mrb06 bomb detection robot

8/12/2019 Mrb06 Bomb Detection Robot

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INDEX

CHAPTER 1. ABSTRACT

CHAPTER2.INTRODUCTION TO EMBEDED SYSTEMS

2.1 INTRODUCTION

2.2 APPLICATIONS OF EMBEDDED SYSTEMS

CHAPTER 3. INTRODUCTION TO MICROCNTROLLER

3.1 AT89C51

3.2 FEATURES

3.3 TIMERS

3.4 SERIAL COMMUNICATION

3.5 INTERRUPTS

CHAPTER 4. POWER SUPPLY

CHAPTER 5. SPECIFIED TECHNOLOGY

5.1L293D

5.2DC MOTOR

CHAPTER 6. SOFTWARE DEVELOPMENT

CHAPTER 7. CONCLUSION

7.1 CONCLUSION

7.2 REFERENCE


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BOMB DETECTION ROBOT

The pree!" #!$e!"#%! pr%$#&e ' #(p)e '!& re)'"#$e)* )%+ ,%" +'* %- per-%r(#! '

(e"') %r /%(/ &e"e,"#%! "e" %! "he "e" *"e( "% &e"er(#!e +he"her %r !%" "he *"e( # 0/e,""% /%(/ ep)%#%!. The (e"') &e"e,"%r +#)) /e -#e& #! "he pre&e"er(#!e& 're' "% ,he, "he

p%#/#)#"* %- ' (e"') %r ' /%(/. I- "here # '! e#"e!,e %- (e"') #! "h'" 're' "he (e"') &e"e,"%r

#&e!"#-#e "he (e"') '!& #!"#('"e "h# "% "he ,%!"r%))#! 0!#". S#!,e "he h0('! ,'!!%" e!"er #!"%

"he 're' +here "here "he /%(/ %r (e"') # pree!" ' R%/%" # e(p)%*e& "% (%$e #! "he #(0)'"e&

e!$#r%!(e!" '!& ,%!"#!0%0)* (%!#"%r "he "'"0 %- "he (e"') &e"e,"%r #! "h'" p'r"#,0)'r 're'.

The *"e( # e!"#re)* '! '0"%('"e& &e#!. The (#,r%,%!"r%))er p)'* ' $#"') r%)e #! "h#

pr%e,". The ,%!"r%))#! e,"#%! +#)) /e -#e& "% "he r%/%". The ,%!"r%))#! ,%!"'#! "he

(#,r%,%!"r%))er (e"') &e"e,"%r '!& "he /0er ,#r,0#".

The (#,r%,%!"r%))er ,%!"#!0%0)* (%!#"%r "he %0"p0" %- "he (e"') &e"e,"%r. I- '!* (e"')

# -%0!& "he (e"') &e"e,"%r re,%!#e #" '!& #" %0"p0" ,h'!e #((e'"e)*. The

(#,r%,%!"r%))er &e"e," "h# '!& #((e'"e)* ')er" "he /0er.

SOFTWARE AND HARDWARE TOOLS

S!"#$%&' T!!()

1. 6e#) ,%(p#)er

2. Or,'&.

H%&*$%&' T!!()

1. M#,r%,%!"r%))er AT89S52.

2. Me"') &e"e,"%r.3. B0er ,#r,0#"

4. DC (%"%r '!& L293D -%r R%/%".


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B(!+, *-%&%/


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CHAPTER 2

INTRODUCTION TO EMBEDDED SYSTEM

2. INTRODUCTION TO EMBEDDED SYSTEM


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An embedded system is a special-purpose computer system designed to perform one or

a few dedicated functions, sometimes with real-time computing constraints !t is usually

embedded as part of a complete de"ice including hardware and mechanical parts !n contrast, a

general-purpose computer, such as a personal computer, can do many different tas#s

depending on programming Embedded systems ha"e become "ery important today as they

control many of the common de"ices we use

$ince the embedded system is dedicated to specific tas#s, design engineers can

optimi%e it, reducing the si%e and cost of the product, or increasing the reliability and

performance $ome embedded systems are mass-produced, benefiting from economies of

scale

Physically, embedded systems range from portable de"ices such as digital watches and

