metal detection robot_teja.newdoc

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CHAPTER-1

INTRODUCTION

1.1 EMBEDDED SYSTEMS

Embedded systems are designed to do some specific task, rather than be a

general-purpose computer for multiple tasks. Some also have real time performance

constraints that must be met, for reason such as safety and usability; others may have

low or no performance requirements, allowing the system hardware to be simplified

to reduce costs.

An embedded system is not always a separate block - very often it is

physically built-in to the device it is controlling. he software written for embeddedsystems is often called firmware, and is stored in read-only memory or flash

convector chips rather than a disk drive. !t often runs with limited computer hardware

resources" small or no keyboard, screen, and little memory.

#ireless communication has become an important feature for commercial

products and a popular research topic within the last ten years. here are now more

mobile phone subscriptions than wired-line subscriptions. $ately, one area of

commercial interest has been low-cost, low-power, and short-distance wirelesscommunication used for %personal wireless networks&. echnology advancements are

providing smaller and more cost effective devices for integrating computational

processing, wireless communication, and a host of other functionalities. hese

embedded communications devices will be integrated into applications ranging from

homeland security to industry automation and monitoring. hey will also enable

custom tailored engineering solutions, creating a revolutionary way of disseminating

and processing information. #ith new technologies and devices come new businessactivities, and the need for employees in these technological areas. Engineers who

have knowledge of embedded systems and wireless communications will be in high

demand. 'nfortunately, there are few adorable environments available for

development and classroom use, so students often do not learn about these

technologies during hands-on lab e(ercises. he communication mediums were

twisted pair, optical fiber, infrared, and generally wireless radio.

)


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1.2 OVERVIEW OF EMBEDDED SYSTEM ARCHITECTURE:

Every Embedded system consists of a custom-built hardware built around a

central processing unit. his hardware also contains memory chips onto which the

software is loaded.

Figure1.1:*verview of embedded system architecture

he operating system runs above the hardware and the application software

runs above the operating system. he same architecture is applicable to any computer

including desktop computer. +owever these are significant differences. !t is not

compulsory to have an operating system in every embedded system. or small

applications such as remote control units, air conditioners, toys etc.

1.3 APPICATIONS OF EMBEDDED SYSTEMS:

Some of the most common embedded systems used in everyday life are

S!"## e!$e%%e% &'()r'##er*: -bit /'s dominate, simple or no operating

system 0e.g., thermostats1

C'()r'# *+*)e!*: *ften use 2S/ chip for control computations0e.g.,

automotive engine control1

Di*)ri$u)e% e!$e%%e% &'()r'#:3i(ture of large and small nodes on a real-

time Embedded networks. 0e.g., cars, elevators, factory automation1

S+*)e! '( &,i: AS! design tailored to application area. 0e.g., consumer

electronics, set-top bo(es1

Ne)'r/ e0ui!e(): Emphasis on data movement4packet flow. 0e.g., network

switches; telephone switches1

Cri)i&"# *+*)e!*: Safety and mission critical computing. 0e.g., pacemakers,

automatic trains1

5

Application

S4# *perating System

+4#


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Sig("# r'&e**i(g: *ften use 2S/ chips for vision, audio, or other signal

/rocessing 0e.g., face recognition1

R'$')i&*: 'ses various types of embedded computing 0especially 6ision and

control1 0e.g., autonomous vehicles1 C'!u)er eri,er"#*: 2isk drives, keyboards, laser printers, etc.

Wire#e** *+*)e!*: #ireless network-connected %sensor networks7 and

%3otes7 to gather and report information

E!$e%%e% PC*: /almtop and small form factor /s embedded into

Equipment

C'!!"(% "(% &'()r'#: *ften huge military systems and %systems of

systems7 0e.g., a fleet of warships with interconnected omputers1 H'!e A#i"(&e*" intercom, telephones, security systems, garage door

openers, answering machines, fa( machines, home computers, 6s, cable 6

tuner, 68, camcorder, remote controls, video games, cellular phones,

musical instruments, sewing machines, lighting control, paging, camera,

pinball machines, toys, e(ercise equipment.

