实现RFID逻辑
This commit is contained in:
@@ -58,6 +58,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_pid.c
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_track_ir.c
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_sr04.c
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_rc522.c
|
||||
)
|
||||
|
||||
# Add include paths
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#include "bsp_hall.h"
|
||||
#include "bsp_sr04.h"
|
||||
#include "bsp_rc522.h"
|
||||
|
||||
|
||||
/* 霍尔传感器数据结构体定义描述 */
|
||||
@@ -23,6 +24,7 @@ void hall_init(void)
|
||||
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
|
||||
{
|
||||
hall_pulse_callback(GPIO_Pin);
|
||||
rc522_irq_callback(GPIO_Pin);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
632
Core/Bsp/bsp_rc522.c
Normal file
632
Core/Bsp/bsp_rc522.c
Normal file
@@ -0,0 +1,632 @@
|
||||
#include "bsp_rc522.h"
|
||||
#include <string.h>
|
||||
|
||||
// 站点UID白名单（可扩展）
|
||||
static const uint8_t g_station_1_uid[] = STATION_1_UID;
|
||||
static const uint8_t g_station_2_uid[] = STATION_2_UID;
|
||||
|
||||
station_id_t rc522_match_station(const uint8_t *uid, uint8_t uid_len)
|
||||
{
|
||||
if (uid == NULL || uid_len == 0) return STATION_NONE;
|
||||
// 匹配站点1
|
||||
if (uid_len == sizeof(g_station_1_uid) && memcmp(uid, g_station_1_uid, uid_len) == 0) {
|
||||
return STATION_1;
|
||||
}
|
||||
// 匹配站点2
|
||||
if (uid_len == sizeof(g_station_2_uid) && memcmp(uid, g_station_2_uid, uid_len) == 0) {
|
||||
return STATION_2;
|
||||
}
|
||||
// 可继续添加更多站点匹配
|
||||
return STATION_NONE;
|
||||
}
|
||||
#include "bsp_rc522.h"
|
||||
|
||||
#include "spi.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
/* ========================= RC522 寄存器定义 ========================= */
|
||||
#define RC522_REG_COMMAND 0x01U
|
||||
#define RC522_REG_COM_I_EN 0x02U
|
||||
#define RC522_REG_DIV_I_EN 0x03U
|
||||
#define RC522_REG_COM_IRQ 0x04U
|
||||
#define RC522_REG_DIV_IRQ 0x05U
|
||||
#define RC522_REG_ERROR 0x06U
|
||||
#define RC522_REG_STATUS2 0x08U
|
||||
#define RC522_REG_FIFO_DATA 0x09U
|
||||
#define RC522_REG_FIFO_LEVEL 0x0AU
|
||||
#define RC522_REG_CONTROL 0x0CU
|
||||
#define RC522_REG_BIT_FRAMING 0x0DU
|
||||
#define RC522_REG_COLL 0x0EU
|
||||
#define RC522_REG_MODE 0x11U
|
||||
#define RC522_REG_TX_MODE 0x12U
|
||||
#define RC522_REG_RX_MODE 0x13U
|
||||
#define RC522_REG_TX_CONTROL 0x14U
|
||||
#define RC522_REG_TX_ASK 0x15U
|
||||
#define RC522_REG_CRC_RESULT_H 0x21U
|
||||
#define RC522_REG_CRC_RESULT_L 0x22U
|
||||
#define RC522_REG_T_MODE 0x2AU
|
||||
#define RC522_REG_T_PRESCALER 0x2BU
|
||||
#define RC522_REG_T_RELOAD_H 0x2CU
|
||||
#define RC522_REG_T_RELOAD_L 0x2DU
|
||||
|
||||
/* ========================= RC522 命令定义 ========================= */
|
||||
#define RC522_CMD_IDLE 0x00U
|
||||
#define RC522_CMD_CALC_CRC 0x03U
|
||||
#define RC522_CMD_TRANSCEIVE 0x0CU
|
||||
#define RC522_CMD_SOFT_RESET 0x0FU
|
||||
|
||||
/* ========================= PICC 命令定义 ========================= */
|
||||
#define PICC_CMD_REQA 0x26U
|
||||
#define PICC_CMD_SEL_CL1 0x93U
|
||||
#define PICC_CMD_SEL_CL2 0x95U
|
||||
#define PICC_CMD_SEL_CL3 0x97U
|
||||
#define PICC_CMD_HLTA 0x50U
|
||||
#define PICC_CMD_CT 0x88U
|
||||
|
||||
#define RC522_SPI_TIMEOUT_MS 20U
|
||||
|
||||
static rc522_card_info_t g_last_card;
|
||||
static uint32_t g_run_led_hold_until_ms = 0U;
|
||||
static uint32_t g_last_new_event_tick_ms = 0U;
|
||||
static volatile uint8_t g_irq_pending = 1U;
|
||||
|
||||
#if (RC522_RUN_LED_ON_LEVEL == GPIO_PIN_SET)
|
||||
#define RC522_RUN_LED_OFF_LEVEL GPIO_PIN_RESET
|
||||
#else
|
||||
#define RC522_RUN_LED_OFF_LEVEL GPIO_PIN_SET
|
||||
#endif
|
||||
|
||||
static void rc522_set_run_led(uint8_t on)
|
||||
{
|
||||
#if (RC522_RUN_LED_ENABLE == 1U)
|
||||
HAL_GPIO_WritePin(RUN_LED_GPIO_Port,