&P' players, to large stationary installations li#e traffic lights, factory controllers, or the systems

controlling nuclear power plants Comple(ity "aries from low, with a single microcontroller chip,

to "ery high with multiple units, peripherals and networ#s mounted inside a large chassis or

enclosure

!n general, )embedded system) is not an e(actly defined term, as many systems ha"e

some element of programmability *or e(ample, Handheld computers share some elements

with embedded systems + such as the operating systems and microprocessors which power

them + but are not truly embedded systems, because they allow different applications to be

loaded and peripherals to be connected

An embedded system is some combination of computer hardware and software, either

fi(ed in capability or programmable, that is specifically designed for a particular #ind of

application de"ice !ndustrial machines, automobiles, medical euipment, cameras, household

appliances, airplanes, "ending machines, and toys as well as the more ob"ious cellular phone

and P.A/ are among the myriad possible hosts of an embedded system Embedded systems

that are programmable are pro"ided with a programming interface, and embedded systems

programming is a speciali%ed occupation

Certain operating systems or language platforms are tailored for the embedded mar#et,

such as Embedded 0a"a and 1indows P Embedded Howe"er, some low-end consumer

products use "ery ine(pensi"e microprocessors and limited storage, with the application and

operating system both part of a single program The program is written permanently into the


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system3s memory in this case, rather than being loaded into RA& random access memory/, as

programs on a personal computer are

2.1 APPLICATIONS OF EMBEDDED SYSTEM

1e are li"ing in the Embedded 1orld 4ou are surrounded with many embedded

products and your daily life largely depends on the proper functioning of these gadgets

Tele"ision, Radio, C. player of your li"ing room, 1ashing &achine or &icrowa"e 5"en in your

#itchen, Card readers, Access Controllers, Palm de"ices of your wor# space enable you to do

many of your tas#s "ery effecti"ely Apart from all these, many controllers embedded in your car

ta#e care of car operations between the bumpers and most of the times you tend to ignore all

these controllers

!n recent days, you are showered with "ariety of information about these embedded

controllers in many places All #inds of maga%ines and 6ournals regularly dish out details about

latest technologies, new de"ices7 fast applications which ma#e you belie"e that your basic

sur"i"al is controlled by these embedded products 8ow you can agree to the fact that these

embedded products ha"e successfully in"aded into our world 4ou must be wondering about

these embedded controllers or systems 1hat is this Embedded $ystem9

The computer you use to compose your mails, or create a document or analy%e the

database is #nown as the standard des#top computer These des#top computers are

manufactured to ser"e many purposes and applications

4ou need to install the rele"ant software to get the reuired processing facility $o, these

des#top computers can do many things !n contrast, embedded controllers carryout a specific

wor# for which they are designed &ost of the time, engineers design these embedded

controllers with a specific goal in mind $o these controllers cannot be used in any other place

Theoretically, an embedded controller is a combination of a piece of microprocessor based

hardware and the suitable software to underta#e a specific tas#

These days designers ha"e many choices in microprocessors:microcontrollers

Especially, in ; bit and '2 bit, the a"ailable "ariety really may o"erwhelm e"en an e(perienced

designer $electing a right microprocessor may turn out as a most difficult first step and it is

getting complicated as new de"ices continue to pop-up "ery often


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!n the ; bit segment, the most popular and used architecture is !ntel3s ;


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Ele"troni" a!!li"ation and "on&%er de'i"e

As the number of powerful embedded processors in consumer de"ices continues to rise, the