Oi&e elephones, computers, security systems, fa( machines, microwave,

copier, laser printer, color printer, paging Au)' rip computer, engine control, air bag, A9S, instrumentation, security

system, transmission control, entertainment, climate control, cellular phone,

keyless entry.

1. OBECTIVE OF THE PROECT

he main ob:ective of the metal detector robot is used to detect the metal and

if the sensor found metal near to it, the robot stop moving and on $2 screen it is

displayed as metal detected.

1.4 HARDWARE RE5UIREMENTS

3icro ontroller 0AS


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$5=2

>ear 3otors

8egulated /ower Supply

1.6 SOFTWARE RE5UIREMENTS

he ?E!$ 3!8* 6!S!*@ !2E where ?E!$


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CHAPTER-2

IMPEMENTATION DETAIS

2.1 BOC7 DIA8AM FOR THE PROPOSED SYSTEM

Figure 2.1: 9lock 2iagram for the /roposed System

OPERATION:

8egulated /ower Supply feeds power required for 3etal Sensor, 3icro

controller, $2 unit Bear 3otors requires

B)56 2 power source. A 3etal Sensor is used to scan for a metal identification,$2 is used for 2isplay about the status of operation of the system, >ear motors are

attached to 8obot to make the 8obot body to move in different directions, to drive

motors in different directions and to *@ and * a driver ! is used, a 3icro

ontroller is used as a control unit to activate the sensor and drive input and output

devices.

#hen the system is initiated by the regulated power supply then micro

controller activates the motor driver ! so that the motors comes to *@ state and

1 during lash programming. !n normal operation,

A$E is emitted at a constant rate of )4F the oscillator frequency and may be used for

e(ternal timing or clocking purposes. @ote, however, that one A$E pulse is skipped

during each access to e(ternal data memory. !f desired, A$E operation can be disabled

by setting bit of S8 location E+. #ith the bit set, A$E is active only during a

3*6Q or 3*6 instruction. *therwise, the pin is weakly pulled high. Setting the

A$E-disable bit has no effect if the microcontroller is in e(ternal e(ecution mode.PSEN: /rogram Store Enable 0/SE@1 is the read strobe to e(ternal program memory.

#hen the AS@2 in order to enable

the device to fetch code from e(ternal program memory locations starting at +

up to +. @ote, however, that if lock bit ) is programmed, EA will be internally

latched on reset. EA should be strapped to 6 for internal program e(ecutions. his

5


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pin also receives the )5-volt programming enable voltage 06//1 during lash

programming.

?TA1: !nput to the inverting oscillator amplifier and input to the internal clock

operating circuit.

?TA2: *utput from the inverting oscillator amplifier during accesses to e(ternal

memory. his pin is also the program pulse

Figure 2.@:unctional block diagram of micro controller

;42 O*&i##")'r "(% C#'&/: he heart of the


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he


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Sense ferrous R non-ferrous metal ob:ects to&Iero speed&

5-wire current source 0@A3'81 R =-wire npn trueopen collector outputs

< siIes R = sensing distances for application versatility

$E2 arget indicator 0psa 5b, Fb, Hb, R b1

Figure 2.11: *perational view of metal sensor

!nductive /ro(imity Sensors detect the presence of metal ob:ects which come within

range of their oscillating field and provide target detection to &Iero speed&. !nternally,

an oscillator creates a high frequency electromagnetic field 081 which is radiated

from the coil and out from the sensor face 0See igure )1. #hen a metal ob:ect enters

this field, eddy currents are induced into the ob:ect.

5=


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Figure 2.12: 2imensions of metal sensor

As the metal moves closer to the sensor, these eddy currents increase and

result in an absorption of energy from the coil which dampens the oscillator

amplitude until it finally stops.

MODES PSA-1B 2B

Figure 2.13


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!n addition to the coil and oscillator circuit, the =-wire 3odels /SA-F9, H9,

and 9 each contain a 2etector ircuit and @/@ ransistor *utput 0See igure =1. !n

these units, the 2etector ircuit senses when the oscillator stops, and turns on the

*utput ransistor which controls the load. he 2etector ircuit also turns on an

integrally case mounted $.E.2., visually indicating when a metal ob:ect is sensed.

