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2 Commits
project
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v1_v2_fixe
| Author | SHA1 | Date | |
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004020105f | ||
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b9458b1225 |
@@ -1,5 +0,0 @@
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language: rust
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rust:
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- nightly
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script:
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- true
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@@ -1,2 +1,2 @@
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# resy-ss17-grp1
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# resy-ss17-template
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Template for grp repositories
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Template for grp repositories
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@@ -1,41 +0,0 @@
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# Auswertung
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## No Load
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### No Realtime
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Läuft der Prozess ohne Load und Realtime so liegt das Delay im Mean bei etwa **100µs**.
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Der Ausreiser bei *11.000µs* Sleep Periode lässt sich durch eine kurze zeitigte Last durch einen Hintergrundprozess erklären, da bei jeder Messung (100 Durchläufe) immer der Worst Case betrachtet wird.
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### Realtime
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Im Vergleich dazu sinkt bei aktiver Realtime Priorität das Mean Delay auf etwa **25µs**.
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Hier gibt es dafür mehr Ausreiser welche aber nicht über **190µs** hinaus gehen, auch hier lassen sich diese durch eine kurze zeitigte Last von einen Hintergrundprozess erklären.
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## Load
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### No Realtime
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Bei Load ohne Realtime gibt es zu Begin einen großen Ausreiser mit über **10.000 µs**.
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### Realtime
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Durch die Realtime Priorität können solche Ausreiser vermieden werden, hier liegt der Mean etwas über dem ohne Last (etwa **27,5µs**) und die Ausreiser gehen bis knapp **55µs**.
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Dies liegt immer weit unter den Werten ohne Load ohne Realtime Priorität.
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@@ -1,29 +0,0 @@
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# Makefile
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CC=gcc
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CFLAGS = -W -Wall -pedantic -g -std=gnu99 -c
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LDFLAGS = -static
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RM = rm -f
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TARGET = motor
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OBJECTS = gpio.o
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HEADERS = $(OBJECTS:.o=.h)
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SOURCES = $(TARGET).c $(OBJECTS:.o=.c)
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%.o: %.c
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$(CC) $(CFLAGS) $< -o $@
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.PHONY: all clean
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all: $(TARGET)
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clean:
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$(RM) $(TARGET) $(TARGET).o $(OBJECTS) depend
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depend: $(SOURCES) $(HEADERS)
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$(CC) $(CPPFLAGS) -MM $(SOURCES) > $@
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$(TARGET): $(TARGET).o $(OBJECTS)
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$(CC) $(LDFLAGS) $^ -o $@
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$(RM) depend $(TARGET).o $(OBJECTS)
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include depend
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@@ -1,57 +0,0 @@
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#include<stdio.h>
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#include<fcntl.h>
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#include<string.h>
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#include<unistd.h>
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#include<string.h>
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#include "gpio.h"
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#define BASEPATH "/sys/class/gpio/"
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#define GPIO_FOLDER "gpio%s/"
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void writeFile(char *filename, char *buffer, size_t count)
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{
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int fd = open(filename, O_WRONLY);
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if(fd == -1) {
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perror("Fehler bei open ");
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}
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write(fd, buffer, count);
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close(fd);
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}
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void registerPin(char *pin)
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{
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writeFile(BASEPATH "export", pin, strlen(pin));
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}
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void freePin(char *pin)
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{
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writeFile(BASEPATH "unexport", pin, strlen(pin));
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}
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void setDirection(char *pin, char *direction, int dirlen)
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{
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char path[50];
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sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
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writeFile(path, direction, dirlen);
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}
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void registerOutput(char *pin)
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{
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registerPin(pin);
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setDirection(pin, "out", 3);
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}
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void registerInput(char *pin)
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{
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registerPin(pin);
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setDirection(pin, "in", 3);
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}
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void writeOutput(char *pin, int state)
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{
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char path[50];
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sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
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FILE *fd = fopen(path, "w");
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fprintf(fd, "%i", state);
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fclose(fd);
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}
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@@ -1,12 +0,0 @@
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#ifndef GPIO_H_
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#define GPIO_H_
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void writeFile(char *filename, char *buffer, size_t count);
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void registerPin(char *pin);
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void freePin(char *pin);
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void setDirection(char *pin, char *direction, int dirlen);
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void registerOutput(char *pin);
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void registerInput(char *pin);
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void writeOutput(char *pin, int state);
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#endif
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3
project/modules/.gitignore
vendored
3
project/modules/.gitignore
vendored
@@ -1,3 +0,0 @@
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.tmp_versions
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*.ko.mod
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*.o.cmd
