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基于51单片机、舵机和射频模块实现的刷卡开门系统
舵机模块
1.利用定时中断实现PWN波控制舵机角度控制
舵机的控制一般需要一个20ms左右的时基脉冲，该脉冲的高电平部分一般为0.5ms-2.5ms范围内的角度控制脉冲部分，总间隔为2ms。以180角度伺服为例。
0.5ms-------------------------0度
1.0ms-------------------------45度
1.5ms-------------------------90度
2.0ms-------------------------135度
2.5ms-------------------------180度
2.例如用按键控制舵机旋转至特定角度。
源码：
#include "reg52.h"#include "math.h"typedef unsigned char uchar;
typedef unsigned int uint;sbit KEY1 = P3^4; //按键1
sbit KEY2 = P3^5; //按键2sbit PWN_OUT = P2^7; //PWN输出口uint PWN_Value; //定义pwn值
uchar order = 0;void Delay(uint s); //延时函数声明uchar flag; //舵机按键标志/*延时函数*/
void Delay(uint s)
{uint i;for(i = 0; i < s; i++);for(i = 0; i < s; i++);
}/*定时器初始化*/
void Init_Timer0()
{TMOD = 0x11;TH0 = (65536 - 1500) / 256;TL0 = (65536 - 1500) % 256;EA = 1;ET0 = 1;TR0 = 1;PT0 = 1;
}/*主函数*/
void main(void)
{Delay(6000);PWN_Value = 1500;Init_Timer0();while(1) {if( (KEY1 == 0) | (KEY2 == 0)) { //按键1或按键2被按下if(KEY1 == 0) {flag = 1;}if(KEY2 == 0) {flag = 2;}} else {flag = 0;}Delay(20); //延时20ms}
}/*中断程序*/
void timer0(void) interrupt 1
{if(flag == 1) {PWN_Value = 2100;}if(flag == 2) {PWN_Value = 500;}switch(order){case 1: PWN_OUT = 1;TH0 = (65536 - PWN_Value) >> 8;TL0 = (uchar)(65536 - PWN_Value);break;case 2: PWN_OUT = 0;TH0 = (65536 - (5000 - PWN_Value)) >> 8;TL0 = (uchar)(65536 - (5000 - PWN_Value));break;case 3:TH0 = 60536 >> 8;TL0 = (uchar)60536;break;case 4: TH0 = 60536 >> 8;TL0 = (uchar)60536;break;case 5:TH0 = 60536 >> 8;TL0 = (uchar)60536;order = 0;break;default:order = 0;break;}order++;
}
射频模块
详细了解见IC卡扇区解读，这个对你理解IC卡的原理有帮助。
总结
整个系统源码：
main.c
#include "lpcreg.h"
#include "main.h"
#include "mfrc522.h"typedef unsigned char uchar;
typedef unsigned int uint;unsigned int PWN_Value; //定义pwn值
unsigned char order = 0;unsigned char g_ucTempbuf[20];void delay1(unsigned int z)
{unsigned int x,y;for(x=z;x>0;x--)for(y=110;y>0;y--);
} void main( )
{ unsigned char status,i;unsigned char id[4];delay1(200);InitializeSystem();PcdReset();PcdAntennaOff();delay1(10); PcdAntennaOn();while ( 1 ){ status = PcdRequest(PICC_REQALL, g_ucTempbuf);//寻卡if (status != MI_OK){ InitializeSystem();PcdReset();PcdAntennaOff();delay1(10); PcdAntennaOn(); continue;}status = PcdAnticoll(g_ucTempbuf);//防冲撞if (status != MI_OK) { continue; }for(i = 0; i < 4; i++) { //将IC卡序列号存取到id中id[i] = g_ucTempbuf[i];}if((id[0] == 0xBB && id[1] == 0x88 && id[2] == 0x1A && id[3] == 0xD3) || (id[0] == 0xB3 && id[1] == 0x44 && id[2] == 0x70 && id[3] == 0x36) ||(id[0] == 0x15 && id[1] == 0xE2 && id[2] == 0x8E && id[3] == 0x15) ||(id[0] == 0x2A && id[1] == 0xA9 && id[2] == 0x74 && id[3] == 0x19) ||(id[0] == 0x52 && id[1] == 0xD4 && id[2] == 0x6C && id[3] == 0xFC) ||(id[0] == 0xB5 && id[1] == 0x44 && id[2] == 0x90 && id[3] == 0x15) ||(id[0] == 0x32 && id[1] == 0x9F && id[2] == 0x13 && id[3] == 0x64) ||(id[0] == 0x85 && id[1] == 0x58 && id[2] == 0x90 && id[3] == 0x15) ||(id[0] == 0x95 && id[1] == 0x35 && id[2] == 0x7B && id[3] == 0x15)) {//可以下载手机app：NFC Writer 来读取卡的序列号doorOpen();delay1(4000); //等待数秒，可调servoRet();}PcdHalt();}
}/
//系统初始化
/
void InitializeSystem()
{P0M1 = 0x0; P0M2 = 0x0;P1M1 = 0x0; P1M2 = 0x0; P3M1 = 0x0; P3M2 = 0xFF; P0 = 0xFF; P1 = 0xFF; P3 = 0xFF;P2 = 0xFF;TMOD=0x21; //设T0为方式1，GATE=1；SCON=0x50;TH1=0xFa; //波特率为4800bpsTL1=0xFa;TH0=0;TL0=0; TR0=1; ET0=1; //允许T0中断TR1=1; //开启定时器TI=1;EA=1; //开启总中断ES = 1;RI = 1;}/*定时器初始化*/
void Init_Timer0()
{TMOD = 0x11;TH0 = (65536 - 500) / 256;TL0 = (65536 - 500) % 256;EA = 1;ET0 = 1;TR0 = 1;PT0 = 1;
}/*中断程序*/
void timer0(void) interrupt 1
{switch(order){case 1: PWN_OUT = 1;TH0 = (65536 - PWN_Value) >> 8;TL0 = (uchar)(65536 - PWN_Value);break;case 2: PWN_OUT = 0;TH0 = (65536 - (5000 - PWN_Value)) >> 8;TL0 = (uchar)(65536 - (5000 - PWN_Value));break;case 3:TH0 = 60536 >> 8;TL0 = (uchar)60536;break;case 4: TH0 = 60536 >> 8;TL0 = (uchar)60536;break;case 5:TH0 = 60536 >> 8;TL0 = (uchar)60536;order = 0;break;default:order = 0;break;}order++;
}void doorOpen()
{Init_Timer0();PWN_Value = 2000;
}void servoRet()
{Init_Timer0();PWN_Value = 500;
}
main.h
//
//端口定义
/
//MFRC500
sbit MF522_NSS =P2^4 ; //RC500片选 SDA
sbit MF522_SCK = P2^5;
sbit MF522_SI = P2^3; //MOSI
sbit MF522_SO = P2^2; //MISO
sbit MF522_RST = P2^1;
//舵机
sbit PWN_OUT = P2^7; //PWN输出口 //函数原型
/
void InitializeSystem();
void Init_Timer0(); //定时器初始化
void doorOpen(); //开门
void servoRet(); //舵机复位
lpcreg.h
/*--------------------------------------------------------------------------
REG52.HHeader file for generic 80C52 and 80C32 microcontroller.
Copyright (c) 1988-2001 Keil Elektronik GmbH and Keil Software, Inc.
All rights reserved.
