Reading RFID card or Key Ring and Display on LCD

/*
* MFRC522.cpp - Library to use ARDUINO RFID MODULE KIT 13.56 MHZ WITH TAGS SPI W AND R BY COOQROBOT.
* _Please_ see the comments in MFRC522.h - they give useful hints and background.
* Released into the public domain.
*/

#include <Arduino.h>
#include <RFID.h>

/////////////////////////////////////////////////////////////////////////////////////
// Functions for setting up the Arduino
/////////////////////////////////////////////////////////////////////////////////////

/**
 * Constructor.
 * Prepares the output pins.
 */
MFRC522::MFRC522(	byte chipSelectPin,		///< Arduino pin connected to MFRC522's SPI slave select input (Pin 24, NSS, active low)
					byte resetPowerDownPin	///< Arduino pin connected to MFRC522's reset and power down input (Pin 6, NRSTPD, active low)
				) {
	// Set the chipSelectPin as digital output, do not select the slave yet
	_chipSelectPin = chipSelectPin;
	pinMode(_chipSelectPin, OUTPUT);
	digitalWrite(_chipSelectPin, LOW);
	
	// Set the resetPowerDownPin as digital output, do not reset or power down.
	_resetPowerDownPin = resetPowerDownPin;
	pinMode(_resetPowerDownPin, OUTPUT);
	digitalWrite(_resetPowerDownPin, HIGH);
	
	// Set SPI bus to work with MFRC522 chip.
	setSPIConfig();
} // End constructor

/**
 * Set SPI bus to work with MFRC522 chip.
 * Please call this function if you have changed the SPI config since the MFRC522 constructor was run.
 */
void MFRC522::setSPIConfig() {
	SPI.setBitOrder(MSBFIRST);
	SPI.setDataMode(SPI_MODE0);
} // End setSPIConfig()

/////////////////////////////////////////////////////////////////////////////////////
// Basic interface functions for communicating with the MFRC522
/////////////////////////////////////////////////////////////////////////////////////

/**
 * Writes a byte to the specified register in the MFRC522 chip.
 * The interface is described in the datasheet section 8.1.2.
 */
void MFRC522::PCD_WriteRegister(	byte reg,		///< The register to write to. One of the PCD_Register enums.
									byte value		///< The value to write.
								) {
	digitalWrite(_chipSelectPin, LOW);		// Select slave
	SPI.transfer(reg & 0x7E);					// MSB == 0 is for writing. LSB is not used in address. Datasheet section 8.1.2.3.
	SPI.transfer(value);
	digitalWrite(_chipSelectPin, HIGH);		// Release slave again
} // End PCD_WriteRegister()

/**
 * Writes a number of bytes to the specified register in the MFRC522 chip.
 * The interface is described in the datasheet section 8.1.2.
 */
void MFRC522::PCD_WriteRegister(	byte reg,		///< The register to write to. One of the PCD_Register enums.
									byte count,		///< The number of bytes to write to the register
									byte *values	///< The values to write. Byte array.
								) {
	digitalWrite(_chipSelectPin, LOW);		// Select slave
	SPI.transfer(reg & 0x7E);				// MSB == 0 is for writing. LSB is not used in address. Datasheet section 8.1.2.3.
	for (byte index = 0; index < count; index++) {
		SPI.transfer(values[index]);
	}
	digitalWrite(_chipSelectPin, HIGH);		// Release slave again
} // End PCD_WriteRegister()

/**
 * Reads a byte from the specified register in the MFRC522 chip.
 * The interface is described in the datasheet section 8.1.2.
 */
byte MFRC522::PCD_ReadRegister(	byte reg	///< The register to read from. One of the PCD_Register enums.
								) {
	byte value;
	digitalWrite(_chipSelectPin, LOW);			// Select slave
	SPI.transfer(0x80 | (reg & 0x7E));			// MSB == 1 is for reading. LSB is not used in address. Datasheet section 8.1.2.3.
	value = SPI.transfer(0);					// Read the value back. Send 0 to stop reading.
	digitalWrite(_chipSelectPin, HIGH);			// Release slave again
	return value;
} // End PCD_ReadRegister()

/**
 * Reads a number of bytes from the specified register in the MFRC522 chip.
 * The interface is described in the datasheet section 8.1.2.
 */
void MFRC522::PCD_ReadRegister(	byte reg,		///< The register to read from. One of the PCD_Register enums.
								byte count,		///< The number of bytes to read
								byte *values,	///< Byte array to store the values in.
								byte rxAlign	///< Only bit positions rxAlign..7 in values[0] are updated.
								) {
	if (count == 0) {
		return;
	}
	//Serial.print("Reading "); 	Serial.print(count); Serial.println(" bytes from register.");
	byte address = 0x80 | (reg & 0x7E);		// MSB == 1 is for reading. LSB is not used in address. Datasheet section 8.1.2.3.
	byte index = 0;							// Index in values array.
	digitalWrite(_chipSelectPin, LOW);		// Select slave
	count--;								// One read is performed outside of the loop
	SPI.transfer(address);					// Tell MFRC522 which address we want to read
	while (index < count) {
		if (index == 0 && rxAlign) { // Only update bit positions rxAlign..7 in values[0]
			// Create bit mask for bit positions rxAlign..7
			byte mask = 0;
			for (byte i = rxAlign; i <= 7; i++) {
				mask |= (1 << i);
			}
			// Read value and tell that we want to read the same address again.
			byte value = SPI.transfer(address);	
			// Apply mask to both current value of values[0] and the new data in value.
			values[0] = (values[index] & ~mask) | (value & mask);
		}
		else { // Normal case
			values[index] = SPI.transfer(address);	// Read value and tell that we want to read the same address again.
		}
		index++;
	}
	values[index] = SPI.transfer(0);			// Read the final byte. Send 0 to stop reading.
	digitalWrite(_chipSelectPin, HIGH);			// Release slave again
} // End PCD_ReadRegister()

/**
 * Sets the bits given in mask in register reg.
 */
void MFRC522::PCD_SetRegisterBitMask(	byte reg,	///< The register to update. One of the PCD_Register enums.
										byte mask	///< The bits to set.
									) { 
	byte tmp;
	tmp = PCD_ReadRegister(reg);
	PCD_WriteRegister(reg, tmp | mask);			// set bit mask
} // End PCD_SetRegisterBitMask()

/**
 * Clears the bits given in mask from register reg.
 */
void MFRC522::PCD_ClearRegisterBitMask(	byte reg,	///< The register to update. One of the PCD_Register enums.
										byte mask	///< The bits to clear.
									  ) {
	byte tmp;
	tmp = PCD_ReadRegister(reg);
	PCD_WriteRegister(reg, tmp & (~mask));		// clear bit mask
} // End PCD_ClearRegisterBitMask()


/**
 * Use the CRC coprocessor in the MFRC522 to calculate a CRC_A.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PCD_CalculateCRC(	byte *data,		///< In: Pointer to the data to transfer to the FIFO for CRC calculation.
								byte length,	///< In: The number of bytes to transfer.
								byte *result	///< Out: Pointer to result buffer. Result is written to result[0..1], low byte first.
					 ) {
	PCD_WriteRegister(CommandReg, PCD_Idle);			// Stop any active command.
	PCD_WriteRegister(DivIrqReg, 0x04);					// Clear the CRCIRq interrupt request bit
	PCD_SetRegisterBitMask(FIFOLevelReg, 0x80);		// FlushBuffer = 1, FIFO initialization
	PCD_WriteRegister(FIFODataReg, length, data);		// Write data to the FIFO
	PCD_WriteRegister(CommandReg, PCD_CalcCRC);		// Start the calculation
	
	// Wait for the CRC calculation to complete. Each iteration of the while-loop takes 17.73µs.
	word i = 5000;
	byte n;
	while (1) {
		n = PCD_ReadRegister(DivIrqReg);	// DivIrqReg[7..0] bits are: Set2 reserved reserved MfinActIRq   reserved CRCIRq reserved reserved
		if (n & 0x04) {						// CRCIRq bit set - calculation done
			break;
		}
		if (--i == 0) {						// The emergency break. We will eventually terminate on this one after 89ms. Communication with the MFRC522 might be down.
			return STATUS_TIMEOUT;
		}
	}
	PCD_WriteRegister(CommandReg, PCD_Idle);			// Stop calculating CRC for new content in the FIFO.
	
	// Transfer the result from the registers to the result buffer
	result[0] = PCD_ReadRegister(CRCResultRegL);
	result[1] = PCD_ReadRegister(CRCResultRegH);
	return STATUS_OK;
} // End PCD_CalculateCRC()


/////////////////////////////////////////////////////////////////////////////////////
// Functions for manipulating the MFRC522
/////////////////////////////////////////////////////////////////////////////////////

/**
 * Initializes the MFRC522 chip.
 */
void MFRC522::PCD_Init() {
	if (digitalRead(_resetPowerDownPin) == LOW) { //The MFRC522 chip is in power down mode.
		digitalWrite(_resetPowerDownPin, HIGH);	// Exit power down mode. This triggers a hard reset.
		// Section 8.8.2 in the datasheet says the oscillator start-up time is the start up time of the crystal + 37,74µs. Let us be generous: 50ms.
		delay(50);
	}
	else { // Perform a soft reset
		PCD_Reset();
	}
	
	// When communicating with a PICC we need a timeout if something goes wrong.
	// f_timer = 13.56 MHz / (2*TPreScaler+1) where TPreScaler = [TPrescaler_Hi:TPrescaler_Lo].
	// TPrescaler_Hi are the four low bits in TModeReg. TPrescaler_Lo is TPrescalerReg.
    PCD_WriteRegister(TModeReg, 0x80);			// TAuto=1; timer starts automatically at the end of the transmission in all communication modes at all speeds
    PCD_WriteRegister(TPrescalerReg, 0xA9);	// TPreScaler = TModeReg[3..0]:TPrescalerReg, ie 0x0A9 = 169 => f_timer=40kHz, ie a timer period of 25µs.
    PCD_WriteRegister(TReloadRegH, 0x03);		// Reload timer with 0x3E8 = 1000, ie 25ms before timeout.
    PCD_WriteRegister(TReloadRegL, 0xE8);
	
