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| ==RFID (MFRC522) component== | | ==RFID (MFRC522) component== |
| Functions designed to work with the MFRC522 contactless reader IC. The MFRC522 supports all variants of the MIFARE Mini, MIFARE 1K, MIFARE 4K, MIFARE Ultralight, MIFARE DESFire EV1 and MIFARE Plus RF identification protocols. | | Functions designed to work with the MFRC522 contactless reader IC. The MFRC522 supports all variants of the MIFARE Mini, MIFARE 1K, MIFARE 4K, MIFARE Ultralight, MIFARE DESFire EV1 and MIFARE Plus RF identification protocols. |
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| | ==Component Source Code== |
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| | Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_MFRC522.fcfx FC_Comp_Source_MFRC522.fcfx] |
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| | Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_MFRC522.fcfx FC_Comp_Source_MFRC522.fcfx] |
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| ==Detailed description== | | ==Detailed description== |
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| ''No detailed description exists yet for this component''
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| ==Examples==
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| Here is a basic example program that reads the UID from a Mifare RFID tag and displays on an LCD. If the UID matches the UID stored in memory then a solenoid will fire allowing a door to be unlocked etc.
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| {{Fcfile|MFRC522_UID_Test.fcfx|Display UID}}
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| Here is a basic example program to read and modify data stored on a Mifare RFID tag.
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| {{Fcfile|MFRC522_Read_Write.fcfx|Read Write Test}}
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| ==Downloadable macro reference==
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CompareUID'''
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| | colspan="2" | Compares the UID from the ReadCardSerial macro with 4 byte UID. Returns 0 if the addresses match.
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Add0
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| |-
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Add1
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| |-
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Add2
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| |-
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Add3
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsNewCardPresent'''
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| | colspan="2" | Is there a card present for us to communicate with. Returns 0 for no card and 1 for valid card present.
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetType'''
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| | colspan="2" | Translates the SAK (Select Acknowledge) to a PICC type
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | sak
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| | colspan="2" | The SAK byte returned from PICC_Select
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AntennaOff'''
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| | colspan="2" | Switches off the RFID antenna to save power. The antenna must be switched on again before communicating with an RFID tag.
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | ''No detailed description exists yet for this component'' |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadCardSerial'''
| | ==Examples== |
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| | colspan="2" | Simple wrapper around PICC_Select. Returns true if a UID could be read. Remember to call PICC_IsNewCardPresent(), PICC_RequestA() or PICC_WakeupA() first. The read UID is available in the class variable uid.
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MifareWrite'''
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| | colspan="2" | Writes to a block of data on a MIFARE type tag
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | BlockAddress
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Buffer
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | BufferSize
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| |-
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Select'''
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | ValidBits
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StopCrypto'''
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| | colspan="2" | Used to exit the PCD from its authenticated state. Remember to call this function after communicating with an authenticated PICC - otherwise no new communications can start.
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MifareRead'''
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| | colspan="2" | Reads from a block of data on a MIFARE type tag
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | BlockAddress
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Buffer
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | BufferSize
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Authenticate'''
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| | colspan="2" | This command manages MIFARE authentication to enable a secure communication to any MIFARE Mini, MIFARE 1K and MIFARE 4K card. All keys are set to FFFFFFFFFFFFh at chip delivery. The authentication is described in the MFRC522 datasheet section 10.3.1.9.
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Command
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| | colspan="2" | PICC_CMD_MF_AUTH_KEY_A or PICC_CMD_MF_AUTH_KEY_B
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | BlockAddress
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| | colspan="2" | The block number
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Key
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| | colspan="2" | Crypteo key to use
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''HaltA'''
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| | colspan="2" | Instructs a PICC in state ACTIVE(*) to go to state HALT
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadUIDByte'''
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| | colspan="2" |
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Index
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| | colspan="2" | 0-9 = UID Data Bytes, 10 = UID Length, 11 = UID SAK
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| | Here is a basic example program that reads the UID from a Mifare RFID tag and displays on an LCD. If the UID matches the UID stored in memory then a solenoid will fire allowing a door to be unlocked etc. |
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AntennaOn'''
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| | colspan="2" | Switches on the RFID antenna. Called as part of the Initialise macro.
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| | {{Fcfile|MFRC522_UID_Test.fcfx|Display UID}} |
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
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| | colspan="2" | Initialises the RFID module ready for interaction with RFID tags.
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| | Here is a basic example program to read and modify data stored on a Mifare RFID tag. |
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {{Fcfile|MFRC522_Read_Write.fcfx|Read Write Test}} |
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
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| | colspan="2" | Displays a monochrome bitmap read from the card on the LCD
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | X
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| | colspan="2" | Range 0-127
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | Y
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| | colspan="2" | Range 0-31
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| | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
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| | width="90%" | Filename
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |} | |
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
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| | colspan="2" | Records an audio stream on the card from the microphone
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | BitDepth
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| | colspan="2" | 0=8-bit, 1=16-bit
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| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" | SampleRate
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| | colspan="2" | Sample Rate 0=8KHz, 1=16KHz
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| | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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| | width="90%" | RecordTime
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| | colspan="2" | Time to record for in seconds, Range 0-65535
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| |-
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| | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
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| | width="90%" | Filename
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
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| | colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK
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| | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
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| | width="90%" | Filename
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| | colspan="2" |
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| |-
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
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| |-
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| | colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning
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| |-
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| |-
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| | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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| | width="90%" | Distance
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| |-
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| | colspan="2" | Distance in mm
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| |-
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| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| | width="90%" style="border-top: 2px solid #000;" | ''Return''
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| |}
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
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| |-
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| | colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.
