TopArduinoSPICommented

/* The script for top arduino on Minibot.

   Sensors:
     Buzzer: J3 port, (PWM) analog pin 3
     RFID sensor: J8, ???
          
   Functions: RFID, Sing
*/

//define notes for buzzer use
#define NOTE_B0  31
#define NOTE_C1  33
#define NOTE_CS1 35
#define NOTE_D1  37
#define NOTE_DS1 39
#define NOTE_E1  41
#define NOTE_F1  44
#define NOTE_FS1 46
#define NOTE_G1  49
#define NOTE_GS1 52
#define NOTE_A1  55
#define NOTE_AS1 58
#define NOTE_B1  62
#define NOTE_C2  65
#define NOTE_CS2 69
#define NOTE_D2  73
#define NOTE_DS2 78
#define NOTE_E2  82
#define NOTE_F2  87
#define NOTE_FS2 93
#define NOTE_G2  98
#define NOTE_GS2 104
#define NOTE_A2  110
#define NOTE_AS2 117
#define NOTE_B2  123
#define NOTE_C3  131
#define NOTE_CS3 139
#define NOTE_D3  147
#define NOTE_DS3 156
#define NOTE_E3  165
#define NOTE_F3  175
#define NOTE_FS3 185
#define NOTE_G3  196
#define NOTE_GS3 208
#define NOTE_A3  220
#define NOTE_AS3 233
#define NOTE_B3  247
#define NOTE_C4  262
#define NOTE_CS4 277
#define NOTE_D4  294
#define NOTE_DS4 311
#define NOTE_E4  330
#define NOTE_F4  349
#define NOTE_FS4 370
#define NOTE_G4  392
#define NOTE_GS4 415
#define NOTE_A4  440
#define NOTE_AS4 466
#define NOTE_B4  494
#define NOTE_C5  523
#define NOTE_CS5 554
#define NOTE_D5  587
#define NOTE_DS5 622
#define NOTE_E5  659
#define NOTE_F5  698
#define NOTE_FS5 740
#define NOTE_G5  784
#define NOTE_GS5 831
#define NOTE_A5  880
#define NOTE_AS5 932
#define NOTE_B5  988
#define NOTE_C6  1047
#define NOTE_CS6 1109
#define NOTE_D6  1175
#define NOTE_DS6 1245
#define NOTE_E6  1319
#define NOTE_F6  1397
#define NOTE_FS6 1480
#define NOTE_G6  1568
#define NOTE_GS6 1661
#define NOTE_A6  1760
#define NOTE_AS6 1865
#define NOTE_B6  1976
#define NOTE_C7  2093
#define NOTE_CS7 2217
#define NOTE_D7  2349
#define NOTE_DS7 2489
#define NOTE_E7  2637
#define NOTE_F7  2794
#define NOTE_FS7 2960
#define NOTE_G7  3136
#define NOTE_GS7 3322
#define NOTE_A7  3520
#define NOTE_AS7 3729
#define NOTE_B7  3951
#define NOTE_C8  4186
#define NOTE_CS8 4435
#define NOTE_D8  4699
#define NOTE_DS8 4978
#define REST 0

//melody pin 3 same as buzzerPin below
#define melodyPin 3

//initialize constands for buzzer use
const int c = 261;
const int d = 294;
const int e = 329;
const int f = 349;
const int g = 391;
const int gS = 415;
const int a = 440;
const int aS = 455;
const int b = 466;
const int cH = 523;
const int cSH = 554;
const int dH = 587;
const int dSH = 622;
const int eH = 659;
const int fH = 698;
const int fSH = 740;
const int gH = 784;
const int gSH = 830;
const int aH = 880;

//initialize PWM pin for buzzer use
//buzzer uses analog signal to change pitch
int buzzerPin = 3;

//mario melody
int melody[] = {
  NOTE_E7, NOTE_E7, 0, NOTE_E7,
  0, NOTE_C7, NOTE_E7, 0,
  NOTE_G7, 0, 0,  0,
  NOTE_G6, 0, 0, 0,