--------------------------------------------------------------------------*//* BYTE Registers */
sfr P0 = 0x80;
sfr P1 = 0x90;
sfr P2 = 0xA0;
sfr P3 = 0xB0;
sfr PSW = 0xD0;
sfr ACC = 0xE0;
sfr B = 0xF0;
sfr SP = 0x81;
sfr DPL = 0x82;
sfr DPH = 0x83;
sfr PCON = 0x87;
sfr PCONA = 0xB5;
sfr TCON = 0x88;
sfr TMOD = 0x89;
sfr TL0 = 0x8A;
sfr TL1 = 0x8B;
sfr TH0 = 0x8C;
sfr TH1 = 0x8D;
sfr IE = 0xA8;
sfr IEN1 = 0xE8;
sfr IP = 0xB8;
sfr SCON = 0x98;
sfr SBUF = 0x99;/* 8052 Extensions */
sfr T2CON = 0xC8;
sfr RCAP2L = 0xCA;
sfr RCAP2H = 0xCB;
sfr TL2 = 0xCC;
sfr TH2 = 0xCD;/* LPC */
sfr P0M1 = 0x84;
sfr P0M2 = 0x85;
sfr P1M1 = 0x91;
sfr P1M2 = 0x92;
sfr P3M1 = 0xB1;
sfr P3M2 = 0xB2;sfr SSTAT = 0xBA;
sfr BRGCON = 0xBD;
sfr BRG0 = 0xBE;
sfr BRG1 = 0xBF;sfr16 RCAP2LH = 0xCA;
sfr16 T2LH = 0xCC;
sfr16 T1LH = 0x8A;
sfr TAMOD = 0x8F;
sfr I2ADR = 0xDB;
sfr I2CON = 0xD8;
sfr I2DAT = 0xDA;
sfr I2STAT = 0xD9;sfr WDCON = 0xA7;sbit SI = I2CON^3;
//sbit SI = I2CON^3;
/* BIT Registers */
/* PSW */
sbit CY = PSW^7;
sbit AC = PSW^6;
sbit F0 = PSW^5;
sbit RS1 = PSW^4;
sbit RS0 = PSW^3;
sbit OV = PSW^2;
sbit P = PSW^0; //8052 only/* TCON */
sbit TF1 = TCON^7;
sbit TR1 = TCON^6;
sbit TF0 = TCON^5;
sbit TR0 = TCON^4;
sbit IE1 = TCON^3;
sbit IT1 = TCON^2;
sbit IE0 = TCON^1;
sbit IT0 = TCON^0;/* IE */
sbit EA = IE^7;
sbit ET2 = IE^5; //8052 only
sbit ES = IE^4;
sbit ET1 = IE^3;
sbit EX1 = IE^2;
sbit ET0 = IE^1;
sbit EX0 = IE^0;/* IP */
sbit PT2 = IP^5;
sbit PS = IP^4;
sbit PT1 = IP^3;
sbit PX1 = IP^2;
sbit PT0 = IP^1;
sbit PX0 = IP^0;/* P3 */
sbit RD = P3^7;
sbit WR = P3^6;
sbit T1 = P3^5;
sbit T0 = P3^4;
sbit INT1 = P3^3;
sbit INT0 = P3^2;
sbit TXD = P3^1;
sbit RXD = P3^0;/* SCON */
sbit SM0 = SCON^7;
sbit SM1 = SCON^6;
sbit SM2 = SCON^5;
sbit REN = SCON^4;
sbit TB8 = SCON^3;
sbit RB8 = SCON^2;
sbit TI = SCON^1;
sbit RI = SCON^0;/* P1 */
sbit T2EX = P1^1; // 8052 only
sbit T2 = P1^0; // 8052 only/* T2CON */
sbit TF2 = T2CON^7;
sbit EXF2 = T2CON^6;
sbit RCLK = T2CON^5;
sbit TCLK = T2CON^4;
sbit EXEN2 = T2CON^3;
sbit TR2 = T2CON^2;
sbit C_T2 = T2CON^1;
sbit CP_RL2 = T2CON^0;
mfrc522.h
/
//函数原型
/
char PcdReset(void);
void PcdAntennaOn(void);
void PcdAntennaOff(void);
char PcdRequest(unsigned char req_code,unsigned char *pTagType);
char PcdAnticoll(unsigned char *pSnr);char PcdHalt(void);
char PcdComMF522(unsigned char Command, unsigned char *pInData, unsigned char InLenByte,unsigned char *pOutData, unsigned int *pOutLenBit);
void CalulateCRC(unsigned char *pIndata,unsigned char len,unsigned char *pOutData);
void WriteRawRC(unsigned char Address,unsigned char value);
unsigned char ReadRawRC(unsigned char Address);
void SetBitMask(unsigned char reg,unsigned char mask);
