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97aa264b54063adf2a98db872e5d41adaa646733
MarklinController/mfrc522.cpp
uvos 97aa264b54 IRQ based tag polling
2022-03-10 22:25:35 +01:00

657 lines
18 KiB
C++
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#include "mfrc522.h"
Serial *Mfrc522::serial = nullptr;
uint8_t Mfrc522::reponseBuffer[Mfrc522::reponseBufferLen];
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);
const uint8_t addrS = addr << 1 | (1 << 7);
_spi->readWrite(addrS);
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(addrS);
data[0] = (data[0] & ~mask) | (value & mask);
}
else
{
data[i] = _spi->readWrite(addrS);
}
}
_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):
_csReg(csReg), _spi(spi), _csPin(csPin)
{
write(CommandReg, SOFTRESET);
_delay_ms(100);
write(TModeReg, 0x80);
write(TPrescalerReg, 0xA9);
write(TReloadRegH, 0x0B);
write(TReloadRegL, 0xB8);
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
updateBit(RxModeReg, 3, true);
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(ComIrqReg, 0b01111111);
write(ComIEnReg, 0); // invert irq pin (high is active)
write(DivIEnReg, 1 << 7); // enable MfinActIrq as push-pull
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);
if(serial)
{
serial->write_p(PSTR("Calculated CRC "));
serial->write((int)read(CRCResultRegL));
serial->putChar(' ');
serial->write((int)read(CRCResultRegH));
serial->putChar('\n');
}
*result = read(CRCResultRegL);
*result |= read(CRCResultRegH) << 8;
return 0;
}
void Mfrc522::setupTransceive(uint8_t *sendData, uint8_t sendLen, uint8_t validBits, uint8_t rxAlign)
{
write(FIFOLevelReg, 1 << 7); // Flush fifo Buffer;
write(FIFODataReg, sendData, sendLen); // Fill fifo
write(BitFramingReg, (rxAlign << 4) + validBits);
write(CommandReg, TRANSCEIVE); // Execute the command
if(serial)
{
serial->write_p(PSTR("Communicate params: CommandReg: "));
serial->write((int)read(CommandReg));
serial->putChar(' ');
serial->write_p(PSTR("FIFO: "));
for(uint8_t i = 0; i < sendLen; ++i)
{
serial->write((int)sendData[i]);
serial->putChar(' ');
}
serial->write_p(PSTR("BitFramingReg: "));
serial->write((int)read(BitFramingReg));
serial->putChar('\n');
}
updateBit(BitFramingReg, 7, true);
}
uint8_t Mfrc522::transceiveAsync(void (*transceiveCb)(uint8_t, Mfrc522*, uint8_t*, uint8_t, void*), void* userData,
uint8_t *sendData, uint8_t sendLen, uint8_t validBits, uint8_t rxAlign)
{
if(mode != MODE_IDLE)
return BUSY;
mode = MODE_TRANSCEIVE;
_transceiveCb = transceiveCb;
_transceiveUserData = userData;
write(CommandReg, IDLE);
write(ComIrqReg, 0b01111111); // clear irqs
write(ComIEnReg, (1 << 5) | (1 << 0));
setupTransceive(sendData, sendLen, validBits, rxAlign);
return 0;
}
void Mfrc522::transceiveAsyncFinish(uint8_t irq)
{
write(ComIEnReg, 0); // disable irqs
if(!_transceiveCb)
{
mode = MODE_IDLE;
updateBit(FIFOLevelReg, 7, true);
return;
}
uint8_t errorRegValue = read(ErrorReg);
if (errorRegValue & 0b00010011) // BufferOvfl ParityErr ProtocolErr
{
mode = MODE_IDLE;
_transceiveCb(ERR, this, nullptr, 0, _transceiveUserData);
return;
}
if(irq & 1)
{
mode = MODE_IDLE;
_transceiveCb(TIMEOUT, this, nullptr, 0, _transceiveUserData);
return;
}
uint8_t fifoBites = read(FIFOLevelReg);
if(fifoBites > reponseBufferLen)
_transceiveCb(LEN, this, nullptr, 0, _transceiveUserData);
read(FIFODataReg, reponseBuffer, fifoBites);
mode = MODE_IDLE;
if(errorRegValue & 0x08)
_transceiveCb(COLLISION, this, reponseBuffer, fifoBites, _transceiveUserData);
else
_transceiveCb(0, this, reponseBuffer, fifoBites, _transceiveUserData);
}
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)
{
write(CommandReg, IDLE);
write(ComIrqReg, 0b01111111); // clear irqs
setupTransceive(sendData, sendLen, validBits, rxAlign);
uint16_t i = 2000;
uint8_t irq = read(ComIrqReg);
while(!(irq & 0x30)) // RxIRq and IdleIRq
{
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(fifoBites > *recvLen)
return LEN;
*recvLen = fifoBites;
read(FIFODataReg, recvData, fifoBites, rxAlign);
if(rxValidBits)
*rxValidBits = read(ControlReg) & 0x07;
if(serial)
{
serial->write_p(PSTR("fifo has "));
serial->write((int)fifoBites);
serial->write_p(PSTR(" bytes: "));
for(uint8_t i = 0; i < fifoBites; ++i)
{
serial->write((int)recvData[i]);
serial->putChar(' ');
}
serial->putChar('\n');
}
}
if(errorRegValue & 0x08)
{
if(serial)
serial->write_p(PSTR("collision err\n"));
return COLLISION;
}
return 0;
}
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 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 *responseBufferPtr;
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:
reponseBuffer[0] = PICC_CMD_SEL_CL1;
uidIndex = 0;
break;
case 1:
reponseBuffer[0] = PICC_CMD_SEL_CL2;
uidIndex = 3;
break;
case 2:
reponseBuffer[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++)
reponseBuffer[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.
