allow running motors on different speeds

Mfrc522.c

@@ -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 <msp430.h>
-#include <Mfrc522.h>
-#include <SPI.h>
-//#include <SPI2.h>
-
-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 addressï¼›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<sendLen; i++)
-	{   
-		RC522_writeReg(FIFODataReg, sendData[i]);
-	}
-
-	RC522_writeReg(CommandReg, command);
-	if (command == PCD_TRANSCEIVE)
-	{    
-		RC522_setBitMask(BitFramingReg, 0x80);		//StartSend=1,transmission of data starts
-	}   
-
-	i = 2000;
-	do 
-	{
-		n = RC522_readReg(CommIrqReg);
-		i--;
-	}
-	while ((i!=0) && !(n&0x01) && !(n&waitIRq));
-
-	RC522_clearBitMask(BitFramingReg, 0x80);			//StartSend=0
-	
-	if (i != 0)
-	{    
-		if(!(RC522_readReg(ErrorReg) & 0x1B))	//BufferOvfl Collerr CRCErr ProtecolErr
-		{
-			status = MI_OK;
-			if (n & irqEn & 0x01)
-			{   
-				status = MI_NOTAGERR;			//??   
-			}
-
-			if (command == PCD_TRANSCEIVE)
-			{
-				n = RC522_readReg(FIFOLevelReg);
-				lastBits = RC522_readReg(ControlReg) & 0x07;
-				if (lastBits)
-				{   
-					*backLen = (n-1)*8 + lastBits;   
-				}
-				else
-				{   
-					*backLen = n*8;   
-				}
-				if (n == 0)
-				{   
-					n = 1;    
-				}
-				if (n > MAX_LEN)
-				{   
-					n = MAX_LEN;   
-				}
-				
-				for (i=0; i<n; i++)
-				{   
-					backData[i] = RC522_readReg(FIFODataReg);
-				}
-			}
-		}
-		else
-		{   
-			status = MI_ERR;  
-		}
-	}
-	
-//RC522_setBitMask(ControlReg,0x80);           //timer stops
-//RC522_writeReg(CommandReg, PCD_IDLE);
-
-	return status;
-}
-
-
-/*
- * Function: MFRC522_Anticoll
- * Description: Prevent conflict, read the card serial number 
- * Input parameter: serNum--return the 4 bytes card serial number, the 5th byte is recheck byte
- * Return: return MI_OK if successed
- */
-unsigned char RC522_anticoll(unsigned char *serNum)
-{
-	unsigned char status;
-	unsigned char i;
-	unsigned char serNumCheck=0;
-	unsigned int unLen;
-
-
-//RC522_clearBitMask(Status2Reg, 0x08);		//TempSensclear
-//RC522_clearBitMask(CollReg,0x80);			//ValuesAfterColl
-	RC522_writeReg(BitFramingReg, 0x00);		//TxLastBists = BitFramingReg[2..0]
-	serNum[0] = PICC_ANTICOLL;
-	serNum[1] = 0x20;
-	status = RC522_toCard(PCD_TRANSCEIVE, serNum, 2, serNum, &unLen);
-
-	if (status == MI_OK)
-	{
-		for (i=0; i<4; i++)
-		{   
-			serNumCheck ^= serNum[i];
-		}
-		if (serNumCheck != serNum[i])
-		{   
-			status = MI_ERR;    
-		}
-	}
-
-	//RC522_setBitMask(CollReg, 0x80);		//ValuesAfterColl=1