Blue Cat@ ?inu(@ operating system pro"ides a highly reliable and royalty-free option for

systems designers

And as the wireless appliance re"olution rolls on, web-enabled na"igation systems, radios,

personal communication de"ices, phones and P.As all benefit from the cost-effecti"e

dependability, pro"en stability and full product life-cycle support opportunities associated with

Blue Cat embedded ?inu( Blue Cat has teamed up with industry leaders to ma#e it easier to

build ?inu( mobile phoneswith 0a"a integration

*or ma#ers of low-cost consumer electronic de"ices who wish to integrate the ?yn(5$ real-

time operating system into their products, we offer special &$RP-based pricing to reduce

royalty fees to a negligible portion of the de"ice3s &$RP

Ind&trial a&to%ation and !ro"e "ontrol o#t$are

.esigners of industrial and process control systems#now from e(perience that ?ynu(1or#s

operating systems pro"ide the security and reliability that their industrial applications

reuire*rom !$5 D


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CHAPTER '

!8TR5.CT!58 T5 &!CR5C58TR5??ER$


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MICRO CONTROLLER ()C*1

I0#&!*+#-!0

A M#,r% ,%!"r%))er ,%!#" %- ' p%+er-0) CPU "#h")* ,%0p)e& +#"h (e(%r* $'r#%0 IO

#!"er-',e 0,h ' er#') p%r" p'r'))e) p%r" "#(er %r ,%0!"er #!"err0p" ,%!"r%))er &'"' ',0##"#%!

#!"er-',eA!')% "% D##"') ,%!$er"er D##"') "% A!')% ,%!$er"er #!"er'"e& %! "% ' #!)e

#)#,%! ,h#p.

I- ' *"e( # &e$e)%pe& +#"h ' (#,r%pr%,e%r "he &e#!er h' "% % -%r e"er!')

(e(%r* 0,h ' RAM ROM EPROM '!& per#pher'). B0" ,%!"r%))er # pr%$#&e& ')) "hee

-',#)#"#e %! ' #!)e ,h#p. De$e)%p(e!" %- ' M#,r% ,%!"r%))er re&0,e PCB #e '!& ,%" %-

&e#!.

O!e %- "he ('%r --ere!,e /e"+ee! ' M#,r%pr%,e%r '!& ' M#,r% ,%!"r%))er # "h'" '

,%!"r%))er %-"e! &e') +#"h /#" !%" /*"e ' #! "he re') +%r)& 'pp)#,'"#%!.

I!"e) h' #!"r%&0,e& ' -'(#)* %- M#,r% ,%!"r%))er ,'))e& "he MCS51.

T' M%!& F'%#&')

C%(p'"#/)e +#"h MCS51 pr%&0,"

4 B*"e %- #!*"e( Repr%r'(('/)e -)'h (e(%r*

F0))* "'"#, %per'"#%!: ;


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controller satisfactorily ser"es the abo"e application sing an ine(pensi"e ;-bit &icrocontroller

will doom the '2-bit product failure in any competiti"e mar#et place

C%(#! "% "he 0e"#%! %- +h* "% 0e AT89C51 %- ')) "he 8/#" (#,r%,%!"r%))er '$'#)'/)e

#! "he ('re" "he ('#! '!+er +%0)& /e /e,'0e #" h' 4 6/ %! ,h#p -)'h (e(%r* +h#,h # 0"0--#,#e!" -%r %0r 'pp)#,'"#%!. The %!,h#p F)'h ROM '))%+ "he pr%r'( (e(%r* "% /e

repr%r'((e& #! *"e( %r /* ,%!$e!"#%!') !%!$%)'"#)e (e(%r* Pr%r'((er. M%re%$er

ATMEL # "he )e'&er #! -)'h "e,h!%)%* #! "%&'*@ ('re" p)',e '!& he!,e 0#! AT 89C51 #

"he %p"#(') %)0"#%!.