	PCD_WriteRegister(TxASKReg, 0x40);		// Default 0x00. Force a 100 % ASK modulation independent of the ModGsPReg register setting
	PCD_WriteRegister(ModeReg, 0x3D);		// Default 0x3F. Set the preset value for the CRC coprocessor for the CalcCRC command to 0x6363 (ISO 14443-3 part 6.2.4)
	PCD_AntennaOn();						// Enable the antenna driver pins TX1 and TX2 (they were disabled by the reset)
} // End PCD_Init()

/**
 * Performs a soft reset on the MFRC522 chip and waits for it to be ready again.
 */
void MFRC522::PCD_Reset() {
	PCD_WriteRegister(CommandReg, PCD_SoftReset);	// Issue the SoftReset command.
	// The datasheet does not mention how long the SoftRest command takes to complete.
	// But the MFRC522 might have been in soft power-down mode (triggered by bit 4 of CommandReg) 
	// Section 8.8.2 in the datasheet says the oscillator start-up time is the start up time of the crystal + 37,74µs. Let us be generous: 50ms.
	delay(50);
	// Wait for the PowerDown bit in CommandReg to be cleared
	while (PCD_ReadRegister(CommandReg) & (1<<4)) {
		// PCD still restarting - unlikely after waiting 50ms, but better safe than sorry.
	}
} // End PCD_Reset()

/**
 * Turns the antenna on by enabling pins TX1 and TX2.
 * After a reset these pins disabled.
 */
void MFRC522::PCD_AntennaOn() {
	byte value = PCD_ReadRegister(TxControlReg);
	if ((value & 0x03) != 0x03) {
		PCD_WriteRegister(TxControlReg, value | 0x03);
	}
} // End PCD_AntennaOn()

/////////////////////////////////////////////////////////////////////////////////////
// Functions for communicating with PICCs
/////////////////////////////////////////////////////////////////////////////////////

/**
 * Executes the Transceive command.
 * CRC validation can only be done if backData and backLen are specified.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PCD_TransceiveData(	byte *sendData,		///< Pointer to the data to transfer to the FIFO.
									byte sendLen,		///< Number of bytes to transfer to the FIFO.
									byte *backData,		///< NULL or pointer to buffer if data should be read back after executing the command.
									byte *backLen,		///< In: Max number of bytes to write to *backData. Out: The number of bytes returned.
									byte *validBits,	///< In/Out: The number of valid bits in the last byte. 0 for 8 valid bits. Default NULL.
									byte rxAlign,		///< In: Defines the bit position in backData[0] for the first bit received. Default 0.
									bool checkCRC		///< In: True => The last two bytes of the response is assumed to be a CRC_A that must be validated.
								 ) {
	byte waitIRq = 0x30;		// RxIRq and IdleIRq
	return PCD_CommunicateWithPICC(PCD_Transceive, waitIRq, sendData, sendLen, backData, backLen, validBits, rxAlign, checkCRC);
} // End PCD_TransceiveData()

/**
 * Transfers data to the MFRC522 FIFO, executes a commend, waits for completion and transfers data back from the FIFO.
 * CRC validation can only be done if backData and backLen are specified.
 *
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PCD_CommunicateWithPICC(	byte command,		///< The command to execute. One of the PCD_Command enums.
										byte waitIRq,		///< The bits in the ComIrqReg register that signals successful completion of the command.
										byte *sendData,		///< Pointer to the data to transfer to the FIFO.
										byte sendLen,		///< Number of bytes to transfer to the FIFO.
										byte *backData,		///< NULL or pointer to buffer if data should be read back after executing the command.
										byte *backLen,		///< In: Max number of bytes to write to *backData. Out: The number of bytes returned.
										byte *validBits,	///< In/Out: The number of valid bits in the last byte. 0 for 8 valid bits.
										byte rxAlign,		///< In: Defines the bit position in backData[0] for the first bit received. Default 0.
										bool checkCRC		///< In: True => The last two bytes of the response is assumed to be a CRC_A that must be validated.
									 ) {
	byte n, _validBits;
	unsigned int i;

	// Prepare values for BitFramingReg
	byte txLastBits = validBits ? *validBits : 0;
	byte bitFraming	= (rxAlign << 4) + txLastBits;		// RxAlign = BitFramingReg[6..4]. TxLastBits = BitFramingReg[2..0]
	
	PCD_WriteRegister(CommandReg, PCD_Idle);			// Stop any active command.
	PCD_WriteRegister(ComIrqReg, 0x7F);					// Clear all seven interrupt request bits
	PCD_SetRegisterBitMask(FIFOLevelReg, 0x80);		// FlushBuffer = 1, FIFO initialization
	PCD_WriteRegister(FIFODataReg, sendLen, sendData);	// Write sendData to the FIFO
	PCD_WriteRegister(BitFramingReg, bitFraming);		// Bit adjustments
	PCD_WriteRegister(CommandReg, command);			// Execute the command
	if (command == PCD_Transceive) 	{
		PCD_SetRegisterBitMask(BitFramingReg, 0x80);	// StartSend=1, transmission of data starts
	}
	
	// Wait for the command to complete.
	// In PCD_Init() we set the TAuto flag in TModeReg. This means the timer automatically starts when the PCD stops transmitting.
	// Each iteration of the do-while-loop takes 17.86µs.
	i = 2000;
	while (1) {
		n = PCD_ReadRegister(ComIrqReg);	// ComIrqReg[7..0] bits are: Set1 TxIRq RxIRq IdleIRq   HiAlertIRq LoAlertIRq ErrIRq TimerIRq
		if (n & waitIRq) {					// One of the interrupts that signal success has been set.
			break;
		}
		if (n & 0x01) {						// Timer interrupt - nothing received in 25ms
			return STATUS_TIMEOUT;
		}
		if (--i == 0) {						// The emergency break. If all other condions fail we will eventually terminate on this one after 35.7ms. Communication with the MFRC522 might be down.
			return STATUS_TIMEOUT;
		}
	}
	
	// Stop now if any errors except collisions were detected.
	byte errorRegValue = PCD_ReadRegister(ErrorReg); // ErrorReg[7..0] bits are: WrErr TempErr reserved BufferOvfl   CollErr CRCErr ParityErr ProtocolErr
	if (errorRegValue & 0x13) {	 // BufferOvfl ParityErr ProtocolErr
		return STATUS_ERROR;
	}	

	// If the caller wants data back, get it from the MFRC522.
	if (backData && backLen) {
		n = PCD_ReadRegister(FIFOLevelReg);						// Number of bytes in the FIFO
		if (n > *backLen) {
			return STATUS_NO_ROOM;
		}
		*backLen = n;												// Number of bytes returned
		PCD_ReadRegister(FIFODataReg, n, backData, rxAlign);		// Get received data from FIFO
		_validBits = PCD_ReadRegister(ControlReg) & 0x07;	// RxLastBits[2:0] indicates the number of valid bits in the last received byte. If this value is 000b, the whole byte is valid.
		if (validBits) {
			*validBits = _validBits;
		}
	}
	
	// Tell about collisions
	if (errorRegValue & 0x08) { // CollErr
		return STATUS_COLLISION;
	}
	
	// Perform CRC_A validation if requested.
	if (backData && backLen && checkCRC) {
		// In this case a MIFARE Classic NAK is not OK.
		if (*backLen == 1 && _validBits == 4) {
			return STATUS_MIFARE_NACK;
		}
		// We need at least the CRC_A value and all 8 bits of the last byte must be received.
		if (*backLen < 2 || _validBits != 0) {
			return STATUS_CRC_WRONG;
		}
		// Verify CRC_A - do our own calculation and store the control in controlBuffer.
		byte controlBuffer[2]; 
		n = PCD_CalculateCRC(&backData[0], *backLen - 2, &controlBuffer[0]);
		if (n != STATUS_OK) {
			return n;
		}
		if ((backData[*backLen - 2] != controlBuffer[0]) || (backData[*backLen - 1] != controlBuffer[1])) {
			return STATUS_CRC_WRONG;
		}
	}
	
	return STATUS_OK;
} // End PCD_CommunicateWithPICC()

/**
 * Transmits a REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection. 7 bit frame.
 * Beware: When two PICCs are in the field at the same time I often get STATUS_TIMEOUT - probably due do bad antenna design.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PICC_RequestA(byte *bufferATQA,	///< The buffer to store the ATQA (Answer to request) in
							byte *bufferSize	///< Buffer size, at least two bytes. Also number of bytes returned if STATUS_OK.
							) {
	return PICC_REQA_or_WUPA(PICC_CMD_REQA, bufferATQA, bufferSize);
} // End PICC_RequestA()

/**
 * Transmits a Wake-UP command, Type A. Invites PICCs in state IDLE and HALT to go to READY(*) and prepare for anticollision or selection. 7 bit frame.
 * Beware: When two PICCs are in the field at the same time I often get STATUS_TIMEOUT - probably due do bad antenna design.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PICC_WakeupA(	byte *bufferATQA,	///< The buffer to store the ATQA (Answer to request) in
							byte *bufferSize	///< Buffer size, at least two bytes. Also number of bytes returned if STATUS_OK.
							) {
	return PICC_REQA_or_WUPA(PICC_CMD_WUPA, bufferATQA, bufferSize);
} // End PICC_WakeupA()

/**
 * Transmits REQA or WUPA commands.
 * Beware: When two PICCs are in the field at the same time I often get STATUS_TIMEOUT - probably due do bad antenna design.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */ 
byte MFRC522::PICC_REQA_or_WUPA(	byte command, 		///< The command to send - PICC_CMD_REQA or PICC_CMD_WUPA
									byte *bufferATQA,	///< The buffer to store the ATQA (Answer to request) in
									byte *bufferSize	///< Buffer size, at least two bytes. Also number of bytes returned if STATUS_OK.
							   ) {
	byte validBits;
	byte status;
	
	if (bufferATQA == NULL || *bufferSize < 2) {	// The ATQA response is 2 bytes long.
		return STATUS_NO_ROOM;
	}
	PCD_ClearRegisterBitMask(CollReg, 0x80);			// ValuesAfterColl=1 => Bits received after collision are cleared.
	validBits = 7;										// For REQA and WUPA we need the short frame format - transmit only 7 bits of the last (and only) byte. TxLastBits = BitFramingReg[2..0]
	status = PCD_TransceiveData(&command, 1, bufferATQA, bufferSize, &validBits);
	if (status != STATUS_OK) {
		return status;
	}
	if (*bufferSize != 2 || validBits != 0) {		// ATQA must be exactly 16 bits.
		return STATUS_ERROR;
	}
	return STATUS_OK;
} // End PICC_REQA_or_WUPA()