-
-	return status;
-}
-
-
-/*
- * Function: CalulateCRC
- * Description: Use MF522 to calculate CRC
- * Input parameter: pIndata--the CRC data need to be read，len--data length，pOutData-- the caculated result of CRC
- * Return: Null
- */
-void RC522_calculateCRC(unsigned char *pIndata, unsigned char len, unsigned char *pOutData)
-{
-	unsigned char i, n;
-
-	RC522_clearBitMask(DivIrqReg, 0x04);			//CRCIrq = 0
-	RC522_setBitMask(FIFOLevelReg, 0x80);
-	//RC522_writeReg(CommandReg, PCD_IDLE);
-
-	for (i=0; i<len; i++)
-	{   
-		RC522_writeReg(FIFODataReg, *(pIndata+i));
-	}
-	RC522_writeReg(CommandReg, PCD_CALCCRC);
-
-	i = 0xFF;
-	do 
-	{
-		n = RC522_readReg(DivIrqReg);
-		i--;
-	}
-	while ((i!=0) && !(n&0x04));			//CRCIrq = 1
-
-	pOutData[0] = RC522_readReg(CRCResultRegL);
-	pOutData[1] = RC522_readReg(CRCResultRegM);
-}
-
-
-/*
- * Function: SelectTag
- * Description: Select card, read card storage volume
- * Input parameter: serNum--Send card serial number
- * Return: return the card storage volume
- */
-unsigned char RC522_selectTag(unsigned char *serNum)
-{
-	unsigned char i;
-	unsigned char status;
-	unsigned char size;
-	unsigned int recvBits;
-	unsigned char buffer[9]; 
-
-	//RC522_clearBitMask(Status2Reg, 0x08);			//MFCrypto1On=0
-
-	buffer[0] = PICC_SElECTTAG;
-	buffer[1] = 0x70;
-	for (i=0; i<5; i++)
-	{
-		buffer[i+2] = *(serNum+i);
-	}
-	RC522_calculateCRC(buffer, 7, &buffer[7]);		//??
-	status = RC522_toCard(PCD_TRANSCEIVE, buffer, 9, buffer, &recvBits);
-	
-	if ((status == MI_OK) && (recvBits == 0x18))
-	{   
-		size = buffer[0]; 
-	}
-	else
-	{   
-		size = 0;    
-	}
-
-	return size;
-}
-
-
-/*
- * Function: Auth
- * Description: verify card password
- * Input parameters：authMode--password verify mode
-                 0x60 = verify A password key 
-                 0x61 = verify B password key 
-             BlockAddr--Block address
-             Sectorkey--Block password
-             serNum--Card serial number ，4 bytes
- * Return: return MI_OK if successed
- */
-unsigned char RC522_auth(unsigned char authMode, unsigned char BlockAddr, unsigned char *Sectorkey, unsigned char *serNum)
-{
-	unsigned char status;
-	unsigned int recvBits;
-	unsigned char i;
-	unsigned char buff[12]; 
-
-	buff[0] = authMode;
-	buff[1] = BlockAddr;
-	for (i=0; i<6; i++)
-	{    
-		buff[i+2] = *(Sectorkey+i);   
-	}
-	for (i=0; i<4; i++)
-	{    
-		buff[i+8] = *(serNum+i);   
-	}
-	status = RC522_toCard(PCD_AUTHENT, buff, 12, buff, &recvBits);
-