AT()C*1 MICROCONTROLLER ARC-ITECTURE

The ;DC>= architecture consists of these specific featuresG

Eight bit CP with registers A the accumulator/ and B

$i(teen-bit program counter PC/ and data pointer .PTR/

Eight- bit stac# pointer P$1/

Eight-bit stac# pointer $p/

!nternal R5& or EPR5& ;>=/ of


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*ig G *unctional bloc# diagram of micro controller

T,e ()C*1 o"illator and "lo"/

The he'r" %- "he 89C51 ,#r,0#"r* "h'" e!er'"e "he ,)%, p0)e /* +h#,h ')) "he #!"er!')

')) #!"er!') %per'"#%! 're *!,hr%!#e&. P#! TAL1 A!& TAL2 # pr%$#&e& -%r ,%!!e,"#! '

re%!'!" !e"+%r "% -%r( '! %,#))'"%r. T*p#,'))* ' 0'r" ,r*"') '!& ,'p',#"%r 're e(p)%*e&.

The ,r*"') -re0e!,* # "he /'#, #!"er!') ,)%, -re0e!,* %- "he (#,r%,%!"r%))er. The

('!0-',"0rer ('e 89C51 &e#! "h'" r0! '" pe,#-#, (#!#(0( '!& ('#(0( -re0e!,#e

"*p#,'))* 1 "% 1 M


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O,#))'"%r '!& "#(#! ,#r,0#"

Ty!e o# %e%ory/

The ;DC>= ha"e three general types of memory They are on-chip memory, e(ternal

Code memory and e(ternal Ram 5n-Chip memory refers to physically e(isting memory on the

micro controller itself E(ternal code memory is the code memory that resides off chip This is

often in the form of an e(ternal EPR5& E(ternal RA& is the Ram that resides off chip This

often is in the form of standard static RA& or flash RA&

a0 Code %e%ory

Code memory is the memory that holds the actual ;DC>= programs that is to be run

This memory is limited to FI Code memory may be found on-chip or off-chip !t is possible to

ha"e FI of code memory on-chip and


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0 Internal RAM

The ;DC>= ha"e a ban# of =2; of internal RA& The internal RA& is found on-chip $o it

is the fastest Ram a"ailable And also it is most fle(ible in terms of reading and writing !nternal

Ram is "olatile, so when ;DC>= is reset, this memory is cleared =2; bytes of internal memory

are subdi"ided The first '2 bytes are di"ided into F register ban#s Each ban# contains ;

registers !nternal RA& also contains =2; bits, which are addressed from 2


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architecture7 low power7 high reliability

ROM

Read-5nly &emory

&ature, high-density, reliable, low cost7

time-consuming mas# reuired, suitable

for high production with stable code

SRAM

$tatic Random-Access &emory

Highest speed, high-power, low-density

memory7 limited density dri"es up cost

EPROM

Electrically Programmable Read-5nly

&emory

High-density memory7 must be e(posed

to ultra"iolet light for erasure

EEPROMorE2PROM

Electrically Erasable Programmable

Read-5nly &emory

Electrically byte-erasable7 lower

reliability, higher cost, lowest density

DRAM

.ynamic Random Access &emory

High-density, low-cost, high-speed,

high-power

Te",ni"al O'er'ie$ o# Fla, Me%ory

*lash memory is a non"olatile memory using 85R technology, which allows the user to

electrically program and erase information !ntel@ *lash memory uses memory cells similar to

an EPR5&, but with a much thinner, precisely grown o(ide between the floating gate and the

source *lash programming occurs when electrons are placed on the floating gate The charge

is stored on the floating gate, with the o(ide layer allowing the cell to be electrically erased

through the source !ntel *lash memory is an e(tremely reliable non"olatile memory

architecture


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F# 8: P#! 'r'( %- AT89C51

Pin De"ri!tion/

CC/ $upply "oltage

3ND/ Lround

Port 4/

P%r" ; # '! 8/#" %pe!&r'#! /#re,"#%!') IO p%r". A '! %0"p0" p%r" e',h p#! ,'! #!

e#h" TTL #!p0". he! %!e@ 're +r#""e! "% p%r" ; p#! "he p#! ,'! /e 0e& ' h#h #(pe&'!,e

#!p0". P%r" ; ('* ')% /e ,%!-#0re& "% /e "he (0)"#p)ee& )%+ %r&er '&&re&'"' /0 &0r#!