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@@ -1,43 +0,0 @@
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PWD = $(realpath $(shell pwd))
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MODULE_NAME ?= $(shell basename "$(PWD)")
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ifneq ($(KERNELRELEASE),)
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# call from kernel build system
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obj-m := $(MODULE_NAME).o
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else
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ARCH ?= aarch64
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KERNEL_ARCH ?= arm64
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CROSS_COMPILE ?= $(ARCH)-linux-gnu-
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KVER ?= $(shell ls "$(PWD)/../../kernel" | grep 'linux-' | sed 's/linux-//')
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KERNELDIR ?= $(PWD)/../../kernel/linux-$(KVER)
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MODDESTDIR ?= /lib/modules/$(KVER)/kernel/drivers/syso
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default:
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ARCH=$(KERNEL_ARCH) CROSS_COMPILE=$(CROSS_COMPILE) MODULE_NAME=$(MODULE_NAME) $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
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endif
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test: $(MODULE_NAME).ko.test
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$(MODULE_NAME).ko.test: $(MODULE_NAME).test.o
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$(CROSS_COMPILE)$(CC) $(LDFLAGS) -pthread $^ -o $@
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%.o: %.c
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$(CROSS_COMPILE)$(CC) $(CPPFLAGS) $(CFLAGS) -c $< -o $@
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clean:
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rm -rf *.ko *.o *.mod.c *~ core .depend .*.cmd .tmp_versions *.symvers *.order
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depend .depend dep:
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$(CROSS_COMPILE)$(CC) $(CFLAGS) -M *.c > .depend
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install:
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install -p -m 644 $(MODULE_NAME).ko $(MODDESTDIR)
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/sbin/depmod -a ${KVER}
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uninstall:
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rm -f $(MODDESTDIR)/$(MODULE_NAME).ko
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/sbin/depmod -a ${KVER}
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ifeq (.depend,$(wildcard .depend))
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include .depend
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endif
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@@ -1,4 +0,0 @@
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static dev_t devno;
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static struct cdev chardev;
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static struct class *chardev_class;
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static struct device *chardev_device[NUMBER_OF_MINOR_DEVICE];
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@@ -1,82 +0,0 @@
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MODULE_AUTHOR("Manuel Vögele, Siegfried Kienzle, Simon Wörner");
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MODULE_DESCRIPTION(DEVICE_NAME "driver");
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MODULE_LICENSE("GPL");
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static int __init ModInit(void)
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{
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unsigned int i = 0;
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printk(KERN_DEBUG DEVICE_NAME ": init");
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if (alloc_chrdev_region(&devno, 0, NUMBER_OF_MINOR_DEVICE, DEVICE_NAME) < 0)
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return -EIO;
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cdev_init(&chardev, &fops);
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chardev.owner = THIS_MODULE;
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chardev.ops = &fops;
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if (cdev_add(&chardev, devno, NUMBER_OF_MINOR_DEVICE)) {
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pr_err(DEVICE_NAME ": cdev_add failed.");
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goto free_device_number;
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}
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chardev_class = class_create(THIS_MODULE, DEVICE_NAME);
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if (IS_ERR(chardev_class)) {
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pr_err(DEVICE_NAME ": no udev support\n");
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goto free_cdev;
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}
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for (i = 0; i < NUMBER_OF_MINOR_DEVICE; ++i)
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{
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#if NUMBER_OF_MINOR_DEVICE == 1
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chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME);
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#else
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chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME "%d", i);
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#endif
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if (IS_ERR(chardev_device[i])) {
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pr_err(DEVICE_NAME ": device create failed\n");
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goto free_device;
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}
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}
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#ifdef CUSTOM_INIT
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CUSTOM_INIT
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#endif
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return 0;
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free_device:
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for (; i > 0; --i) {
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device_destroy(chardev_class, devno + i - 1);
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}
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class_destroy(chardev_class);
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free_cdev:
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cdev_del(&chardev);
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free_device_number:
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unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
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return -EIO;
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}
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static void __exit ModExit(void)
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{
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unsigned int i = 0;
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printk(KERN_DEBUG DEVICE_NAME ": exit");
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#ifdef CUSTOM_EXIT
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CUSTOM_EXIT
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#endif
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for (i = NUMBER_OF_MINOR_DEVICE; i > 0; --i) {
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device_destroy(chardev_class, devno + i - 1);
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}
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class_destroy(chardev_class);
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cdev_del(&chardev);
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unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
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}
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module_init( ModInit );
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module_exit( ModExit );
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@@ -1 +0,0 @@
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cmd_/home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.ko := aarch64-linux-gnu-ld -EL -r -T ./scripts/module-common.lds --build-id -o /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.ko /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.o /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.mod.o ; true
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@@ -1 +0,0 @@
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../Makefile
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@@ -1,77 +0,0 @@
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#include <linux/init.h>
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/fs.h>
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#include <linux/cdev.h>
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#include <linux/gpio.h>