-	if ((status != MI_OK) || (!(RC522_readReg(Status2Reg) & 0x08)))
-	{   
-		status = MI_ERR;   
-	}
-    
-	return status;
-}
-
-/**
- * Used to exit card from authenticated state.
- * Remember to call this function after communicating with an authenticated card, otherwise no new communications can start.
- */
-void RC522_stopCrypto() {
-    // Clear MFCrypto1On bit
-     RC522_clearBitMask(Status2Reg, 0x08); // Status2Reg[7..0] bits are: TempSensClear I2CForceHS reserved reserved MFCrypto1On ModemState[2:0]
-}
-
-/*
- * Function: ReadBlock
- * Description: Read data 
- * Input parameters：blockAddr--block address;recvData--the block data which are read
- * Return: return MI_OK if successed
- */
-unsigned char RC522_readBlock(unsigned char blockAddr, unsigned char *recvData)
-{
-	unsigned char status;
-	unsigned int unLen;
-
-	recvData[0] = PICC_READ;
-	recvData[1] = blockAddr;
-	RC522_calculateCRC(recvData,2, &recvData[2]);
-	status = RC522_toCard(PCD_TRANSCEIVE, recvData, 4, recvData, &unLen);
-
-	if ((status != MI_OK) || (unLen != 0x90))
-	{
-		status = MI_ERR;
-	}
-	
-	return status;
-}
-
-
-/*
- * Function: WriteBlock
- * Description: write block data
- * Input parameters：blockAddr--block address;writeData--Write 16 bytes data into block
- * Return: return MI_OK if successed
- */
-unsigned char RC522_writeBlock(unsigned char blockAddr, unsigned char *writeData)
-{
-	unsigned char status;
-	unsigned int recvBits;
-	unsigned char i;
-	unsigned char buff[18]; 
-    
-	buff[0] = PICC_WRITE;
-	buff[1] = blockAddr;
-	RC522_calculateCRC(buff, 2, &buff[2]);
-	status = RC522_toCard(PCD_TRANSCEIVE, buff, 4, buff, &recvBits);
-
-	if ((status != MI_OK) || (recvBits != 4) || ((buff[0] & 0x0F) != 0x0A))
-	{   
-		status = MI_ERR;   
-	}
-
-	if (status == MI_OK)
-	{
-		for (i=0; i<16; i++)
-		{    
-			buff[i] = *(writeData+i);   
-		}
-		RC522_calculateCRC(buff, 16, &buff[16]);
-		status = RC522_toCard(PCD_TRANSCEIVE, buff, 18, buff, &recvBits);
-
-		if ((status != MI_OK) || (recvBits != 4) || ((buff[0] & 0x0F) != 0x0A))
-		{   
-			status = MI_ERR;   
-		}
-	}
-	
-	return status;
-}
-
-
-/*
- * Function: Halt
- * Description: Command the cards into sleep mode
- * Input parameters: null
- * Return: status
- */
-unsigned char RC522_halt(void)
-{
-	unsigned char status;
-	unsigned int unLen;
-	unsigned char buff[4]; 
-
-	buff[0] = PICC_HALT;
-	buff[1] = 0;
-	RC522_calculateCRC(buff, 2, &buff[2]);
- 
-	status = RC522_toCard(PCD_TRANSCEIVE, buff, 4, buff,&unLen);
-
-	return status;
-}