PSA-6B >B ;B

hese !nductive /ro(imity Sensors have a ma(imum sensing distance of

.


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the sensors field before the ne(t target appears. !ndividual targets can still be resolved

as separate ob:ects if this spacing is reduced to H or H


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A program must interact with the outside world using input and output devices

that communicate directly with a human being. *ne of the most common devices

attached to an controller is an $2 display. Some of the most common $2s

connected to the contollers are )FQ), )F(5 and 5(5 displays. his means )F

characters per line by ) line )F characters per line by 5 lines and 5 characters per line

by 5 lines, respectively.

3any microcontroller devices use Psmart $2P displays to output visual

information. $2 displays designed around $2 @-)F)) module, are

ine(pensive, easy to use, and it is even possible to produce a readout using the


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2ata can be placed at any location on the $2. or )FL) $2, the address

locations are"

Figure 2.14:" Address locations for a )()F line $2

Figure 2.16:2ifferent 3odels of $2

Even limited to character based modules, there is still a wide variety of shapes and siIes

available. $ine lenghs of ,)F,5,5C,=5 and C characters are all standard, in one, two and

four line versions. Several different $ technologies e(ists. %supertwist7 types, for e(ample,

offer !mproved contrast and viewing angle over the older %twisted nematic7 types. Some

modules are available with back lighting, so so that they can be viewed in dimly-lit

conditions. he back lighting may be either %electro-luminescent7, requiring a high voltage

inverter circuit, or simple $E2 illumination.

5


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2.4.1 PIN DESCRIPTION ' CD:

PIN DESCRIPTIONS:

#hile 6cc R 6ss provide B


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he &84S& bit is used to select whether data or an instruction is being

transferred between the microcontroller and the $2.

!f the 9it is set, then the byte at the current $2 &ursor& /osition can be

reader written. #hen the 9it is reset, either an instruction is being sent to the $2 or the

e(ecution status of the last instruction is read back.

Figure 2.1>: /in 2iagram of $2

CONTRO INES:

EN" $ine is called &Enable.& his control line is used to tell the $2 that you are

sending it data. o send data to the $2, your program should make sure this line is

low 01 and then set the other two control lines and4or put data on the data bus. #hen

the other lines are completely ready, bring E@ high 0)1 and wait for the minimum

amount of time required by the $2 datasheet 0this varies from $2 to $21, and

end by bringing it low 01 again.

RS" $ine is the &8egister Select& line. #hen 8S is low 01, the data is to be treated as

a command or special instruction 0such as clear screen, position cursor, etc.1. #hen

8S is high 0)1, the data being sent is te(t data which sould be displayed on the screen.

or e(ample, to display the letter && on the screen you would set 8S high.

=


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RW" $ine is the &8ead4#rite& control line. #hen 8# is low 01, the information on

the data bus is being written to the $2. #hen 8# is high 0)1, the program is

effectively querying 0or reading1 the $2. *nly one instruction 0&>et $2 status&1 is

a read command. All others are write commands, so 8# will almost always be low.

inally, the data bus consists of C or lines 0depending on the mode of

operation selected by the user1. !n the case of an -bit data bus, the lines are referred

to as 29, 29), 295, 29=, 29C, 29ear motors are complete motive force systems consisting

of an electric motor and a reduction gear train integrated into one easy-to-mount and

-configure package. his greatly reduces the comple(ity and cost of designing and

constructing power tools, machines and appliances calling for high torque at relativelylow shaft speed or 8/3. >ear motors allow the use of economical low-horsepower

motors to provide great motive force at low speed such as in lifts, winches, medical

tables, :acks and robotics. hey can be large enough to lift a building or small enough

to drive a tiny clock.

.

Figure2.1; :)56 2 >EA8 3**8

=)
http://i.ehow.com/images/a05/24/jr/gear-motor-800X800.jpg


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Oer")i'( Pri(&i#e

3ost synchronous A electric motors have output ranges of from ),5 to

=,F revolutions per minute. hey also have both normal speed and stall-speed

torque specifications. he reduction gear trains used in gear motors are designed to

reduce the output speed while increasing the torque. he increase in torque is

inversely proportional to the reduction in speed. 8eduction gearing allows small

electric motors to move large driven loads, although more slowly than larger electric

motors. 8eduction gears consist of a small gear driving a larger gear. here may be

several sets of these reduction gear sets in a reduction gear bo(.