void ClearBitMask(unsigned char reg,unsigned char mask); /
//MF522命令字
/
#define PCD_IDLE 0x00 //取消当前命令
#define PCD_AUTHENT 0x0E //验证密钥
#define PCD_RECEIVE 0x08 //接收数据
#define PCD_TRANSMIT 0x04 //发送数据
#define PCD_TRANSCEIVE 0x0C //发送并接收数据
#define PCD_RESETPHASE 0x0F //复位
#define PCD_CALCCRC 0x03 //CRC计算/
//Mifare_One卡片命令字
/
#define PICC_REQIDL 0x26 //寻天线区内未进入休眠状态
#define PICC_REQALL 0x52 //寻天线区内全部卡
#define PICC_ANTICOLL1 0x93 //防冲撞
#define PICC_ANTICOLL2 0x95 //防冲撞
#define PICC_AUTHENT1A 0x60 //验证A密钥
#define PICC_AUTHENT1B 0x61 //验证B密钥
#define PICC_READ 0x30 //读块
#define PICC_WRITE 0xA0 //写块
#define PICC_DECREMENT 0xC0 //扣款
#define PICC_INCREMENT 0xC1 //充值
#define PICC_RESTORE 0xC2 //调块数据到缓冲区
#define PICC_TRANSFER 0xB0 //保存缓冲区中数据
#define PICC_HALT 0x50 //休眠/
//MF522 FIFO长度定义
/
#define DEF_FIFO_LENGTH 64 //FIFO size=64byte/
//MF522寄存器定义
/
// PAGE 0
#define RFU00 0x00
#define CommandReg 0x01
#define ComIEnReg 0x02
#define DivlEnReg 0x03
#define ComIrqReg 0x04
#define DivIrqReg 0x05
#define ErrorReg 0x06
#define Status1Reg 0x07
#define Status2Reg 0x08
#define FIFODataReg 0x09
#define FIFOLevelReg 0x0A
#define WaterLevelReg 0x0B
#define ControlReg 0x0C
#define BitFramingReg 0x0D
#define CollReg 0x0E
#define RFU0F 0x0F
// PAGE 1
#define RFU10 0x10
#define ModeReg 0x11
#define TxModeReg 0x12
#define RxModeReg 0x13
#define TxControlReg 0x14
#define TxAutoReg 0x15
#define TxSelReg 0x16
#define RxSelReg 0x17
#define RxThresholdReg 0x18
#define DemodReg 0x19
#define RFU1A 0x1A
#define RFU1B 0x1B
#define MifareReg 0x1C
#define RFU1D 0x1D
#define RFU1E 0x1E
#define SerialSpeedReg 0x1F
// PAGE 2
#define RFU20 0x20
#define CRCResultRegM 0x21
#define CRCResultRegL 0x22
#define RFU23 0x23
#define ModWidthReg 0x24
#define RFU25 0x25
#define RFCfgReg 0x26
#define GsNReg 0x27
#define CWGsCfgReg 0x28
#define ModGsCfgReg 0x29
#define TModeReg 0x2A
#define TPrescalerReg 0x2B
#define TReloadRegH 0x2C
#define TReloadRegL 0x2D
#define TCounterValueRegH 0x2E
#define TCounterValueRegL 0x2F
// PAGE 3
#define RFU30 0x30
#define TestSel1Reg 0x31
#define TestSel2Reg 0x32
#define TestPinEnReg 0x33
#define TestPinValueReg 0x34
#define TestBusReg 0x35
#define AutoTestReg 0x36
#define VersionReg 0x37
#define AnalogTestReg 0x38
#define TestDAC1Reg 0x39
#define TestDAC2Reg 0x3A
#define TestADCReg 0x3B
#define RFU3C 0x3C
#define RFU3D 0x3D
#define RFU3E 0x3E
#define RFU3F 0x3F/
//和MF522通讯时返回的错误代码
/
#define MI_OK 0
#define MI_NOTAGERR (-1)
#define MI_ERR (-2)rc522.c
#include <intrins.h>
#include "lpcreg.h"
#include "main.h"
#include "mfrc522.h"#define MAXRLEN 18/
//功 能：寻卡
//参数说明: req_code[IN]:寻卡方式
// 0x52 = 寻感应区内所有符合14443A标准的卡
// 0x26 = 寻未进入休眠状态的卡
// pTagType[OUT]：卡片类型代码
// 0x4400 = Mifare_UltraLight
// 0x0400 = Mifare_One(S50)
