RFID door opener

/**
 * door lock application (c) 2011 Florian Klien
 * some code parts are borrowed from different authors ;) thx
 */

#include <NewSoftSerial.h>

#define rxPin 2
#define txPin 3

// door defs

#define DOOR_SENS  3 // analog
#define DRIVER_SWITCH 6
#define DOOR_SW 2 // analog

// motor defs
#define DIR_PIN 7
#define STEP_PIN 8
#define ledIN 5
#define ledOUT 11

NewSoftSerial rfid = NewSoftSerial( rxPin, txPin );

// The tag database consists of two parts. The first part is an array of
// tag values with each tag taking up 5 bytes. The second is a list of
// names with one name for each tag (ie: group of 5 bytes).
char* allowedTags[] = {
  "AABBCCDDEE",         // Tag 1
  "AABBCCDDEE",         // Tag 2
};

// List of names to associate with the matching tag IDs
char* tagName[] = {
  "User1",         // Tag 1
  "User2",         // Tag 2
};

// software version number:
char* software_version = "1.1";

// Check the number of tags defined
int numberOfTags = sizeof(allowedTags)/sizeof(allowedTags[0]);

int incomingByte = 0;    // To store incoming serial data

boolean locked = true;
int door_open = 0; // pseudo digital
boolean prev_status = false;
boolean auto_lock = true;
//unsigned long auto_lock_time = 0;
int auto_lock_delay = 5; // in seconds
int auto_lock_switch_time = 2; // in seconds
int status_led = 0;
unsigned long status_led_time = millis();
boolean status_led_on = false;

unsigned long status_breathe_time = millis();
int breathe_delay = 10;
boolean breathe_up = true;
int breathe_i = 15;

unsigned long last_successful_rfid_read = 0;
int rfid_success_timeout = 5000; // millis

float lock_speed = 1;

/**
 * Setup
 */
unsigned long time_door = millis();
unsigned long time_switch = millis();
long debounce = 500;

void setup() {
  pinMode(ledIN, OUTPUT);
  pinMode(ledOUT, OUTPUT);
  digitalWrite(ledIN, HIGH);
  digitalWrite(ledOUT, HIGH);
  delay(300);
  digitalWrite(ledIN, LOW);
  digitalWrite(ledOUT, LOW);

  pinMode(DRIVER_SWITCH, OUTPUT);
  digitalWrite(DRIVER_SWITCH, LOW);
  pinMode(DIR_PIN, OUTPUT);
  digitalWrite(DIR_PIN, LOW);
  pinMode(STEP_PIN, OUTPUT);
  digitalWrite(STEP_PIN, LOW);
  pinMode(DOOR_SENS,INPUT);
  pinMode(DOOR_SW,INPUT);
  
  Serial.begin(9600);   // Serial port for connection to host
  rfid.begin(9600);      // Serial port for connection to RFID module

  Serial.println("RFID reader starting up");
  delay(1000);
  Serial.println("done");
  Serial.print("Software Version no: ");
  Serial.println(software_version);
  Serial.print("door locked: ");
  Serial.print(locked, DEC);
  Serial.print("\n");
  Serial.print("door closed: ");
  Serial.print(!door_open, DEC);
  Serial.print("\n");
}

/**
 * Loop
 * non-blocking version of each function!
 */
void loop() {
  readRFID();
  doorSensor();
  doorSwitch();
  statusLed();
}

void doorSensor(){
  // pseudo digital
  door_open = analogRead(DOOR_SENS);
  if(millis() - time_door > debounce){
    if (door_open <= 500 && prev_status == false){
      Serial.println("Door: opened");
      prev_status = true;
      locked = false;
    }else  if(door_open > 500 && prev_status == true){
      Serial.println("Door: closed");
      prev_status = false;
      if(auto_lock){
        Serial.println("locking door automatically...");
        delay(auto_lock_delay*1000); 
        lock();
        locked = true;
      }
    }
    time_door = millis();  
  }
}

void doorSwitch(){
  int dstimer = 0;
  int door_switch = analogRead(DOOR_SW); // pseudo digital
  if(millis() - time_switch > debounce && door_switch >= 300){
    while (analogRead(DOOR_SW) >= 300) {
      delay(100);
      dstimer++;
    }
    Serial.println(door_switch,DEC);
    Serial.println(dstimer,DEC);
    if (dstimer < auto_lock_switch_time*10) { //button has been pressed less than 2 seconds = 1000/100
        if (locked == false){
          Serial.println("door locked");
          locked = true;
          lock();
        }else if(locked == true){
          Serial.println("door unlocked");
          locked = false;
          unlock();
      }
    }else {
      // auto_unlock off/on
      if(auto_lock == true){
        Serial.println("auto_lock off");
        auto_lock = false;
      }else{
        Serial.println("auto_lock on");
        auto_lock = true;
      }
      analogWrite(ledIN, 0); // resetting output
    