|
||||
RUN_LED_Pin,
|
||||
(on != 0U) ? RC522_RUN_LED_ON_LEVEL : RC522_RUN_LED_OFF_LEVEL);
|
||||
#else
|
||||
(void)on;
|
||||
#endif
|
||||
}
|
||||
|
||||
static void rc522_update_run_led_state(void)
|
||||
{
|
||||
#if (RC522_RUN_LED_ENABLE == 1U)
|
||||
uint32_t now = HAL_GetTick();
|
||||
if ((int32_t)(g_run_led_hold_until_ms - now) > 0) {
|
||||
rc522_set_run_led(1U);
|
||||
} else {
|
||||
rc522_set_run_led(0U);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
static uint8_t rc522_uid_equal(const rc522_card_info_t *a, const rc522_card_info_t *b)
|
||||
{
|
||||
if (a == NULL || b == NULL) {
|
||||
return 0U;
|
||||
}
|
||||
if (a->uid_len != b->uid_len) {
|
||||
return 0U;
|
||||
}
|
||||
if (a->uid_len == 0U || a->uid_len > RC522_UID_MAX_LEN) {
|
||||
return 0U;
|
||||
}
|
||||
if (memcmp(a->uid, b->uid, a->uid_len) != 0) {
|
||||
return 0U;
|
||||
}
|
||||
return 1U;
|
||||
}
|
||||
|
||||
static uint8_t rc522_cache_is_fresh(void)
|
||||
{
|
||||
if (g_last_card.valid == 0U) {
|
||||
return 0U;
|
||||
}
|
||||
if ((HAL_GetTick() - g_last_card.last_seen_tick_ms) > RC522_CACHE_EXPIRE_MS) {
|
||||
return 0U;
|
||||
}
|
||||
return 1U;
|
||||
}
|
||||
|
||||
/* ------------------------- 底层 SPI 辅助 ------------------------- */
|
||||
static void rc522_cs_low(void)
|
||||
{
|
||||
HAL_GPIO_WritePin(SDA_GPIO_Port, SDA_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
static void rc522_cs_high(void)
|
||||
{
|
||||
HAL_GPIO_WritePin(SDA_GPIO_Port, SDA_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_write_reg(uint8_t reg, uint8_t value)
|
||||
{
|
||||
uint8_t tx[2];
|
||||
tx[0] = (uint8_t)((reg << 1U) & 0x7EU);
|
||||
tx[1] = value;
|
||||
|
||||
rc522_cs_low();
|
||||
if (HAL_SPI_Transmit(&hspi1, tx, 2U, RC522_SPI_TIMEOUT_MS) != HAL_OK) {
|
||||
rc522_cs_high();
|
||||
return RC522_ERR_SPI;
|
||||
}
|
||||
rc522_cs_high();
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_read_reg(uint8_t reg, uint8_t *value)
|
||||
{
|
||||
uint8_t tx[2];
|
||||
uint8_t rx[2] = {0};
|
||||
|
||||
if (value == NULL) {
|
||||
return RC522_ERR_PARAM;
|
||||
}
|
||||
|
||||
tx[0] = (uint8_t)(((reg << 1U) & 0x7EU) | 0x80U);
|
||||
tx[1] = 0x00U;
|
||||
|
||||
rc522_cs_low();
|
||||
if (HAL_SPI_TransmitReceive(&hspi1, tx, rx, 2U, RC522_SPI_TIMEOUT_MS) != HAL_OK) {
|
||||
rc522_cs_high();
|
||||
return RC522_ERR_SPI;
|
||||
}
|
||||
rc522_cs_high();
|
||||
|
||||
*value = rx[1];
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_set_bitmask(uint8_t reg, uint8_t mask)
|
||||
{
|
||||
uint8_t val = 0;
|
||||
rc522_status_t st = rc522_read_reg(reg, &val);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
return rc522_write_reg(reg, (uint8_t)(val | mask));
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_clear_bitmask(uint8_t reg, uint8_t mask)
|
||||
{
|
||||
uint8_t val = 0;
|
||||
rc522_status_t st = rc522_read_reg(reg, &val);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
return rc522_write_reg(reg, (uint8_t)(val & (uint8_t)(~mask)));
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_antenna_on(void)
|
||||
{
|
||||
return rc522_set_bitmask(RC522_REG_TX_CONTROL, 0x03U);
|
||||
}
|
||||
|
||||
/* ------------------------- 核心通信流程 ------------------------- */
|
||||
static rc522_status_t rc522_calculate_crc(const uint8_t *data, uint8_t len, uint8_t *crc_out)
|
||||
{
|
||||
uint8_t irq = 0;
|
||||
uint32_t start = HAL_GetTick();
|
||||
|
||||
if (data == NULL || crc_out == NULL) {
|
||||
return RC522_ERR_PARAM;
|
||||
}
|
||||
|
||||
rc522_write_reg(RC522_REG_COMMAND, RC522_CMD_IDLE);
|
||||
rc522_write_reg(RC522_REG_DIV_IRQ, 0x04U);
|
||||
rc522_write_reg(RC522_REG_FIFO_LEVEL, 0x80U);
|
||||
|
||||
for (uint8_t i = 0; i < len; i++) {
|
||||
rc522_write_reg(RC522_REG_FIFO_DATA, data[i]);
|
||||