>ear" oothed wheel that transmits the turning movement of one shaft to another

shaft. >ear wheels may be used in pairs or in threes if both shafts are to turn in

the same direction. he gear ratio K the ratio of the number of teeth on the two

wheels K determines the torque ratio, the turning force on the output shaft

compared with the turning force on the input shaft. he ratio of the angular

velocities of the shafts is the inverse of the gear ratio.

he common type of gear for parallel shafts is the *ur ge"r, with straightteeth parallel to the shaft a(is. he ,e#i&"# ge"rhas teeth cut along sections of a heli(

or corkscrew shape; the double form of the heli( gear is the most efficient for energy

transfer. Be9e# ge"r*, with tapering teeth set on the base of a cone, are used to connect

intersecting shafts.

Figure2.1@:!nternal structure of 2 >EA8 3**8

=5


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he toothed and interlocking wheels which make up a typical gear movement.

>ear ratio is calculated by dividing the number of teeth on the driver gear by the

number of teeth on the driven gear 0gear ratio G driver4driven1; the idler gears are

ignored. !dler gears change the direction of rotation but do not affect speed. A high

driven to driver ratio 0middle1 is a speed-reducing ratio.

2ifferent gears are used to perform different engineering functions depending

on the change in direction of motion that is needed. 8ack and pinion gears are the

commonest gears and are used in car steering mechanics.

See% Re%u&)i'(

Sometimes the goal of using a gear motor is to reduce the rotating shaft speedof a motor in the device being driven, such as in a small electric clock where

the tiny synchronous motor may be spinning at ),5 rpm but is reduced to

one rpm to drive the second hand, and further reduced in the clock mechanism

to drive the minute and hour hands. +ere the amount of driving force is

irrelevant as long as it is sufficient to overcome the frictional effects of the

clock mechanism.

T'r0ue Mu#)i#i&")i'( Another goal achievable with a gear motor is to use a small motor to generate

a very large force albeit at a low speed. hese applications include the lifting

mechanisms on hospital beds, power recliners, and heavy machine lifts where

the great force at low speed is the goal.

M')'r V"rie)ie*

3ost industrial gear motors are A-powered, fi(ed-speed devices, although

there are fi(ed-gear-ratio, variable-speed motors that provide a greater degreeof control. 2 gear motors are used primarily in automotive applications such

as power winches on trucks, windshield wiper motors and power seat or power

window motors.

M"(+ A#i&")i'(*

#hat power can openers, garage door openers, stair lifts, rotisserie motors,

timer cycle knobs on washing machines, power drills, cake mi(ers and

electromechanical clocks have in common is that they all use various

==


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integrations of gear motors to derive a large force from a relatively small

electric motor at a manageable speed. !n industry, gear motor applications in

:acks, cranes, lifts, clamping, robotics, conveyance and mi(ing are too

numerous to count.

2.> 2@3D IC:

$5=2 is a dual +-bridgemotor driver integrated circuit 0!1. 3otor drivers

act as current amplifiers since they take a low-current control signal and provide a

higher-current signal. his higher current signal is used to drive the motors.

$5=2 contains two inbuilt +-bridge driver circuits. !n its common mode of

operation, two 2 motors can be driven simultaneously, both in forward and reverse

direction. he motor operations of two motors can be controlled by input logic at pins

5 R H and ) R )


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hermal Shutdown R !nternal ES2 /rotection

+igh-@oise-!mmunity !nputs

Dual H-bridge Motor Driver - L293D IC

>enerally, even the simplest robot requires a motor to rotate a wheel or

performs particular action. Since motors require more current then the

microcontroller pin can typically generate, you need some type of a

switch 0ransistors, 3*SE, 8elay etc.,1 which can accept a small

current, amplify it and generate a larger current, which further drives a motor. his

entire process is done by what is known as a motor driver.