  NOTE_C7, 0, 0, NOTE_G6,
  0, 0, NOTE_E6, 0,
  0, NOTE_A6, 0, NOTE_B6,
  0, NOTE_AS6, NOTE_A6, 0,

  NOTE_G6, NOTE_E7, NOTE_G7,
  NOTE_A7, 0, NOTE_F7, NOTE_G7,
  0, NOTE_E7, 0, NOTE_C7,
  NOTE_D7, NOTE_B6, 0, 0,

  NOTE_C7, 0, 0, NOTE_G6,
  0, 0, NOTE_E6, 0,
  0, NOTE_A6, 0, NOTE_B6,
  0, NOTE_AS6, NOTE_A6, 0,

  NOTE_G6, NOTE_E7, NOTE_G7,
  NOTE_A7, 0, NOTE_F7, NOTE_G7,
  0, NOTE_E7, 0, NOTE_C7,
  NOTE_D7, NOTE_B6, 0, 0
};

//Mario main theme tempo
int tempo[] = {
  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,

  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,

  9, 9, 9,
  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,

  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,

  9, 9, 9,
  12, 12, 12, 12,
  12, 12, 12, 12,
  12, 12, 12, 12,
};


//Underworld melody
int underworld_melody[] = {
  NOTE_C4, NOTE_C5, NOTE_A3, NOTE_A4,
  NOTE_AS3, NOTE_AS4, 0,
  0,
  NOTE_C4, NOTE_C5, NOTE_A3, NOTE_A4,
  NOTE_AS3, NOTE_AS4, 0,
  0,
  NOTE_F3, NOTE_F4, NOTE_D3, NOTE_D4,
  NOTE_DS3, NOTE_DS4, 0,
  0,
  NOTE_F3, NOTE_F4, NOTE_D3, NOTE_D4,
  NOTE_DS3, NOTE_DS4, 0,
  0, NOTE_DS4, NOTE_CS4, NOTE_D4,
  NOTE_CS4, NOTE_DS4,
  NOTE_DS4, NOTE_GS3,
  NOTE_G3, NOTE_CS4,
  NOTE_C4, NOTE_FS4, NOTE_F4, NOTE_E3, NOTE_AS4, NOTE_A4,
  NOTE_GS4, NOTE_DS4, NOTE_B3,
  NOTE_AS3, NOTE_A3, NOTE_GS3,
  0, 0, 0
};

//Underworld tempo
int underworld_tempo[] = {
  12, 12, 12, 12,
  12, 12, 6,
  3,
  12, 12, 12, 12,
  12, 12, 6,
  3,
  12, 12, 12, 12,
  12, 12, 6,
  3,
  12, 12, 12, 12,
  12, 12, 6,
  6, 18, 18, 18,
  6, 6,
  6, 6,
  6, 6,
  18, 18, 18, 18, 18, 18,
  10, 10, 10,
  10, 10, 10,
  3, 3, 3
};

//Harry Potter tempo
// change this to make the song slower or faster
int tempoHarry = 144;

int melodyHarry[] = {
  // Hedwig's theme fromn the Harry Potter Movies
  // Socre from https://musescore.com/user/3811306/scores/4906610
  
  REST, 2, NOTE_D4, 4,
  NOTE_G4, -4, NOTE_AS4, 8, NOTE_A4, 4,
  NOTE_G4, 2, NOTE_D5, 4,
  NOTE_C5, -2, 
  NOTE_A4, -2,
  NOTE_G4, -4, NOTE_AS4, 8, NOTE_A4, 4,
  NOTE_F4, 2, NOTE_GS4, 4,
  NOTE_D4, -1, 
  NOTE_D4, 4,

  NOTE_G4, -4, NOTE_AS4, 8, NOTE_A4, 4, //10
  NOTE_G4, 2, NOTE_D5, 4,
  NOTE_F5, 2, NOTE_E5, 4,
  NOTE_DS5, 2, NOTE_B4, 4,
  NOTE_DS5, -4, NOTE_D5, 8, NOTE_CS5, 4,
  NOTE_CS4, 2, NOTE_B4, 4,
  NOTE_G4, -1,
  NOTE_AS4, 4,
     
