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inital nfc code

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This commit is contained in:
uvos
2022-03-09 10:24:23 +01:00
parent 395c9f3e2c
commit a08c8e447f
13 changed files with 1091 additions and 19 deletions
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4
CMakeLists.txt
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@ -17,7 +17,7 @@ set(PORT_SPEED "57600" CACHE STRING "Serial Port Speed")
set(PROGRAMMER "stk500v1" CACHE STRING "Programmer Type") set(PROGRAMMER "stk500v1" CACHE STRING "Programmer Type")
set(COMPILE_FLAGS "" CACHE STRING "Additional Compiler Flags") set(COMPILE_FLAGS "" CACHE STRING "Additional Compiler Flags")
set(SRC_FILES main.cpp serial.cpp train.cpp item.cpp turnout.cpp signal.cpp) set(SRC_FILES main.cpp serial.cpp train.cpp item.cpp turnout.cpp signal.cpp softspim.cpp nfcbord.cpp mfrc522.cpp)
# Compiler suite specification # Compiler suite specification
set(CMAKE_C_COMPILER /usr/bin/avr-gcc) set(CMAKE_C_COMPILER /usr/bin/avr-gcc)
@ -29,7 +29,7 @@ set(CMAKE_LINKER /usr/bin/avr-ld)
# Compiler flags # Compiler flags
add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED}) add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED})
add_definitions(-s -c -g -Os -Wall -std=c++17 ) add_definitions(-s -c -g -O2 -Wall -std=c++17 )
add_definitions(-fno-exceptions -ffunction-sections -fdata-sections) add_definitions(-fno-exceptions -ffunction-sections -fdata-sections)
# Linker flags # Linker flags

75
inputshiftreg.h Normal file
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@ -0,0 +1,75 @@
#pragma once
template <int BITS> class InputShiftReg
{
private:
static constexpr int BYTES = (BITS % 8 == 0) ? (BITS/8) : (BITS/8+1);
static constexpr bool invert = true;
static constexpr bool invertInput = false;
volatile unsigned char *_port;
volatile unsigned char *_pin;
const unsigned char _pinSerOut;
const unsigned char _pinClk;
const unsigned char _pinParallelLoad;
unsigned char data[BYTES];
public:
InputShiftReg(volatile unsigned char* const portReg, volatile unsigned char* const pinReg,
const unsigned char clk, const unsigned char serOut, const unsigned char parallelLoad):
_port(portReg), _pin(pinReg), _pinSerOut(serOut), _pinClk(clk), _pinParallelLoad(parallelLoad)
{
}
bool getBit(unsigned char bit)
{
if(BITS <= bit)
return false;
bit = BITS - bit - 1;
return data[bit/8] & (1<<(bit%8));
}
unsigned char* read()
{
if constexpr(invert)
{
*_port &= ~(1<<_pinParallelLoad);
*_port |= (1<<_pinParallelLoad);
*_port &= ~(1<<_pinParallelLoad);
for(unsigned char i = 0; i < BITS; ++i)
{
*_port &= ~(1 << _pinClk);
bool value = *_pin & (1 << _pinSerOut);
if constexpr(invertInput)
value = !value;
if(value)
data[i/8] |= (1<<(i%8));
else
data[i/8] &= ~(1<<(i%8));
*_port |= (1 << _pinClk);
}
}
else
{
*_port |= (1<<_pinParallelLoad);
*_port &= ~(1<<_pinParallelLoad);
*_port |= (1<<_pinParallelLoad);
for(unsigned char i = 0; i < BITS; ++i)
{
*_port |= (1 << _pinClk);
bool value = *_pin & (1 << _pinSerOut);
if constexpr(invertInput)
value = !value;
if(value)
data[i/8] |= (1<<(i%8));
else
data[i/8] &= ~(1<<(i%8));
*_port &= ~(1 << _pinClk);
}
}
return data;
}
};

18
main.cpp
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@ -12,19 +12,17 @@
#include "staticvector.h" #include "staticvector.h"
#include "turnout.h" #include "turnout.h"
#include "signal.h" #include "signal.h"
#include "shiftreg.h"
#define COMMAND_BUFFER_SIZE 64 #include "softspim.h"
#define SNPRINTF_BUFFER_SIZE 128 #include "nfcbord.h"
#define EPPROM_SIZE 1024 #include "defines.h"
char buffer[SNPRINTF_BUFFER_SIZE]; char buffer[SNPRINTF_BUFFER_SIZE];
static constexpr uint8_t EEPROM_RESERVE = 32;
static constexpr uint8_t BLOCK = 4;
SVector<Train, 32> trains; SVector<Train, 32> trains;
SVector<Turnout, 32> turnouts; SVector<Turnout, 32> turnouts;
SVector<Signal, 32> signals; SVector<Signal, 32> signals;
NfcBoard nfcBoard;
bool autoff = true; bool autoff = true;
bool powerIsOn = true; bool powerIsOn = true;
@ -252,6 +250,12 @@ void serialDispatch(Serial* serial)
if(token != NULL) if(token != NULL)
ret = signalDispatch(token, serial); ret = signalDispatch(token, serial);