/**
 * Transmits SELECT/ANTICOLLISION commands to select a single PICC.
 * Before calling this function the PICCs must be placed in the READY(*) state by calling PICC_RequestA() or PICC_WakeupA().
 * On success:
 * 		- The chosen PICC is in state ACTIVE(*) and all other PICCs have returned to state IDLE/HALT. (Figure 7 of the ISO/IEC 14443-3 draft.)
 * 		- The UID size and value of the chosen PICC is returned in *uid along with the SAK.
 * 
 * A PICC UID consists of 4, 7 or 10 bytes.
 * Only 4 bytes can be specified in a SELECT command, so for the longer UIDs two or three iterations are used:
 * 		UID size	Number of UID bytes		Cascade levels		Example of PICC
 * 		========	===================		==============		===============
 * 		single				 4						1				MIFARE Classic
 * 		double				 7						2				MIFARE Ultralight
 * 		triple				10						3				Not currently in use?
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PICC_Select(	Uid *uid,			///< Pointer to Uid struct. Normally output, but can also be used to supply a known UID.
							byte validBits		///< The number of known UID bits supplied in *uid. Normally 0. If set you must also supply uid->size.
						 ) {
	bool uidComplete;
	bool selectDone;
	bool useCascadeTag;
	byte cascadeLevel	= 1; 
	byte result;
	byte count;
	byte index;
	byte uidIndex;					// The first index in uid->uidByte[] that is used in the current Cascade Level.
	char currentLevelKnownBits;		// The number of known UID bits in the current Cascade Level.
	byte buffer[9];					// The SELECT/ANTICOLLISION commands uses a 7 byte standard frame + 2 bytes CRC_A
	byte bufferUsed;				// The number of bytes used in the buffer, ie the number of bytes to transfer to the FIFO.
	byte rxAlign;					// Used in BitFramingReg. Defines the bit position for the first bit received.
	byte txLastBits;				// Used in BitFramingReg. The number of valid bits in the last transmitted byte. 
	byte *responseBuffer;
	byte responseLength;
	
	// Description of buffer structure:
	// 		Byte 0: SEL 				Indicates the Cascade Level: PICC_CMD_SEL_CL1, PICC_CMD_SEL_CL2 or PICC_CMD_SEL_CL3
	// 		Byte 1: NVB					Number of Valid Bits (in complete command, not just the UID): High nibble: complete bytes, Low nibble: Extra bits. 
	// 		Byte 2: UID-data or CT		See explanation below. CT means Cascade Tag.
	// 		Byte 3: UID-data
	// 		Byte 4: UID-data
	// 		Byte 5: UID-data
	// 		Byte 6: BCC					Block Check Character - XOR of bytes 2-5
	//		Byte 7: CRC_A
	//		Byte 8: CRC_A
	// The BCC and CRC_A is only transmitted if we know all the UID bits of the current Cascade Level.
	//
	// Description of bytes 2-5: (Section 6.5.4 of the ISO/IEC 14443-3 draft: UID contents and cascade levels)
	//		UID size	Cascade level	Byte2	Byte3	Byte4	Byte5
	//		========	=============	=====	=====	=====	=====
	//		 4 bytes		1			uid0	uid1	uid2	uid3
	//		 7 bytes		1			CT		uid0	uid1	uid2
	//						2			uid3	uid4	uid5	uid6
	//		10 bytes		1			CT		uid0	uid1	uid2
	//						2			CT		uid3	uid4	uid5
	//						3			uid6	uid7	uid8	uid9
	
	// Sanity checks
	if (validBits > 80) {
		return STATUS_INVALID;
	}

	// Prepare MFRC522
	PCD_ClearRegisterBitMask(CollReg, 0x80);			// ValuesAfterColl=1 => Bits received after collision are cleared.

	// Repeat Cascade Level loop until we have a complete UID.
	uidComplete = false;
	while ( ! uidComplete) {
		// Set the Cascade Level in the SEL byte, find out if we need to use the Cascade Tag in byte 2.
		switch (cascadeLevel) {
			case 1:
				buffer[0] = PICC_CMD_SEL_CL1;
				uidIndex = 0;
				useCascadeTag = validBits && uid->size > 4;	// When we know that the UID has more than 4 bytes
				break;
			
			case 2:
				buffer[0] = PICC_CMD_SEL_CL2;
				uidIndex = 3;
				useCascadeTag = validBits && uid->size > 7;	// When we know that the UID has more than 7 bytes
				break;
			
			case 3:
				buffer[0] = PICC_CMD_SEL_CL3;
				uidIndex = 6;
				useCascadeTag = false;						// Never used in CL3.
				break;
			
			default:
				return STATUS_INTERNAL_ERROR;
				break;
		}
		
		// How many UID bits are known in this Cascade Level?
		currentLevelKnownBits = validBits - (8 * uidIndex);
		if (currentLevelKnownBits < 0) {
			currentLevelKnownBits = 0;
		}
		// Copy the known bits from uid->uidByte[] to buffer[]
		index = 2; // destination index in buffer[]
		if (useCascadeTag) {
			buffer[index++] = PICC_CMD_CT;
		}
		byte bytesToCopy = currentLevelKnownBits / 8 + (currentLevelKnownBits % 8 ? 1 : 0); // The number of bytes needed to represent the known bits for this level.
		if (bytesToCopy) {
			byte maxBytes = useCascadeTag ? 3 : 4; // Max 4 bytes in each Cascade Level. Only 3 left if we use the Cascade Tag
			if (bytesToCopy > maxBytes) { 
				bytesToCopy = maxBytes;
			}
			for (count = 0; count < bytesToCopy; count++) {
				buffer[index++] = uid->uidByte[uidIndex + count];
			}
		}
		// Now that the data has been copied we need to include the 8 bits in CT in currentLevelKnownBits
		if (useCascadeTag) {
			currentLevelKnownBits += 8;
		}
		
		// Repeat anti collision loop until we can transmit all UID bits + BCC and receive a SAK - max 32 iterations.
		selectDone = false;
		while ( ! selectDone) {
			// Find out how many bits and bytes to send and receive.
			if (currentLevelKnownBits >= 32) { // All UID bits in this Cascade Level are known. This is a SELECT.
				//Serial.print("SELECT: currentLevelKnownBits="); Serial.println(currentLevelKnownBits, DEC);
				buffer[1] = 0x70; // NVB - Number of Valid Bits: Seven whole bytes
				// Calulate BCC - Block Check Character
				buffer[6] = buffer[2] ^ buffer[3] ^ buffer[4] ^ buffer[5];
				// Calculate CRC_A
				result = PCD_CalculateCRC(buffer, 7, &buffer[7]);
				if (result != STATUS_OK) {
					return result;
				}
				txLastBits		= 0; // 0 => All 8 bits are valid.
				bufferUsed		= 9;
				// Store response in the last 3 bytes of buffer (BCC and CRC_A - not needed after tx)
				responseBuffer	= &buffer[6];
				responseLength	= 3;
			}
			else { // This is an ANTICOLLISION.
				//Serial.print("ANTICOLLISION: currentLevelKnownBits="); Serial.println(currentLevelKnownBits, DEC);
				txLastBits		= currentLevelKnownBits % 8;
				count			= currentLevelKnownBits / 8;	// Number of whole bytes in the UID part.
				index			= 2 + count;					// Number of whole bytes: SEL + NVB + UIDs
				buffer[1]		= (index << 4) + txLastBits;	// NVB - Number of Valid Bits
				bufferUsed		= index + (txLastBits ? 1 : 0);
				// Store response in the unused part of buffer
				responseBuffer	= &buffer[index];
				responseLength	= sizeof(buffer) - index;
			}

			// Set bit adjustments
			rxAlign = txLastBits;											// Having a seperate variable is overkill. But it makes the next line easier to read.
			PCD_WriteRegister(BitFramingReg, (rxAlign << 4) + txLastBits);	// RxAlign = BitFramingReg[6..4]. TxLastBits = BitFramingReg[2..0]

			// Transmit the buffer and receive the response.
			result = PCD_TransceiveData(buffer, bufferUsed, responseBuffer, &responseLength, &txLastBits, rxAlign);			
			if (result == STATUS_COLLISION) { // More than one PICC in the field => collision.
				result = PCD_ReadRegister(CollReg); // CollReg[7..0] bits are: ValuesAfterColl reserved CollPosNotValid CollPos[4:0]
				if (result & 0x20) { // CollPosNotValid
					return STATUS_COLLISION; // Without a valid collision position we cannot continue
				}
				byte collisionPos = result & 0x1F; // Values 0-31, 0 means bit 32.
				if (collisionPos == 0) {
					collisionPos = 32;
				}
				if (collisionPos <= currentLevelKnownBits) { // No progress - should not happen 
					return STATUS_INTERNAL_ERROR;
				}
				// Choose the PICC with the bit set.
				currentLevelKnownBits = collisionPos;
				count			= (currentLevelKnownBits - 1) % 8; // The bit to modify
				index			= 1 + (currentLevelKnownBits / 8) + (count ? 1 : 0); // First byte is index 0.
				buffer[index]	|= (1 << count); 
			}
			else if (result != STATUS_OK) {
				return result;
			}
			else { // STATUS_OK
				if (currentLevelKnownBits >= 32) { // This was a SELECT.
					selectDone = true; // No more anticollision 
					// We continue below outside the while.
				}
				else { // This was an ANTICOLLISION.
					// We now have all 32 bits of the UID in this Cascade Level
					currentLevelKnownBits = 32;
					// Run loop again to do the SELECT.
				}
			}
		} // End of while ( ! selectDone)

		// We do not check the CBB - it was constructed by us above.
		