3otor driver is basically a current amplifier which takes a low-current signal

from the microcontroller and gives out a proportionally higher current signal which

can control and drive a motor. !n most cases, a transistor can act as a switch and

perform this task which drives the motor in a single direction.

urning a motor *@ and * requires only one switch to control a single

motor in a single direction. #hat if you want your motor to reverse its directionU he

simple answer is to reverse its polarity. his can be achieved by using four switchesthat are arranged in an intelligent manner such that the circuit not only drives the

motor, but also controls its direction. *ut of many, one of the most common and

clever design is a +-bridge circuit where transistors are arranged in a shape that

resembles the English alphabet &+&.

As you can see in the image, the circuit has four switches A, 9, and 2.

urning these switches *@ and * can drive a motor in different ways.

). urning on Switches Aand Dmakes the motor rotate clockwise

5. urning on Switches Band Cmakes the motor rotate anti-clockwise

=. urning on Switches Aand Bwill stop the motor 09rakes1

C. urning off all the switches gives the motor a free wheel drive


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Se&ii&")i'(*

Supply 6oltage 8ange C.


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CHAPTER-3

SOFTWARE TOOS

3.1 S')"re )''#* u*e%

?eil micro vision for writing source code

lash 3agic for dumping the code

Pr'gr"!!i(g "(gu"ge

/rogramming language used in this pro:ect is . is a general purpose

structured programming language that is powerful, efficient and compact. !t has

emerged as the language of choice for most applications due to speed, portability andcompactness of code. he compiler combines the capabilities of an assembler

language with the features of high level language.

is highly portable. his means that programs written for one computer can

be on another with little or no modification. /ortability is important if we plan to use a

new computer with a different operating system.

language is well suited for structured programming thus requiring the user

to think of a problem in terms of function modules and blocks. A proper collection of

these modules make a complete program. his modular structure makes program

debugging, testing and maintenance easier.

Another important feature of is its ability to e(tend itself. A program is

basically a collection of functions that are supported by the library. #e cancontinuously add our own functions to the library. #ith the availability of a large

number of functions, the programming task becomes simple.

3.2 7EI SOFTWARE

GVi*i'(3

O6ision= is an !2E 0!ntegrated 2evelopment Environment1 that helps you write, compile, and

debug embedded programs. !t encapsulates the following components" A pro:ect manager.

=H


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A make facility.

ool configuration.

Editor.

A powerful debugger.o help you get started, several e(ample programs 0located in the C41E"!#e*,

C241E"!#e*, C166E"!#e*, andARM...E"!#e*1 are provided.

HEOis a simple program that prints the string &+ello #orld& using the Serial

!nterface.

Bui#%i(g "( A#i&")i'( i( GVi*i'(2

o build 0compile, assemble, and link1 an application in O6ision5, you must"

). Select /ro:ect - 0for e(ample, 166E?AMPESHEOHEO.UV21.5. Select /ro:ect - 8ebuild all target files or 9uild target.

O6ision5 compiles, assembles, and links the files in your pro:ect.

Cre")i(g Y'ur O( A#i&")i'( i( GVi*i'(2

T' &re")e " (e r'Je&) i( GVi*i'(2 +'u !u*)"

). Select /ro:ect - @ew /ro:ect.

5. Select a directory and enter the name of the pro:ect file.

=. Select /ro:ect - Select 2evice and select an


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2ebug your program using standard options like Step, >o, 9reak, and so on.

S)"r)i(g GVi*i'(2 "(% &re")i(g " Pr'Je&)

O6ision5 is a standard #indows application and started by clicking on the program icon. o

create a new pro:ect file select from the O6ision5 menu

Pr'Je&)K @ew /ro:ectZ. his opens a standard #indows dialog that asks you for the new

pro:ect file name.

#e suggest that you use a separate folder for each pro:ect. Dou can simply use the icon reate

@ew older in this dialog to get a new empty folder. hen select this folder and enter the file

name for the new pro:ect, i.e. /ro:ect).

O6ision5 creates a new pro:ect file with the name /8*[E).'65 which contains a default

target and file group name. Dou can see these names in the /ro:ect

Wi(%' L Fi#e*.