}
|
||||
|
||||
rc522_write_reg(RC522_REG_COMMAND, RC522_CMD_CALC_CRC);
|
||||
|
||||
do {
|
||||
rc522_read_reg(RC522_REG_DIV_IRQ, &irq);
|
||||
if ((HAL_GetTick() - start) > 20U) {
|
||||
return RC522_ERR_TIMEOUT;
|
||||
}
|
||||
} while ((irq & 0x04U) == 0U);
|
||||
|
||||
rc522_read_reg(RC522_REG_CRC_RESULT_L, &crc_out[0]);
|
||||
rc522_read_reg(RC522_REG_CRC_RESULT_H, &crc_out[1]);
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_transceive(const uint8_t *send_data,
|
||||
uint8_t send_len,
|
||||
uint8_t *back_data,
|
||||
uint8_t *back_len,
|
||||
uint8_t valid_bits)
|
||||
{
|
||||
uint8_t irq_en = 0x77U;
|
||||
uint8_t wait_irq = 0x30U;
|
||||
uint8_t irq = 0;
|
||||
uint8_t error = 0;
|
||||
uint8_t fifo_level = 0;
|
||||
uint8_t control = 0;
|
||||
uint32_t start = HAL_GetTick();
|
||||
|
||||
if (send_data == NULL || send_len == 0U || back_len == NULL) {
|
||||
return RC522_ERR_PARAM;
|
||||
}
|
||||
|
||||
rc522_write_reg(RC522_REG_COMMAND, RC522_CMD_IDLE);
|
||||
rc522_write_reg(RC522_REG_COM_I_EN, (uint8_t)(irq_en | 0x80U));
|
||||
rc522_write_reg(RC522_REG_COM_IRQ, 0x7FU);
|
||||
rc522_write_reg(RC522_REG_FIFO_LEVEL, 0x80U);
|
||||
|
||||
for (uint8_t i = 0; i < send_len; i++) {
|
||||
rc522_write_reg(RC522_REG_FIFO_DATA, send_data[i]);
|
||||
}
|
||||
|
||||
rc522_write_reg(RC522_REG_BIT_FRAMING, valid_bits);
|
||||
rc522_write_reg(RC522_REG_COMMAND, RC522_CMD_TRANSCEIVE);
|
||||
rc522_set_bitmask(RC522_REG_BIT_FRAMING, 0x80U);
|
||||
|
||||
do {
|
||||
rc522_read_reg(RC522_REG_COM_IRQ, &irq);
|
||||
if ((HAL_GetTick() - start) > 30U) {
|
||||
rc522_clear_bitmask(RC522_REG_BIT_FRAMING, 0x80U);
|
||||
return RC522_ERR_TIMEOUT;
|
||||
}
|
||||
} while ((irq & wait_irq) == 0U && (irq & 0x01U) == 0U);
|
||||
|
||||
rc522_clear_bitmask(RC522_REG_BIT_FRAMING, 0x80U);
|
||||
|
||||
rc522_read_reg(RC522_REG_ERROR, &error);
|
||||
if ((error & 0x13U) != 0U) {
|
||||
return RC522_ERR_INTERNAL;
|
||||
}
|
||||
|
||||
rc522_read_reg(RC522_REG_FIFO_LEVEL, &fifo_level);
|
||||
if (fifo_level == 0U) {
|
||||
*back_len = 0U;
|
||||
return RC522_NO_CARD;
|
||||
}
|
||||
|
||||
if (back_data != NULL) {
|
||||
uint8_t to_read = fifo_level;
|
||||
if (to_read > *back_len) {
|
||||
to_read = *back_len;
|
||||
}
|
||||
for (uint8_t i = 0; i < to_read; i++) {
|
||||
rc522_read_reg(RC522_REG_FIFO_DATA, &back_data[i]);
|
||||
}
|
||||
*back_len = to_read;
|
||||
} else {
|
||||
*back_len = 0U;
|
||||
}
|
||||
|
||||
rc522_read_reg(RC522_REG_CONTROL, &control);
|
||||
(void)control;
|
||||
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_request_a(uint16_t *atqa)
|
||||
{
|
||||
uint8_t cmd = PICC_CMD_REQA;
|
||||
uint8_t recv[2] = {0};
|
||||
uint8_t recv_len = sizeof(recv);
|
||||
|
||||
if (atqa == NULL) {
|
||||
return RC522_ERR_PARAM;
|
||||
}
|
||||
|
||||
/* REQA 是 7bit 命令，BitFramingReg 低 3 位写 0x07 */
|
||||
rc522_status_t st = rc522_transceive(&cmd, 1U, recv, &recv_len, 0x07U);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
if (recv_len != 2U) {
|
||||
return RC522_NO_CARD;
|
||||
}
|
||||
|
||||
*atqa = (uint16_t)(((uint16_t)recv[0] << 8U) | recv[1]);
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static uint8_t rc522_get_sel_cmd_by_level(uint8_t level)
|
||||
{
|
||||
if (level == 1U) {
|
||||
return PICC_CMD_SEL_CL1;
|
||||
}
|
||||
if (level == 2U) {
|
||||
return PICC_CMD_SEL_CL2;
|
||||
}
|
||||
return PICC_CMD_SEL_CL3;
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_anticoll_level(uint8_t level, uint8_t uid_part[5])
|
||||
{
|
||||
uint8_t sel_cmd = rc522_get_sel_cmd_by_level(level);
|
||||
uint8_t send_buf[2] = {sel_cmd, 0x20U};
|
||||
uint8_t recv[5] = {0};
|
||||
uint8_t recv_len = sizeof(recv);
|
||||
|
||||
rc522_status_t st = rc522_transceive(send_buf, 2U, recv, &recv_len, 0x00U);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