  NOTE_D5, 2, NOTE_AS4, 4,//18
  NOTE_D5, 2, NOTE_AS4, 4,
  NOTE_DS5, 2, NOTE_D5, 4,
  NOTE_CS5, 2, NOTE_A4, 4,
  NOTE_AS4, -4, NOTE_D5, 8, NOTE_CS5, 4,
  NOTE_CS4, 2, NOTE_D4, 4,
  NOTE_D5, -1, 
  REST,4, NOTE_AS4,4,  

  NOTE_D5, 2, NOTE_AS4, 4,//26
  NOTE_D5, 2, NOTE_AS4, 4,
  NOTE_F5, 2, NOTE_E5, 4,
  NOTE_DS5, 2, NOTE_B4, 4,
  NOTE_DS5, -4, NOTE_D5, 8, NOTE_CS5, 4,
  NOTE_CS4, 2, NOTE_AS4, 4,
  NOTE_G4, -1, 
  
};


// sizeof gives the number of bytes, each int value is composed of two bytes (16 bits)
// there are two values per note (pitch and duration), so for each note there are four bytes
int notes = sizeof(melodyHarry) / sizeof(melodyHarry[0]) / 2;
//calculaes number of values in an array and divides by 2 as each note has two parts

// this calculates the duration of a whole note in ms (60s/tempo)*4 beats
int wholenote = (60000 * 4) / tempoHarry;
int divider = 0, noteDuration = 0;


#include <SPI.h>
#include <Wire.h>
#include <Adafruit_PN532.h> //RFID Library


#define PN532_IRQ   (17)   //set up the interrupt and reset
#define PN532_RESET (9)  
int val;
char buff [50];
volatile byte indx; //volatile (value can be changed by concurrently executing code (in the ISR))
volatile boolean process;
int  interruptPin = 10;

//initialize the RFID with I2C connection
Adafruit_PN532 nfc(PN532_IRQ, PN532_RESET);

void setup() {
  Serial.begin(115200);
  pinMode(MISO,OUTPUT); //init spi
  pinMode(3,OUTPUT);
  
  SPCR |= bit (SPE); // slave control register
  indx = 0; //buffer empty
  process = false;
  
  //RFID reader startup
  nfc.begin(); 
  uint32_t versiondata = nfc.getFirmwareVersion();
  if (! versiondata) { //checks connection to board
    Serial.print("Didn't find PN53x board");
    while (1); // halt
  }
  
  // If find a board, print out the version
  Serial.print("Found chip PN5"); Serial.println((versiondata>>24) & 0xFF, HEX); 
  Serial.print("Firmware ver. "); Serial.print((versiondata>>16) & 0xFF, DEC); 
  Serial.print('.'); Serial.println((versiondata>>8) & 0xFF, DEC);
  // Set the max number of retry attempts to read from a card
  // This prevents us from waiting forever for a card, which is
  // the default behaviour of the PN532.
  nfc.setPassiveActivationRetries(0xFF);
  // configure board to read RFID tags
  nfc.SAMConfig();
  
  pinMode(interruptPin,INPUT);
  int val = digitalRead(interruptPin); //allows ISR to receive data

  delay(1000);
  SPI.attachInterrupt(); //initializes interrupt
 // attachInterrupt(digitalPinToInterrupt(interruptPin), tester, LOW); //enable interrupt
  //val = 1;
  //Serial.print(val);
  }

ISR (SPI_STC_vect) { //SPI Interrupt Service Routine
 // digitalWrite(3,1);
  Serial.println("entered ISR"); //debugging print line to indicate interrupt has been entered
  if (SPDR != c) //if new value does not equal old value
     Serial.println("Value has been changed"); //debugging print line to show value updated
  byte c = SPDR; //read byte from SPI data register
  if (indx < sizeof (buff) - 1)  //if the value of index is within the range of a byte (0-7)
    buff [indx++] = c;// save data in the next index in the array buff
 // if (c == '\r') //check for the end of the word
    process = true;
  