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#include <linux/kobject.h>
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#include <linux/device.h>
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#include <linux/uaccess.h>
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#define DEVICE_NAME "infrared_sensor_in_1"
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#define NUMBER_OF_MINOR_DEVICE (1)
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#include "../_common/infrared_sensor.def.h"
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static unsigned int infrared_sensor_in_1 = 2;
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static unsigned int count = 0;
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static int infrared_sensor_open(struct inode *devfile, struct file *instance)
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{
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int err;
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err = gpio_request(infrared_sensor_in_1, "rpi-gpio-2");
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if (err) {
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|
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printk("gpio_request for in_1 failed %d\n", err);
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return -1;
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}
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err = gpio_direction_input(infrared_sensor_in_1);
|
|
||||||
if (err) {
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|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
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gpio_free(infrared_sensor_in_1);
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|
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return -1;
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|
||||||
}
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|
||||||
printk("gpio 2 successfull configured\n");
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return 0;
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|
||||||
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|
||||||
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|
||||||
}
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|
||||||
|
|
||||||
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|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
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|
||||||
unsigned long not_copied;
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|
||||||
u32 value=0;
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|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
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|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_1);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
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|
||||||
}
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|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
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|
||||||
{
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|
||||||
printk( "driver_close called\n" );
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|
||||||
gpio_free( infrared_sensor_in_1 );
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|
||||||
return 0;
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|
||||||
}
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|
||||||
|
|
||||||
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|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
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|
||||||
.release = infrared_sensor_close,
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|
||||||
.read = infrared_sensor_read,
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|
||||||
};
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|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
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|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_2"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_2 = 3;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_2, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_2);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_2);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_2);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_2 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_3"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_3 = 4;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_3, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_3);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_3);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_3);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_3 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,76 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_4"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_4 = 18;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_4, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_4);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_4);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_4);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_4 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
134
project/motor.c
134
project/motor.c
@@ -1,134 +0,0 @@
|
|||||||
#include<stdio.h>
|
|
||||||
#include<fcntl.h>
|
|
||||||
#include<string.h>
|
|
||||||
#include<unistd.h>
|
|
||||||
#include<string.h>
|
|
||||||
#include<stdbool.h>
|
|
||||||
#include "gpio.h"
|
|
||||||
|
|
||||||
#define PIN_MOTOR_RECHTS_FORWARD "20"
|
|
||||||
#define PIN_MOTOR_RECHTS_REVERSE "13"
|
|
||||||
#define PIN_MOTOR_LINKS_REVERSE "19"
|
|
||||||
#define PIN_MOTOR_LINKS_FORWARD "26"
|
|
||||||
|
|
||||||
#define MOTOR_ON 1
|
|
||||||
#define MOTOR_OFF 0
|
|
||||||
|
|
||||||
bool motor_rechts_on = false;
|
|
||||||
bool motor_links_on = false;
|
|
||||||
|
|
||||||
void forward(int motorNumber)
|
|
||||||
{
|
|
||||||
if(motorNumber == 1)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 2)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_ON);
|
|
||||||
motor_links_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 3)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_ON);
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
motor_links_on = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void reverse(int motorNumber)
|
|
||||||
{
|
|
||||||
if(motorNumber == 1)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 2)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_ON);
|
|
||||||
motor_links_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 3)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_ON);
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
motor_links_on = true;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void stopMotor(int motorNumber)
|
|
||||||
{
|
|
||||||
if(motorNumber == 1 && motor_rechts_on)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_OFF);
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_OFF);
|
|
||||||
motor_rechts_on = false;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 2 && motor_links_on)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_OFF);
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_OFF);
|
|
||||||
motor_links_on = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
int main(int argc, char* argv[])
|
|
||||||
{
|
|
||||||
registerOutput(PIN_MOTOR_RECHTS_FORWARD);
|
|
||||||
registerOutput(PIN_MOTOR_RECHTS_REVERSE);
|
|
||||||
registerOutput(PIN_MOTOR_LINKS_FORWARD);
|
|
||||||
registerOutput(PIN_MOTOR_LINKS_REVERSE);
|
|
||||||
|
|
||||||
|
|
||||||
if(argc > 0)
|
|
||||||
{
|
|
||||||
if(strcmp(argv[1],"1")==0)
|
|
||||||
{
|
|
||||||
//motor_rechts_forward
|
|
||||||
forward(1);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"2")==0)
|
|
||||||
{
|
|
||||||
//motor_links_forward
|
|
||||||
forward(2);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"3")==0)
|
|
||||||
{
|
|
||||||
//motor_rechts_reverse
|
|
||||||
reverse(1);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"4")==0)
|
|
||||||
{
|
|
||||||
//motor_links_reverse
|
|
||||||
reverse(2);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"5")==0)
|
|
||||||
{
|
|
||||||
|
|
||||||
forward(3);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"6")==0)
|
|
||||||
{
|
|
||||||
//motor_rechts_forward stop
|
|
||||||
stopMotor(1);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"7")==0)
|
|
||||||
{
|
|
||||||
//motor_links_forward stop
|
|
||||||
stopMotor(2);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"0")==0)
|
|
||||||
{
|
|
||||||
freePin(PIN_MOTOR_RECHTS_FORWARD);
|
|
||||||
freePin(PIN_MOTOR_RECHTS_REVERSE);
|
|
||||||
freePin(PIN_MOTOR_LINKS_FORWARD);
|
|
||||||
freePin(PIN_MOTOR_LINKS_REVERSE);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -1,323 +0,0 @@
|
|||||||
/**
|
|
||||||
* MFRC522.h - Library to use ARDUINO RFID MODULE KIT 13.56 MHZ WITH TAGS SPI W AND R BY COOQROBOT.
|
|
||||||
* Based on code Dr.Leong ( WWW.B2CQSHOP.COM )
|
|
||||||
* Created by Miguel Balboa (circuitito.com), Jan, 2012.
|
|
||||||
* Rewritten by Søren Thing Andersen (access.thing.dk), fall of 2013 (Translation to English, refactored, comments, anti collision, cascade levels.)
|
|
||||||
* Extended by Tom Clement with functionality to write to sector 0 of UID changeable Mifare cards.