    }
    time_switch = millis();  
  }
}

// breathing status led on the inside
void statusBreathe(){
  if( (status_breathe_time + breathe_delay) < millis() ){
    analogWrite(ledIN, breathe_i/1.5);
    status_breathe_time = millis();
    if (breathe_up == true){
      if (breathe_i > 150) {
        breathe_delay = 4;
      }
      if ((breathe_i > 125) && (breathe_i < 151)) {
        breathe_delay = 5;
      }
      if (( breathe_i > 100) && (breathe_i < 126)) {
        breathe_delay = 7;
      }
      if (( breathe_i > 75) && (breathe_i < 101)) {
        breathe_delay = 10;
      }
      if (( breathe_i > 50) && (breathe_i < 76)) {
        breathe_delay = 14;
      }
      if (( breathe_i > 25) && (breathe_i < 51)) {
        breathe_delay = 18;
      }
      if (( breathe_i > 1) && (breathe_i < 26)) {
        breathe_delay = 19;
      }
      breathe_i += 1;
      if( breathe_i >= 255 ){
        breathe_up = false;
      }
    }else{
      if (breathe_i > 150) {
        breathe_delay = 4;
      }
      if ((breathe_i > 125) && (breathe_i < 151)) {
        breathe_delay = 5;
      }
      if (( breathe_i > 100) && (breathe_i < 126)) {
        breathe_delay = 7;
      }
      if (( breathe_i > 75) && (breathe_i < 101)) {
        breathe_delay = 10;
      }
      if (( breathe_i > 50) && (breathe_i < 76)) {
        breathe_delay = 14;
      }
      if (( breathe_i > 25) && (breathe_i < 51)) {
        breathe_delay = 18;
      }
      if (( breathe_i > 1) && (breathe_i < 26)) {
        breathe_delay = 19;
      }
      breathe_i -= 1;
      if( breathe_i <= 15 ){
        breathe_up = true;
        breathe_delay = 970/2;
      }
    }
  }
}

void statusLed(){
  if(auto_lock == false){
    status_led = 150;
  }else{
    // set this to > 0 if you want the status led to blink in default mode
    status_led = 0; 
    if(status_led == 0){
      statusBreathe();
    }
  }
  if(millis() - status_led_time >= status_led && status_led != 0){
    status_led_on = !status_led_on;
    digitalWrite(ledIN,status_led_on);
    status_led_time = millis();
  }
}

void readRFID(){
  byte i         = 0;
  byte val       = 0;
  byte checksum  = 0;
  byte bytesRead = 0;
  byte tempByte  = 0;
  byte tagBytes[6];    // "Unique" tags are only 5 bytes but we need an extra byte for the checksum
  char tagValue[10];

  if(rfid.available()>0){
    if((val = rfid.read()) == 2) {        // Check for header
    bytesRead = 0;
    while (bytesRead < 12) {            // Read 10 digit code + 2 digit checksum
      val = rfid.read();
      Serial.print(val,BYTE);
      // Append the first 10 bytes (0 to 9) to the raw tag value
      if (bytesRead < 10)
      {
        tagValue[bytesRead] = val;
      }

      // Check if this is a header or stop byte before the 10 digit reading is complete
      if((val == 0x0D)||(val == 0x0A)||(val == 0x03)||(val == 0x02)) {
        break;                          // Stop reading
      }

      // Ascii/Hex conversion:
      if ((val >= '0') && (val <= '9')) {
        val = val - '0';
      }
      else if ((val >= 'A') && (val <= 'F')) {
        val = 10 + val - 'A';
      }

      // Every two hex-digits, add a byte to the code:
      if (bytesRead & 1 == 1) {
        // Make space for this hex-digit by shifting the previous digit 4 bits to the left
        tagBytes[bytesRead >> 1] = (val | (tempByte << 4));

        if (bytesRead >> 1 == 5) {                // If we're at the checksum byte,
          checksum ^= tagBytes[bytesRead >> 1];   // Calculate the checksum... (XOR)
        };
      } else {
        tempByte = val;                           // Store the first hex digit first
      };
  
      bytesRead++;                                // Ready to read next digit
    }
  

    // Send the result to the host connected via USB
    if (bytesRead == 12) {                        // 12 digit read is complete
      tagValue[10] = '\0';                        // Null-terminate the string