if (recv_len != 5U) {
|
||||
return RC522_ERR_INTERNAL;
|
||||
}
|
||||
|
||||
uint8_t bcc = (uint8_t)(recv[0] ^ recv[1] ^ recv[2] ^ recv[3]);
|
||||
if (bcc != recv[4]) {
|
||||
return RC522_ERR_BCC;
|
||||
}
|
||||
|
||||
memcpy(uid_part, recv, 5U);
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static rc522_status_t rc522_select_level(uint8_t level, const uint8_t uid_part[5], uint8_t *sak)
|
||||
{
|
||||
uint8_t send_buf[9] = {0};
|
||||
uint8_t crc[2] = {0};
|
||||
uint8_t recv[3] = {0};
|
||||
uint8_t recv_len = sizeof(recv);
|
||||
|
||||
if (sak == NULL) {
|
||||
return RC522_ERR_PARAM;
|
||||
}
|
||||
|
||||
send_buf[0] = rc522_get_sel_cmd_by_level(level);
|
||||
send_buf[1] = 0x70U;
|
||||
send_buf[2] = uid_part[0];
|
||||
send_buf[3] = uid_part[1];
|
||||
send_buf[4] = uid_part[2];
|
||||
send_buf[5] = uid_part[3];
|
||||
send_buf[6] = uid_part[4];
|
||||
|
||||
rc522_status_t st = rc522_calculate_crc(send_buf, 7U, crc);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
|
||||
send_buf[7] = crc[0];
|
||||
send_buf[8] = crc[1];
|
||||
|
||||
st = rc522_transceive(send_buf, 9U, recv, &recv_len, 0x00U);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
if (recv_len < 1U) {
|
||||
return RC522_ERR_INTERNAL;
|
||||
}
|
||||
|
||||
*sak = recv[0];
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
static void rc522_halt(void)
|
||||
{
|
||||
uint8_t send_buf[4] = {PICC_CMD_HLTA, 0x00U, 0x00U, 0x00U};
|
||||
uint8_t crc[2] = {0};
|
||||
uint8_t recv_len = 0;
|
||||
|
||||
if (rc522_calculate_crc(send_buf, 2U, crc) != RC522_OK) {
|
||||
return;
|
||||
}
|
||||
send_buf[2] = crc[0];
|
||||
send_buf[3] = crc[1];
|
||||
|
||||
(void)rc522_transceive(send_buf, 4U, NULL, &recv_len, 0x00U);
|
||||
}
|
||||
|
||||
/* ------------------------- 对外接口 ------------------------- */
|
||||
rc522_status_t rc522_init(void)
|
||||
{
|
||||
memset(&g_last_card, 0, sizeof(g_last_card));
|
||||
g_run_led_hold_until_ms = 0U;
|
||||
g_last_new_event_tick_ms = 0U;
|
||||
g_irq_pending = 1U;
|
||||
|
||||
/* SPI 片选空闲电平应为高 */
|
||||
rc522_cs_high();
|
||||
rc522_set_run_led(0U);
|
||||
|
||||
/* RST: 硬件复位脉冲 */
|
||||
HAL_GPIO_WritePin(RST_GPIO_Port, RST_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(5);
|
||||
HAL_GPIO_WritePin(RST_GPIO_Port, RST_Pin, GPIO_PIN_SET);
|
||||
HAL_Delay(50);
|
||||
|
||||
/* 软复位 */
|
||||
if (rc522_write_reg(RC522_REG_COMMAND, RC522_CMD_SOFT_RESET) != RC522_OK) {
|
||||
return RC522_ERR_SPI;
|
||||
}
|
||||
HAL_Delay(50);
|
||||
|
||||
/* 定时器配置: 与常见 RC522 初始化配置兼容 */
|
||||
rc522_write_reg(RC522_REG_T_MODE, 0x8DU);
|
||||
rc522_write_reg(RC522_REG_T_PRESCALER, 0x3EU);
|
||||
rc522_write_reg(RC522_REG_T_RELOAD_L, 30U);
|
||||
rc522_write_reg(RC522_REG_T_RELOAD_H, 0U);
|
||||
|
||||
rc522_write_reg(RC522_REG_TX_ASK, 0x40U);
|
||||
rc522_write_reg(RC522_REG_MODE, 0x3DU);
|
||||
rc522_write_reg(RC522_REG_TX_MODE, 0x00U);
|
||||
rc522_write_reg(RC522_REG_RX_MODE, 0x00U);
|
||||
|
||||
/* 开启天线 */
|
||||
return rc522_antenna_on();
|
||||
}
|
||||
|
||||
rc522_status_t rc522_poll(rc522_card_info_t *out_card)
|
||||
{
|
||||
rc522_card_info_t temp = {0};
|
||||
uint8_t level_data[5] = {0};
|
||||
uint8_t uid_pos = 0U;
|
||||
uint8_t level = 1U;
|
||||
rc522_status_t st;
|
||||
|
||||
rc522_update_run_led_state();
|
||||
|
||||
st = rc522_request_a(&temp.atqa);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
|
||||
while (level <= 3U) {
|
||||
st = rc522_anticoll_level(level, level_data);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
|
||||
st = rc522_select_level(level, level_data, &temp.sak);
|
||||
if (st != RC522_OK) {
|
||||
return st;
|
||||
}
|
||||
|
||||
if (level_data[0] == PICC_CMD_CT) {
|
||||
if ((uid_pos + 3U) > RC522_UID_MAX_LEN) {
|