|
|
||||||
* Released into the public domain.
|
|
||||||
*
|
|
||||||
|
|
||||||
|
|
||||||
-- Repurposed to fit Raspberry Pi ---
|
|
||||||
|
|
||||||
*/
|
|
||||||
#ifndef MFRC522_h
|
|
||||||
#define MFRC522_h
|
|
||||||
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <string>
|
|
||||||
using namespace std;
|
|
||||||
|
|
||||||
typedef uint8_t byte;
|
|
||||||
typedef uint16_t word;
|
|
||||||
|
|
||||||
// Firmware data for self-test
|
|
||||||
// Reference values based on firmware version; taken from 16.1.1 in spec.
|
|
||||||
// Version 1.0
|
|
||||||
|
|
||||||
const byte MFRC522_firmware_referenceV1_0[] = {
|
|
||||||
0x00, 0xC6, 0x37, 0xD5, 0x32, 0xB7, 0x57, 0x5C,
|
|
||||||
0xC2, 0xD8, 0x7C, 0x4D, 0xD9, 0x70, 0xC7, 0x73,
|
|
||||||
0x10, 0xE6, 0xD2, 0xAA, 0x5E, 0xA1, 0x3E, 0x5A,
|
|
||||||
0x14, 0xAF, 0x30, 0x61, 0xC9, 0x70, 0xDB, 0x2E,
|
|
||||||
0x64, 0x22, 0x72, 0xB5, 0xBD, 0x65, 0xF4, 0xEC,
|
|
||||||
0x22, 0xBC, 0xD3, 0x72, 0x35, 0xCD, 0xAA, 0x41,
|
|
||||||
0x1F, 0xA7, 0xF3, 0x53, 0x14, 0xDE, 0x7E, 0x02,
|
|
||||||
0xD9, 0x0F, 0xB5, 0x5E, 0x25, 0x1D, 0x29, 0x79
|
|
||||||
};
|
|
||||||
|
|
||||||
// Version 2.0
|
|
||||||
const byte MFRC522_firmware_referenceV2_0[] = {
|
|
||||||
0x00, 0xEB, 0x66, 0xBA, 0x57, 0xBF, 0x23, 0x95,
|
|
||||||
0xD0, 0xE3, 0x0D, 0x3D, 0x27, 0x89, 0x5C, 0xDE,
|
|
||||||
0x9D, 0x3B, 0xA7, 0x00, 0x21, 0x5B, 0x89, 0x82,
|
|
||||||
0x51, 0x3A, 0xEB, 0x02, 0x0C, 0xA5, 0x00, 0x49,
|
|
||||||
0x7C, 0x84, 0x4D, 0xB3, 0xCC, 0xD2, 0x1B, 0x81,
|
|
||||||
0x5D, 0x48, 0x76, 0xD5, 0x71, 0x61, 0x21, 0xA9,
|
|
||||||
0x86, 0x96, 0x83, 0x38, 0xCF, 0x9D, 0x5B, 0x6D,
|
|
||||||
0xDC, 0x15, 0xBA, 0x3E, 0x7D, 0x95, 0x3B, 0x2F
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class MFRC522 {
|
|
||||||
public:
|
|
||||||
// MFRC522 registers. Described in chapter 9 of the datasheet.
|
|
||||||
// When using SPI all addresses are shifted one bit left in the "SPI address byte" (section 8.1.2.3)
|
|
||||||
enum PCD_Register {
|
|
||||||
// Page 0: Command and status
|
|
||||||
// 0x00 // reserved for future use
|
|
||||||
CommandReg = 0x01 << 1, // starts and stops command execution
|
|
||||||
ComIEnReg = 0x02 << 1, // enable and disable interrupt request control bits
|
|
||||||
DivIEnReg = 0x03 << 1, // enable and disable interrupt request control bits
|
|
||||||
ComIrqReg = 0x04 << 1, // interrupt request bits
|
|
||||||
DivIrqReg = 0x05 << 1, // interrupt request bits
|
|
||||||
ErrorReg = 0x06 << 1, // error bits showing the error status of the last command executed
|
|
||||||
Status1Reg = 0x07 << 1, // communication status bits
|
|
||||||
Status2Reg = 0x08 << 1, // receiver and transmitter status bits
|
|
||||||
FIFODataReg = 0x09 << 1, // input and output of 64 byte FIFO buffer
|
|
||||||
FIFOLevelReg = 0x0A << 1, // number of bytes stored in the FIFO buffer
|
|
||||||
WaterLevelReg = 0x0B << 1, // level for FIFO underflow and overflow warning
|
|
||||||
ControlReg = 0x0C << 1, // miscellaneous control registers
|
|
||||||
BitFramingReg = 0x0D << 1, // adjustments for bit-oriented frames
|
|
||||||
CollReg = 0x0E << 1, // bit position of the first bit-collision detected on the RF interface
|
|
||||||
// 0x0F // reserved for future use
|
|
||||||
|
|
||||||
// Page 1: Command
|
|
||||||
// 0x10 // reserved for future use
|
|
||||||
ModeReg = 0x11 << 1, // defines general modes for transmitting and receiving
|
|
||||||
TxModeReg = 0x12 << 1, // defines transmission data rate and framing
|
|
||||||
RxModeReg = 0x13 << 1, // defines reception data rate and framing
|
|
||||||
TxControlReg = 0x14 << 1, // controls the logical behavior of the antenna driver pins TX1 and TX2
|
|
||||||
TxASKReg = 0x15 << 1, // controls the setting of the transmission modulation
|
|
||||||
TxSelReg = 0x16 << 1, // selects the internal sources for the antenna driver
|
|
||||||
RxSelReg = 0x17 << 1, // selects internal receiver settings
|
|
||||||
RxThresholdReg = 0x18 << 1, // selects thresholds for the bit decoder
|
|
||||||
DemodReg = 0x19 << 1, // defines demodulator settings
|
|
||||||
// 0x1A // reserved for future use
|
|
||||||
// 0x1B // reserved for future use
|
|
||||||
MfTxReg = 0x1C << 1, // controls some MIFARE communication transmit parameters
|
|
||||||
MfRxReg = 0x1D << 1, // controls some MIFARE communication receive parameters
|
|
||||||
// 0x1E // reserved for future use
|
|
||||||
SerialSpeedReg = 0x1F << 1, // selects the speed of the serial UART interface
|
|
||||||
|
|
||||||
// Page 2: Configuration
|
|
||||||
// 0x20 // reserved for future use
|
|
||||||
CRCResultRegH = 0x21 << 1, // shows the MSB and LSB values of the CRC calculation
|
|
||||||
CRCResultRegL = 0x22 << 1,
|
|
||||||
// 0x23 // reserved for future use
|
|
||||||
ModWidthReg = 0x24 << 1, // controls the ModWidth setting?