',,ee "% e"er!') pr%r'( '!& &'"' (e(%r*. I! "h# (%&e P; h' #!"er!') p0))0p. P%r" ; ')%

re,e#$e "he ,%&e /*"e &0r#! F)'h pr%r'((#! '!& %0"p0" "he ,%&e /*"e &0r#! pr%r'(

$er#-#,'"#%!. E"er!') p0))0p 're re0#re& &0r#! pr%r'( $er#-#,'"#%!.


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Port 1/

P%r" 1 # '! 8/#" /#re,"#%!') IO p%r" +#"h #!"er!') p0))0p. The P%r" 1 %0"p0" /0--er

,'! #!%0r,e -%0r TTL #!p0". he! 1 're +r#""e! "% P%r" 1 p#! "he* 're p0))e& h#h /* "he

#!"er!') p0))0p '!& ,'! /e 0e& ' #!p0". A #!p0" P%r" 1 p#! "h'" 're e"er!'))* /e#! p0))e&)%+ +#)) %0r,e ,0rre!" IIL /e,'0e %- "he #!"er!') p0))0p. P%r" 1 ')% re,e#$e "he )%+%r&er

'&&re /*"e &0r#! F)'h pr%r'((#! '!& $er#-#,'"#%!.

Port 2/

P%r" 2 # '! 8/#" /#re,"#%!') IO p%r" +#"h #!"er!') p0))0p. The P%r" 2 %0"p0" /0--er

,'! #!%0r,e -%0r TTL #!p0". he! 1 're +r#""e! "% P%r" 2 p#! "he* 're p0))e& h#h /* "he

#!"er!') p0))0p '!& ,'! /e 0e& ' #!p0". A #!p0" P%r" 2 p#! "h'" 're e"er!'))* /e#! p0))e&)%+ +#)) %0r,e ,0rre!" IIL /e,'0e %- "he #!"er!') p0))0p. P%r" 2 e(#" "he h#h%r&er '&&re

/*"e &0r#! -e",he -r%( e"er!') pr%r'( (e(%r* '!& &0r#! ',,ee "% e"er!') &'"'

(e(%r#e "h'" 0e 1/#" '&&ree MO GDPTR. I! "h# 'pp)#,'"#%! #" 0e "r%! #!"er!')

p0))0p +he! e(#""#! 1. D0r#! ',,ee "% e"er!') &'"' (e(%r#e "h'" 0e 8/#" '&&ree

MO G RI P%r" 2 e(#" "he ,%!"e!" %- "he P2 Spe,#') F0!,"#%! Re#"er. P%r" 2 ')%

re,e#$e "he h#h%r&er '&&re /#" '!& %(e ,%!"r%) #!') &0r#! F)'h pr%r'((#! '!&

$er#-#,'"#%!.

Port 5/

Port ' is an ;-bit bi-directional !:5 port with internal pull-ups The Port ' output buffers

can sin#:source four TT? inputs 1hen =s are written to Port ' pins they are pulled high by the

internal pull-ups and can be used as inputs As inputs, Port ' pins that are e(ternally being

pulled low will source current !!?/ because of the pull-ups

Port ' also ser"es the functions of "arious special features of the AT;DC>= as listed belowG

Port ' also recei"es some control signals for *lash programming and "erification


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Tab 2= Port pins and their alternate functions

RST/

Reset input A high on this pin for two machine cycles while the oscillator is running

resets the de"ice

ALE6PRO3/

A&&re L'",h E!'/)e %0"p0" p0)e -%r )'",h#! "he )%+ /*"e %- "he '&&re &0r#!