||||
return RC522_ERR_INTERNAL;
|
||||
}
|
||||
temp.uid[uid_pos++] = level_data[1];
|
||||
temp.uid[uid_pos++] = level_data[2];
|
||||
temp.uid[uid_pos++] = level_data[3];
|
||||
} else {
|
||||
if ((uid_pos + 4U) > RC522_UID_MAX_LEN) {
|
||||
return RC522_ERR_INTERNAL;
|
||||
}
|
||||
temp.uid[uid_pos++] = level_data[0];
|
||||
temp.uid[uid_pos++] = level_data[1];
|
||||
temp.uid[uid_pos++] = level_data[2];
|
||||
temp.uid[uid_pos++] = level_data[3];
|
||||
}
|
||||
|
||||
/* SAK bit2=1 表示还有下一层级 UID */
|
||||
if ((temp.sak & 0x04U) == 0U) {
|
||||
break;
|
||||
}
|
||||
level++;
|
||||
}
|
||||
|
||||
if (uid_pos == 0U) {
|
||||
return RC522_ERR_INTERNAL;
|
||||
}
|
||||
|
||||
temp.valid = 1U;
|
||||
temp.uid_len = uid_pos;
|
||||
temp.last_seen_tick_ms = HAL_GetTick();
|
||||
|
||||
if (!rc522_uid_equal(&temp, &g_last_card)) {
|
||||
g_last_new_event_tick_ms = temp.last_seen_tick_ms;
|
||||
}
|
||||
|
||||
g_last_card = temp;
|
||||
g_run_led_hold_until_ms = temp.last_seen_tick_ms + RC522_RUN_LED_HOLD_MS;
|
||||
rc522_set_run_led(1U);
|
||||
g_irq_pending = 0U;
|
||||
|
||||
if (out_card != NULL) {
|
||||
*out_card = temp;
|
||||
}
|
||||
|
||||
rc522_halt();
|
||||
return RC522_OK;
|
||||
}
|
||||
|
||||
uint8_t rc522_get_last_card(rc522_card_info_t *out_card)
|
||||
{
|
||||
if (out_card == NULL) {
|
||||
return 0U;
|
||||
}
|
||||
if (!rc522_cache_is_fresh()) {
|
||||
return 0U;
|
||||
}
|
||||
|
||||
*out_card = g_last_card;
|
||||
return 1U;
|
||||
}
|
||||
|
||||
void rc522_clear_last_card(void)
|
||||
{
|
||||
memset(&g_last_card, 0, sizeof(g_last_card));
|
||||
g_run_led_hold_until_ms = 0U;
|
||||
g_last_new_event_tick_ms = 0U;
|
||||
rc522_set_run_led(0U);
|
||||
}
|
||||
|
||||
uint8_t rc522_has_valid_card(void)
|
||||
{
|
||||
return rc522_cache_is_fresh();
|
||||
}
|
||||
|
||||
uint8_t rc522_get_new_card(rc522_card_info_t *out_card)
|
||||
{
|
||||
if (out_card == NULL) {
|
||||
return 0U;
|
||||
}
|
||||
if (!rc522_cache_is_fresh()) {
|
||||
return 0U;
|
||||
}
|
||||
if (g_last_new_event_tick_ms != g_last_card.last_seen_tick_ms) {
|
||||
return 0U;
|
||||
}
|
||||
|
||||
*out_card = g_last_card;
|
||||
g_last_new_event_tick_ms = 0U;
|
||||
return 1U;
|
||||
}
|
||||
|
||||
uint8_t rc522_uid_to_string(const rc522_card_info_t *card, char *out_str, uint16_t out_len)
|
||||
{
|
||||
uint16_t need_len;
|
||||
uint16_t pos = 0;
|
||||
|
||||
if (card == NULL || out_str == NULL || card->uid_len == 0U || card->uid_len > RC522_UID_MAX_LEN) {
|
||||
return 0U;
|
||||
}
|
||||
|
||||
/* 每字节2字符，字节间空格(uid_len-1)，再加结尾\0 */
|
||||
need_len = (uint16_t)((card->uid_len * 2U) + (card->uid_len - 1U) + 1U);
|
||||
|
||||
if (out_len < need_len) {
|
||||
return 0U;
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < card->uid_len; i++) {
|
||||
int n = snprintf(&out_str[pos], (size_t)(out_len - pos), "%02X", card->uid[i]);
|
||||
if (n <= 0) {
|
||||
return 0U;
|
||||
}
|
||||
pos = (uint16_t)(pos + (uint16_t)n);
|
||||
if (i != (uint8_t)(card->uid_len - 1U)) {
|
||||
if (pos + 1U >= out_len) {
|
||||
return 0U;
|
||||
}
|
||||
out_str[pos++] = ' ';
|
||||
out_str[pos] = '\0';
|
||||
}
|
||||
}
|
||||
return 1U;
|
||||
}
|
||||
|
||||
rc522_status_t rc522_service(rc522_card_info_t *out_card)
|
||||
{
|
||||
rc522_update_run_led_state();
|
||||
|
||||
if (!rc522_cache_is_fresh()) {
|
||||
g_last_card.valid = 0U;
|
||||
}
|
||||
|
||||
#if (RC522_USE_IRQ_TRIGGER == 1U)
|
||||
if (g_irq_pending == 0U) {
|
||||
return RC522_NO_CARD;
|
||||
}
|
||||
#endif
|
||||
|
||||
return rc522_poll(out_card);
|
||||
}
|
||||
|
||||
void rc522_irq_callback(uint16_t GPIO_Pin)
|
||||
{
|
||||
if (GPIO_Pin == IOR_Pin) {
|
||||
g_irq_pending = 1U;
|
||||
}
|
||||
}
|
||||
160
Core/Bsp/bsp_rc522.h
Normal file
160
Core/Bsp/bsp_rc522.h
Normal file