@ow use from the menu /ro:ect K Select 2evice for arget and select a /' for your pro:ect.

he Select 2evice dialog bo( shows the O6ision5 device database. [ust select the

microcontroller you use. #e are using for our e(amples the /hilips


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S)"r) De$uggi(g

Dou start the debug mode of O6ision5 with the 2ebug K Start4Stop 2ebug Session

command. 2epending on the *ptions for arget K 2ebug onfiguration, O6ision5

will load the application program and run the startup code O6ision5 saves the editor

screen layout and restores the screen layout of the last debug session. !f the program

e(ecution stops, O6ision5 opens an editor window with the source te(t or shows /'

instructions in the disassembly window. he ne(t e(ecutable statement is marked with

a yellow arrow. 2uring debugging, most editor features are still available.

Di*"**e!$#+ Wi(%'

he 2isassembly window shows your target program as mi(ed source and assembly

program or :ust assembly code. A trace history of previously e(ecuted instructions

may be displayed with 2ebug K 6iew race 8ecords. o enable the trace history, set

2ebug K Enable42isable race 8ecording.

!f you select the 2isassembly #indow as the active window all program step

commands work on /' instruction level rather than program source lines. Dou can

select a te(t line and set or modify code breakpoints using toolbar buttons or the

conte(t menu commands.

3.2.1 STEPS TO USE 7EI U VISION:

1. lick on the ?eil u6ision !con on 2esktop

2. he following ::fig will appear

C


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3. lick on the /ro:ect menu from the title bar

. hen lick on @ew /ro:ect

4. Save the /ro:ect by typing suitable pro:ect name with no e(tension in u r own

folder sited in either "\ or 2"\

6. hen lick on *"9ebutton above.

C)


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>. Select the component for u r pro:ect. i.e. AtmelZZ

;. lick on the B Symbol beside of Atmel

@. Select A


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11. he ollowing fig will appear

12. hen lick %@*7 for copy of standard code

13. @ow your pro:ect is ready to 'SE

1. @ow double click on the arget), you would get another option %Source group )7

as shown in ne(t page.

C=


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14. lick on the file option from menu bar and select %new7

16. he ne(t screen will be as shown in ne(t page, and :ust ma(imiIe it by double

clicking on its blue boarder.

1>. @ow start writing program in either in %7 or %AS37

CC


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1;. or a program written in Assembly, then save it with e(tension %. asm7 and for

%7 based program save it with e(tension % .7

1@. @ow right click on Source group ) and click on %A%% i#e* )' 8r'u

S'ur&e7

C


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2. @ow you will get another window, on which by default %7 files will

appear.

21. @ow select as per your file e(tension given while saving the file

22. lick only one time on option %ADD7

23. @ow /ress function key H to compile. Any error will appear if so happen.

CF


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2. !f the file contains no error, then press ontrolB< simultaneously.

24. he new window is as follows

26. hen lick %*?7

2>. @ow lick on the /eripherals from menu bar, and check your required port

as shown in fig below

CH


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2;. 2rag the port a side and click in the program file.

2@. @ow keep /ressing function key %))7 slowly and observe.

3. Dou are running your program successfully

3.3 F#"*, M"gi&

I()r'%u&)i'(

lash 3agic is #indows software from the Embedded Systems Academy that

allows easy access to all the !S/ features provided by the devices. hese features

include"

Erasing the lash memory 0individual blocks or the whole device1

/rogramming the lash memory 3odifying the 9oot 6ector and Status 9yte

8eading lash memory

/erforming a blank check on a section of lash memory

8eading the signature bytes

8eading and writing the security bits

2irect load of a new baud rate 0high speed communications1

Sending commands to place device in 9oot loader modelash 3agic provides a clear and simple user interface to these features and more as

described in the following sections. 'nder #indows, only one application may have

access the *3 /ort at any one time, preventing other applications from using the

*3 /ort. lash 3agic only obtains access to the selected *3 /ort when !S/

operations are being performed. his means that other applications that need to use

the *3 /ort, such as debugging tools, may be used while lash 3agic is loaded.

he screenshot of the main lash 3agic window is as shown in the figure. heappearance may differ slightly depending on the device selected. !t contains five

blocks. he five blocks are e(plained as follows"

3.3.1 Fi9e S)e Pr'gr"!!i(g:

S)e 1 L C'((e&)i'( Se))i(g* Select the desired *3 port from the drop down list or

type the desired *3 port directly into the bo(.

