -#define Reserved30 0x30 -#define TestSel1Reg 0x31 -#define TestSel2Reg 0x32 -#define TestPinEnReg 0x33 -#define TestPinValueReg 0x34 -#define TestBusReg 0x35 -#define AutoTestReg 0x36 -#define VersionReg 0x37 -#define AnalogTestReg 0x38 -#define TestDAC1Reg 0x39 -#define TestDAC2Reg 0x3A -#define TestADCReg 0x3B -#define Reserved31 0x3C -#define Reserved32 0x3D -#define Reserved33 0x3E -#define Reserved34 0x3F - -void RC522_init(int chipSelectPin, int NRSTPD); -void RC522_writeReg(unsigned char addr, unsigned char val); -unsigned char RC522_readReg(unsigned char addr); -void RC522_setBitMask(unsigned char reg, unsigned char mask); -void RC522_clearBitMask(unsigned char reg, unsigned char mask); -void RC522_antennaOn(void); -void RC522_antennaOff(void); -void RC522_setAntennaGain(unsigned char mask); -void RC522_reset(void); - -unsigned char RC522_request(unsigned char reqMode, unsigned char *TagType); -unsigned char RC522_toCard(unsigned char command, unsigned char *sendData, unsigned char sendLen, unsigned char *backData, unsigned int *backLen); -unsigned char RC522_anticoll(unsigned char *serNum); -void RC522_calculateCRC(unsigned char *pIndata, unsigned char len, unsigned char *pOutData); -unsigned char RC522_selectTag(unsigned char *serNum); -unsigned char RC522_auth(unsigned char authMode, unsigned char BlockAddr, unsigned char *Sectorkey, unsigned char *serNum); -void RC522_stopCrypto(); -unsigned char RC522_readBlock(unsigned char blockAddr, unsigned char *recvData); -unsigned char RC522_writeBlock(unsigned char blockAddr, unsigned char *writeData); -unsigned char RC522_halt(void); - -int _chipSelectPin; -int _NRSTPD; - - -#endif diff --git a/NFC.c b/NFC.c deleted file mode 100644 index f35bfa6..0000000 --- a/NFC.c +++ /dev/null @@ -1,85 +0,0 @@ -#include -#include "NFC.h" -#include "Mfrc522.h" -void NFCInit(){ - P2DIR |= BIT4 | BIT5 | BIT6 ; - P2OUT &= ~ (BIT4 | BIT5 | BIT6 ); - RC522_init(BIT6, BIT7); - /* - * Setting antenna gain to maximum (7) can read cards up to approximately 5cm. - * Default can read cards up to approximately 1cm. - * */ - RC522_setAntennaGain(7); // TODO fine tuning - //TODO LED -} - - -//NFCNummer return serienummer van de NFC-tag -uchar NFCAvailable(){ //is er een kaart en is het leesbaar? serienummer - uchar str[5], Colour, Direction; - if(RC522_request(PICC_REQALL, str) == MI_OK){ - if(RC522_anticoll(str) == MI_OK){ // controleert of de kaart reageert - RC522_selectTag(str); - Colour = NFCRead (0 , 1 , 0 , str); - Direction = NFCRead (2 , 0 , 9 , str); - RGBLed_update (Colour); - - switch (Direction){ - case 'S': - return 0b00; // stop = 00 - case 'D': - return 0b11; // vooruit = 11 - case 'L': - return 0b10; // 10= Links - case 'R': - return 0b01; // 01 = rechts - } - } - } -} - -//uchar* NFCTestConnection (uchar* TagType); //communiceren met de eerst gedetecteerde kaart -//uchar* NFCActive(); //NFC tag communicatie controleren - -// controleren of we de kaart kunnen "authenticaten" en De vervallen NFCActive -//uchar NFCAuthenticate (uchar* NFCNummer); -//sector*4 + block formule of (sector << 2) | block -uchar NFCRead (uchar sector, uchar block, uchar byte, uchar* str){ - /* See if we can authenticate to read */ - uchar recvData[18]; - block = (sector << 2) | block; - uchar keyA[6] = {0xBA, 0xBE, 0xBA, 0xBE, 0xBA, 0xBE}; - if(RC522_auth(PICC_AUTHENT1A, block, keyA, str) == MI_OK){ - - /* See if we can actually read data from the card. (block 1) */ - if(RC522_readBlock(block, recvData) == MI_OK){ - return recvData[byte]; - /* Color data is in block 1 of sector 0 */ - } - - /* Stop authentication */ - RC522_stopCrypto(); - } - -} // controle of de data kan worden gelezen - -//stuur richting door pls - -// byte van de NFCRead doorsturen naar RGBLed_update -uchar RGBLed_update (uchar Colour){ - P2OUT &= ~ (BIT4 | BIT5 | BIT6 ); - switch (Colour){ - case 'R': - P2OUT |= BIT4 ; - break; - case 'G': - P2OUT |= BIT5 ; - break; - case 'B': - P2OUT |= BIT6 ; - break; - } - - - return 0; -} diff --git a/NFC.h b/NFC.h deleted file mode 100644 index e604fe6..0000000 --- a/NFC.h +++ /dev/null @@ -1,17 +0,0 @@ -/* - * NFC.c - * - * Created on: 22 mei 2020 - * Author: Yeti - */ - -#ifndef NFC_C_ -#define NFC_C_ - -#include "typedefExtention.h" - -void NFCInit(); -uchar NFCAvailable(); - - -#endif diff --git a/main.c b/main.c index 7362147..a015f0e 100644 --- a/main.c +++ b/main.c @@ -1,9 +1,7 @@ #include -//#include #include "SPI.h" #include "motorDriver.h" -#include "motionController.h" -#include "NFC.h" +//#include "motionController.h" /* pinout * @@ -34,10 +32,10 @@ */ #define TEST 0 -const uchar STEP_PINS = BIT4 | BIT5; // PORT 2 -const uchar DIRr_PIN = BIT6; // PORT 1 -const uchar DIRl_PIN = BIT7; // PORT 1 -typedef enum Direction {Forward=0, Backward=(DIRl_PIN | DIRr_PIN), RightTurn=DIRr_PIN, LeftTurn=DIRl_PIN}; +#define STEP_PINS BIT4 | BIT5 // PORT 2 +#define DIRr_PIN BIT6 // PORT 1 +#define DIRl_PIN BIT7 // PORT 1 +enum Direction {Forward=0, Backward=(DIRl_PIN | DIRr_PIN), RightTurn=DIRr_PIN, LeftTurn=DIRl_PIN}; const uchar v = 36; const ulong halfRound = 2800; @@ -76,7 +74,6 @@ int main(void) int i, ii; WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer - // set cpu op 16MHz BCSCTL1 = CALBC1_16MHZ; DCOCTL = CALDCO_16MHZ; @@ -91,15 +88,6 @@ int main(void) __delay_cycles(16000000); -#if TEST == 1 - - while(1){ - NFCAvailable(); - } - -#endif -#if TEST == 0 - for(ii=2; ii>0; ii--){ dir(Forward); stap(10000, v); @@ -133,19 +121,5 @@ int main(void) stap(halfRound, v*2); } -#endif - -#if TEST == 2 - - while(1){ - MCSetV(MC_MotorL, 1000); - MCSetV(MC_MotorR, 1000); - __delay_cycles(32000000); - MCSetV(MC_MotorL, -1000); - MCSetV(MC_MotorR, -1000); - } - -#endif - return 0; } diff --git a/motionController.h b/motionController.h index c391c14..2466922 100644 --- a/motionController.h +++ b/motionController.h @@ -8,7 +8,7 @@ #ifndef MOTIONCONTROLLER_H_ #define MOTIONCONTROLLER_H_ -typedef enum MC_motor {MC_MotorR=0x00, MC_MotorL=0x20}; +enum MC_motor {MC_MotorR=0x00, MC_MotorL=0x20}; void MCInit(); void MCSetV(enum MC_motor m, int v); diff --git a/motorDriver.c b/motorDriver.c index f444a47..47b9bf1 100644 --- a/motorDriver.c +++ b/motorDriver.c @@ -60,22 +60,6 @@ const uchar MD_CS = BIT3; #define MD_CC_hstrt 4 // 3 bits #define MD_CC_toff 0 // 4 bits -enum bool MDStatus(){ - ulong stat = MD_read(MD_GSTAT); - if(stat != 0){ - if(stat == 0x1){ // only a recet has occert - // restart the motor driver - MDInit(); - }else{ // one of the motors stopt due to short or overheated or a undervoltage in chargepump - // wait a while for checking again - __delay_cycles(16000000); - MDStatus(); - } - return true; - } - return false; -} - void MD_write(uchar addr, ulong data) { char i; @@ -124,6 +108,22 @@ ulong MD_read(uchar addr) { return data; } +enum bool MDStatus(){ + ulong stat = MD_read(MD_GSTAT); + if(stat != 0){ + if(stat == 0x1){ // only a recet has occert + // restart the motor driver + MDInit(); + }else{ // one of the motors stopt due to short or overheated or a undervoltage in chargepump + // wait a while for checking again + __delay_cycles(16000000); + MDStatus(); + } + return true; + } + return false; +} + void MDInit(){ P1DIR |= MD_CS; // set MD_CS (pin 3) as output P1OUT |= MD_CS; // set MD_CS high diff --git a/typedefExtention.h b/typedefExtention.h index 101c2ee..959694b 100644 --- a/typedefExtention.h +++ b/typedefExtention.h @@ -13,7 +13,7 @@ typedef unsigned char uchar; typedef unsigned int uint; typedef unsigned long ulong; -typedef enum bool {false=0, true=1}; +enum bool {false=0, true=1}; #define BIT00 1ul << 0 #define BIT01 1ul << 1