		// Copy the found UID bytes from buffer[] to uid->uidByte[]
		index			= (buffer[2] == PICC_CMD_CT) ? 3 : 2; // source index in buffer[]
		bytesToCopy		= (buffer[2] == PICC_CMD_CT) ? 3 : 4;
		for (count = 0; count < bytesToCopy; count++) {
			uid->uidByte[uidIndex + count] = buffer[index++];
		}
		
		// Check response SAK (Select Acknowledge)
		if (responseLength != 3 || txLastBits != 0) {		// SAK must be exactly 24 bits (1 byte + CRC_A).
			return STATUS_ERROR;
		}
		// Verify CRC_A - do our own calculation and store the control in buffer[2..3] - those bytes are not needed anymore.
		result = PCD_CalculateCRC(responseBuffer, 1, &buffer[2]);
		if (result != STATUS_OK) {
			return result;
		}
		if ((buffer[2] != responseBuffer[1]) || (buffer[3] != responseBuffer[2])) {
			return STATUS_CRC_WRONG;
		}
		if (responseBuffer[0] & 0x04) { // Cascade bit set - UID not complete yes
			cascadeLevel++;
		}
		else {
			uidComplete = true;
			uid->sak = responseBuffer[0];
		}
	} // End of while ( ! uidComplete)
	
	// Set correct uid->size
	uid->size = 3 * cascadeLevel + 1;

	return STATUS_OK;
} // End PICC_Select()

/**
 * Instructs a PICC in state ACTIVE(*) to go to state HALT.
 *
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */ 
byte MFRC522::PICC_HaltA() {
	byte result;
	byte buffer[4]; 

	// Build command buffer
	buffer[0] = PICC_CMD_HLTA;
	buffer[1] = 0;
	// Calculate CRC_A
	result = PCD_CalculateCRC(buffer, 2, &buffer[2]);
	if (result != STATUS_OK) {
		return result;
	}

	// Send the command.
	// The standard says:
	//		If the PICC responds with any modulation during a period of 1 ms after the end of the frame containing the
	//		HLTA command, this response shall be interpreted as 'not acknowledge'.
	// We interpret that this way: Only STATUS_TIMEOUT is an success.
	result = PCD_TransceiveData(buffer, sizeof(buffer), NULL, 0);
	if (result == STATUS_TIMEOUT) {
		return STATUS_OK;
	}
	if (result == STATUS_OK) { // That is ironically NOT ok in this case ;-)
		return STATUS_ERROR;
	}
	return result;
} // End PICC_HaltA()


/////////////////////////////////////////////////////////////////////////////////////
// Functions for communicating with MIFARE PICCs
/////////////////////////////////////////////////////////////////////////////////////

/**
 * Executes the MFRC522 MFAuthent command.
 * This command manages MIFARE authentication to enable a secure communication to any MIFARE Mini, MIFARE 1K and MIFARE 4K card.
 * The authentication is described in the MFRC522 datasheet section 10.3.1.9 and http://www.nxp.com/documents/data_sheet/MF1S503x.pdf section 10.1.
 * For use with MIFARE Classic PICCs.
 * The PICC must be selected - ie in state ACTIVE(*) - before calling this function.
 * Remember to call PCD_StopCrypto1() after communicating with the authenticated PICC - otherwise no new communications can start.
 * 
 * All keys are set to FFFFFFFFFFFFh at chip delivery. A key consists of 6 bytes.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise. Probably STATUS_TIMEOUT if you supply the wrong key.
 */
byte MFRC522::PCD_Authenticate(byte command,		///< PICC_CMD_MF_AUTH_KEY_A or PICC_CMD_MF_AUTH_KEY_B
								byte blockAddr, 	///< The block number. See numbering in the comments in the .h file.
								MIFARE_Key *key,	///< Pointer to the Crypteo1 key to use (6 bytes)
								Uid *uid			///< Pointer to Uid struct. The first 4 bytes of the UID is used.
								) {
	byte waitIRq = 0x10;		// IdleIRq
	
	// Build command buffer
	byte sendData[12];
	sendData[0] = command;
	sendData[1] = blockAddr;
	for (byte i = 0; i < MF_KEY_SIZE; i++) {	// 6 key bytes
		sendData[2+i] = key->keyByte[i];
	}
	for (byte i = 0; i < 4; i++) {				// The first 4 bytes of the UID
		sendData[8+i] = uid->uidByte[i];
	}
	
	// Start the authentication.
	return PCD_CommunicateWithPICC(PCD_MFAuthent, waitIRq, &sendData[0], sizeof(sendData));
} // End PCD_Authenticate()

/**
 * 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.
 */
void MFRC522::PCD_StopCrypto1() {
	// Clear MFCrypto1On bit
	PCD_ClearRegisterBitMask(Status2Reg, 0x08); // Status2Reg[7..0] bits are: TempSensClear I2CForceHS reserved reserved   MFCrypto1On ModemState[2:0]
} // End PCD_StopCrypto1()

/**
 * Reads 16 bytes (+ 2 bytes CRC_A) from the active PICC.
 * 
 * For MIFARE Classic the sector containing the block must be authenticated before calling this function.
 * 
 * For MIFARE Ultralight only addresses 00h to 0Fh are decoded.
 * The MF0ICU1 returns a NAK for higher addresses.
 * The MF0ICU1 responds to the READ command by sending 16 bytes starting from the page address defined by the command argument.
 * For example; if blockAddr is 03h then pages 03h, 04h, 05h, 06h are returned.
 * A roll-back is implemented: If blockAddr is 0Eh, then the contents of pages 0Eh, 0Fh, 00h and 01h are returned.
 * 
 * The buffer must be at least 18 bytes because a CRC_A is also returned.
 * Checks the CRC_A before returning STATUS_OK.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Read(	byte blockAddr, 	///< MIFARE Classic: The block (0-0xff) number. MIFARE Ultralight: The first page to return data from.
							byte *buffer,		///< The buffer to store the data in
							byte *bufferSize	///< Buffer size, at least 18 bytes. Also number of bytes returned if STATUS_OK.
						) {
	byte result;
	
	// Sanity check
	if (buffer == NULL || *bufferSize < 18) {
		return STATUS_NO_ROOM;
	}

	// Build command buffer
	buffer[0] = PICC_CMD_MF_READ;
	buffer[1] = blockAddr;
	// Calculate CRC_A
	result = PCD_CalculateCRC(buffer, 2, &buffer[2]);
	if (result != STATUS_OK) {
		return result;
	}
	
	// Transmit the buffer and receive the response, validate CRC_A.
	return PCD_TransceiveData(buffer, 4, buffer, bufferSize, NULL, 0, true);
} // End MIFARE_Read()

/**
 * Writes 16 bytes to the active PICC.
 * 
 * For MIFARE Classic the sector containing the block must be authenticated before calling this function.
 * 
 * For MIFARE Ultralight the opretaion is called "COMPATIBILITY WRITE".
 * Even though 16 bytes are transferred to the Ultralight PICC, only the least significant 4 bytes (bytes 0 to 3)
 * are written to the specified address. It is recommended to set the remaining bytes 04h to 0Fh to all logic 0.
 * * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Write(	byte blockAddr, ///< MIFARE Classic: The block (0-0xff) number. MIFARE Ultralight: The page (2-15) to write to.
							byte *buffer,	///< The 16 bytes to write to the PICC
							byte bufferSize	///< Buffer size, must be at least 16 bytes. Exactly 16 bytes are written.
						) {
	byte result;

	// Sanity check
	if (buffer == NULL || bufferSize < 16) {
		return STATUS_INVALID;
	}

	// Mifare Classic protocol requires two communications to perform a write.
	// Step 1: Tell the PICC we want to write to block blockAddr.
	byte cmdBuffer[2];
	cmdBuffer[0] = PICC_CMD_MF_WRITE;
	cmdBuffer[1] = blockAddr;
	result = PCD_MIFARE_Transceive(cmdBuffer, 2); // Adds CRC_A and checks that the response is MF_ACK.
	if (result != STATUS_OK) {
		return result;
	}

	// Step 2: Transfer the data
	result = PCD_MIFARE_Transceive(	buffer, bufferSize); // Adds CRC_A and checks that the response is MF_ACK.
	if (result != STATUS_OK) {
		return result;
	}

	return STATUS_OK;
} // End MIFARE_Write()

/**
 * Writes a 4 byte page to the active MIFARE Ultralight PICC.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Ultralight_Write(	byte page, 		///< The page (2-15) to write to.
										byte *buffer,	///< The 4 bytes to write to the PICC
										byte bufferSize	///< Buffer size, must be at least 4 bytes. Exactly 4 bytes are written.
									) {
	byte result;

	// Sanity check
	if (buffer == NULL || bufferSize < 4) {
		return STATUS_INVALID;
	}

	// Build commmand buffer
	byte cmdBuffer[6];
	cmdBuffer[0] = PICC_CMD_UL_WRITE;
	cmdBuffer[1] = page;
	memcpy(&cmdBuffer[2], buffer, 4);
	
	// Perform the write
	result = PCD_MIFARE_Transceive(cmdBuffer, 6); // Adds CRC_A and checks that the response is MF_ACK.
	if (result != STATUS_OK) {
		return result;
	}
	return STATUS_OK;
} // End MIFARE_Ultralight_Write()

/**
 * MIFARE Decrement subtracts the delta from the value of the addressed block, and stores the result in a volatile memory.
 * For MIFARE Classic only. The sector containing the block must be authenticated before calling this function.
 * Only for blocks in "value block" mode, ie with access bits [C1 C2 C3] = [110] or [001].
 * Use MIFARE_Transfer() to store the result in a block.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Decrement(	byte blockAddr, ///< The block (0-0xff) number.
								long delta		///< This number is subtracted from the value of block blockAddr.
							) {
	return MIFARE_TwoStepHelper(PICC_CMD_MF_DECREMENT, blockAddr, delta);
} // End MIFARE_Decrement()

/**
 * MIFARE Increment adds the delta to the value of the addressed block, and stores the result in a volatile memory.
 * For MIFARE Classic only. The sector containing the block must be authenticated before calling this function.
 * Only for blocks in "value block" mode, ie with access bits [C1 C2 C3] = [110] or [001].
 * Use MIFARE_Transfer() to store the result in a block.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Increment(	byte blockAddr, ///< The block (0-0xff) number.
								long delta		///< This number is added to the value of block blockAddr.
							) {
	return MIFARE_TwoStepHelper(PICC_CMD_MF_INCREMENT, blockAddr, delta);
} // End MIFARE_Increment()

/**
 * MIFARE Restore copies the value of the addressed block into a volatile memory.
 * For MIFARE Classic only. The sector containing the block must be authenticated before calling this function.
 * Only for blocks in "value block" mode, ie with access bits [C1 C2 C3] = [110] or [001].
 * Use MIFARE_Transfer() to store the result in a block.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Restore(	byte blockAddr ///< The block (0-0xff) number.
							) {
	// The datasheet describes Restore as a two step operation, but does not explain what data to transfer in step 2.
	// Doing only a single step does not work, so I chose to transfer 0L in step two.
	return MIFARE_TwoStepHelper(PICC_CMD_MF_RESTORE, blockAddr, 0L);
} // End MIFARE_Restore()

/**
 * Helper function for the two-step MIFARE Classic protocol operations Decrement, Increment and Restore.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_TwoStepHelper(	byte command,	///< The command to use
									byte blockAddr,	///< The block (0-0xff) number.
									long data		///< The data to transfer in step 2
									) {
	byte result;
	byte cmdBuffer[2]; // We only need room for 2 bytes.