|
|
||||||
// 0x25 // reserved for future use
|
|
||||||
RFCfgReg = 0x26 << 1, // configures the receiver gain
|
|
||||||
GsNReg = 0x27 << 1, // selects the conductance of the antenna driver pins TX1 and TX2 for modulation
|
|
||||||
CWGsPReg = 0x28 << 1, // defines the conductance of the p-driver output during periods of no modulation
|
|
||||||
ModGsPReg = 0x29 << 1, // defines the conductance of the p-driver output during periods of modulation
|
|
||||||
TModeReg = 0x2A << 1, // defines settings for the internal timer
|
|
||||||
TPrescalerReg = 0x2B << 1, // the lower 8 bits of the TPrescaler value. The 4 high bits are in TModeReg.
|
|
||||||
TReloadRegH = 0x2C << 1, // defines the 16-bit timer reload value
|
|
||||||
TReloadRegL = 0x2D << 1,
|
|
||||||
TCounterValueRegH = 0x2E << 1, // shows the 16-bit timer value
|
|
||||||
TCounterValueRegL = 0x2F << 1,
|
|
||||||
|
|
||||||
// Page 3: Test Registers
|
|
||||||
// 0x30 // reserved for future use
|
|
||||||
TestSel1Reg = 0x31 << 1, // general test signal configuration
|
|
||||||
TestSel2Reg = 0x32 << 1, // general test signal configuration
|
|
||||||
TestPinEnReg = 0x33 << 1, // enables pin output driver on pins D1 to D7
|
|
||||||
TestPinValueReg = 0x34 << 1, // defines the values for D1 to D7 when it is used as an I/O bus
|
|
||||||
TestBusReg = 0x35 << 1, // shows the status of the internal test bus
|
|
||||||
AutoTestReg = 0x36 << 1, // controls the digital self test
|
|
||||||
VersionReg = 0x37 << 1, // shows the software version
|
|
||||||
AnalogTestReg = 0x38 << 1, // controls the pins AUX1 and AUX2
|
|
||||||
TestDAC1Reg = 0x39 << 1, // defines the test value for TestDAC1
|
|
||||||
TestDAC2Reg = 0x3A << 1, // defines the test value for TestDAC2
|
|
||||||
TestADCReg = 0x3B << 1 // shows the value of ADC I and Q channels
|
|
||||||
// 0x3C // reserved for production tests
|
|
||||||
// 0x3D // reserved for production tests
|
|
||||||
// 0x3E // reserved for production tests
|
|
||||||
// 0x3F // reserved for production tests
|
|
||||||
};
|
|
||||||
|
|
||||||
// MFRC522 commands. Described in chapter 10 of the datasheet.
|
|
||||||
enum PCD_Command {
|
|
||||||
PCD_Idle = 0x00, // no action, cancels current command execution
|
|
||||||
PCD_Mem = 0x01, // stores 25 bytes into the internal buffer
|
|
||||||
PCD_GenerateRandomID = 0x02, // generates a 10-byte random ID number
|
|
||||||
PCD_CalcCRC = 0x03, // activates the CRC coprocessor or performs a self test
|
|
||||||
PCD_Transmit = 0x04, // transmits data from the FIFO buffer
|
|
||||||
PCD_NoCmdChange = 0x07, // no command change, can be used to modify the CommandReg register bits without affecting the command, for example, the PowerDown bit
|
|
||||||
PCD_Receive = 0x08, // activates the receiver circuits
|
|
||||||
PCD_Transceive = 0x0C, // transmits data from FIFO buffer to antenna and automatically activates the receiver after transmission
|
|
||||||
PCD_MFAuthent = 0x0E, // performs the MIFARE standard authentication as a reader
|
|
||||||
PCD_SoftReset = 0x0F // resets the MFRC522
|
|
||||||
};
|
|
||||||
|
|
||||||
// MFRC522 RxGain[2:0] masks, defines the receiver's signal voltage gain factor (on the PCD).