Mfrc522.h

@@ -1,145 +0,0 @@
-/*
-	File: Mfrc522.h
-	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
-*/
-#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

NFC.c

@@ -1,4 +0,0 @@
-#include <msp430.h>
-#include "NFC.h"
-#include "Mfrc522.h"
-

NFC.h

@@ -1,32 +0,0 @@
-/*
- * NFC.c
- *
- *  Created on: 22 mei 2020
- *      Author: Yeti
- */
-
-#ifndef NFC_C_
-#define NFC_C_
-
-#include "typedefExtention.h"
-
-//NFCNummer return serienummer van de NFC-tag
-uchar* NFCAvailable(); //is er een kaart en is het leesbaar? serienummer
-
-//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); // controle of de data kan worden gelezen
-
-//stuur richting door pls
-
-// byte van de NFCRead doorsturen naar RGBLed_update
-uchar RGBLed_update (uchar Colour);
-
-char NFCCheck(); // ongeldige dat in de min en geldige data is positief
-
-
-#endif

main.c

@@ -1,30 +1,21 @@
 #include <msp430.h>
-#include <math.h>
 #include "SPI.h"
 #include "motorDriver.h"
-#include "motionController.h"
+//#include "motionController.h"
-#include "NFC.h"
 
 /* pinout
  *
  * motor driver:
- * CLK  <-> P1.4*
+ * CLK  <-> P1.4
- * MOSI <-> P1.1*
+ * MOSI <-> P1.1
- * MISO <-> P1.2*
+ * MISO <-> P1.2
  * CS   <-> P1.3
  * 
- * motion controller:
+ * motoren:
- * CLK  <-> P1.4*
+ * stepR <-> P1.6
- * MOSI <-> P1.1*
+ * dirR  <-> P2.5
- * MISO <-> P1.2*
+ * stepL <-> P1.7
- * CS   <-> P1.0
+ * dirL  <-> P2.6
- * 
- * NFC tag reader:
- * CLK  <-> P1.4*
- * MOSI <-> P1.1*
- * MISO <-> P1.2*
- * CS   <-> P1.6
- * RST  <-> P1.7
  * 
  * Lijndetectie:
  * front right <-> P2.0
@@ -32,25 +23,182 @@
  * back right  <-> P2.2
  * back left   <-> P2.3
  * 
- * *) this is a shared SPI pin.
- * 
  * */
 
+/*
+ * 0: motor test
+ * 1: NFC test
+ * 2: motioncontroller test
+ */
+#define TEST 0
+
+#define STEPr_PIN  BIT4
+#define STEPl_PIN  BIT5 // PORT 2
+#define DIRr_PIN   BIT6 // PORT 1
+#define DIRl_PIN   BIT7 // PORT 1
+enum Direction {Forward=0, Backward=(DIRl_PIN | DIRr_PIN), rotateRight=DIRr_PIN, rotateLeft=DIRl_PIN};
+enum Speed {Fast=35, Normal=70, Slow=140, Stop=0}; // *10 us per step
+
+const ulong halfRound = 2800;
+
+/* delay(): wait the given time
+ *
+ * @pram tus (ulong): time to wait in ten microsecons (tus * 10us)
+ */
+void delay(ulong tus){
+  while(tus != 0){
+    tus--;
+    __delay_cycles(160);
+  }
+}
+
+//TODO: add more steps in accareration
+/* move(): rotate the motors n steps on the fastest motor
+ *
+ * @pram n (uint): number of steps for the fastest motor
+ * @pram SR (enum Speed): speed for right motor
+ * @pram SL (enum Speed): speed for left motor
+ */
+void move(uint n, enum Speed SR, enum Speed SL){
+  enum Speed speed[2];
+  uchar start, fastest, slowest, fastPin, i;
+  uint dev;
+
+  speed[0] = SR;
+  speed[1] = SL;
+
+  // end of acceration (start on the fiven speed)
+  start = n - 100;
+
+  // get fastest speed
+  if(speed[0] > speed[1]){
+    fastest = 1;
+    slowest = 0;
+    fastPin = STEPl_PIN;
+  }else{
+    fastest = 0;
+    slowest = 1;
+    fastPin = STEPr_PIN;
+  }
+
+  if(speed[slowest] == Stop){
+    dev = 65535; // this is not quite stop but close enough
+  }else{
+    dev = speed[fastest]/speed[slowest];
+  }
+
+  if(speed[fastest] == Stop){
+    return; // fastest speed is stop, so dont need to run the motors
+  }
+
+  // acceleration
+  while(n > start && n != 0){
+    n--;
+
+    if(speed[slowest] == Stop){
+      P2OUT |= fastPin;
+      P2OUT &= ~fastPin;
+    }else{
+      P2OUT |= (STEPl_PIN | STEPr_PIN);
+      P2OUT &= ~(STEPl_PIN | STEPr_PIN);
+    }
+
+    delay(Slow);
+  }
+
+  // run on given speed
+  i = dev;
+  while(n != 0){
+    n--;
+    i--;
+
+    if(i == 0){
+      P2OUT |= (STEPl_PIN | STEPr_PIN);
+      P2OUT &= ~(STEPl_PIN | STEPr_PIN);
+      i = dev;
+    }else{
+      P2OUT |= fastPin;
+      P2OUT &= ~fastPin;
+    }
+
+    if(n == 100){ // start deaccaleration
+      speed[fastest] = Slow;
+      if(speed[slowest] != Stop){
+        dev = 1;
+      }
+    }
+    delay(speed[fastest]);
+  }
+  __delay_cycles(160000);
+}
+
+/* dir(): set the directon to rotatate the motors
+ *
+ * @pram d (enum Direction): [Forward | Backward | rotateRight | rotateLeft]
+ */
+void dir(enum Direction d){
+  P1OUT &= ~(DIRr_PIN | DIRl_PIN); // set dir bits to 0
+  P1OUT |= d;
+}
+
+
 /**
  * main.c
  */
+
 int main(void)
 {
+    int i, ii;
     WDTCTL = WDTPW | WDTHOLD;   // stop watchdog timer
 