} }
else if(strcmp(token, "nfc") == 0)
{
token = strtok(NULL, " ");
if(token != NULL)
ret = nfcBoard.dispatch(token, serial);
}
else if(strncmp(token, "erase", 4) == 0) else if(strncmp(token, "erase", 4) == 0)
{ {
for(uint16_t i = 0; i < EPPROM_SIZE; i++) EEPROM_write_char(i, 0); for(uint16_t i = 0; i < EPPROM_SIZE; i++) EEPROM_write_char(i, 0);

450
mfrc522.cpp Normal file
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@ -0,0 +1,450 @@
#include "mfrc522.h"
uint8_t Mfrc522::read(uint8_t addr)
{
_csReg->setBit(_csPin, false);
_spi->readWrite((addr << 1) | (1 << 7));
uint8_t res = _spi->readWrite();
_csReg->setBit(_csPin, true);
return res;
}
void Mfrc522::read(uint8_t addr, uint8_t* data, uint8_t datalen, uint8_t rxAlign)
{
_csReg->setBit(_csPin, false);
_spi->readWrite(addr << 1 | (1 << 7));
for(uint8_t i = 0; i < datalen; ++i)
{
if(i == 0 && rxAlign)
{
uint8_t mask = 0;
for (uint8_t j = rxAlign; j <= 7; ++j)
mask |= (1 << j);
uint8_t value = _spi->readWrite();
data[0] = (data[0] & ~mask) | (value & mask);
}
else
{
data[i] = _spi->readWrite();
}
}
_csReg->setBit(_csPin, true);
}
void Mfrc522::write(uint8_t addr, uint8_t data)
{
_csReg->setBit(_csPin, false);
_spi->readWrite(addr << 1);
_spi->readWrite(data);
_csReg->setBit(_csPin, true);
}
void Mfrc522::write(uint8_t addr, uint8_t* data, uint8_t datalen)
{
_csReg->setBit(_csPin, false);
_spi->readWrite(addr << 1);
_spi->readWrite(datalen, nullptr, data);
_csReg->setBit(_csPin, true);
}
void Mfrc522::updateBit(uint8_t addr, uint8_t bit, bool value)
{
uint8_t old = read(addr);
write(addr, value ? old | (1 << bit) : old & ~(1 << bit));
}
void (*_tagEnterdCb)(Mfrc522*, void*);
void* _userData;
Mfrc522::Mfrc522(SpiMaster* spi, ShiftReg<NFC_PORTS>* csReg, uint8_t csPin,
void (*tagEnterdCb)(Mfrc522*, void*), void* userData):
_csReg(csReg), _spi(spi), _csPin(csPin), _tagEnterdCb(tagEnterdCb), _userData(userData)
{
write(CommandReg, SOFTRESET);
_delay_ms(100);
write(TModeReg, 0x80);
write(TPrescalerReg, 0xA9);
write(TReloadRegH, 0x03);
write(TReloadRegL, 0xE8);
write(ModWidthReg, 0x26);
write(RFCfgReg, 0b111 << 4); //set gain to 48dB
write(TxAutoReg, 0x40); // Default 0x00. Force a 100 % ASK modulation independent of the ModGsPReg register setting
write(ModeReg, 0x3D); // Default 0x3F. Set the preset value for the CRC coprocessor for the CalcCRC command to 0x6363 (ISO 14443-3 part 6.2.4)
//write(DivIEnReg, 0b10010000); // enable MfinActIrq as push-pull
//write(ComIEnReg, 0b00100000); // enable Rx irq
setRf(true);
}
uint8_t Mfrc522::calculateCrc(uint8_t *data, uint8_t length, uint16_t *result)
{
write(CommandReg, IDLE); // Stop any active command.
write(DivIrqReg, 0x04); // Clear the CRCIRq interrupt request bit
updateBit(FIFOLevelReg, 7, true); // FlushBuffer = 1, FIFO initialization
write(FIFODataReg, data, length); // Write data to the FIFO
write(CommandReg, CALCCRC); // Start the calculation
// Wait for the CRC calculation to complete.
uint16_t i = 5000;
while(!(read(DivIrqReg) & 0x04) && i != 0)
--i;
if(i == 0)
return ERR;
write(CommandReg, IDLE);
*result = read(CRCResultRegL);
*result = read(CRCResultRegH) << 8;
return 0;
}
uint8_t Mfrc522::commuicateWithTag(uint8_t command, uint8_t waitIrq,
uint8_t *sendData, uint8_t sendLen,
uint8_t *recvData, uint8_t *recvLen,
uint8_t validBits, uint8_t rxAlign,
uint8_t *rxValidBits)
{
write(CommandReg, IDLE);
write(ComIrqReg, 0b01111111); // clear irqs
write(FIFOLevelReg, 1 << 7); // Flush fifo Buffer;
write(FIFODataReg, sendData, sendLen); // Fill fifo
write(BitFramingReg, (rxAlign << 4) + validBits);
write(CommandReg, command); // Execute the command
if (command == TRANSCEIVE)
updateBit(BitFramingReg, 7, true);
uint16_t i = 2000;
uint8_t irq = read(ComIrqReg);
while(irq & waitIrq)
{
irq = read(ComIrqReg);
if(irq & 0x01 || --i == 0)
{
if(serial)
serial->write_p(PSTR("timeout\n"));
return TIMEOUT;
}
}
uint8_t errorRegValue = read(ErrorReg);
if (errorRegValue & 0b00010011) // BufferOvfl ParityErr ProtocolErr
{
if(serial)
serial->write_p(PSTR("BufferOvfl ParityErr ProtocolErr\n"));
return ERR;
}
if (recvData && recvLen)
{
uint8_t fifoBites = read(FIFOLevelReg);
if(serial)
{