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| |-
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
| |
| | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| |}
| |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |-
| |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
| |
| |-
| |
| | colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.
| |
| |-
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
| |
| | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| |}
| |
|
| |
|
| | ==Macro reference== |
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===AntennaOff=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine''' | | | width="90%" class="mtx-class-macrohead" | '''AntennaOff''' |
| |- | | |- |
| | colspan="2" | Allows a single pixel width line to be drawn on the LCD | | | colspan="2" | Switches off the RFID antenna to save power. The antenna must be switched on again before communicating with an RFID tag. |
| |- | | |- |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | X1
| |
| |-
| |
| | colspan="2" | X Pixel 0-127
| |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | Y1
| |
| |-
| |
| | colspan="2" | Y Pixel 0-31
| |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | X2
| |
| |-
| |
| | colspan="2" | X Pixel 0-127
| |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | Y2
| |
| |-
| |
| | colspan="2" | Y Pixel 0-31
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| Line 455: |
Line 107: |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===AntennaOn=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition''' | | | width="90%" class="mtx-class-macrohead" | '''AntennaOn''' |
| |- | | |- |
| | colspan="2" | Allows one of the servo positions to move gradually to a new position | | | colspan="2" | Switches on the RFID antenna. Called as part of the Initialise macro. |
| |-
| |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | Channel
| |
| |- | | |- |
| | colspan="2" | Range 0-3
| |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | Position
| |
| |-
| |
| | colspan="2" | Range 0-255
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| Line 478: |
Line 121: |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===Authenticate=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllValue''' | | | width="90%" class="mtx-class-macrohead" | '''Authenticate''' |
| |- | | |- |
| | colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read | | | colspan="2" | This command manages MIFARE authentication to enable a secure communication to any MIFARE Mini, MIFARE 1K and MIFARE 4K card. All keys are set to FFFFFFFFFFFFh at chip delivery. The authentication is described in the MFRC522 datasheet section 10.3.1.9. |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Index | | | width="90%" | Command |
| |- | | |- |
| | colspan="2" | 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel | | | colspan="2" | PICC_CMD_MF_AUTH_KEY_A or PICC_CMD_MF_AUTH_KEY_B |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return''
| | | width="90%" | BlockAddress |
| |}
| |
| | |
| | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |-
| |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight''' | |
| |-
| |
| | colspan="2" | Allows the LCD backlight brighntess to be adjusted
| |
| |- | | |- |
| | | colspan="2" | The block number |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Intensity | | | width="90%" | Key |
| |- | | |- |
| | colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness | | | colspan="2" | Crypteo key to use |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===CompareUID=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect''' | | | width="90%" class="mtx-class-macrohead" | '''CompareUID''' |
| |- | | |- |
| | colspan="2" | Allows a rectangle to be drawn on the LCD | | | colspan="2" | Compares the UID from the ReadCardSerial macro with 4 byte UID. Returns 0 if the addresses match. |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | X1 | | | width="90%" | Add0 |
| |- | | |- |
| | colspan="2" | X Pixel 0-127 | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Y1 | | | width="90%" | Add1 |
| |- | | |- |
| | colspan="2" | Y Pixel 0-31 | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | X2 | | | width="90%" | Add2 |
| |- | | |- |
| | colspan="2" | X Pixel 0-127 | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Y2 | | | width="90%" | Add3 |
| |- | | |- |
| | colspan="2" | Y Pixel 0-31 | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===GetType=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLine''' | | | width="90%" class="mtx-class-macrohead" | '''GetType''' |
| |- | | |- |
| | colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right | | | colspan="2" | Translates the SAK (Select Acknowledge) to a PICC type |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | index | | | width="90%" | sak |
| |- | | |- |
| | colspan="2" | 0=Left, 1=Right | | | colspan="2" | The SAK byte returned from PICC_Select |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===HaltA=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable''' | | | width="90%" class="mtx-class-macrohead" | '''HaltA''' |
| |- | | |- |
| | colspan="2" | Allows one of the servo outputs 0-3 to be disabled | | | colspan="2" | Instructs a PICC in state ACTIVE(*) to go to state HALT |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Channel
| |
| |-
| |
| | colspan="2" | Range 0-3
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===Initialise=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable''' | | | width="90%" class="mtx-class-macrohead" | '''Initialise''' |
| |- | | |- |
| | colspan="2" | Allows one of the servo outputs 0-3 to be enabled | | | colspan="2" | Initialises the RFID module ready for interaction with RFID tags. |
| |- | | |- |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| | width="90%" | Channel
| |
| |-
| |
| | colspan="2" | Range 0-3
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| Line 601: |
Line 231: |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===IsNewCardPresent=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte''' | | | width="90%" class="mtx-class-macrohead" | '''IsNewCardPresent''' |
| |- | | |- |
| | colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end | | | colspan="2" | Is there a card present for us to communicate with. Returns 0 for no card and 1 for valid card present. |
| |- | | |- |
| |- | | |- |
| Line 614: |
Line 245: |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===MifareRead=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase''' | | | width="90%" class="mtx-class-macrohead" | '''MifareRead''' |