}  


void loop() {

Serial.println("entered loop"); //debugging statement, entered loop
  if (process) { //if inturrupt received
    buff[indx] = 0; //set the index at indx of buff to 0
    process = false; //reset flag
//    digitalWrite(3,0);
 //   Serial.println("work");
    Serial.print(buff); //print to serial monitor, debugging
    int i = 0;
    if (i < sizeof(buff)) { //if the value of i is between (1-8) or a byte
      switch(buff[i]) {  //if the index of buff at i is... (checks buffer for RFID mode)      
        case 'O': //object detection
          RFID(); //run RFID function        
        default: //anything else then add a value to i and rerun loop
          i++;
          break; 
      }
    }
  }

    //SPDR = data  //sends value to master via SPDR
    indx = 0; //reset button to zero  
}

void RFID(){  // RFID function
  Serial.println("entered RFID function");
  boolean detector;
  uint8_t uid[] = { 0, 0, 0, 0, 0, 0, 0 };  // Buffer to store the returned UID from tag
  uint8_t uidLength; //Length of the UID (4 or 7 bytes depending on ISO14443A card type
  
  //tags we have currently, labeled by color
  uint8_t obj1[] = {0xB9, 0xC3, 0xD, 0xF4}; //the tag on the LED panel, Green Tower
  uint8_t obj2[] = {0xB9, 0x12, 0xD, 0xF4}; //the tag on the micrstickII, Yellow Tower
  uint8_t obj3[] = {0xC9, 0x82, 0xC, 0xF4};  //for the blue key tags, Red Tower

  Serial.println("Sensor ready!");
  detector = nfc.readPassiveTargetID(PN532_MIFARE_ISO14443A, &uid[0], &uidLength);
      if(detector){ //if true, object in range
      Serial.println("Found a tag!"); //debugging print statement
      Serial.println("This is ....."); //identification
      if(memcmp(obj1, uid, 4) == 0){ //if obj1 is the same as uid for the first four indices 
        Serial.println("Object 1"); //debugging statement
        sing(1); //run sing function with parameter 1 (Mario)
      }
      
      else if (memcmp(obj2, uid, 4) == 0){ //if obj2 is the same as uid for the first four indices
        Serial.println("Object 2"); //debugging statement
        firstSection(); //run firstSection function (Underworld)
      }

      else if(memcmp(obj3, uid, 4) == 0){ //if obj3 is the same as uid for the first four indices
        Serial.println("Object 3"); //debugging statement
        harryPotter(); //run harryPotter
      }
      
      else{ //if the buffer does not match any known objects
        Serial.println("Not in database"); //debugging statment
        delay(1000);
      }
    
      delay(1000); 
  
    }
    else{ // if detector is false, no object in range
      Serial.println("No Objects in Range");    
    }
  
}


void beep(int note, int duration) //Function used in Underworld Theme Theme
{
  //Play tone on buzzerPin
  tone(buzzerPin, note, duration);
 
  delay(duration);
  //Stop tone on buzzerPin
  noTone(buzzerPin);
 
  delay(50);
 
 
}
 
void firstSection() //Underworld Theme (if song==2 doesn't work then remove and only keep this function)
{
  beep(a, 500);
  beep(a, 500);    
  beep(a, 500);
  beep(f, 350);
  beep(cH, 150);  
  beep(a, 500);
  beep(f, 350);
  beep(cH, 150);
  beep(a, 650);
 
  delay(500);
 
  beep(eH, 500);
  beep(eH, 500);
  beep(eH, 500);  
  beep(fH, 350);
  beep(cH, 150);
  beep(gS, 500);
  beep(f, 350);
  beep(cH, 150);
  beep(a, 650);
 
  delay(500);
}
 
/* unused function
void secondSection()
{
  beep(aH, 500);
  beep(a, 300);
  beep(a, 150);
  beep(aH, 500);
  beep(gSH, 325);
  beep(gH, 175);
  beep(fSH, 125);
  beep(fH, 125);    
  beep(fSH, 250);
 