serial->write_p(PSTR("fifo has "));
serial->write((int)fifoBites);
serial->write_p(PSTR(" bytes\n"));
}
if(fifoBites > *recvLen)
return LEN;
*recvLen = fifoBites;
read(FIFODataReg, recvData, fifoBites, rxAlign);
if(rxValidBits)
*rxValidBits = read(ControlReg) & 0x07;
}
if(errorRegValue & 0x08)
{
if(serial)
serial->write_p(PSTR("collision err\n"));
return COLLISION;
}
return 0;
}
uint8_t Mfrc522::transceive(uint8_t *sendData, uint8_t sendLen, uint8_t *recvData, uint8_t *recvLen,
uint8_t validBits, uint8_t rxAlign, uint8_t *rxValidBits)
{
uint8_t waitIRq = 0x30; // RxIRq and IdleIRq
return commuicateWithTag(TRANSCEIVE, waitIRq, sendData, sendLen, recvData,
recvLen, validBits, rxAlign, rxValidBits);
}
uint8_t Mfrc522::wakeupTag(uint8_t* bufferATQA, uint8_t *bufferLen)
{
if(*bufferLen < 2)
return ERR;
updateBit(CollReg, 7, false);
uint8_t data = PICC_CMD_WUPA;
uint8_t ret = transceive(&data, 1, bufferATQA, bufferLen, 7);
if(*bufferLen != 2)
return ERR;
return ret;
}
uint8_t Mfrc522::selectTag(Uid *uid)
{
bool uidComplete;
bool selectDone;
uint8_t cascadeLevel = 0;
uint8_t result;
uint8_t count;
uint8_t checkBit;
uint8_t index;
uint8_t uidIndex; // The first index in uid->uidByte[] that is used in the current Cascade Level.
int8_t currentLevelKnownBits; // The number of known UID bits in the current Cascade Level.
uint8_t buffer[9]; // The SELECT/ANTICOLLISION commands uses a 7 uint8_t standard frame + 2 uint8_ts CRC_A
uint8_t bufferUsed; // The number of uint8_ts used in the buffer, ie the number of uint8_ts to transfer to the FIFO
uint8_t txLastBits; // Used in BitFramingReg. The number of valid bits in the last transmitted uint8_t.
uint8_t *responseBuffer;
uint8_t responseLength;
if(serial)
serial->write_p(PSTR("Select\n"));
// Description of buffer structure:
// Byte 0: SEL Indicates the Cascade Level: PICC_CMD_SEL_CL1, PICC_CMD_SEL_CL2 or PICC_CMD_SEL_CL3
// Byte 1: NVB Number of Valid Bits (in complete command, not just the UID): High nibble: complete bytes, Low nibble: Extra bits.
// Byte 2: UID-data or CT See explanation below. CT means Cascade Tag.
// Byte 3: UID-data
// Byte 4: UID-data
// Byte 5: UID-data
// Byte 6: BCC Block Check Character - XOR of bytes 2-5
// Byte 7: CRC_A
// Byte 8: CRC_A
// The BCC and CRC_A is only transmitted if we know all the UID bits of the current Cascade Level.
//
// Description of bytes 2-5: (Section 6.5.4 of the ISO/IEC 14443-3 draft: UID contents and cascade levels)
// UID size Cascade level Byte2 Byte3 Byte4 Byte5
// ======== ============= ===== ===== ===== =====
// 4 bytes 1 uid0 uid1 uid2 uid3
// 7 bytes 1 CT uid0 uid1 uid2
// 2 uid3 uid4 uid5 uid6
// 10 bytes 1 CT uid0 uid1 uid2
// 2 CT uid3 uid4 uid5
// 3 uid6 uid7 uid8 uid9
// Prepare MFRC522
updateBit(CollReg, 7, false); // ValuesAfterColl=1 => Bits received after collision are cleared.
// Repeat Cascade Level loop until we have a complete UID.
uidComplete = false;
currentLevelKnownBits = 0;
while(!uidComplete)
{
// Set the Cascade Level in the SEL byte, find out if we need to use the Cascade Tag in byte 2.
switch(cascadeLevel)
{
case 0:
buffer[0] = PICC_CMD_SEL_CL1;
uidIndex = 0;
break;
case 1:
buffer[0] = PICC_CMD_SEL_CL2;
uidIndex = 3;
break;
case 2:
buffer[0] = PICC_CMD_SEL_CL3;
uidIndex = 6;
break;
default:
if(serial)
serial->write_p(PSTR("err cascadeLevel\n"));
return ERR;
break;
}
// Copy the known bits from uid->uidByte[] to buffer[]
index = 2; // destination index in buffer[]
// The number of bytes needed to represent the known bits for this level.
uint8_t bytesToCopy = currentLevelKnownBits / 8 + (currentLevelKnownBits % 8 ? 1 : 0);
if(bytesToCopy)
{
// Max 4 bytes in each Cascade Level. Only 3 left if we use the Cascade Tag
uint8_t maxBytes = 4;
if (bytesToCopy > maxBytes)
bytesToCopy = maxBytes;
for (count = 0; count < bytesToCopy; count++)
buffer[index++] = uid->uidByte[uidIndex + count];
}
// Repeat anti collision loop until we can transmit all UID bits + BCC and receive a SAK - max 32 iterations.
selectDone = false;
while (!selectDone)
{
// Find out how many bits and bytes to send and receive.
if (currentLevelKnownBits >= 32) // All UID bits in this Cascade Level are known. This is a SELECT.