@@ -0,0 +1,160 @@
|
||||
#ifndef __BSP_RC522_H
|
||||
#define __BSP_RC522_H
|
||||
|
||||
#include "main.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* RC522 典型 UID 最大长度为 10 字节 */
|
||||
#define RC522_UID_MAX_LEN 10U
|
||||
|
||||
// ================== 站点UID白名单（用户可根据实际卡片填写） ==================
|
||||
|
||||
// 站点1（A）卡片 UID: 29 AF 22 07
|
||||
#define STATION_1_UID {0x29, 0xAF, 0x22, 0x07}
|
||||
// 站点2（B）卡片 UID: 1B 45 F3 06
|
||||
#define STATION_2_UID {0x1B, 0x45, 0xF3, 0x06}
|
||||
|
||||
|
||||
// 站点枚举（可扩展）
|
||||
typedef enum {
|
||||
STATION_NONE = 0,
|
||||
STATION_1 = 1, // 29 AF 22 07
|
||||
STATION_2 = 2, // 1B 45 F3 06
|
||||
// 可继续添加更多站点
|
||||
} station_id_t;
|
||||
|
||||
/**
|
||||
* @brief 根据UID判断属于哪个站点
|
||||
* @param uid UID字节数组
|
||||
* @param uid_len UID长度
|
||||
* @return station_id_t 站点编号
|
||||
*/
|
||||
station_id_t rc522_match_station(const uint8_t *uid, uint8_t uid_len);
|
||||
|
||||
/*
|
||||
* RUN 提示灯策略：
|
||||
* 1) 轮询到卡片后点亮一段时间 (RC522_RUN_LED_HOLD_MS)
|
||||
* 2) 超时自动熄灭
|
||||
* 如需关闭该功能，设置 RC522_RUN_LED_ENABLE 为 0
|
||||
*/
|
||||
#ifndef RC522_RUN_LED_ENABLE
|
||||
#define RC522_RUN_LED_ENABLE 1U
|
||||
#endif
|
||||
|
||||
#ifndef RC522_RUN_LED_HOLD_MS
|
||||
#define RC522_RUN_LED_HOLD_MS 300U
|
||||
#endif
|
||||
|
||||
/* 按当前板卡默认 RUN_LED 低电平点亮 */
|
||||
#ifndef RC522_RUN_LED_ON_LEVEL
|
||||
#define RC522_RUN_LED_ON_LEVEL GPIO_PIN_RESET
|
||||
#endif
|
||||
|
||||
/* 最近卡缓存超时时间：超过该时间认为缓存失效 */
|
||||
#ifndef RC522_CACHE_EXPIRE_MS
|
||||
#define RC522_CACHE_EXPIRE_MS 1500U
|
||||
#endif
|
||||
|
||||
/*
|
||||
* 是否使用 IRQ 触发后再读卡：
|
||||
* 0 = 纯轮询（推荐先用）
|
||||
* 1 = 依赖 IOR 中断触发（需要在 EXTI 回调中调用 rc522_irq_callback）
|
||||
*/
|
||||
#ifndef RC522_USE_IRQ_TRIGGER
|
||||
#define RC522_USE_IRQ_TRIGGER 0U
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief RC522 读卡状态
|
||||
*/
|
||||
typedef enum {
|
||||
RC522_OK = 0,
|
||||
RC522_NO_CARD,
|
||||
RC522_ERR_TIMEOUT,
|
||||
RC522_ERR_CRC,
|
||||
RC522_ERR_BCC,
|
||||
RC522_ERR_SPI,
|
||||
RC522_ERR_PARAM,
|
||||
RC522_ERR_INTERNAL
|
||||
} rc522_status_t;
|
||||
|
||||
/**
|
||||
* @brief 最近一次读到的卡片信息
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t valid; // 1: 有效卡信息, 0: 无效
|
||||
uint8_t uid[RC522_UID_MAX_LEN]; // UID 原始字节
|
||||
uint8_t uid_len; // UID 长度 (支持 4/7/10)
|
||||
uint8_t sak; // Select Acknowledge
|
||||
uint16_t atqa; // Answer To Request, 高字节在前
|
||||
uint32_t last_seen_tick_ms; // 最近一次读到该卡的系统毫秒时间
|
||||
} rc522_card_info_t;
|
||||
|
||||
/**
|
||||
* @brief 初始化 RC522 模块 (SPI + 寄存器)
|
||||
* @note SPI1 已由 CubeMX 初始化，本函数只做 RC522 芯片侧初始化。
|
||||
*/
|
||||
rc522_status_t rc522_init(void);
|
||||
|
||||
/**
|
||||
* @brief 轮询一次读卡，并缓存结果
|
||||
* @param out_card 可选输出，为 NULL 时仅更新内部缓存
|
||||
* @return rc522_status_t
|
||||
*/
|
||||
rc522_status_t rc522_poll(rc522_card_info_t *out_card);
|
||||
|
||||
/**
|
||||
* @brief RC522 周期服务函数（推荐在任务中调用）
|
||||
* @param out_card 可选输出，为 NULL 时仅更新内部状态
|
||||
* @return RC522_OK: 本次成功读到卡; RC522_NO_CARD: 当前无卡; 其他: 读卡异常
|
||||
*/
|
||||
rc522_status_t rc522_service(rc522_card_info_t *out_card);
|
||||
|
||||
/**
|
||||
* @brief 获取最近一次成功读到的卡片信息
|
||||
* @param out_card 输出参数
|
||||
* @return 1: 成功复制, 0: 当前无有效卡信息
|
||||
*/
|
||||
uint8_t rc522_get_last_card(rc522_card_info_t *out_card);
|
||||
|
||||
/**
|
||||
* @brief 当前是否存在有效缓存卡
|
||||
* @return 1: 有效, 0: 无效
|
||||
*/
|
||||
uint8_t rc522_has_valid_card(void);
|
||||
|
||||
/**
|
||||
* @brief 判断当前卡是否“新卡事件”(与上次输出不同)
|
||||
* @param out_card 输出参数
|
||||
* @return 1: 新卡, 0: 非新卡或无卡
|
||||
*/
|
||||
uint8_t rc522_get_new_card(rc522_card_info_t *out_card);
|
||||
|
||||
/**
|
||||
* @brief 清除内部缓存的最近卡片信息
|
||||
*/
|
||||
void rc522_clear_last_card(void);
|
||||
|
||||
/**
|
||||
* @brief 将 UID 格式化为 HEX 字符串 (例如 "DE AD BE EF")
|
||||
* @param card 卡片信息
|
||||