  delay(325);
 
  beep(aS, 250);
  beep(dSH, 500);
  beep(dH, 325);  
  beep(cSH, 175);  
  beep(cH, 125);  
  beep(b, 125);  
  beep(cH, 250);  
 
  delay(350);
}
*/

int song = 0; //initialize variable for sing function

void sing(int s) { //Mario Theme
  // iterate over the notes of the melody:
  song = s;
  if (song == 2) { //song never equals 2, so skips to else
    Serial.println(" 'Underworld Theme'");
    int size = sizeof(underworld_melody) / sizeof(int);
    for (int thisNote = 0; thisNote < size; thisNote++) {

      // to calculate the note duration, take one second
      // divided by the note type.
      //e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
      int noteDuration = 1000 / underworld_tempo[thisNote];

      buzz(melodyPin, underworld_melody[thisNote], noteDuration);

      // to distinguish the notes, set a minimum time between them.
      // the note's duration + 30% seems to work well:
      int pauseBetweenNotes = noteDuration * 1.30;
      delay(pauseBetweenNotes);

      // stop the tone playing:
      buzz(melodyPin, 0, noteDuration);

    }

  } else { //always runs when sing is run as song always equals 1

    Serial.println(" 'Mario Theme'");
    int size = sizeof(melody) / sizeof(int);
    size=2*size/3-5;
    for (int thisNote = 0; thisNote < size; thisNote++) {

      // to calculate the note duration, take one second
      // divided by the note type.
      //e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
      int noteDuration = 1000 / tempo[thisNote];

      buzz(melodyPin, melody[thisNote], noteDuration);

      // to distinguish the notes, set a minimum time between them.
      // the note's duration + 30% seems to work well:
      int pauseBetweenNotes = noteDuration * 1.30;
      delay(pauseBetweenNotes);

      // stop the tone playing:
      buzz(melodyPin, 0, noteDuration);

    }
  }
}

void buzz(int targetPin, long frequency, long length) { //function used in Mario Theme
  digitalWrite(13, HIGH);
  long delayValue = 1000000 / frequency / 2; // calculate the delay value between transitions
  //// 1 second's worth of microseconds, divided by the frequency, then split in half since
  //// there are two phases to each cycle
  long numCycles = frequency * length / 1000; // calculate the number of cycles for proper timing
  //// multiply frequency, which is really cycles per second, by the number of seconds to
  //// get the total number of cycles to produce
  for (long i = 0; i < numCycles; i++) { // for the calculated length of time...
    digitalWrite(targetPin, HIGH); // write the buzzer pin high to push out the diaphram
    delayMicroseconds(delayValue); // wait for the calculated delay value
    digitalWrite(targetPin, LOW); // write the buzzer pin low to pull back the diaphram
    delayMicroseconds(delayValue); // wait again or the calculated delay value
  }
  digitalWrite(13, LOW);

}

void harryPotter(){ //harry potter music 
  // iterate over the notes of the melody. 
  // Remember, the array is twice the number of notes (notes + durations)
  divider = 0;
  noteDuration=0;
  for (int thisNote = 0; thisNote < (notes * .5-2); thisNote = thisNote + 2) {

    // calculates the duration of each note
    divider = melodyHarry[thisNote + 1];
    if (divider > 0) {
      // regular note, just proceed
      noteDuration = (wholenote) / divider;
    } else if (divider < 0) {
      // dotted notes are represented with negative durations!!
      noteDuration = (wholenote) / abs(divider);
      noteDuration *= 1.5; // increases the duration in half for dotted notes
    }

    // we only play the note for 90% of the duration, leaving 10% as a pause
    tone(3, melodyHarry[thisNote], noteDuration*0.9);

    // Wait for the specief duration before playing the next note.
    delay(noteDuration);
    Serial.println(noteDuration);
    // stop the waveform generation before the next note.
    noTone(3);
  }
}