{
buffer[1] = 0x70; // NVB - Number of Valid Bits: Seven whole bytes
// Calculate BCC - Block Check Character
buffer[6] = buffer[2] ^ buffer[3] ^ buffer[4] ^ buffer[5];
// Calculate CRC_A
result = calculateCrc(buffer, 7, reinterpret_cast<uint16_t*>(&buffer[7]));
if (result != 0)
{
if(serial)
serial->write_p(PSTR("err calculateCrc\n"));
return result;
}
txLastBits = 0; // 0 => All 8 bits are valid.
bufferUsed = 9;
// Store response in the last 3 bytes of buffer (BCC and CRC_A - not needed after tx)
responseBuffer = &buffer[6];
responseLength = 3;
}
else // This is an ANTICOLLISION.
{
txLastBits = currentLevelKnownBits % 8;
count = currentLevelKnownBits / 8; // Number of whole bytes in the UID part.
index = 2 + count; // Number of whole bytes: SEL + NVB + UIDs
buffer[1] = (index << 4) + txLastBits; // NVB - Number of Valid Bits
bufferUsed = index + (txLastBits ? 1 : 0);
// Store response in the unused part of buffer
responseBuffer = &buffer[index];
responseLength = sizeof(buffer) - index;
}
// Set bit adjustments
uint8_t rxAlign = txLastBits;
// RxAlign = BitFramingReg[6..4]. TxLastBits = BitFramingReg[2..0]
write(BitFramingReg, (rxAlign << 4) + txLastBits);
if(serial)
{
serial->write_p(PSTR("entering transceive "));
serial->write((int)responseLength);
serial->putChar(' ');
serial->write((int)txLastBits);
serial->putChar(' ');
serial->write((int)currentLevelKnownBits);
serial->putChar('\n');
}
// Transmit the buffer and receive the response.
result = transceive(buffer, bufferUsed, responseBuffer, &responseLength, txLastBits, rxAlign, &txLastBits);
if (result == COLLISION) // More than one PICC in the field => collision.
{
result = read(CollReg); // CollReg[7..0] bits are: ValuesAfterColl reserved CollPosNotValid CollPos[4:0]
if (result & 0x20)
{
if(serial)
serial->write_p(PSTR("err collision\n"));
return COLLISION; // Without a valid collision position we cannot continue
}
uint8_t collisionPos = result & 0x1F; // Values 0-31, 0 means bit 32.
if (collisionPos == 0) {
collisionPos = 32;
}
if (collisionPos <= currentLevelKnownBits) // No progress - should not happen
{
if(serial)
serial->write_p(PSTR("err No progress\n"));
return ERR;
}
// Choose the PICC with the bit set.
currentLevelKnownBits = collisionPos;
count = currentLevelKnownBits % 8; // The bit to modify
checkBit = (currentLevelKnownBits - 1) % 8;
index = 1 + (currentLevelKnownBits / 8) + (count ? 1 : 0); // First byte is index 0.
buffer[index] |= (1 << checkBit);
}
else if (result != 0)
{
if(serial)
serial->write_p(PSTR("err transceive\n"));
return result;
}
else
{
if (currentLevelKnownBits >= 32) // This was a SELECT.
selectDone = true;
else // This was an ANTICOLLISION. Run loop again to do the SELECT.
currentLevelKnownBits = 32;
}
}
// We do not check the CBB - it was constructed by us above.
// Copy the found UID bytes from buffer[] to uid->uidByte[]
index = (buffer[2] == PICC_CMD_CT) ? 3 : 2; // source index in buffer[]
bytesToCopy = (buffer[2] == PICC_CMD_CT) ? 3 : 4;
for (count = 0; count < bytesToCopy; count++)
{
uid->uidByte[uidIndex + count] = buffer[index++];
}
// Check response SAK (Select Acknowledge)
if (responseLength != 3 || txLastBits != 0) // SAK must be exactly 24 bits (1 byte + CRC_A).
{
if(serial)
{
serial->write_p(PSTR("err SAK "));
serial->write((int)responseLength);
serial->putChar(' ');
serial->write((int)txLastBits);
serial->putChar('\n');
}
return ERR;
}
// Verify CRC_A - do our own calculation and store the control in buffer[2..3] - those bytes are not needed anymore.
result = calculateCrc(responseBuffer, 1, reinterpret_cast<uint16_t*>(&buffer[2]));
if (result != 0)
return result;
if ((buffer[2] != responseBuffer[1]) || (buffer[3] != responseBuffer[2]))
return CRC;
if (responseBuffer[0] & 0x04) // Cascade bit set - UID not complete yes
{
cascadeLevel++;
}
else
{
uidComplete = true;
uid->sak = responseBuffer[0];
}
} // End of while ( ! uidComplete)
// Set correct uid->size
uid->size = 3 * cascadeLevel + 2;
return 0;
}
void Mfrc522::irq()
{
}
void Mfrc522::setRf(bool on)
{
uint8_t value = read(TxControlReg);
if(on && (value & 0x03) != 0x03)
write(TxControlReg, value | 0x03);
else if(!on && (value & 0x03) != 0x00)
write(TxControlReg, value & ~0x03);
}
bool Mfrc522::cardPresent()
{
uint8_t bufferATQA[2];
uint8_t bufferLen = sizeof(bufferATQA);
uint8_t ret = wakeupTag(bufferATQA, &bufferLen);
return ret == 0 || ret == COLLISION;
}
bool Mfrc522::probe(SpiMaster* spi, ShiftReg<NFC_PORTS>* csReg, uint8_t csPin)
{
csReg->setBit(csPin, false);
spi->readWrite((VersionReg << 1) | (1 << 7));
uint8_t version = spi->readWrite();
csReg->setBit(csPin, true);
return version == 0x91 || version == 0x92;
}

187
mfrc522.h Normal file
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@ -0,0 +1,187 @@
#pragma once
#include "shiftreg.h"
#include "softspim.h"
#include "defines.h"
#include "serial.h"
class Mfrc522
{
public:
// Error codes.