// 0x0200 = Mifare_One(S70)
// 0x0800 = Mifare_Pro(X)
// 0x4403 = Mifare_DESFire
//返 回: 成功返回MI_OK
/
char PcdRequest(unsigned char req_code,unsigned char *pTagType)
{char status; unsigned int unLen;unsigned char ucComMF522Buf[MAXRLEN]; ClearBitMask(Status2Reg,0x08);WriteRawRC(BitFramingReg,0x07);SetBitMask(TxControlReg,0x03);ucComMF522Buf[0] = req_code;status = PcdComMF522(PCD_TRANSCEIVE,ucComMF522Buf,1,ucComMF522Buf,&unLen);if ((status == MI_OK) && (unLen == 0x10)){ *pTagType = ucComMF522Buf[0];*(pTagType+1) = ucComMF522Buf[1];}else{ status = MI_ERR; }return status;
}/
//功 能：防冲撞
//参数说明: pSnr[OUT]:卡片序列号，4字节
//返 回: 成功返回MI_OK
/
char PcdAnticoll(unsigned char *pSnr)
{char status;unsigned char i,snr_check=0;unsigned int unLen;unsigned char ucComMF522Buf[MAXRLEN]; ClearBitMask(Status2Reg,0x08);WriteRawRC(BitFramingReg,0x00);ClearBitMask(CollReg,0x80);ucComMF522Buf[0] = PICC_ANTICOLL1;ucComMF522Buf[1] = 0x20;status = PcdComMF522(PCD_TRANSCEIVE,ucComMF522Buf,2,ucComMF522Buf,&unLen);if (status == MI_OK){for (i=0; i<4; i++){ *(pSnr+i) = ucComMF522Buf[i];snr_check ^= ucComMF522Buf[i];}if (snr_check != ucComMF522Buf[i]){ status = MI_ERR; }}SetBitMask(CollReg,0x80);return status;
}/
//功 能：复位RC522
//返 回: 成功返回MI_OK
/
char PcdReset(void)
{//unsigned char i;MF522_RST=1;_nop_(); MF522_RST=0;_nop_(); MF522_RST=1;_nop_(); WriteRawRC(CommandReg,PCD_RESETPHASE);_nop_(); WriteRawRC(ModeReg,0x3D); //和Mifare卡通讯，CRC初始值0x6363WriteRawRC(TReloadRegL,30); WriteRawRC(TReloadRegH,0);WriteRawRC(TModeReg,0x8D);WriteRawRC(TPrescalerReg,0x3E);WriteRawRC(TxAutoReg,0x40);return MI_OK;
}/
//功 能：读RC632寄存器
//参数说明：Address[IN]:寄存器地址
//返 回：读出的值
/
unsigned char ReadRawRC(unsigned char Address)
{unsigned char i, ucAddr;unsigned char ucResult=0;MF522_SCK = 0;MF522_NSS = 0;ucAddr = ((Address<<1)&0x7E)|0x80;for(i=8;i>0;i--){MF522_SI = ((ucAddr&0x80)==0x80);MF522_SCK = 1;ucAddr <<= 1;MF522_SCK = 0;}for(i=8;i>0;i--){MF522_SCK = 1;ucResult <<= 1;ucResult|=(bit)MF522_SO;MF522_SCK = 0;}MF522_NSS = 1;MF522_SCK = 1;return ucResult;
}/
//功 能：写RC632寄存器
//参数说明：Address[IN]:寄存器地址
// value[IN]:写入的值
/
void WriteRawRC(unsigned char Address, unsigned char value)
{ unsigned char i, ucAddr;MF522_SCK = 0;MF522_NSS = 0;ucAddr = ((Address<<1)&0x7E);for(i=8;i>0;i--){MF522_SI = ((ucAddr&0x80)==0x80);MF522_SCK = 1;ucAddr <<= 1;MF522_SCK = 0;}for(i=8;i>0;i--){MF522_SI = ((value&0x80)==0x80);MF522_SCK = 1;value <<= 1;MF522_SCK = 0;}MF522_NSS = 1;MF522_SCK = 1;
}/
//功 能：置RC522寄存器位
//参数说明：reg[IN]:寄存器地址
// mask[IN]:置位值
/
void SetBitMask(unsigned char reg,unsigned char mask)
{char tmp = 0x0;tmp = ReadRawRC(reg);WriteRawRC(reg,tmp | mask); // set bit mask
}/
//功 能：清RC522寄存器位
//参数说明：reg[IN]:寄存器地址
// mask[IN]:清位值
/