     // set cpu op 16MHz
     BCSCTL1 = CALBC1_16MHZ;
     DCOCTL  = CALDCO_16MHZ;
 
+    P2DIR |= STEPr_PIN | STEPl_PIN;
+    P1DIR |= DIRr_PIN | DIRl_PIN;
+
     SPIInit();
     MDInit();
-    MCInit();
+    //MCInit();
     //NFCInit();
 
+    __delay_cycles(16000000);
+
+    for(ii=2; ii>0; ii--){
+      // forward
+      dir(Forward);
+      move(10000, Fast, Fast);
+      dir(rotateRight);
+      move(halfRound, Normal, Normal);
+      // return
+      dir(Forward);
+      move(10000, Fast, Fast);
+      dir(rotateLeft);
+      move(halfRound, Normal, Normal);
+    }
+    for(ii=2; ii>0; ii--){
+      for(i=5; i>0; i--){
+        dir(Forward);
+        move(1600, Fast, Fast);
+        dir(rotateRight);
+        move(halfRound/2, Normal, Normal);
+      }
+      dir(Forward);
+      move(1600, Fast, Fast);
+      dir(rotateRight);
+      move(halfRound, Normal, Normal);
+      for(i=5; i>0; i--){
+        dir(Forward);
+        move(1600, Fast, Fast);
+        dir(rotateLeft);
+        move(halfRound/2, Normal, Normal);
+      }
+      dir(Forward);
+      move(1600, Fast, Fast);
+      dir(rotateLeft);
+      move(halfRound, Normal, Normal);
+    }
+
     return 0;
 }

motionController.c

@@ -172,21 +172,15 @@ void MCInit(){
   MC_read(MC_AMax1);
 }
 
-void MCSetV(uchar m, int v){
+void MCSetV(enum MC_motor m, int v){
+  uchar addr = MC_VTar1 | m;
+
+  // shorten the int
   if(v < 0)
     v |= 0x0800; // set signed bit
   else
     v &= ~0x0800; // remove signed bit
   v &= 0x0FFF; // contraint to 12 bits
-  switch (m){
+
-    case 1:
+  MC_write(addr, v);
-      MC_write(MC_VTar1, v);
-      break;
-    case 2:
-      MC_write(MC_VTar2, v);
-      break;
-    case 3:
-      MC_write(MC_VTar3, v);
-      break;
-  }
 }

motionController.h

@@ -8,7 +8,9 @@
 #ifndef MOTIONCONTROLLER_H_
 #define MOTIONCONTROLLER_H_
 
+enum MC_motor {MC_MotorR=0x00, MC_MotorL=0x20};
+
 void MCInit();
-void MCSetV(uchar m, int v);
+void MCSetV(enum MC_motor m, int v);
 
 #endif /* MOTIONCONTROLLER_H_ */

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;
 
@@ -124,13 +108,29 @@ 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
 
   MDStatus();
 
-  MD_write(MD_GCONF, MD_GCONF_stepdir2Enable | MD_GCONF_stepdir1Enable | MD_GCONF_motor2Revers);
+  MD_write(MD_GCONF, MD_GCONF_stepdir2Enable | MD_GCONF_stepdir1Enable | MD_GCONF_motor2Revers | MD_GCONF_motor1Revers);
   MD_write(MD_CC1, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_16US | MD_CC_16ustapI);
   MD_write(MD_CC2, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_16US | MD_CC_16ustapI);
   MD_write(MD_IHIR1, 10ul<<MD_IHIR_iHold | 31ul<<MD_IHIR_iRun | 6ul<<md_IHIR_iHoldDelay);

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