static constexpr uint8_t OK = 0; // Everything A-OK.
static constexpr uint8_t NOTAGERR = 1; // No tag error
static constexpr uint8_t TIMEOUT = 2; // Timeout error
static constexpr uint8_t LEN = 3; // Buffer length error
static constexpr uint8_t COLLISION = 4; // Chip collision
static constexpr uint8_t CRC = 5; // CRC incorrect collision
static constexpr uint8_t ERR = 6; // General error
// Command words
static constexpr uint8_t IDLE = 0x00; // NO action; Cancel the current command
static constexpr uint8_t MEM = 0x01; // Store 25 byte into the internal buffer.
static constexpr uint8_t GENID = 0x02; // Generates a 10 byte random ID number.
static constexpr uint8_t CALCCRC = 0x03; // CRC Calculate or selftest.
static constexpr uint8_t TRANSMIT = 0x04; // Transmit data
static constexpr uint8_t NOCMDCH = 0x07; // No command change.
static constexpr uint8_t RECEIVE = 0x08; // Receive Data
static constexpr uint8_t TRANSCEIVE = 0x0C; // Transmit and receive data
static constexpr uint8_t AUTHENT = 0x0E; // Authentication Key
static constexpr uint8_t SOFTRESET = 0x0F; // Reset
// Tag command words
static constexpr uint8_t MF1_REQIDL = 0x26; // find the antenna area does not enter hibernation
static constexpr uint8_t MF1_REQALL = 0x52; // find all the tags antenna area
static constexpr uint8_t MF1_ANTICOLL = 0x93; // anti-collision
static constexpr uint8_t MF1_SELECTTAG = 0x93; // ??? election tag
static constexpr uint8_t MF1_AUTHENT1A = 0x60; // authentication key A
static constexpr uint8_t MF1_AUTHENT1B = 0x61; // authentication key B
static constexpr uint8_t MF1_READ = 0x30; // Read Block
static constexpr uint8_t MF1_WRITE = 0xA0; // write block
static constexpr uint8_t MF1_DECREMENT = 0xC0; // debit
static constexpr uint8_t MF1_INCREMENT = 0xC1; // recharge
static constexpr uint8_t MF1_RESTORE = 0xC2; // transfer block data to the buffer
static constexpr uint8_t MF1_TRANSFER = 0xB0; // save the data in the buffer
static constexpr uint8_t MF1_HALT = 0x50; // Sleep
//Page 0:Command and Status
static constexpr uint8_t CommandReg = 0x01;
static constexpr uint8_t ComIEnReg = 0x02;
static constexpr uint8_t DivIEnReg = 0x03;
static constexpr uint8_t ComIrqReg = 0x04;
static constexpr uint8_t DivIrqReg = 0x05;
static constexpr uint8_t ErrorReg = 0x06;
static constexpr uint8_t Status1Reg = 0x07;
static constexpr uint8_t Status2Reg = 0x08;
static constexpr uint8_t FIFODataReg = 0x09;
static constexpr uint8_t FIFOLevelReg = 0x0A;
static constexpr uint8_t WaterLevelReg = 0x0B;
static constexpr uint8_t ControlReg = 0x0C;
static constexpr uint8_t BitFramingReg = 0x0D;
static constexpr uint8_t CollReg = 0x0E;
//Page 1:Command
static constexpr uint8_t ModeReg = 0x11;
static constexpr uint8_t TxModeReg = 0x12;
static constexpr uint8_t RxModeReg = 0x13;
static constexpr uint8_t TxControlReg = 0x14;
static constexpr uint8_t TxAutoReg = 0x15;
static constexpr uint8_t TxSelReg = 0x16;
static constexpr uint8_t RxSelReg = 0x17;
static constexpr uint8_t RxThresholdReg= 0x18;
static constexpr uint8_t DemodReg = 0x19;
static constexpr uint8_t MifareReg = 0x1C;
static constexpr uint8_t SerialSpeedReg= 0x1F;
//Page 2:CFG
static constexpr uint8_t CRCResultRegH = 0x21;
static constexpr uint8_t CRCResultRegL = 0x22;
static constexpr uint8_t Reserved21 = 0x23;
static constexpr uint8_t ModWidthReg = 0x24;
static constexpr uint8_t RFCfgReg = 0x26;
static constexpr uint8_t GsNReg = 0x27;
static constexpr uint8_t CWGsPReg = 0x28;
static constexpr uint8_t ModGsPReg = 0x29;
static constexpr uint8_t TModeReg = 0x2A;
static constexpr uint8_t TPrescalerReg = 0x2B;
static constexpr uint8_t TReloadRegH = 0x2C;
static constexpr uint8_t TReloadRegL = 0x2D;
static constexpr uint8_t TCounterValueRegH = 0x2E;
static constexpr uint8_t TCounterValueRegL = 0x2F;
//Page 3:TestRegister
static constexpr uint8_t TestSel1Reg = 0x31;
static constexpr uint8_t TestSel2Reg = 0x32;
static constexpr uint8_t TestPinEnReg = 0x33;
static constexpr uint8_t TestPinValueReg = 0x34;
static constexpr uint8_t TestBusReg = 0x35;
static constexpr uint8_t AutoTestReg = 0x36;
static constexpr uint8_t VersionReg = 0x37;
static constexpr uint8_t AnalogTestReg = 0x38;
static constexpr uint8_t TestDAC1Reg = 0x39;
static constexpr uint8_t TestDAC2Reg = 0x3A;
static constexpr uint8_t TestADCReg = 0x3B;
// PICC (tag) commands
// The commands used by the PCD to manage communication with several PICCs (ISO 14443-3, Type A, section 6.4)
// REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection. 7 bit frame.