|
|
||||||
// Described in 9.3.3.6 / table 98 of the datasheet at http://www.nxp.com/documents/data_sheet/MFRC522.pdf
|
|
||||||
enum PCD_RxGain {
|
|
||||||
RxGain_18dB = 0x00 << 4, // 000b - 18 dB, minimum
|
|
||||||
RxGain_23dB = 0x01 << 4, // 001b - 23 dB
|
|
||||||
RxGain_18dB_2 = 0x02 << 4, // 010b - 18 dB, it seems 010b is a duplicate for 000b
|
|
||||||
RxGain_23dB_2 = 0x03 << 4, // 011b - 23 dB, it seems 011b is a duplicate for 001b
|
|
||||||
RxGain_33dB = 0x04 << 4, // 100b - 33 dB, average, and typical default
|
|
||||||
RxGain_38dB = 0x05 << 4, // 101b - 38 dB
|
|
||||||
RxGain_43dB = 0x06 << 4, // 110b - 43 dB
|
|
||||||
RxGain_48dB = 0x07 << 4, // 111b - 48 dB, maximum
|
|
||||||
RxGain_min = 0x00 << 4, // 000b - 18 dB, minimum, convenience for RxGain_18dB
|
|
||||||
RxGain_avg = 0x04 << 4, // 100b - 33 dB, average, convenience for RxGain_33dB
|
|
||||||
RxGain_max = 0x07 << 4 // 111b - 48 dB, maximum, convenience for RxGain_48dB
|
|
||||||
};
|
|
||||||
|
|
||||||
// Commands sent to the PICC.
|
|
||||||
enum PICC_Command {
|
|
||||||
// The commands used by the PCD to manage communication with several PICCs (ISO 14443-3, Type A, section 6.4)
|
|
||||||
PICC_CMD_REQA = 0x26, // REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection. 7 bit frame.
|
|
||||||
PICC_CMD_WUPA = 0x52, // 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.
|
|
||||||
PICC_CMD_CT = 0x88, // Cascade Tag. Not really a command, but used during anti collision.
|
|
||||||
PICC_CMD_SEL_CL1 = 0x93, // Anti collision/Select, Cascade Level 1
|
|
||||||
PICC_CMD_SEL_CL2 = 0x95, // Anti collision/Select, Cascade Level 2
|
|
||||||
PICC_CMD_SEL_CL3 = 0x97, // Anti collision/Select, Cascade Level 3
|
|
||||||
PICC_CMD_HLTA = 0x50, // 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.
|
|
||||||
PICC_CMD_MF_AUTH_KEY_A = 0x60, // Perform authentication with Key A
|
|
||||||
PICC_CMD_MF_AUTH_KEY_B = 0x61, // Perform authentication with Key B
|
|
||||||
PICC_CMD_MF_READ = 0x30, // Reads one 16 byte block from the authenticated sector of the PICC. Also used for MIFARE Ultralight.
|
|
||||||
PICC_CMD_MF_WRITE = 0xA0, // Writes one 16 byte block to the authenticated sector of the PICC. Called "COMPATIBILITY WRITE" for MIFARE Ultralight.
|
|
||||||
PICC_CMD_MF_DECREMENT = 0xC0, // Decrements the contents of a block and stores the result in the internal data register.
|
|
||||||
PICC_CMD_MF_INCREMENT = 0xC1, // Increments the contents of a block and stores the result in the internal data register.
|
|
||||||
PICC_CMD_MF_RESTORE = 0xC2, // Reads the contents of a block into the internal data register.
|
|
||||||
PICC_CMD_MF_TRANSFER = 0xB0, // Writes the contents of the internal data register to a block.
|
|
||||||
// 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.
|
|
||||||
PICC_CMD_UL_WRITE = 0xA2 // Writes one 4 byte page to the PICC.
|
|
||||||
};
|
|
||||||
|
|
||||||
// MIFARE constants that does not fit anywhere else
|
|
||||||
enum MIFARE_Misc {
|
|
||||||
MF_ACK = 0xA, // The MIFARE Classic uses a 4 bit ACK/NAK. Any other value than 0xA is NAK.
|
|
||||||
MF_KEY_SIZE = 6 // A Mifare Crypto1 key is 6 bytes.
|
|
||||||
};
|
|
||||||
|
|
||||||
// PICC types we can detect. Remember to update PICC_GetTypeName() if you add more.
|
|
||||||
enum PICC_Type {
|
|
||||||
PICC_TYPE_UNKNOWN = 0,
|
|
||||||
PICC_TYPE_ISO_14443_4 = 1, // PICC compliant with ISO/IEC 14443-4
|
|
||||||
PICC_TYPE_ISO_18092 = 2, // PICC compliant with ISO/IEC 18092 (NFC)
|
|
||||||
PICC_TYPE_MIFARE_MINI = 3, // MIFARE Classic protocol, 320 bytes
|
|
||||||
PICC_TYPE_MIFARE_1K = 4, // MIFARE Classic protocol, 1KB
|
|
||||||
PICC_TYPE_MIFARE_4K = 5, // MIFARE Classic protocol, 4KB
|
|
||||||
PICC_TYPE_MIFARE_UL = 6, // MIFARE Ultralight or Ultralight C
|
|
||||||
PICC_TYPE_MIFARE_PLUS = 7, // MIFARE Plus
|
|
||||||
PICC_TYPE_TNP3XXX = 8, // Only mentioned in NXP AN 10833 MIFARE Type Identification Procedure
|
|
||||||
PICC_TYPE_NOT_COMPLETE = 255 // SAK indicates UID is not complete.