* @param out_str 输出缓冲区
|
||||
* @param out_len 输出缓冲区长度
|
||||
* @return 1: 成功, 0: 参数错误或缓冲区不足
|
||||
*/
|
||||
uint8_t rc522_uid_to_string(const rc522_card_info_t *card, char *out_str, uint16_t out_len);
|
||||
|
||||
/**
|
||||
* @brief EXTI 回调入口（可选）
|
||||
* @param GPIO_Pin EXTI 引脚号
|
||||
*/
|
||||
void rc522_irq_callback(uint16_t GPIO_Pin);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __BSP_RC522_H */
|
||||
122
Core/Bsp/task_README.md
Normal file
122
Core/Bsp/task_README.md
Normal file
@@ -0,0 +1,122 @@
|
||||
# RC522 任务接入说明 (CubeMX 友好)
|
||||
|
||||
你要求不要直接改自动生成任务代码，避免下次 CubeMX 重新生成被覆盖。下面是推荐接入方式。
|
||||
|
||||
## 1. 已新增驱动文件
|
||||
|
||||
- `Core/Bsp/bsp_rc522.h`
|
||||
- `Core/Bsp/bsp_rc522.c`
|
||||
|
||||
核心接口：
|
||||
|
||||
```c
|
||||
rc522_status_t rc522_init(void);
|
||||
rc522_status_t rc522_poll(rc522_card_info_t *out_card);
|
||||
rc522_status_t rc522_service(rc522_card_info_t *out_card);
|
||||
uint8_t rc522_get_last_card(rc522_card_info_t *out_card);
|
||||
uint8_t rc522_has_valid_card(void);
|
||||
uint8_t rc522_get_new_card(rc522_card_info_t *out_card);
|
||||
void rc522_clear_last_card(void);
|
||||
uint8_t rc522_uid_to_string(const rc522_card_info_t *card, char *out_str, uint16_t out_len);
|
||||
void rc522_irq_callback(uint16_t GPIO_Pin);
|
||||
```
|
||||
|
||||
RUN 灯提示（已内置在驱动里）：
|
||||
|
||||
- 成功读到卡后自动点亮 `RUN_LED`
|
||||
- 保持 `RC522_RUN_LED_HOLD_MS` 毫秒后自动熄灭
|
||||
- 默认低电平点亮，可在 `bsp_rc522.h` 里改：
|
||||
|
||||
```c
|
||||
#define RC522_RUN_LED_ENABLE 1U
|
||||
#define RC522_RUN_LED_HOLD_MS 300U
|
||||
#define RC522_RUN_LED_ON_LEVEL GPIO_PIN_RESET
|
||||
#define RC522_CACHE_EXPIRE_MS 1500U
|
||||
#define RC522_USE_IRQ_TRIGGER 0U
|
||||
```
|
||||
|
||||
## 2. 硬件连接确认
|
||||
|
||||
按你现在配置：
|
||||
|
||||
- `SDA (CS)` -> `PC4` (输出)
|
||||
- `RST` -> `PB0` (输出)
|
||||
- `IOR (IRQ)` -> `PC5` (EXTI，可选)
|
||||
- `SPI1` -> `PA5/PA6/PA7`
|
||||
|
||||
> 注意：默认是 **轮询模式**（`RC522_USE_IRQ_TRIGGER=0`），最稳。
|
||||
> 如果你想改为中断触发读卡：设为 `1`，并确保 EXTI 回调里调用 `rc522_irq_callback(GPIO_Pin)`。
|
||||
|
||||
## 3. 在 CubeMX 的 freertos.c 用户区接入
|
||||
|
||||
### 3.1 头文件包含 (`USER CODE BEGIN Includes`)
|
||||
|
||||
```c
|
||||
#include "bsp_rc522.h"
|
||||
```
|
||||
|
||||
### 3.2 在初始化阶段调用 (`USER CODE BEGIN Init`)
|
||||
|
||||
```c
|
||||
rc522_init();
|
||||
```
|
||||
|
||||
### 3.3 新建一个低优先级任务（推荐 50~100ms）
|
||||
|
||||
任务函数示例（你可以放在用户代码区）：
|
||||
|
||||
```c
|
||||
void rc522_task(void *argument)
|
||||
{
|
||||
rc522_card_info_t card;
|
||||
char uid_str[3 * RC522_UID_MAX_LEN] = {0};
|
||||
|
||||
for (;;) {
|
||||
rc522_status_t st = rc522_service(&card);
|
||||
if (st == RC522_OK) {
|
||||
if (rc522_uid_to_string(&card, uid_str, sizeof(uid_str))) {
|
||||
printf("RFID UID: %s, SAK:0x%02X, ATQA:0x%04X\r\n",
|
||||
uid_str, card.sak, card.atqa);
|
||||
}
|
||||
}
|
||||
osDelay(100);
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
如果你只希望“新卡刷入时”触发一次业务，不重复触发：
|
||||
|
||||
```c
|
||||
rc522_card_info_t new_card;
|
||||
if (rc522_get_new_card(&new_card)) {
|
||||
// 仅在识别到新 UID 时进入
|
||||
}
|
||||
```
|
||||
|
||||
## 4. 在业务代码中获取“最近一次卡片信息”
|
||||
|
||||
驱动会自动缓存最近一次成功读到的卡，可在任意位置读取：
|
||||
|
||||
```c
|
||||
rc522_card_info_t last_card;
|
||||
if (rc522_get_last_card(&last_card)) {
|
||||
// last_card 有效
|
||||
} else {
|
||||
// 当前没有有效卡缓存
|
||||
}
|
||||
```
|
||||
|
||||
## 5. 常见问题
|
||||
|
||||
1. 一直读不到卡：
|
||||
- 检查 RC522 供电是否 3.3V（不要 5V）
|
||||
- 检查 `SDA(PC4)` 是否被其他器件复用
|
||||
- 确认 SPI1 时钟极性/相位为 `CPOL=0, CPHA=1Edge`
|
||||
|
||||
2. UID 偶发错误：
|
||||
- 降低 SPI 速率（在 CubeMX 调大分频，例如 Prescaler=8）
|
||||
- 线长尽量短，地线要可靠
|
||||
|
||||
3. 任务被覆盖：
|
||||
- 只在 `USER CODE BEGIN ... END` 区域放代码
|
||||
- 或者把任务函数放到 `Core/Bsp` 内，由 `freertos.c` 用户区仅调用
|
||||
@@ -34,6 +34,7 @@
|
||||
#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
|
||||
