static portTASK_FUNCTION(RFIDTask, pvParameters) {
/* Write your task initialization code here ... */
PCD_Init();
vTaskDelay(500/portTICK_RATE_MS);
for (;;) {
/* Write your task code here ... */
mfrc522_loop();
/* You can use a task delay like
vTaskDelay(1000/portTICK_RATE_MS);
*/
}
/* Destroy the task */
vTaskDelete(RFIDTask);
}
int main_controller_tick(int state){
static unsigned short main_hold_time = 0;
switch(state){//main_task transitions/actions
case st_main_start:
state = st_main_init;
break;
case st_main_init:
SPI_Master_Init();
PCD_Init();
state = st_main_wait_new;
QueueEnqueue(lcd_command_queue, lcd_write_ready);
break;
case st_main_wait_new:
if(PICC_IsNewCardPresent()){
storeTagID();
PICC_HaltA();
state = st_main_checkID;
} else {
state = st_main_wait_new;
}
break;
case st_main_checkID:
if(isMaster(tag_id)){
state = st_main_master;
QueueEnqueue(lcd_command_queue, lcd_write_master);
} else if(search_valid_tag(tag_id) != -1){
state = st_main_hold;
main_hold_time = 0;
if(current_lock_position == locked || current_lock_position == malfunction){
QueueEnqueue(lock_command_queue, lc_unlock);
} else if(current_lock_position == unlocked){
QueueEnqueue(lock_command_queue, lc_lock);
}
} else {
state = st_main_hold;
main_hold_time = 0;
QueueEnqueue(lcd_command_queue, lcd_write_invalid);
}
break;
case st_main_master:
if(!(PIND & 0x10)){
if(isTagDBFull()){
state = st_main_hold;
main_hold_time = 0;
QueueEnqueue(lcd_command_queue, lcd_write_add_full);
} else {
state = st_main_add_pressed;
QueueEnqueue(lcd_command_queue, lcd_write_add);
}
} else if(!(PIND & 0x40)){
if(isTagDBEmpty()){
state = st_main_hold;
main_hold_time = 0;
QueueEnqueue(lcd_command_queue, lcd_write_remove_empty);
} else {
state = st_main_rm_pressed;
current_remove_option = 0;
QueueEnqueue(lcd_command_queue, lcd_write_remove);
}
} else {
state = st_main_master;
}
break;
case st_main_add_pressed:
if(PIND & 0x10){
state = st_main_add_tag;
} else {
state = st_main_add_pressed;
}
break;
case st_main_add_tag:
if(PICC_IsNewCardPresent()){
storeTagID();
PICC_HaltA();
if(isMaster(tag_id)){
state = st_main_add_tag;
} else if(search_valid_tag(tag_id) == -1){
state = st_main_hold;
main_hold_time = 0;
add_valid_tag(tag_id);
QueueEnqueue(lcd_command_queue, lcd_write_added);
} else {
state = st_main_hold;
main_hold_time = 0;
QueueEnqueue(lcd_command_queue, lcd_write_add_exist);
}
} else {
state = st_main_add_tag;
}
break;
case st_main_rm_pressed:
if(PIND & 0x40){
state = st_main_rm_tag;
} else {
state = st_main_rm_pressed;
}
break;
case st_main_rm_tag:
if(!(PIND & 0x10)){
current_remove_option = (current_remove_option + (numValidKeys - 1)) % numValidKeys;
QueueEnqueue(lcd_command_queue, lcd_write_remove);
state = st_main_lr_pressed;
} else if(!(PIND & 0x40)){
current_remove_option = (current_remove_option + 1) % numValidKeys;
QueueEnqueue(lcd_command_queue, lcd_write_remove);
state = st_main_lr_pressed;
} else if(!(PIND & 0x20)){
remove_valid_tag(current_remove_option);
QueueEnqueue(lcd_command_queue, lcd_write_removed);
state = st_main_hold;
main_hold_time = 0;
} else {
state = st_main_rm_tag;
}
break;
case st_main_lr_pressed:
if( (PIND & 0x10) && (PIND & 0x40) ){
state = st_main_rm_tag;
} else {
state = st_main_lr_pressed;
}
break;
case st_main_hold:
if(main_hold_time < 20){
main_hold_time++;
state = st_main_hold;
} else {
state = st_main_wait_new;
}
break;
default:
state = st_main_start;
break;
}//end main_task transitions/actions
return state;
};