      Serial.print("Tag read: ");
      for (i=0; i<5; i++) {
        // Add a leading 0 to pad out values below 16
        if (tagBytes[i] < 16) {
          Serial.print("0");
        }
        Serial.print(tagBytes[i], HEX);
      }
      Serial.println();

      Serial.print("Checksum: ");
      Serial.print(tagBytes[5], HEX);
      Serial.println(tagBytes[5] == checksum ? " -- passed." : " -- error.");

      // Show the raw tag value
      //Serial.print("VALUE: ");
      //Serial.println(tagValue);
      Serial.print("door_open: ");
      Serial.println(door_open,DEC);
      // Search the tag database for this particular tag
      int tagId = findTag( tagValue );

      // Only fire the strike plate if this tag was found in the database
      if( tagId > 0 )
      {
        Serial.print("Authorized tag ID ");
        Serial.print(tagId);
        if(door_open > 500 && (last_successful_rfid_read + rfid_success_timeout) < millis() ){
          Serial.print(": unlocking for ");
          Serial.println(tagName[tagId - 1]);   // Get the name for this tag from the database
          unlock();
          last_successful_rfid_read = millis();
          delay(2000);
        }
      } else {
        Serial.println("Tag not authorized");
        //failSound();
        for (int i=0;i<7;i++){ // FIXXME nonblocking version?
          digitalWrite(ledOUT, HIGH);
          digitalWrite(ledIN, HIGH);
          delay(100);
          digitalWrite(ledOUT, LOW);
          digitalWrite(ledIN, LOW);
          delay(80);
        }
      }
      Serial.println();     // Blank separator line in output
    }

    bytesRead = 0;
  }
  }   
}

/**
 * Fire the relay to activate the strike plate for the configured
 * number of seconds.
 */
void unlock() {
  digitalWrite(ledOUT, HIGH);
  digitalWrite(ledIN, HIGH);
  delay(100);
  // if your stepper is powerful enough you can use full speed
  rotateDeg(-800, 0.6);
  digitalWrite(ledIN, LOW);  
  digitalWrite(ledOUT, LOW);
  locked = false;
}

void lock(){
  digitalWrite(ledOUT, HIGH);
  digitalWrite(ledIN, HIGH);
  delay(100);
  rotateDeg(800, 1);
  digitalWrite(ledIN, LOW);  
  digitalWrite(ledOUT, LOW);
  locked = true;
}

void rotate(int steps, float speed){
  
  // power driver
  digitalWrite(DRIVER_SWITCH,HIGH);
  delay(200);
  //rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)
  //speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
  int dir = (steps > 0)? HIGH:LOW;
  steps = abs(steps);

  digitalWrite(DIR_PIN,dir); 

  float usDelay = (1/speed) * 250;

  for(int i=0; i < steps; i++){
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(usDelay); 

    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(usDelay);
  }

  // unpower driver
  delay(200);
  digitalWrite(DRIVER_SWITCH,LOW);
} 

void rotateDeg(float deg, float speed){
  // power driver
  digitalWrite(DRIVER_SWITCH,HIGH);
  delay(200);
  //rotate a specific number of degrees (negative for reverse movement)
  //speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
  int dir = (deg > 0)? HIGH:LOW;
  digitalWrite(DIR_PIN,dir); 

  int steps = abs(deg)*(1/0.225);
  float usDelay = (1/speed) * 250;

  for(int i=0; i < steps; i++){
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(usDelay); 

    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(usDelay);
  }
  // unpower driver
  delay(200);
  digitalWrite(DRIVER_SWITCH,LOW);
}

/**
 * Search for a specific tag in the database
 */
int findTag( char tagValue[10] ) {
  for (int thisCard = 0; thisCard < numberOfTags; thisCard++) {
    // Check if the tag value matches this row in the tag database
    if(strcmp(tagValue, allowedTags[thisCard]) == 0)
    {
      // The row in the database starts at 0, so add 1 to the result so
      // that the card ID starts from 1 instead (0 represents "no match")
      return(thisCard + 1);
    }
  }
  // If we don't find the tag return a tag ID of 0 to show there was no match
  return(0);
}