C


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!f you enter the *3 port yourself then you must enter it in one of the following

formats"

*3 n

n

Select the baud rate to connect at. ry a low speed first. he ma(imum speed

that can be used depends on the crystal frequency on your hardware.

Re&'!!e(%")i'(" ry F baud first. !f it does not work or does not work

reliably then try H5 baud.

Select the device being used from the drop down list. Ensure you select the

correct one as different devices have different feature sets and different methods of

setting up the serial communications.

Select the interface being used, if any. An interface is a device that connects

between your / and the target hardware. !f you simply have a serial cable or 'S9 to

serial cable connecting your *3 port to the target hardware, then chooses &@one

0!S/1&. hoosing the correct interface will automatically configure lash 3agic for

that interface, along with enabling and disabling the relevant features.

Enter the oscillator frequency used on the hardware. 2o not round the

frequency, instead enter it as precisely as possible. Some devices do not require the

oscillator frequency to be entered, so this field will not be displayed.

S)e 2 L Er"*i(g

his step is optional, however if you attempt to program the device without

first erasing at least one lash block, then lash 3agic will warn you and ask you if

you are sure you want to program the device. Select each lash block that you wish to

erase by clicking on its name. !f you wish to erase all the lash then check that option.

!f you want to erase a lash block and all the lash then the lash block will

not be erased individually. !f you wish to erase only the lash blocks used by the he(

file you are going to select, then check that option.

C


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S)e 3 L Se#e&)i(g ),e He Fi#e

his step is optional. !f you do not wish to program a +e( ile then do not

select one. Dou can either enter a path name in the te(t bo( or click on the 9rowse

button to select a +e( ile by browsing to it. Also you can choose *penZ from the

ile menu. @ote that the +e( file is not loaded or cached in any way. his means that

if the +e( ile is modified, you do not have to reselect it in lash 3agic. Every time

the +e( ile is programmed it is first re-read from the location specified in the main

window. his information is updated whenever the he( file is modified.

S)e L O)i'(*

his section is optional, however 6erify After /rogramming, ill 'nused lash and

>en 9lock hecksums may only be used if a +e( ile is selected 0and therefore being

programmed1, as they all need to know either the +e( ile contents or memory

locations used by the +e( ile.

hecking the E(ecute option will cause the downloaded firmware to be e(ecuted

automatically after the programming is complete. @ote that this will not work if using

the +ardware 8eset option or a device that does not support this feature.

S)e 4 L Per'r!i(g ),e Oer")i'(*

licking the Start button will result in all the selected operations in the main

window taking place. hey will be in order"

Erasing lash

/rogramming the +e( ile

6erifying the +e( ile

illing 'nused lash

E(ecuting the firmwar


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52/55

CHAPTER-

RESUT ANAYSIS

Figure .1: op 6iew of the 2esigned system


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Figure .2: System when *@ State

Figure .3: System when 3etal 2etected


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CHAPTER-4

CONCUSION

4.1 APPICATIONS

'sed in military applications

'sed in industrial applications

'sed to detect land mines

4.2 CONCUSION

he 3etal 2etection 8obot system is successfully designed and e(ecuted. he

hardware components are selected based on required, it is low cost and easy to use .!tis designed and well tested. he micro controller is programmed efficiently in

Embedded language using ?E!$ 3icro 6ision software. he system is designed to

the level of identifying the metal when the metal is found in front of the metal sensor.

#hen the metal is found it makes the 8obot *, and displays on $2 screen that a

metal is detected.


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CHAPTER-6

BIBIO8RAPHY

WEB SITES:1. ###.3!E$.2AA9**?.*3

2. ###.A3E$.2AA9**?.*3

3. ###.8A@?$!@.*3

. ###.?E!$.*3

REFERENCES:

). &he

metal detection robot_teja.newdoc

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