static constexpr uint8_t PICC_CMD_REQA = 0x26;
// Wake-UP command, Type A. Invites PICCs in state IDLE and HALT to go to READY(*) and prepare for anticollision or selection. 7 bit frame.
static constexpr uint8_t PICC_CMD_WUPA = 0x52; // Cascade Tag. Not really a command, but used during anti collision.
static constexpr uint8_t PICC_CMD_CT = 0x88;
static constexpr uint8_t PICC_CMD_SEL_CL1 = 0x93; // Anti collision/Select, Cascade Level 1
static constexpr uint8_t PICC_CMD_SEL_CL2 = 0x95; // Anti collision/Select, Cascade Level 1
static constexpr uint8_t PICC_CMD_SEL_CL3 = 0x97; // Anti collision/Select, Cascade Level 1
// HaLT command, Type A. Instructs an ACTIVE PICC to go to state HALT.
// The commands used for MIFARE Classic (from http://www.nxp.com/documents/data_sheet/MF1S503x.pdf, Section 9)
// Use PCD_MFAuthent to authenticate access to a sector, then use these commands to read/write/modify the blocks on the sector.
// The read/write commands can also be used for MIFARE Ultralight.
static constexpr uint8_t PICC_CMD_HLTA = 0x50;
static constexpr uint8_t PICC_CMD_MF_AUTH_KEY_A = 0x60; // Perform authentication with Key A
static constexpr uint8_t PICC_CMD_MF_AUTH_KEY_B = 0x61; // Perform authentication with Key B
// Reads one 16 byte block from the authenticated sector of the PICC. Also used for MIFARE Ultralight.
static constexpr uint8_t PICC_CMD_MF_READ = 0x30;
// Writes one 16 byte block to the authenticated sector of the PICC. Called "COMPATIBILITY WRITE" for MIFARE Ultralight.
static constexpr uint8_t PICC_CMD_MF_WRITE = 0xA0;
// Decrements the contents of a block and stores the result in the internal data register.
static constexpr uint8_t PICC_CMD_MF_DECREMENT = 0xC0;
// Increments the contents of a block and stores the result in the internal data register.
static constexpr uint8_t PICC_CMD_MF_INCREMENT = 0xC1;
// Reads the contents of a block into the internal data register.
static constexpr uint8_t PICC_CMD_MF_RESTORE = 0xC2;
// Writes the contents of the internal data register to a block.
static constexpr uint8_t PICC_CMD_MF_TRANSFER = 0xB0;
// The commands used for MIFARE Ultralight (from http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf, Section 8.6)
// The PICC_CMD_MF_READ and PICC_CMD_MF_WRITE can also be used for MIFARE Ultralight.
static constexpr uint8_t PICC_CMD_UL_WRITE = 0xA2; // Writes one 4 byte page to the PICC
typedef struct
{
uint8_t size; // Number of bytes in the UID. 4, 7 or 10.
uint8_t uidByte[10];
uint8_t sak; // The SAK (Select acknowledge) byte returned from the PICC after successful selection.
} Uid;
private:
ShiftReg<NFC_PORTS>* _csReg;
SpiMaster* _spi;
uint8_t _csPin;
uint8_t read(uint8_t addr);
void read(uint8_t addr, uint8_t* data, uint8_t datalen, uint8_t rxAlign = 0);
void write(uint8_t addr, uint8_t data);
void write(uint8_t addr, uint8_t* data, uint8_t datalen);
void updateBit(uint8_t addr, uint8_t bit, bool value);
void (*_tagEnterdCb)(Mfrc522*, void*);
void* _userData;
public:
inline static Serial* serial = nullptr;
Mfrc522(SpiMaster* spi, ShiftReg<NFC_PORTS>* csReg, uint8_t csPin,
void (*tagEnterdCb)(Mfrc522*, void*) = nullptr, void* userData = nullptr);
uint8_t calculateCrc(uint8_t *data, uint8_t length, uint16_t *result);
uint8_t commuicateWithTag(uint8_t command, uint8_t waitIrq,
uint8_t *sendData, uint8_t sendLen,
uint8_t *recvData, uint8_t *recvLen,
uint8_t validBits = 0, uint8_t rxAlign = 0,
uint8_t *rxValidBits = nullptr);
uint8_t transceive(uint8_t *sendData, uint8_t sendLen, uint8_t *recvData, uint8_t *recvLen,
uint8_t validBits = 0, uint8_t rxAlign = 0, uint8_t *rxValidBits = nullptr);
uint8_t wakeupTag(uint8_t* bufferATQA, uint8_t *bufferLen);
uint8_t selectTag(Uid *uid);
void irq();
void setRf(bool on);
bool cardPresent();
static bool probe(SpiMaster* spi, ShiftReg<NFC_PORTS>* csReg, uint8_t csPin);
};

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#include "nfcbord.h"
#include <avr/io.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include "writepin.h"