void ClearBitMask(unsigned char reg,unsigned char mask)
{char tmp = 0x0;tmp = ReadRawRC(reg);WriteRawRC(reg, tmp & ~mask); // clear bit mask
} /
//功 能：通过RC522和ISO14443卡通讯
//参数说明：Command[IN]:RC522命令字
// pInData[IN]:通过RC522发送到卡片的数据
// InLenByte[IN]:发送数据的字节长度
// pOutData[OUT]:接收到的卡片返回数据
// *pOutLenBit[OUT]:返回数据的位长度
/
char PcdComMF522(unsigned char Command, unsigned char *pInData, unsigned char InLenByte,unsigned char *pOutData, unsigned int *pOutLenBit)
{char status = MI_ERR;unsigned char irqEn = 0x00;unsigned char waitFor = 0x00;unsigned char lastBits;unsigned char n;unsigned int i;switch (Command){case PCD_AUTHENT:irqEn = 0x12;waitFor = 0x10;break;case PCD_TRANSCEIVE:irqEn = 0x77;waitFor = 0x30;break;default:break;}WriteRawRC(ComIEnReg,irqEn|0x80);ClearBitMask(ComIrqReg,0x80);WriteRawRC(CommandReg,PCD_IDLE);SetBitMask(FIFOLevelReg,0x80);for (i=0; i<InLenByte; i++){ WriteRawRC(FIFODataReg, pInData[i]); }WriteRawRC(CommandReg, Command);if (Command == PCD_TRANSCEIVE){ SetBitMask(BitFramingReg,0x80); }i = 600;//根据时钟频率调整，操作M1卡最大等待时间25msdo {n = ReadRawRC(ComIrqReg);i--;}while ((i!=0) && !(n&0x01) && !(n&waitFor));ClearBitMask(BitFramingReg,0x80);if (i!=0){ if(!(ReadRawRC(ErrorReg)&0x1B)){status = MI_OK;if (n & irqEn & 0x01){ status = MI_NOTAGERR; }if (Command == PCD_TRANSCEIVE){n = ReadRawRC(FIFOLevelReg);lastBits = ReadRawRC(ControlReg) & 0x07;if (lastBits){ *pOutLenBit = (n-1)*8 + lastBits; }else{ *pOutLenBit = n*8; }if (n == 0){ n = 1; }if (n > MAXRLEN){ n = MAXRLEN; }for (i=0; i<n; i++){ pOutData[i] = ReadRawRC(FIFODataReg); }}}else{ status = MI_ERR; }}SetBitMask(ControlReg,0x80); // stop timer nowWriteRawRC(CommandReg,PCD_IDLE); return status;
}/
//开启天线
//每次启动或关闭天险发射之间应至少有1ms的间隔
/
void PcdAntennaOn()
{unsigned char i;i = ReadRawRC(TxControlReg);if (!(i & 0x03)){SetBitMask(TxControlReg, 0x03);}
}/
//关闭天线
/
void PcdAntennaOff()
{ClearBitMask(TxControlReg, 0x03);
}/
//用MF522计算CRC16函数
/
void CalulateCRC(unsigned char *pIndata,unsigned char len,unsigned char *pOutData)
{unsigned char i,n;ClearBitMask(DivIrqReg,0x04);WriteRawRC(CommandReg,PCD_IDLE);SetBitMask(FIFOLevelReg,0x80);for (i=0; i<len; i++){ WriteRawRC(FIFODataReg, *(pIndata+i)); }WriteRawRC(CommandReg, PCD_CALCCRC);i = 0xFF;do {n = ReadRawRC(DivIrqReg);i--;}while ((i!=0) && !(n&0x04));pOutData[0] = ReadRawRC(CRCResultRegL);pOutData[1] = ReadRawRC(CRCResultRegM);
}/
//功 能：命令卡片进入休眠状态
//返 回: 成功返回MI_OK
/
char PcdHalt(void)
{char status;unsigned int unLen;unsigned char ucComMF522Buf[MAXRLEN]; ucComMF522Buf[0] = PICC_HALT;ucComMF522Buf[1] = 0;CalulateCRC(ucComMF522Buf,2,&ucComMF522Buf[2]);status = PcdComMF522(PCD_TRANSCEIVE,ucComMF522Buf,4,ucComMF522Buf,&unLen);return MI_OK;
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