| |- | | |- |
| | colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK | | | colspan="2" | Reads from a block of data on a MIFARE type tag |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Filename | | | width="90%" | BlockAddress |
| |- | | |- |
| | colspan="2" | | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" | Buffer |
| |}
| |
| | |
| | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |-
| |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
| |
| |-
| |
| | colspan="2" | Appends a byte to the end of the currently open file
| |
| |- | | |- |
| | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Data | | | width="90%" | BufferSize |
| |- | | |- |
| | colspan="2" | | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===MifareWrite=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead''' | | | width="90%" class="mtx-class-macrohead" | '''MifareWrite''' |
| |- | | |- |
| | colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. | | | colspan="2" | Writes to a block of data on a MIFARE type tag |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | index | | | width="90%" | BlockAddress |
| |- | | |- |
| | colspan="2" | 0=Left, 1=Right | | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" | Buffer |
| |}
| |
| | |
| | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | colspan="2" | |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
| |
| |- | | |- |
| | colspan="2" | Sets the motor speeds without feedback Range -100 to 100 | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | | width="90%" | BufferSize |
| |- | | |- |
| | | colspan="2" | |
| |- | | |- |
| | width="10%" align="center" | [[File:]] -
| | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Left
| |
| |-
| |
| | colspan="2" | Range -100 to 100
| |
| |-
| |
| | width="10%" align="center" | [[File:]] -
| |
| | width="90%" | Right
| |
| |-
| |
| | colspan="2" | Range -100 to 100
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===ReadCardSerial=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards''' | | | width="90%" class="mtx-class-macrohead" | '''ReadCardSerial''' |
| |- | | |- |
| | colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning | | | colspan="2" | Simple wrapper around PICC_Select. Returns true if a UID could be read. Remember to call PICC_IsNewCardPresent(), PICC_RequestA() or PICC_WakeupA() first. The read UID is available in the class variable uid. |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | Distance
| |
| |-
| |
| | colspan="2" | Distance in mm
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
| |
|
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===ReadUIDByte=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset''' | | | width="90%" class="mtx-class-macrohead" | '''ReadUIDByte''' |
| |- | | |- |
| | colspan="2" | Resets the motor encoder counters | | | colspan="2" | |
| |-
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
| | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| |}
| |
| | |
| | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |-
| |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
| |
| |-
| |
| | colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on
| |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | State | | | width="90%" | Index |
| |- | | |- |
| | colspan="2" | 0=Off 1=On | | | colspan="2" | 0-9 = UID Data Bytes, 10 = UID Length, 11 = UID SAK |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
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|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===Select=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp''' | | | width="90%" class="mtx-class-macrohead" | '''Select''' |
| |- | | |- |
| | colspan="2" | Allows the COM port property to be set from a parent component. | | | colspan="2" | |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" | PropName | | | width="90%" | ValidBits |
| |- | | |- |
| | colspan="2" | | | | colspan="2" | |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
| |
| | width="90%" | PropVal
| |
| |-
| |
| | colspan="2" |
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
| | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| |}
| |
|
| |
|
| |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |-
| |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
| |
| |-
| |
| | colspan="2" | Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK
| |
| |-
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| Line 776: |
Line 355: |
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| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | ===StopCrypto=== |
| | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp''' | | | width="90%" class="mtx-class-macrohead" | '''StopCrypto''' |
| |- | | |- |
| | colspan="2" | Allows the property filter for the COM port list to be copied to a parent component. | | | colspan="2" | Used to exit the PCD from its authenticated state. Remember to call this function after communicating with an authenticated PICC - otherwise no new communications can start. |
| |-
| |
| |-
| |
| | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| |
| | width="90%" | PropName
| |
| |-
| |
| | colspan="2" |
| |
| |-
| |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
| |
| | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| |}
| |
| | |
| | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| |-
| |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
| |
| |-
| |
| | colspan="2" | Clears the LCD
| |
| |- | | |- |
| |- | | |- |
| Line 805: |
Line 367: |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
|
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| ==Property reference== | | ==Property reference== |
|
| |
|
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="mtx-class-macrotable wikitable" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]] | | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties''' | | | width="90%" class="mtx-class-macrohead" | '''Properties''' |
| |- | | |- |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]] | | | width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Connections''' | | | width="90%" class="mtx-class-propfolder" | Connections |
| |- | | |- |
| |- | | |- |
| Line 856: |
Line 416: |
| | colspan="2" | MFRC522 Reset Pin | | | colspan="2" | MFRC522 Reset Pin |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]] | | | width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]] |
| | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Simulations''' | | | width="90%" class="mtx-class-propfolder" | Simulation |
| |- | | |- |
| |- | | |- |