extern char buffer[SNPRINTF_BUFFER_SIZE];
NfcBoard::NfcBoard():
csReg(&PORTC, PC1, PC2, PC0),
irqReg(&PORTC, &PINB, PC5, PB1, PC4)
{
DDRC = (1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC4) | (1 << PC5);
DDRB = (1 << PB4) | (1 << PB3);
csReg.clear(true);
probe();
}
void NfcBoard::probe()
{
readers.clear();
irqPins.clear();
for(uint8_t i = 0; i < NFC_PORTS; ++i)
{
if(Mfrc522::probe(&spim, &csReg, i))
{
irqPins.push_back(i);
}
}
for(uint8_t i = 0; i < irqPins.count(); ++i)
{
readers.push_back(Mfrc522(&spim, &csReg, irqPins[i]));
}
}
void NfcBoard::printNfcDevices(Serial* serial)
{
serial->write_p(PSTR("NFC DEVICES:\n"));
for(uint8_t i = 0; i < readers.count(); ++i)
{
snprintf(buffer, SNPRINTF_BUFFER_SIZE, "NFC NUMBER: %u IRQ: %x\n", i, irqPins[i]);
serial->write(buffer, SNPRINTF_BUFFER_SIZE);
}
}
int NfcBoard::dispatch(char* inBuffer, Serial* serial)
{
if(strcmp(inBuffer, "tsta") == 0 )
{
serial->write_p(PSTR("Runing shift test\n"));
while(!serial->dataIsWaiting())
{
csReg.clear(false);
_delay_us(100);
}
serial->write_p(PSTR("Finished\n"));
csReg.clear(true);
return 0;
}
else if(strcmp(inBuffer, "tstb") == 0 )
{
serial->write_p(PSTR("Runing input shift test b\n"));
while(!serial->dataIsWaiting())
{
serial->write((int)(*irqReg.read()));
serial->putChar('\n');
_delay_us(100);
}
serial->write_p(PSTR("Finished\n"));
return 0;
}
else if(strcmp(inBuffer, "tstc") == 0 )
{
serial->write_p(PSTR("Runing spi test\n"));
while(!serial->dataIsWaiting())
{
csReg.setBit(1, false);
spim.readWrite((0x37 << 1) | (1 << 7));
serial->write((int)spim.readWrite());
serial->putChar('\n');
csReg.setBit(1, true);
_delay_us(100);
}
serial->write_p(PSTR("Finished\n"));
return 0;
}
else if(strcmp(inBuffer, "tstd") == 0 )
{
serial->write_p(PSTR("Runing tag detection test\n"));
bool oldPresent = false;
Mfrc522::serial = serial;
while(!serial->dataIsWaiting())
{
bool present = readers[0].cardPresent();
if(present && !oldPresent)
{
oldPresent = present;
serial->write_p(PSTR("Tag found, selecting\n"));
Mfrc522::Uid uid;
uint8_t res = readers[0].selectTag(&uid);
if(res != 0)
{
serial->write_p(PSTR("Select Failed with "));
serial->write((int)res);
serial->putChar('\n');
continue;
}
snprintf(buffer, SNPRINTF_BUFFER_SIZE, "Uid: %x %x %x %x %x %x %x %x %x %x\n",
uid.uidByte[0], uid.uidByte[1], uid.uidByte[2], uid.uidByte[3], uid.uidByte[4],
uid.uidByte[5], uid.uidByte[6], uid.uidByte[7], uid.uidByte[8], uid.uidByte[9]);
}
else if(!present && oldPresent)
{
serial->write_p(PSTR("Tag lost\n"));
oldPresent = present;
}
_delay_ms(100);
}
serial->write_p(PSTR("Finished\n"));
return 0;
}
else if(strcmp(inBuffer, "status") == 0 )
{
printNfcDevices(serial);
return 0;
}
else if(strcmp(inBuffer, "wake") == 0 )
{
uint8_t bufferATQA[2];
uint8_t len = sizeof(bufferATQA);
uint8_t res = readers[0].wakeupTag(bufferATQA, &len);
snprintf(buffer, SNPRINTF_BUFFER_SIZE, "wakeupTag returned: %u Buffer: 0x%x 0x%x len %u\n",
res, bufferATQA[0], bufferATQA[1], len);
serial->write(buffer, SNPRINTF_BUFFER_SIZE);
return 0;
}
else if(strcmp(inBuffer, "probe") == 0 )
{
probe();
printNfcDevices(serial);
return 0;
}
return -3;
}

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#pragma once
#include "serial.h"
#include "shiftreg.h"
#include "inputshiftreg.h"
#include "mfrc522.h"
#include "softspim.h"
#include "staticvector.h"
#include "defines.h"
class NfcBoard
{
public:
ShiftReg<NFC_PORTS> csReg;
InputShiftReg<NFC_PORTS> irqReg;
SpiMaster spim;
SVector<Mfrc522, NFC_PORTS> readers;
SVector<uint8_t, NFC_PORTS> irqPins;
NfcBoard();
void probe();
void printNfcDevices(Serial* serial);
int dispatch(char* inBuffer, Serial* serial);
};

2
serial.h
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#define SERIAL_H #define SERIAL_H
#define BAUD 38400 #define BAUD 38400
#define SERIAL_BUFFER_SIZE 512 #define SERIAL_BUFFER_SIZE 384
#include <util/setbaud.h> #include <util/setbaud.h>
#include <avr/io.h> #include <avr/io.h>

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#pragma once
#include <util/delay.h>