#include "bsp_track_ir.h" // 添加对 bsp_track_ir.h 的包含
|
||||
#include "bsp_sr04.h" // 添加超声波头文件
|
||||
#include "bsp_rc522.h" // 添加 RFID 头文件
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
@@ -83,6 +84,13 @@ const osThreadAttr_t sr04Task_attributes = {
|
||||
.stack_size = 128 * 4,
|
||||
.priority = (osPriority_t) osPriorityLow,
|
||||
};
|
||||
/* Definitions for rc522Task */
|
||||
osThreadId_t rc522TaskHandle;
|
||||
const osThreadAttr_t rc522Task_attributes = {
|
||||
.name = "rc522Task",
|
||||
.stack_size = 128 * 4,
|
||||
.priority = (osPriority_t) osPriorityBelowNormal,
|
||||
};
|
||||
/* Definitions for CmdQueue */
|
||||
osMessageQueueId_t CmdQueueHandle;
|
||||
const osMessageQueueAttr_t CmdQueue_attributes = {
|
||||
@@ -107,6 +115,7 @@ void StartDefaultTask(void *argument);
|
||||
void CarCtrl_Task(void *argument);
|
||||
void speed_get(void *argument);
|
||||
void sr04_task(void *argument);
|
||||
void rc522_task(void *argument);
|
||||
|
||||
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
|
||||
|
||||
@@ -126,6 +135,9 @@ void MX_FREERTOS_Init(void) {
|
||||
hall_init(); // 初始化霍尔传感器
|
||||
track_ir_init(); // 初始化轨迹红外传感器
|
||||
sr04_init(); // 初始化超声波
|
||||
rc522_init(); // 初始化 RFID 模块
|
||||
|
||||
|
||||
|
||||
/* USER CODE END Init */
|
||||
|
||||
@@ -162,6 +174,9 @@ void MX_FREERTOS_Init(void) {
|
||||
/* creation of sr04Task */
|
||||
sr04TaskHandle = osThreadNew(sr04_task, NULL, &sr04Task_attributes);
|
||||
|
||||
/* creation of rc522Task */
|
||||
rc522TaskHandle = osThreadNew(rc522_task, NULL, &rc522Task_attributes);
|
||||
|
||||
/* USER CODE BEGIN RTOS_THREADS */
|
||||
/* add threads, ... */
|
||||
/* USER CODE END RTOS_THREADS */
|
||||
@@ -256,6 +271,43 @@ void sr04_task(void *argument)
|
||||
/* USER CODE END sr04_task */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_rc522_task */
|
||||
/**
|
||||
* @brief Function implementing the rc522Task thread.
|
||||
* @param argument: Not used
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_rc522_task */
|
||||
void rc522_task(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN rc522_task */
|
||||
rc522_card_info_t card;
|
||||
char uid_str[3 * RC522_UID_MAX_LEN] = {0};
|
||||
station_id_t station = STATION_NONE;
|
||||
/* Infinite loop */
|
||||
for(;;)
|
||||
{
|
||||
rc522_status_t st = rc522_poll(&card);
|
||||
if (st == RC522_OK) {
|
||||
if (rc522_uid_to_string(&card, uid_str, sizeof(uid_str))) {
|
||||
printf("RFID UID: %s, SAK:0x%02X, ATQA:0x%04X\r\n",
|
||||
uid_str, card.sak, card.atqa);
|
||||
}
|
||||
// 站点匹配逻辑
|
||||
station = rc522_match_station(card.uid, card.uid_len);
|
||||
if (station == STATION_1) {
|
||||
printf("到达站点1！\r\n");
|
||||
// 可在此处添加到站动作，如停车、蜂鸣等
|
||||
} else if (station == STATION_2) {
|
||||
printf("到达站点2！\r\n");
|
||||
// 可在此处添加到站动作，如停车、蜂鸣等
|
||||
}
|
||||
}
|
||||
osDelay(100);
|
||||
}
|
||||
/* USER CODE END rc522_task */
|
||||
}
|
||||
|
||||
/* Private application code --------------------------------------------------*/
|
||||
/* USER CODE BEGIN Application */
|
||||
|
||||
|
||||
@@ -36,7 +36,7 @@ Dma.USART2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphData
|
||||
FREERTOS.FootprintOK=true
|
||||
FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01,configTOTAL_HEAP_SIZE
|
||||
FREERTOS.Queues01=CmdQueue,16,16,1,Dynamic,NULL,NULL
|
||||
FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL;sr04Task,8,128,sr04_task,Default,NULL,Dynamic,NULL,NULL
|
||||
FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL;sr04Task,8,128,sr04_task,Default,NULL,Dynamic,NULL,NULL;rc522Task,16,128,rc522_task,Default,NULL,Dynamic,NULL,NULL
|
||||
FREERTOS.configTOTAL_HEAP_SIZE=10000
|
||||
File.Version=6
|
||||
GPIO.groupedBy=Group By Peripherals
|
||||
|
||||
Reference in New Issue
Block a user