	// Step 1: Tell the PICC the command and block address
	cmdBuffer[0] = command;
	cmdBuffer[1] = blockAddr;
	result = PCD_MIFARE_Transceive(	cmdBuffer, 2); // Adds CRC_A and checks that the response is MF_ACK.
	if (result != STATUS_OK) {
		return result;
	}

	// Step 2: Transfer the data
	result = PCD_MIFARE_Transceive(	(byte *)&data, 4, true); // Adds CRC_A and accept timeout as success.
	if (result != STATUS_OK) {
		return result;
	}

	return STATUS_OK;
} // End MIFARE_TwoStepHelper()

/**
 * MIFARE Transfer writes the value stored in the volatile memory into one MIFARE Classic block.
 * For MIFARE Classic only. The sector containing the block must be authenticated before calling this function.
 * Only for blocks in "value block" mode, ie with access bits [C1 C2 C3] = [110] or [001].
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::MIFARE_Transfer(	byte blockAddr ///< The block (0-0xff) number.
							) {
	byte result;
	byte cmdBuffer[2]; // We only need room for 2 bytes.

	// Tell the PICC we want to transfer the result into block blockAddr.
	cmdBuffer[0] = PICC_CMD_MF_TRANSFER;
	cmdBuffer[1] = blockAddr;
	result = PCD_MIFARE_Transceive(	cmdBuffer, 2); // Adds CRC_A and checks that the response is MF_ACK.
	if (result != STATUS_OK) {
		return result;
	}
	return STATUS_OK;
} // End MIFARE_Transfer()


/////////////////////////////////////////////////////////////////////////////////////
// Support functions
/////////////////////////////////////////////////////////////////////////////////////

/**
 * Wrapper for MIFARE protocol communication.
 * Adds CRC_A, executes the Transceive command and checks that the response is MF_ACK or a timeout.
 * 
 * @return STATUS_OK on success, STATUS_??? otherwise.
 */
byte MFRC522::PCD_MIFARE_Transceive(	byte *sendData,		///< Pointer to the data to transfer to the FIFO. Do NOT include the CRC_A.
										byte sendLen,		///< Number of bytes in sendData.
										bool acceptTimeout	///< True => A timeout is also success
									) {
	byte result;
	byte cmdBuffer[18]; // We need room for 16 bytes data and 2 bytes CRC_A.

	// Sanity check
	if (sendData == NULL || sendLen > 16) {
		return STATUS_INVALID;
	}
	
	// Copy sendData[] to cmdBuffer[] and add CRC_A
	memcpy(cmdBuffer, sendData, sendLen);
	result = PCD_CalculateCRC(cmdBuffer, sendLen, &cmdBuffer[sendLen]);
	if (result != STATUS_OK) { 
		return result;
	}
	sendLen += 2;
	
	// Transceive the data, store the reply in cmdBuffer[]
	byte waitIRq = 0x30;		// RxIRq and IdleIRq
	byte cmdBufferSize = sizeof(cmdBuffer);
	byte validBits = 0;
	result = PCD_CommunicateWithPICC(PCD_Transceive, waitIRq, cmdBuffer, sendLen, cmdBuffer, &cmdBufferSize, &validBits);
	if (acceptTimeout && result == STATUS_TIMEOUT) {
		return STATUS_OK;
	}
	if (result != STATUS_OK) {
		return result;
	}
	// The PICC must reply with a 4 bit ACK
	if (cmdBufferSize != 1 || validBits != 4) {
		return STATUS_ERROR;
	}
	if (cmdBuffer[0] != MF_ACK) {
		return STATUS_MIFARE_NACK;
	}
	return STATUS_OK;
} // End PCD_MIFARE_Transceive()

/**
 * Returns a string pointer to a status code name.
 * 
 */
const char *MFRC522::GetStatusCodeName(byte code	///< One of the StatusCode enums.
										) {
	switch (code) {
		case STATUS_OK:				return "Success."; break;
		case STATUS_ERROR:			return "Error in communication."; break;
		case STATUS_COLLISION:		return "Collission detected."; break;
		case STATUS_TIMEOUT:		return "Timeout in communication."; break;
		case STATUS_NO_ROOM:		return "A buffer is not big enough."; break;
		case STATUS_INTERNAL_ERROR:	return "Internal error in the code. Should not happen."; break;
		case STATUS_INVALID:		return "Invalid argument."; break;
		case STATUS_CRC_WRONG:		return "The CRC_A does not match."; break;
		case STATUS_MIFARE_NACK:	return "A MIFARE PICC responded with NAK."; break;
		default:
			return "Unknown error";
...

This file has been truncated, please download it to see its full contents.

// Based on the work by DFRobot

#include "LiquidCrystal_I2C.h"
#include <inttypes.h>
#if defined(ARDUINO) && ARDUINO >= 100

#include "Arduino.h"

#define printIIC(args)	Wire.write(args)
inline size_t LiquidCrystal_I2C::write(uint8_t value) {
	send(value, Rs);
	return 1;
}

#else
#include "WProgram.h"

#define printIIC(args)	Wire.send(args)
inline void LiquidCrystal_I2C::write(uint8_t value) {
	send(value, Rs);
}

#endif
#include "Wire.h"



// When the display powers up, it is configured as follows:
//
// 1. Display clear
// 2. Function set: 
//    DL = 1; 8-bit interface data 
//    N = 0; 1-line display 
//    F = 0; 5x8 dot character font 
// 3. Display on/off control: 
//    D = 0; Display off 
//    C = 0; Cursor off 
//    B = 0; Blinking off 
// 4. Entry mode set: 
//    I/D = 1; Increment by 1
//    S = 0; No shift 
//
// Note, however, that resetting the Arduino doesn't reset the LCD, so we
// can't assume that its in that state when a sketch starts (and the
// LiquidCrystal constructor is called).

LiquidCrystal_I2C::LiquidCrystal_I2C(uint8_t lcd_Addr,uint8_t lcd_cols,uint8_t lcd_rows)
{
  _Addr = lcd_Addr;
  _cols = lcd_cols;
  _rows = lcd_rows;
  _backlightval = LCD_NOBACKLIGHT;
}

void LiquidCrystal_I2C::init(){
	init_priv();
}

void LiquidCrystal_I2C::init_priv()
{
	Wire.begin();
	_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
	begin(_cols, _rows);  
}

void LiquidCrystal_I2C::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
	if (lines > 1) {
		_displayfunction |= LCD_2LINE;
	}
	_numlines = lines;

	// for some 1 line displays you can select a 10 pixel high font
	if ((dotsize != 0) && (lines == 1)) {
		_displayfunction |= LCD_5x10DOTS;
	}

	// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
	// according to datasheet, we need at least 40ms after power rises above 2.7V
	// before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50
	delay(50); 
  
	// Now we pull both RS and R/W low to begin commands
	expanderWrite(_backlightval);	// reset expanderand turn backlight off (Bit 8 =1)
	delay(1000);

  	//put the LCD into 4 bit mode
	// this is according to the hitachi HD44780 datasheet
	// figure 24, pg 46
	
	  // we start in 8bit mode, try to set 4 bit mode
   write4bits(0x03 << 4);
   delayMicroseconds(4500); // wait min 4.1ms
   
   // second try
   write4bits(0x03 << 4);
   delayMicroseconds(4500); // wait min 4.1ms
   
   // third go!
   write4bits(0x03 << 4); 
   delayMicroseconds(150);
   
   // finally, set to 4-bit interface
   write4bits(0x02 << 4); 


	// set # lines, font size, etc.
	command(LCD_FUNCTIONSET | _displayfunction);  
	
	// turn the display on with no cursor or blinking default
	_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
	display();
	
	// clear it off
	clear();
	
	// Initialize to default text direction (for roman languages)
	_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
	
	// set the entry mode
	command(LCD_ENTRYMODESET | _displaymode);
	
	home();
  
}

/********** high level commands, for the user! */
void LiquidCrystal_I2C::clear(){
	command(LCD_CLEARDISPLAY);// clear display, set cursor position to zero
	delayMicroseconds(2000);  // this command takes a long time!
}

void LiquidCrystal_I2C::home(){
	command(LCD_RETURNHOME);  // set cursor position to zero
	delayMicroseconds(2000);  // this command takes a long time!
}

void LiquidCrystal_I2C::setCursor(uint8_t col, uint8_t row){
	int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 };
	if ( row > (_numlines-1) ) {
		row = _numlines-1;    // we count rows starting w/0
	}
	command(LCD_SETDDRAMADDR | (col + row_offsets[row]));
}

// Turn the display on/off (quickly)
void LiquidCrystal_I2C::noDisplay() {
	_displaycontrol &= ~LCD_DISPLAYON;
	command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal_I2C::display() {
	_displaycontrol |= LCD_DISPLAYON;
	command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// Turns the underline cursor on/off
void LiquidCrystal_I2C::noCursor() {
	_displaycontrol &= ~LCD_CURSORON;
	command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal_I2C::cursor() {
	_displaycontrol |= LCD_CURSORON;
	command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// Turn on and off the blinking cursor
void LiquidCrystal_I2C::noBlink() {
	_displaycontrol &= ~LCD_BLINKON;
	command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal_I2C::blink() {
	_displaycontrol |= LCD_BLINKON;
	command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// These commands scroll the display without changing the RAM
void LiquidCrystal_I2C::scrollDisplayLeft(void) {
	command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
}
void LiquidCrystal_I2C::scrollDisplayRight(void) {
	command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
}