template <int BITS> class ShiftReg
{
private:
static constexpr int BYTES = (BITS % 8 == 0) ? (BITS/8) : (BITS/8+1);
static constexpr bool invert = true;
volatile unsigned char *_port;
const unsigned char _pinSer;
const unsigned char _pinSerClk;
const unsigned char _pinRClk;
unsigned char _lastData[BYTES] = {};
public:
ShiftReg(volatile unsigned char* const port, const unsigned char pinSer, const unsigned char pinSerClk,
const unsigned char pinRClk):
_port(port), _pinSer(pinSer), _pinSerClk(pinSerClk), _pinRClk(pinRClk)
{
clear();
}
void setBit(unsigned char bit, bool value)
{
if(BITS <= bit)
return;
bit = BITS - bit - 1;
if(value)
_lastData[bit/8] |= (1<<(bit%8));
else
_lastData[bit/8] &= ~(1<<(bit%8));
write(_lastData);
}
bool getBit(unsigned char bit)
{
if(BITS <= bit)
return false;
bit = BITS - bit - 1;
return _lastData[bit/8] & (1<<(bit%8));
}
void write(const unsigned char * const in)
{
for(unsigned char i = 0 ; i < BYTES; ++i)
_lastData[i] = in[i];
if constexpr(invert)
{
*_port |= ((1<<_pinSer) | (1<<_pinSerClk));
*_port |= (1<<_pinRClk);
for(unsigned char i = 0; i < BITS; ++i)
{
*_port |= (1 << _pinSerClk);
in[i/8] & (1<<(i%8)) ? (*_port &= ~(1 << _pinSer)) : (*_port |= (1 << _pinSer));
*_port &= ~(1 << _pinSerClk);
}
*_port &= ~(1<<_pinRClk);
}
else
{
*_port &= ~((1<<_pinSer) | (1<<_pinSerClk));
*_port &= ~(1<<_pinRClk);
for(unsigned char i = 0; i < BITS; ++i)
{
*_port &= ~(1 << _pinSerClk);
in[i/8] & (1<<(i%8)) ? (*_port |= (1 << _pinSer)) : (*_port &= ~(1 << _pinSer));
*_port |= (1 << _pinSerClk);
}
*_port |= 1<<_pinRClk;
}
}
void clear(bool value = false)
{
for(unsigned char i = 0 ; i < BYTES; ++i)
_lastData[i] = value ? 0xff : 0x00;
write(_lastData);
}
};

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#include "softspim.h"
#include "writepin.h"
#include <util/delay.h>
SpiMaster::SpiMaster()
{
}
uint8_t SpiMaster::readWrite(uint8_t in)
{
_delay_us(DELAY_TIME_US);
uint8_t recByte = 0;
for(uint8_t i = 0; i < 8; ++i)
{
if constexpr (BIT_ORDER == 0)
writePin(_port, _pinOut, in & (1 << i));
else
writePin(_port, _pinOut, in & (1 << (7-i)));
if constexpr (CLOCK_PHASE == 0)
_delay_us(DELAY_TIME_US);
writePin(_port, _pinClock, !CLOCK_POLARITY);
if constexpr (CLOCK_PHASE == 1)
_delay_us(DELAY_TIME_US);
if constexpr (BIT_ORDER == 0)
recByte |= readPin(_pinReg, _pinIn) << i;
else
recByte |= readPin(_pinReg, _pinIn) << (7-i);
if constexpr (CLOCK_PHASE == 0)
_delay_us(DELAY_TIME_US);
writePin(_port, _pinClock, CLOCK_POLARITY);
if constexpr (CLOCK_PHASE == 1)
_delay_us(DELAY_TIME_US);
}
return recByte;
}
void SpiMaster::readWrite(uint8_t length, uint8_t* bufferIn, uint8_t* bufferOut)
{
for(uint8_t i = 0; i < length; ++i)
{
uint8_t outByte = 0;
if(bufferOut) outByte = bufferOut[i];
uint8_t inByte = readWrite(outByte);
if(bufferIn) bufferIn[i] = inByte;
}
}
void SpiMaster::prepare()
{
writePin(_port, _pinClock, CLOCK_POLARITY);
}
void SpiMaster::write(uint8_t in)
{
readWrite(in);
}
uint8_t SpiMaster::read()
{
return readWrite();
}

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#pragma once
#include <avr/io.h>
#include <stdint.h>
class SpiMaster
{
private:
static constexpr uint8_t CLOCK_POLARITY = 1;
static constexpr uint8_t CLOCK_PHASE = 1;
static constexpr uint8_t BIT_ORDER = 1;
volatile uint8_t * const _port = &PORTB;
volatile uint8_t * const _pinReg = &PINB;
static constexpr uint8_t _pinIn = PB2;
static constexpr uint8_t _pinOut = PB4;
static constexpr uint8_t _pinClock = PB3;
static constexpr uint8_t DELAY_TIME_US = 10;
public:
SpiMaster();
void readWrite(uint8_t length, uint8_t* bufferIn, uint8_t* bufferOut);
uint8_t readWrite(uint8_t in = 0);
void prepare();
uint8_t read();
void write(uint8_t in);
};

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traindispatch.h
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#pragma once #pragma once
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include "serial.h"
#include "writepin.h"
void printTrainState(int id, Serial* serial) void printTrainState(int id, Serial* serial)
{ {