|
|
||||||
};
|
|
||||||
|
|
||||||
// Return codes from the functions in this class. Remember to update GetStatusCodeName() if you add more.
|
|
||||||
enum StatusCode {
|
|
||||||
STATUS_OK = 1, // Success
|
|
||||||
STATUS_ERROR = 2, // Error in communication
|
|
||||||
STATUS_COLLISION = 3, // Collission detected
|
|
||||||
STATUS_TIMEOUT = 4, // Timeout in communication.
|
|
||||||
STATUS_NO_ROOM = 5, // A buffer is not big enough.
|
|
||||||
STATUS_INTERNAL_ERROR = 6, // Internal error in the code. Should not happen ;-)
|
|
||||||
STATUS_INVALID = 7, // Invalid argument.
|
|
||||||
STATUS_CRC_WRONG = 8, // The CRC_A does not match
|
|
||||||
STATUS_MIFARE_NACK = 9 // A MIFARE PICC responded with NAK.
|
|
||||||
};
|
|
||||||
|
|
||||||
// A struct used for passing the UID of a PICC.
|
|
||||||
typedef struct {
|
|
||||||
byte size; // Number of bytes in the UID. 4, 7 or 10.
|
|
||||||
byte uidByte[10];
|
|
||||||
byte sak; // The SAK (Select acknowledge) byte returned from the PICC after successful selection.
|
|
||||||
} Uid;
|
|
||||||
|
|
||||||
// A struct used for passing a MIFARE Crypto1 key
|
|
||||||
typedef struct {
|
|
||||||
byte keyByte[MF_KEY_SIZE];
|
|
||||||
} MIFARE_Key;
|
|
||||||
|
|
||||||
// Member variables
|
|
||||||
Uid uid; // Used by PICC_ReadCardSerial().
|
|
||||||
|
|
||||||
// Size of the MFRC522 FIFO
|
|
||||||
static const byte FIFO_SIZE = 64; // The FIFO is 64 bytes.
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for setting up the Raspberry Pi
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
MFRC522();
|
|
||||||
void setSPIConfig();
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Basic interface functions for communicating with the MFRC522
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
void PCD_WriteRegister(byte reg, byte value);
|
|
||||||
void PCD_WriteRegister(byte reg, byte count, byte *values);
|
|
||||||
byte PCD_ReadRegister(byte reg);
|
|
||||||
void PCD_ReadRegister(byte reg, byte count, byte *values, byte rxAlign = 0);
|
|
||||||
void setBitMask(unsigned char reg, unsigned char mask);
|
|
||||||
void PCD_SetRegisterBitMask(byte reg, byte mask);
|
|
||||||
void PCD_ClearRegisterBitMask(byte reg, byte mask);
|
|
||||||
byte PCD_CalculateCRC(byte *data, byte length, byte *result);
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for manipulating the MFRC522
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
void PCD_Init();
|
|
||||||
void PCD_Reset();
|
|
||||||
void PCD_AntennaOn();
|
|
||||||
void PCD_AntennaOff();
|
|
||||||
byte PCD_GetAntennaGain();
|
|
||||||
void PCD_SetAntennaGain(byte mask);
|
|
||||||
bool PCD_PerformSelfTest();
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for communicating with PICCs
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
byte PCD_TransceiveData(byte *sendData, byte sendLen, byte *backData, byte *backLen, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
|
|
||||||
byte PCD_CommunicateWithPICC(byte command, byte waitIRq, byte *sendData, byte sendLen, byte *backData = NULL, byte *backLen = NULL, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
|
|
||||||
byte PICC_RequestA(byte *bufferATQA, byte *bufferSize);
|
|
||||||
byte PICC_WakeupA(byte *bufferATQA, byte *bufferSize);
|
|
||||||
byte PICC_REQA_or_WUPA(byte command, byte *bufferATQA, byte *bufferSize);
|
|
||||||
byte PICC_Select(Uid *uid, byte validBits = 0);
|
|
||||||
byte PICC_HaltA();
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for communicating with MIFARE PICCs
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
byte PCD_Authenticate(byte command, byte blockAddr, MIFARE_Key *key, Uid *uid);
|
|
||||||
void PCD_StopCrypto1();
|
|
||||||
byte MIFARE_Read(byte blockAddr, byte *buffer, byte *bufferSize);
|
|
||||||
byte MIFARE_Write(byte blockAddr, byte *buffer, byte bufferSize);
|
|
||||||
byte MIFARE_Decrement(byte blockAddr, long delta);
|
|
||||||
byte MIFARE_Increment(byte blockAddr, long delta);
|
|
||||||
byte MIFARE_Restore(byte blockAddr);
|
|
||||||
byte MIFARE_Transfer(byte blockAddr);
|
|
||||||
byte MIFARE_Ultralight_Write(byte page, byte *buffer, byte bufferSize);