// This is for text that flows Left to Right
void LiquidCrystal_I2C::leftToRight(void) {
	_displaymode |= LCD_ENTRYLEFT;
	command(LCD_ENTRYMODESET | _displaymode);
}

// This is for text that flows Right to Left
void LiquidCrystal_I2C::rightToLeft(void) {
	_displaymode &= ~LCD_ENTRYLEFT;
	command(LCD_ENTRYMODESET | _displaymode);
}

// This will 'right justify' text from the cursor
void LiquidCrystal_I2C::autoscroll(void) {
	_displaymode |= LCD_ENTRYSHIFTINCREMENT;
	command(LCD_ENTRYMODESET | _displaymode);
}

// This will 'left justify' text from the cursor
void LiquidCrystal_I2C::noAutoscroll(void) {
	_displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
	command(LCD_ENTRYMODESET | _displaymode);
}

// Allows us to fill the first 8 CGRAM locations
// with custom characters
void LiquidCrystal_I2C::createChar(uint8_t location, uint8_t charmap[]) {
	location &= 0x7; // we only have 8 locations 0-7
	command(LCD_SETCGRAMADDR | (location << 3));
	for (int i=0; i<8; i++) {
		write(charmap[i]);
	}
}

// Turn the (optional) backlight off/on
void LiquidCrystal_I2C::noBacklight(void) {
	_backlightval=LCD_NOBACKLIGHT;
	expanderWrite(0);
}

void LiquidCrystal_I2C::backlight(void) {
	_backlightval=LCD_BACKLIGHT;
	expanderWrite(0);
}



/*********** mid level commands, for sending data/cmds */

inline void LiquidCrystal_I2C::command(uint8_t value) {
	send(value, 0);
}


/************ low level data pushing commands **********/

// write either command or data
void LiquidCrystal_I2C::send(uint8_t value, uint8_t mode) {
	uint8_t highnib=value&0xf0;
	uint8_t lownib=(value<<4)&0xf0;
       write4bits((highnib)|mode);
	write4bits((lownib)|mode); 
}

void LiquidCrystal_I2C::write4bits(uint8_t value) {
	expanderWrite(value);
	pulseEnable(value);
}

void LiquidCrystal_I2C::expanderWrite(uint8_t _data){                                        
	Wire.beginTransmission(_Addr);
	printIIC((int)(_data) | _backlightval);
	Wire.endTransmission();   
}

void LiquidCrystal_I2C::pulseEnable(uint8_t _data){
	expanderWrite(_data | En);	// En high
	delayMicroseconds(1);		// enable pulse must be >450ns
	
	expanderWrite(_data & ~En);	// En low
	delayMicroseconds(50);		// commands need > 37us to settle
} 


// Alias functions

void LiquidCrystal_I2C::cursor_on(){
	cursor();
}

void LiquidCrystal_I2C::cursor_off(){
	noCursor();
}

void LiquidCrystal_I2C::blink_on(){
	blink();
}

void LiquidCrystal_I2C::blink_off(){
	noBlink();
}

void LiquidCrystal_I2C::load_custom_character(uint8_t char_num, uint8_t *rows){
		createChar(char_num, rows);
}

void LiquidCrystal_I2C::setBacklight(uint8_t new_val){
	if(new_val){
		backlight();		// turn backlight on
	}else{
		noBacklight();		// turn backlight off
	}
}

void LiquidCrystal_I2C::printstr(const char c[]){
	//This function is not identical to the function used for "real" I2C displays
	//it's here so the user sketch doesn't have to be changed 
	print(c);
}


// unsupported API functions
void LiquidCrystal_I2C::off(){}
void LiquidCrystal_I2C::on(){}
void LiquidCrystal_I2C::setDelay (int cmdDelay,int charDelay) {}
uint8_t LiquidCrystal_I2C::status(){return 0;}
uint8_t LiquidCrystal_I2C::keypad (){return 0;}
uint8_t LiquidCrystal_I2C::init_bargraph(uint8_t graphtype){return 0;}
void LiquidCrystal_I2C::draw_horizontal_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_col_end){}
void LiquidCrystal_I2C::draw_vertical_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_row_end){}
void LiquidCrystal_I2C::setContrast(uint8_t new_val){}

	

//YWROBOT
#ifndef LiquidCrystal_I2C_h
#define LiquidCrystal_I2C_h

#include <inttypes.h>
#include "Print.h" 
#include <Wire.h>

// commands
#define LCD_CLEARDISPLAY 0x01
#define LCD_RETURNHOME 0x02
#define LCD_ENTRYMODESET 0x04
#define LCD_DISPLAYCONTROL 0x08
#define LCD_CURSORSHIFT 0x10
#define LCD_FUNCTIONSET 0x20
#define LCD_SETCGRAMADDR 0x40
#define LCD_SETDDRAMADDR 0x80

// flags for display entry mode
#define LCD_ENTRYRIGHT 0x00
#define LCD_ENTRYLEFT 0x02
#define LCD_ENTRYSHIFTINCREMENT 0x01
#define LCD_ENTRYSHIFTDECREMENT 0x00

// flags for display on/off control
#define LCD_DISPLAYON 0x04
#define LCD_DISPLAYOFF 0x00
#define LCD_CURSORON 0x02
#define LCD_CURSOROFF 0x00
#define LCD_BLINKON 0x01
#define LCD_BLINKOFF 0x00

// flags for display/cursor shift
#define LCD_DISPLAYMOVE 0x08
#define LCD_CURSORMOVE 0x00
#define LCD_MOVERIGHT 0x04
#define LCD_MOVELEFT 0x00

// flags for function set
#define LCD_8BITMODE 0x10
#define LCD_4BITMODE 0x00
#define LCD_2LINE 0x08
#define LCD_1LINE 0x00
#define LCD_5x10DOTS 0x04
#define LCD_5x8DOTS 0x00

// flags for backlight control
#define LCD_BACKLIGHT 0x08
#define LCD_NOBACKLIGHT 0x00

#define En B00000100  // Enable bit
#define Rw B00000010  // Read/Write bit
#define Rs B00000001  // Register select bit

class LiquidCrystal_I2C : public Print {
public:
  LiquidCrystal_I2C(uint8_t lcd_Addr,uint8_t lcd_cols,uint8_t lcd_rows);
  void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS );
  void clear();
  void home();
  void noDisplay();
  void display();
  void noBlink();
  void blink();
  void noCursor();
  void cursor();
  void scrollDisplayLeft();
  void scrollDisplayRight();
  void printLeft();
  void printRight();
  void leftToRight();
  void rightToLeft();
  void shiftIncrement();
  void shiftDecrement();
  void noBacklight();
  void backlight();
  void autoscroll();
  void noAutoscroll(); 
  void createChar(uint8_t, uint8_t[]);
  void setCursor(uint8_t, uint8_t); 
#if defined(ARDUINO) && ARDUINO >= 100
  virtual size_t write(uint8_t);
#else
  virtual void write(uint8_t);
#endif
  void command(uint8_t);
  void init();

////compatibility API function aliases
void blink_on();						// alias for blink()
void blink_off();       					// alias for noBlink()
void cursor_on();      	 					// alias for cursor()
void cursor_off();      					// alias for noCursor()
void setBacklight(uint8_t new_val);				// alias for backlight() and nobacklight()
void load_custom_character(uint8_t char_num, uint8_t *rows);	// alias for createChar()
void printstr(const char[]);

////Unsupported API functions (not implemented in this library)
uint8_t status();
void setContrast(uint8_t new_val);
uint8_t keypad();
void setDelay(int,int);
void on();
void off();
uint8_t init_bargraph(uint8_t graphtype);
void draw_horizontal_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_col_end);
void draw_vertical_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_col_end);
	 

private:
  void init_priv();
  void send(uint8_t, uint8_t);
  void write4bits(uint8_t);
  void expanderWrite(uint8_t);
  void pulseEnable(uint8_t);
  uint8_t _Addr;
  uint8_t _displayfunction;
  uint8_t _displaycontrol;
  uint8_t _displaymode;
  uint8_t _numlines;
  uint8_t _cols;
  uint8_t _rows;
  uint8_t _backlightval;
};

