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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr/pgmspace.h>
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#include <avr/pgmspace.h>
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#include <drivers/mcu/gpio.h>
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#include <drivers/mcu/gpio.h>
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#include "rfid.h"
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#include <drivers/rfid/rfid.h>
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#include "config.h"
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#include <config.h>
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/* edge detection, for resynchronization */
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/* edge detection, for resynchronization */
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volatile uint8_t rfid_m_lastbit = 0;
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volatile uint8_t rfid_m_lastbit = 0;
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/* number of timer steps left until next sample */
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/* number of timer steps left until next sample */
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    x = (x >> 1 & 0x55) | (x << 1 & 0xaa);
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    x = (x >> 1 & 0x55) | (x << 1 & 0xaa);
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    return x;
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    return x;
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}
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}
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ISR( TIMER1_COMPA_vect ) {
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ISR( TIMER1_COMPA_vect ) {
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    gpio_toggle_pin( EXP_M );
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    uint8_t bit = gpio_get_state( sns_rfid_READ_PIN );
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    uint8_t bit = gpio_get_state( RFID_READ_PIN );
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    if( rfid_m_lastbit != bit ) {
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    if( rfid_m_lastbit != bit ) {
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        rfid_m_nextsample = RFID_OSR/2;
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        rfid_m_nextsample = RFID_OSR/2;
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    }
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    }
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    if( rfid_m_nextsample == 0 ) {
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    if( rfid_m_nextsample == 0 ) {
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        rfid_m_nextsample = RFID_OSR;
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        rfid_m_nextsample = RFID_OSR;
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        /* Sample */
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        /* Sample */
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        if( rfid_m_phase == 0 ) {
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        if( rfid_m_phase == 0 ) {
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            rfid_m_buffer = bit;
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            rfid_m_buffer = bit;
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            rfid_m_phase = 1;
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            rfid_m_phase = 1;
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        } else {
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        } else {
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            if( rfid_m_buffer == bit ) { /* Out of phase, resynchroinzation */
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            if( rfid_m_buffer == bit ) { /* Out of phase, resynchroinzation */
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                rfid_m_buffer = bit;
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                rfid_m_buffer = bit;
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                rfid_m_phase = 1;
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                rfid_m_phase = 1;
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            } else {
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            } else {
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                /* Second phase in manchester encoded bit, pass to bitstream */
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                /* Second phase in manchester encoded bit, pass to bitstream */
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                rfid_handlebit( !bit ); /* First bit counts */
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                rfid_handlebit( !bit ); /* First bit counts */
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                rfid_m_phase = 0;
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                rfid_m_phase = 0;
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            }
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            }
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        }
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        }
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    }
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    }
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    rfid_m_nextsample--;
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    rfid_m_nextsample--;
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    rfid_m_lastbit = bit;
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    rfid_m_lastbit = bit;
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}
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}
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void rfid_handlebit( uint8_t bit ) {
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void rfid_handlebit( uint8_t bit ) {
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    if( bit ) {
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    if( bit ) {
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        rfid_data[rfid_ptr>>3] |= 1<<(rfid_ptr&7);
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        rfid_data[rfid_ptr>>3] |= 1<<(rfid_ptr&7);
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    } else {
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    } else {
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        rfid_data[rfid_ptr>>3] &= ~(1<<(rfid_ptr&7));
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        rfid_data[rfid_ptr>>3] &= ~(1<<(rfid_ptr&7));
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    }
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    }
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    TCCR1A = (0<<WGM11)|(0<<WGM10);
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    TCCR1A = (0<<WGM11)|(0<<WGM10);
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    TCCR1B = (0<<WGM13)|(1<<WGM12)|(2<<CS20); // CTC OCR1A top, prescaler 8
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    TCCR1B = (0<<WGM13)|(1<<WGM12)|(2<<CS20); // CTC OCR1A top, prescaler 8
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    OCR1A = (RFID_BITLENGTH*F_CPU/RFID_OSR/RFID_FREQ/8)-1;
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    OCR1A = (RFID_BITLENGTH*F_CPU/RFID_OSR/RFID_FREQ/8)-1;
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    TIMSK1 = (1<<OCIE1A);
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    TIMSK1 = (1<<OCIE1A);
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    gpio_set_in( sns_rfid_READ_PIN );
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    gpio_set_in( RFID_READ_PIN );
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    gpio_set_out( EXP_M );
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}
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}
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uint8_t rfid_fetch( uint8_t *version, uint32_t *tag ) {
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uint8_t rfid_fetch( uint8_t *version, uint32_t *tag ) {
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    uint8_t colchksum;
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    uint8_t colchksum;
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