|
|
||||||
byte MIFARE_GetValue(byte blockAddr, long *value);
|
|
||||||
byte MIFARE_SetValue(byte blockAddr, long value);
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Support functions
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
byte PCD_MIFARE_Transceive(byte *sendData, byte sendLen, bool acceptTimeout = false);
|
|
||||||
// old function used too much memory, now name moved to flash; if you need char, copy from flash to memory
|
|
||||||
//const char *GetStatusCodeName(byte code);
|
|
||||||
const string GetStatusCodeName(byte code);
|
|
||||||
byte PICC_GetType(byte sak);
|
|
||||||
// old function used too much memory, now name moved to flash; if you need char, copy from flash to memory
|
|
||||||
//const char *PICC_GetTypeName(byte type);
|
|
||||||
const string PICC_GetTypeName(byte type);
|
|
||||||
void PICC_DumpToSerial(Uid *uid);
|
|
||||||
void PICC_DumpMifareClassicToSerial(Uid *uid, byte piccType, MIFARE_Key *key);
|
|
||||||
void PICC_DumpMifareClassicSectorToSerial(Uid *uid, MIFARE_Key *key, byte sector);
|
|
||||||
void PICC_DumpMifareUltralightToSerial();
|
|
||||||
void MIFARE_SetAccessBits(byte *accessBitBuffer, byte g0, byte g1, byte g2, byte g3);
|
|
||||||
bool MIFARE_OpenUidBackdoor(bool logErrors);
|
|
||||||
bool MIFARE_SetUid(byte *newUid, byte uidSize, bool logErrors);
|
|
||||||
bool MIFARE_UnbrickUidSector(bool logErrors);
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Convenience functions - does not add extra functionality
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
bool PICC_IsNewCardPresent();
|
|
||||||
bool PICC_ReadCardSerial();
|
|
||||||
|
|
||||||
private:
|
|
||||||
byte MIFARE_TwoStepHelper(byte command, byte blockAddr, long data);
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -1,54 +0,0 @@
|
|||||||
#include "rfid_reader.hpp"
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <iostream>
|
|
||||||
#include <chrono>
|
|
||||||
#include <ctime>
|
|
||||||
|
|
||||||
rfid_reader::rfid_reader()
|
|
||||||
{
|
|
||||||
mfrc.PCD_Init();
|
|
||||||
thread = std::thread(&rfid_reader::loop, this);
|
|
||||||
}
|
|
||||||
|
|
||||||
rfid_reader::~rfid_reader()
|
|
||||||
{
|
|
||||||
stop_thread = true;
|
|
||||||
thread.join();
|
|
||||||
}
|
|
||||||
|
|
||||||
uint32_t rfid_reader::last_id() const
|
|
||||||
{
|
|
||||||
return uid;
|
|
||||||
}
|
|
||||||
|
|
||||||
void rfid_reader::loop()
|
|
||||||
{
|
|
||||||
stop_thread = false;
|
|
||||||
while(!stop_thread)
|
|
||||||
{
|
|
||||||
if(!mfrc.PICC_IsNewCardPresent())
|
|
||||||
{
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
if(!mfrc.PICC_ReadCardSerial())
|
|
||||||
{
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
uid = int((unsigned char)(mfrc.uid.uidByte[0]) << 24 |
|
|
||||||
(unsigned char)(mfrc.uid.uidByte[1]) << 16 |
|
|
||||||
(unsigned char)(mfrc.uid.uidByte[2]) << 8 |
|
|
||||||
(unsigned char)(mfrc.uid.uidByte[3]));
|
|
||||||
|
|
||||||
#ifndef NDEBUG
|
|
||||||
printf("\n");
|
|
||||||
std::time_t result = std::time(nullptr);
|
|
||||||
std::cout << std::asctime(std::localtime(&result));
|
|
||||||
printf("%X\n", last_id());
|
|
||||||
#endif
|
|
||||||
|
|
||||||
std::this_thread::sleep_for(1s);
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,27 +0,0 @@
|
|||||||
#ifndef RFIDREADER_HPP_
|
|
||||||
#define RFIDREADER_HPP_
|
|
||||||
|
|
||||||
#include <cstdint>
|
|
||||||
#include <thread>
|
|
||||||
|
|
||||||
#include "MFRC522.h"
|
|
||||||
|
|
||||||
class rfid_reader
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
uint32_t last_id() const;
|
|
||||||
rfid_reader();
|
|
||||||
rfid_reader(const rfid_reader &) = delete;
|
|
||||||
rfid_reader(const rfid_reader &&) = delete;
|
|
||||||
~rfid_reader();
|
|
||||||
void loop();
|
|
||||||
private:
|
|
||||||
MFRC522 mfrc;
|
|
||||||
uint32_t uid;
|
|
||||||
std::thread thread;
|
|
||||||
bool stop_thread;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
How to enable the SPI Interface:
|
|
||||||
|
|
||||||
edit /boot/config.txt
|
|
||||||
|
|
||||||
add line dtparam=spi=on
|
|
||||||
Reference in New Issue
Block a user