#endif

/**
 * MFRC522.h - Library to use ARDUINO RFID MODULE KIT 13.56 MHZ WITH TAGS SPI W AND R BY COOQROBOT.
 * Based on code Dr.Leong   ( WWW.B2CQSHOP.COM )
 * Created by Miguel Balboa (circuitito.com), Jan, 2012.
 * Rewritten by Søren Thing Andersen (access.thing.dk), fall of 2013 (Translation to English, refactored, comments, anti collision, cascade levels.)
 * Released into the public domain.
 * 
 * Please read this file for an overview and then MFRC522.cpp for comments on the specific functions.
 * Search for "mf-rc522" on ebay.com to purchase the MF-RC522 board. 
 * 
 * There are three hardware components involved:
 * 1) The micro controller: An Arduino
 * 2) The PCD (short for Proximity Coupling Device): NXP MFRC522 Contactless Reader IC
 * 3) The PICC (short for Proximity Integrated Circuit Card): A card or tag using the ISO 14443A interface, eg Mifare or NTAG203.
 * 
 * The microcontroller and card reader uses SPI for communication.
 * The protocol is described in the MFRC522 datasheet: http://www.nxp.com/documents/data_sheet/MFRC522.pdf
 * 
 * The card reader and the tags communicate using a 13.56MHz electromagnetic field.
 * The protocol is defined in ISO/IEC 14443-3 Identification cards -- Contactless integrated circuit cards -- Proximity cards -- Part 3: Initialization and anticollision".
 * A free version of the final draft can be found at http://wg8.de/wg8n1496_17n3613_Ballot_FCD14443-3.pdf
 * Details are found in chapter 6, Type A – Initialization and anticollision.
 * 
 * If only the PICC UID is wanted, the above documents has all the needed information.
 * To read and write from MIFARE PICCs, the MIFARE protocol is used after the PICC has been selected.
 * The MIFARE Classic chips and protocol is described in the datasheets:
 *		1K:   http://www.nxp.com/documents/data_sheet/MF1S503x.pdf
 * 		4K:   http://www.nxp.com/documents/data_sheet/MF1S703x.pdf
 * 		Mini: http://www.idcardmarket.com/download/mifare_S20_datasheet.pdf
 * The MIFARE Ultralight chip and protocol is described in the datasheets:
 *		Ultralight:   http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf
 * 		Ultralight C: http://www.nxp.com/documents/short_data_sheet/MF0ICU2_SDS.pdf
 * 
 * MIFARE Classic 1K (MF1S503x):
 * 		Has 16 sectors * 4 blocks/sector * 16 bytes/block = 1024 bytes.
 * 		The blocks are numbered 0-63.
 * 		Block 3 in each sector is the Sector Trailer. See http://www.nxp.com/documents/data_sheet/MF1S503x.pdf sections 8.6 and 8.7:
 * 				Bytes 0-5:   Key A
 * 				Bytes 6-8:   Access Bits
 * 				Bytes 9:     User data
 * 				Bytes 10-15: Key B (or user data)
 * 		Block 0 is read only manufacturer data.
 * 		To access a block, an authentication using a key from the block's sector must be performed first.
 * 		Example: To read from block 10, first authenticate using a key from sector 3 (blocks 8-11).
 * 		All keys are set to FFFFFFFFFFFFh at chip delivery.
 * 		Warning: Please read section 8.7 "Memory Access". It includes this text: if the PICC detects a format violation the whole sector is irreversibly blocked.
 *		To use a block in "value block" mode (for Increment/Decrement operations) you need to change the sector trailer. Use PICC_SetAccessBits() to calculate the bit patterns.
 * MIFARE Classic 4K (MF1S703x):
 * 		Has (32 sectors * 4 blocks/sector + 8 sectors * 16 blocks/sector) * 16 bytes/block = 4096 bytes.
 * 		The blocks are numbered 0-255.
 * 		The last block in each sector is the Sector Trailer like above.
 * MIFARE Classic Mini (MF1 IC S20):
 * 		Has 5 sectors * 4 blocks/sector * 16 bytes/block = 320 bytes.
 * 		The blocks are numbered 0-19.
 * 		The last block in each sector is the Sector Trailer like above.
 * 
 * MIFARE Ultralight (MF0ICU1):
 * 		Has 16 pages of 4 bytes = 64 bytes.
 * 		Pages 0 + 1 is used for the 7-byte UID.
 * 		Page 2 contains the last chech digit for the UID, one byte manufacturer internal data, and the lock bytes (see http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf section 8.5.2)
 * 		Page 3 is OTP, One Time Programmable bits. Once set to 1 they cannot revert to 0.
 * 		Pages 4-15 are read/write unless blocked by the lock bytes in page 2. 
 * MIFARE Ultralight C (MF0ICU2):
 * 		Has 48 pages of 4 bytes = 64 bytes.
 * 		Pages 0 + 1 is used for the 7-byte UID.
 * 		Page 2 contains the last chech digit for the UID, one byte manufacturer internal data, and the lock bytes (see http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf section 8.5.2)
 * 		Page 3 is OTP, One Time Programmable bits. Once set to 1 they cannot revert to 0.
 * 		Pages 4-39 are read/write unless blocked by the lock bytes in page 2. 
 * 		Page 40 Lock bytes
 * 		Page 41 16 bit one way counter
 * 		Pages 42-43 Authentication configuration
 * 		Pages 44-47 Authentication key 
 */
#ifndef MFRC522_h
#define MFRC522_h

#include <Arduino.h>
#include <SPI.h>

class MFRC522 {
public:
	// MFRC522 registers. Described in chapter 9 of the datasheet.
	// When using SPI all addresses are shifted one bit left in the "SPI address byte" (section 8.1.2.3)
	enum PCD_Register {
		// Page 0: Command and status
		//						  0x00			// reserved for future use
		CommandReg				= 0x01 << 1,	// starts and stops command execution
		ComIEnReg				= 0x02 << 1,	// enable and disable interrupt request control bits
		DivIEnReg				= 0x03 << 1,	// enable and disable interrupt request control bits
		ComIrqReg				= 0x04 << 1,	// interrupt request bits
		DivIrqReg				= 0x05 << 1,	// interrupt request bits
		ErrorReg				= 0x06 << 1,	// error bits showing the error status of the last command executed 
		Status1Reg				= 0x07 << 1,	// communication status bits
		Status2Reg				= 0x08 << 1,	// receiver and transmitter status bits
		FIFODataReg				= 0x09 << 1,	// input and output of 64 byte FIFO buffer
		FIFOLevelReg			= 0x0A << 1,	// number of bytes stored in the FIFO buffer
		WaterLevelReg			= 0x0B << 1,	// level for FIFO underflow and overflow warning
		ControlReg				= 0x0C << 1,	// miscellaneous control registers
		BitFramingReg			= 0x0D << 1,	// adjustments for bit-oriented frames
		CollReg					= 0x0E << 1,	// bit position of the first bit-collision detected on the RF interface
		//						  0x0F			// reserved for future use
		
		// Page 1:Command
		// 						  0x10			// reserved for future use
		ModeReg					= 0x11 << 1,	// defines general modes for transmitting and receiving 
		TxModeReg				= 0x12 << 1,	// defines transmission data rate and framing
		RxModeReg				= 0x13 << 1,	// defines reception data rate and framing
		TxControlReg			= 0x14 << 1,	// controls the logical behavior of the antenna driver pins TX1 and TX2
		TxASKReg				= 0x15 << 1,	// controls the setting of the transmission modulation
		TxSelReg				= 0x16 << 1,	// selects the internal sources for the antenna driver
		RxSelReg				= 0x17 << 1,	// selects internal receiver settings
		RxThresholdReg			= 0x18 << 1,	// selects thresholds for the bit decoder
		DemodReg				= 0x19 << 1,	// defines demodulator settings
		// 						  0x1A			// reserved for future use
		// 						  0x1B			// reserved for future use
		MfTxReg					= 0x1C << 1,	// controls some MIFARE communication transmit parameters
		MfRxReg					= 0x1D << 1,	// controls some MIFARE communication receive parameters
		// 						  0x1E			// reserved for future use
		SerialSpeedReg			= 0x1F << 1,	// selects the speed of the serial UART interface
		
		// Page 2: Configuration
		// 						0x20			// reserved for future use
		CRCResultRegH			= 0x21 << 1,	// shows the MSB and LSB values of the CRC calculation
		CRCResultRegL			= 0x22 << 1,
		// 						  0x23			// reserved for future use
		ModWidthReg				= 0x24 << 1,	// controls the ModWidth setting?
		// 						  0x25			// reserved for future use
		RFCfgReg				= 0x26 << 1,	// configures the receiver gain
		GsNReg					= 0x27 << 1,	// selects the conductance of the antenna driver pins TX1 and TX2 for modulation 
		CWGsPReg				= 0x28 << 1,	// defines the conductance of the p-driver output during periods of no modulation
		ModGsPReg				= 0x29 << 1,	// defines the conductance of the p-driver output during periods of modulation
		TModeReg				= 0x2A << 1,	// defines settings for the internal timer
		TPrescalerReg			= 0x2B << 1,	// the lower 8 bits of the TPrescaler value. The 4 high bits are in TModeReg.
		TReloadRegH				= 0x2C << 1,	// defines the 16-bit timer reload value
		TReloadRegL				= 0x2D << 1,
		TCounterValueRegH		= 0x2E << 1,	// shows the 16-bit timer value
		TCounterValueRegL		= 0x2F << 1,
		
		// Page 3:Test Registers
		// 						  0x30			// reserved for future use
		TestSel1Reg				= 0x31 << 1,	// general test signal configuration
		TestSel2Reg				= 0x32 << 1,	// general test signal configuration
		TestPinEnReg			= 0x33 << 1,	// enables pin output driver on pins D1 to D7
		TestPinValueReg			= 0x34 << 1,	// defines the values for D1 to D7 when it is used as an I/O bus
		TestBusReg				= 0x35 << 1,	// shows the status of the internal test bus
		AutoTestReg				= 0x36 << 1,	// controls the digital self test
		VersionReg				= 0x37 << 1,	// shows the software version
		AnalogTestReg			= 0x38 << 1,	// controls the pins AUX1 and AUX2
		TestDAC1Reg				= 0x39 << 1,	// defines the test value for TestDAC1
		TestDAC2Reg				= 0x3A << 1,	// defines the test value for TestDAC2
		TestADCReg				= 0x3B << 1		// shows the value of ADC I and Q channels
		// 						  0x3C			// reserved for production tests
		// 						  0x3D			// reserved for production tests
		// 						  0x3E			// reserved for production tests
		// 						  0x3F			// reserved for production tests
	};
	
	// MFRC522 comands. Described in chapter 10 of the datasheet.
	enum PCD_Command {
		PCD_Idle				= 0x00,		// no action, cancels current command execution
		PCD_Mem					= 0x01,		// stores 25 bytes into the internal buffer
		PCD_GenerateRandomID	= 0x02,		// generates a 10-byte random ID number
		PCD_CalcCRC				= 0x03,		// activates the CRC coprocessor or performs a self test
		PCD_Transmit			= 0x04,		// transmits data from the FIFO buffer
		PCD_NoCmdChange			= 0x07,		// no command change, can be used to modify the CommandReg register bits without affecting the command, for example, the PowerDown bit
		PCD_Receive				= 0x08,		// activates the receiver circuits
		PCD_Transceive 			= 0x0C,		// transmits data from FIFO buffer to antenna and automatically activates the receiver after transmission
		PCD_MFAuthent 			= 0x0E,		// performs the MIFARE standard authentication as a reader
		PCD_SoftReset			= 0x0F		// resets the MFRC522
	};
	