{
reponseBuffer[1] = 0x70; // NVB - Number of Valid Bits: Seven whole bytes
// Calculate BCC - Block Check Character
reponseBuffer[6] = reponseBuffer[2] ^ reponseBuffer[3] ^ reponseBuffer[4] ^ reponseBuffer[5];
// Calculate CRC_A
result = calculateCrc(reponseBuffer, 7, reinterpret_cast<uint16_t*>(&reponseBuffer[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)
responseBufferPtr = &reponseBuffer[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
reponseBuffer[1] = (index << 4) + txLastBits; // NVB - Number of Valid Bits
bufferUsed = index + (txLastBits ? 1 : 0);
// Store response in the unused part of buffer
responseBufferPtr = &reponseBuffer[index];
responseLength = sizeof(reponseBuffer) - 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(reponseBuffer, bufferUsed, responseBufferPtr, &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.
reponseBuffer[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 = (reponseBuffer[2] == PICC_CMD_CT) ? 3 : 2; // source index in buffer[]
bytesToCopy = (reponseBuffer[2] == PICC_CMD_CT) ? 3 : 4;
for (count = 0; count < bytesToCopy; count++)
{
uid->uidByte[uidIndex + count] = reponseBuffer[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(responseBufferPtr, 1, reinterpret_cast<uint16_t*>(&reponseBuffer[2]));
if (result != 0)
return result;
if ((reponseBuffer[2] != responseBufferPtr[1]) || (reponseBuffer[3] != responseBufferPtr[2]))
return CRC;
if (responseBufferPtr[0] & 0x04) // Cascade bit set - UID not complete yes
{
cascadeLevel++;
}
else
{
uidComplete = true;
uid->sak = responseBufferPtr[0];
}
} // End of while ( ! uidComplete)
// Set correct uid->size
uid->size = 3 * (cascadeLevel+1) + 1;
return 0;
}
uint8_t Mfrc522::getUid(Uid *uid)
{
uint8_t bufferOut[2];
uint8_t reponseBuffer[5];
bufferOut[0] = PICC_CMD_SEL_CL1;
bufferOut[1] = 2 << 4;
uint8_t rxLen = sizeof(reponseBuffer);
uint8_t ret = transceive(bufferOut, 2, reponseBuffer, &rxLen);
if(ret != 0)
return ret;
if(rxLen != 5)
return ERR;
uid->size = 4;
for(uint8_t i = 0; i < uid->size; ++i)
{
uid->uidByte[i] = reponseBuffer[i];
}
return 0;
}
void Mfrc522::irq()
{
if(mode == MODE_TRANSCEIVE)
{
uint8_t irqs = read(ComIrqReg);
if(irqs)
{
if(serial)
{
serial->write("IRQS: ");
serial->write((int)irqs);
serial->putChar('\n');
}
write(ComIrqReg, 0b01111111); // clear irqs
transceiveAsyncFinish(irqs);
}
}
else if(serial)
serial->write("IRQ wrong mode\n");
}
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 bufferLen = sizeof(reponseBuffer);
uint8_t ret = wakeupTag(reponseBuffer, &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();
if(serial)
{
serial->write_p(PSTR("Got version register: "));
serial->write((int)version);
serial->putChar('\n');
}
csReg->setBit(csPin, true);
return version == 0x91 || version == 0x92;
}
bool Mfrc522::testFifo()
{
uint8_t buffer[8] = {42, 43, 44, 45, 46, 47, 48, 49};
write(FIFOLevelReg, 1 << 7); // Flush fifo Buffer;
write(FIFODataReg, buffer, sizeof(buffer)); // Fill fifo
if(serial)
serial->write_p(PSTR("Fifo buffer contains: "));
uint8_t len = read(FIFOLevelReg);
read(FIFODataReg, reponseBuffer, len);
bool ret = true;
for(uint8_t i = 0; i < len; ++i)
{
if(buffer[i] != reponseBuffer[i])
ret = false;
if(serial)
{
serial->write((int)reponseBuffer[i]);
serial->putChar(' ');
}
}
if(serial)
serial->putChar('\n');
return ret;
}
bool Mfrc522::detectAsync(void (*tagEnterdCb)(Mfrc522*, void*), void* userData)
{
if(irqDetect)
return false;
_tagEnterdCb = tagEnterdCb;
_userData = userData;
irqDetect = true;
updateBit(CollReg, 7, false);
uint8_t data = PICC_CMD_WUPA;
if(transceiveAsync(&detectAsyncCb, nullptr, &data, 1, 7) != 0)
{
irqDetect = false;
return false;
}
return true;
}
void Mfrc522::stopAsync()
{
write(CommandReg, IDLE);
write(FIFOLevelReg, 1 << 7);
mode = MODE_IDLE;
irqDetect = false;
}
void Mfrc522::detectAsyncCb(uint8_t ret, Mfrc522* reader, uint8_t* response, uint8_t responseLen, void* userData)
{
if((ret == 0 || ret == COLLISION) && reader->_tagEnterdCb)
{
reader->stopAsync();
reader->_tagEnterdCb(reader, reader->_userData);
}
else
{
reader->irqDetect = false;
reader->detectAsync(reader->_tagEnterdCb, reader->_userData);
}
}
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