	// Commands sent to the PICC.
	enum PICC_Command {
		// The commands used by the PCD to manage communication with several PICCs (ISO 14443-3, Type A, section 6.4)
		PICC_CMD_REQA			= 0x26,		// REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection. 7 bit frame.
		PICC_CMD_WUPA			= 0x52,		// Wake-UP command, Type A. Invites PICCs in state IDLE and HALT to go to READY(*) and prepare for anticollision or selection. 7 bit frame.
		PICC_CMD_CT				= 0x88,		// Cascade Tag. Not really a command, but used during anti collision.
		PICC_CMD_SEL_CL1		= 0x93,		// Anti collision/Select, Cascade Level 1
		PICC_CMD_SEL_CL2		= 0x95,		// Anti collision/Select, Cascade Level 1
		PICC_CMD_SEL_CL3		= 0x97,		// Anti collision/Select, Cascade Level 1
		PICC_CMD_HLTA			= 0x50,		// HaLT command, Type A. Instructs an ACTIVE PICC to go to state HALT.
		// The commands used for MIFARE Classic (from http://www.nxp.com/documents/data_sheet/MF1S503x.pdf, Section 9)
		// Use PCD_MFAuthent to authenticate access to a sector, then use these commands to read/write/modify the blocks on the sector.
		// The read/write commands can also be used for MIFARE Ultralight.
		PICC_CMD_MF_AUTH_KEY_A	= 0x60,		// Perform authentication with Key A    ;0x60=1100000
		PICC_CMD_MF_AUTH_KEY_B	= 0x61,		// Perform authentication with Key B
		PICC_CMD_MF_READ		= 0x30,		// Reads one 16 byte block from the authenticated sector of the PICC. Also used for MIFARE Ultralight.
		PICC_CMD_MF_WRITE		= 0xA0,		// Writes one 16 byte block to the authenticated sector of the PICC. Called "COMPATIBILITY WRITE" for MIFARE Ultralight.
		PICC_CMD_MF_DECREMENT	= 0xC0,		// Decrements the contents of a block and stores the result in the internal data register.
		PICC_CMD_MF_INCREMENT	= 0xC1,		// Increments the contents of a block and stores the result in the internal data register.
		PICC_CMD_MF_RESTORE		= 0xC2,		// Reads the contents of a block into the internal data register.
		PICC_CMD_MF_TRANSFER	= 0xB0,		// Writes the contents of the internal data register to a block.
		// The commands used for MIFARE Ultralight (from http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf, Section 8.6)
		// The PICC_CMD_MF_READ and PICC_CMD_MF_WRITE can also be used for MIFARE Ultralight.
		PICC_CMD_UL_WRITE		= 0xA2		// Writes one 4 byte page to the PICC.
	};
	
	// MIFARE constants that does not fit anywhere else
	enum MIFARE_Misc {
		MF_ACK					= 0xA,		// The MIFARE Classic uses a 4 bit ACK/NAK. Any other value than 0xA is NAK.
		MF_KEY_SIZE				= 6			// A Mifare Crypto1 key is 6 bytes.
	};

	// PICC types we can detect. Remember to update PICC_GetTypeName() if you add more.
	enum PICC_Type {
		PICC_TYPE_UNKNOWN		= 0,
		PICC_TYPE_ISO_14443_4	= 1,	// PICC compliant with ISO/IEC 14443-4 
		PICC_TYPE_ISO_18092		= 2, 	// PICC compliant with ISO/IEC 18092 (NFC)
		PICC_TYPE_MIFARE_MINI	= 3,	// MIFARE Classic protocol, 320 bytes
		PICC_TYPE_MIFARE_1K		= 4,	// MIFARE Classic protocol, 1KB
		PICC_TYPE_MIFARE_4K		= 5,	// MIFARE Classic protocol, 4KB
		PICC_TYPE_MIFARE_UL		= 6,	// MIFARE Ultralight or Ultralight C
		PICC_TYPE_MIFARE_PLUS	= 7,	// MIFARE Plus
		PICC_TYPE_TNP3XXX		= 8,	// Only mentioned in NXP AN 10833 MIFARE Type Identification Procedure
		PICC_TYPE_NOT_COMPLETE	= 255	// SAK indicates UID is not complete.
	};
	
	// Return codes from the functions in this class. Remember to update GetStatusCodeName() if you add more.
	enum StatusCode {
		STATUS_OK				= 1,	// Success
		STATUS_ERROR			= 2,	// Error in communication
		STATUS_COLLISION		= 3,	// Collission detected
		STATUS_TIMEOUT			= 4,	// Timeout in communication.
		STATUS_NO_ROOM			= 5,	// A buffer is not big enough.
		STATUS_INTERNAL_ERROR	= 6,	// Internal error in the code. Should not happen ;-)
		STATUS_INVALID			= 7,	// Invalid argument.
		STATUS_CRC_WRONG		= 8,	// The CRC_A does not match
		STATUS_MIFARE_NACK		= 9		// A MIFARE PICC responded with NAK.
	};
	
	// A struct used for passing the UID of a PICC.
	typedef struct {
		byte		size;			// Number of bytes in the UID. 4, 7 or 10.
		byte		uidByte[10];
		byte		sak;			// The SAK (Select acknowledge) byte returned from the PICC after successful selection.
	} Uid;
	
	// A struct named MIFARE_Key used for passing a MIFARE Crypto1 key
	typedef struct {
		byte		keyByte[MF_KEY_SIZE];//keyByte[MF_KEY_SIZE] is an array with six bytes; keys A and B are each 6 bytes long (see defintion of MF_KEY_SIZE above)
	} MIFARE_Key;
	
	// Member variables
	Uid uid;								// Used by PICC_ReadCardSerial().
	
	// Size of the MFRC522 FIFO
	static const byte FIFO_SIZE = 64;		// The FIFO is 64 bytes.
	
	/////////////////////////////////////////////////////////////////////////////////////
	// Functions for setting up the Arduino
	/////////////////////////////////////////////////////////////////////////////////////
	MFRC522(byte chipSelectPin, byte resetPowerDownPin);
	void setSPIConfig();
	
	/////////////////////////////////////////////////////////////////////////////////////
	// Basic interface functions for communicating with the MFRC522
	/////////////////////////////////////////////////////////////////////////////////////
	void PCD_WriteRegister(byte reg, byte value);//Writes a byte to the specified register in the MFRC522 chip.
	void PCD_WriteRegister(byte reg, byte count, byte *values);
	byte PCD_ReadRegister(byte reg);
	void PCD_ReadRegister(byte reg, byte count, byte *values, byte rxAlign = 0);
	void setBitMask(unsigned char reg, unsigned char mask);
	void PCD_SetRegisterBitMask(byte reg, byte mask);
	void PCD_ClearRegisterBitMask(byte reg, byte mask);
	byte PCD_CalculateCRC(byte *data, byte length, byte *result);

	/////////////////////////////////////////////////////////////////////////////////////
	// Functions for manipulating the MFRC522
	/////////////////////////////////////////////////////////////////////////////////////
	void PCD_Init();
	void PCD_Reset();
	void PCD_AntennaOn();
	
	/////////////////////////////////////////////////////////////////////////////////////
	// Functions for communicating with PICCs
	/////////////////////////////////////////////////////////////////////////////////////
	byte PCD_TransceiveData(byte *sendData, byte sendLen, byte *backData, byte *backLen, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
	byte PCD_CommunicateWithPICC(byte command, byte waitIRq, byte *sendData, byte sendLen, byte *backData = NULL, byte *backLen = NULL, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);

	byte PICC_RequestA(byte *bufferATQA, byte *bufferSize);
	byte PICC_WakeupA(byte *bufferATQA, byte *bufferSize);
	byte PICC_REQA_or_WUPA(	byte command, byte *bufferATQA, byte *bufferSize);	
	byte PICC_Select(Uid *uid, byte validBits = 0);
	byte PICC_HaltA();
	
	/////////////////////////////////////////////////////////////////////////////////////
	// Functions for communicating with MIFARE PICCs
	/////////////////////////////////////////////////////////////////////////////////////
	byte PCD_Authenticate(byte command, byte blockAddr, MIFARE_Key *key, Uid *uid);//this method is used to authenticate a certain block for writing or reading
    //command: See enumerations above -> PICC_CMD_MF_AUTH_KEY_A	= 0x60 (=1100000),		// this command performs authentication with Key A
    //MIFARE_Key *key is a pointer to the MIFARE_Key struct defined above, this struct needs to be defined for each block. New cards have all A/B= FF FF FF FF FF FF
    //Uid *uid is a pointer to the UID struct that contains the user ID of the card.
	void PCD_StopCrypto1();
    //these two methods read and write entire blocks. It seems there is no method to just access one byte.
	byte MIFARE_Read(byte blockAddr, byte *buffer, byte *bufferSize);//MIFARE_Read(block number (0-15), byte array containing 16 values, number of bytes in block (=16))
	byte MIFARE_Write(byte blockAddr, byte *buffer, byte bufferSize);//MIFARE_Write(block number (0-15), byte array containing 16 values, number of bytes in block (=16))
 	byte MIFARE_Decrement(byte blockAddr, long delta);
	byte MIFARE_Increment(byte blockAddr, long delta);
 	byte MIFARE_Restore(byte blockAddr);
 	byte MIFARE_Transfer(byte blockAddr);
	byte MIFARE_Ultralight_Write(byte page, byte *buffer, byte bufferSize);
	
	/////////////////////////////////////////////////////////////////////////////////////
	// Support functions
	/////////////////////////////////////////////////////////////////////////////////////
	byte PCD_MIFARE_Transceive(	byte *sendData, byte sendLen, bool acceptTimeout = false);
	const char *GetStatusCodeName(byte code);
	byte PICC_GetType(byte sak);
	const char *PICC_GetTypeName(byte type);
	void PICC_DumpToSerial(Uid *uid);
	void PICC_DumpMifareClassicToSerial(Uid *uid, byte piccType, MIFARE_Key *key);
	void PICC_DumpMifareClassicSectorToSerial(Uid *uid, MIFARE_Key *key, byte sector);
	void PICC_DumpMifareUltralightToSerial();
	void MIFARE_SetAccessBits(byte *accessBitBuffer, byte g0, byte g1, byte g2, byte g3);
	
	/////////////////////////////////////////////////////////////////////////////////////
	// Convenience functions - does not add extra functionality
	/////////////////////////////////////////////////////////////////////////////////////
	bool PICC_IsNewCardPresent();
	bool PICC_ReadCardSerial();	

private:
	byte _chipSelectPin;		// Arduino pin connected to MFRC522's SPI slave select input (Pin 24, NSS, active low)
	byte _resetPowerDownPin;	// Arduino pin connected to MFRC522's reset and power down input (Pin 6, NRSTPD, active low)
	byte MIFARE_TwoStepHelper(byte command, byte blockAddr,	long data);
};

#endif