',,ee "% e"er!') (e(%r*. Th# p#! # ')% "he pr%r'( p0)e #!p0" PROH &0r#! F)'h

pr%r'((#!. I! !%r(') %per'"#%! ALE # e(#""e& '" ' ,%!"'!" r'"e %- 1"he %,#))'"%r

-re0e!,* '!& ('* /e 0e& -%r e"er!') "#(#! %r ,)%,#! p0rp%e. N%"e h%+e$er "h'" %!e

ALE p0)e # #ppe& &0r#! e',h ',,e "% e"er!') D'"' Me(%r*.

!f desired, A?E operation can be disabled by setting bit < of $*R location ;EH 1ith the bit set,

A?E is acti"e only during a &5M or &5MC instruction 5therwise, the pin is pulled high

$etting the A?E-disable bit has no effect if the microcontroller is in e(ternal e(ecution mode

PSEN/

Pr%r'( S"%re E!'/)e # "he re'& "r%/e "% e"er!') pr%r'( (e(%r*. he! "he

AT89C51 # ee,0"#! ,%&e -r%( e"er!') pr%r'( (e(%r* PSEN # ',"#$'"e& "+#,e e',h

(',h#!e ,*,)e e,ep" "h'" "+% PSEN ',"#$'"#%! 're #ppe& &0r#! e',h ',,e "% e"er!') &'"'

(e(%r*.


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EA6PP/

E(ternal Access Enable EA must be strapped to L8. in order to enable the de"ice to

fetch code from e(ternal program memory locations starting at


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*ig D 5scillator Connections

*ig =< E(ternal Cloc# .ri"e Configuration

N!#'):

2 nder steady state non-transient/ conditions, !5? must be e(ternally

limited as followsG

&a(imum !5? per port pin G =< mA

&a(imum !5? per ;-bit port G Port < G 2 mA

Ports =, 2, 'G => mA

&a(imum total !5? for all output pinsG = mA


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!f !5? e(ceeds the test condition, M5? may e(ceed the related specification Pins are

not guaranteed to sin# current greater than the listed test conditions

2. &inimum MCC for Power-down is 2M

RE3ISTERS/

!n the CP, registers are used to store information temporarily That information could

be a byte of data to be processed, or an address pointing to the data to be fetched The "ast

ma6ority of ;= registers are ;bit registers !n the ;= there is only one data typeG ;bits

The ;bits of a register are shown in the diagram from the &$B most significant bit/ . to the

?$B least significant bit/ .


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1. The Spe,#') -0!,"#%! re#"er h'$e '&&ree /e"+ee! 8;< '!& FF


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8

T2&5

.

Timer:counter mode2 control


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#". O!,e '! 'r#"h(e"#,') %per'"#%! # pre-%r(e& /* "he ALU "he re0)" # p)',e& #!"% "he

',,0(0)'"%r. I- ' &'"' h%0)& /e "r'!-erre& -r%( %!e re#"er "% '!%"her #" (0" % "hr%0h

',,0(0)'"%r. F%r 0,h 0!#$er') p0rp%e "h# # "he (%" ,%((%!)* 0e& re#"er "h'" !%!e

(#,r%,%!"r%))er ,'! /e #('#!e& +#"h%0" (%re "h'! ' h')- 8;51 (#,r%,%!"r%))er@ #!"r0,"#%!

0e& 0e "he ',,0(0)'"%r #! %(e +'*.

B Re8iter

B re#"er # 0e& &0r#! (0)"#p)* '!& $#&e %per'"#%! +h#,h ,'! /e per-%r(e& %!)* 0p%!

!0(/er "%re& #! "he A '!& B re#"er. A)) %"her #!"r0,"#%! #! "he pr%r'( ,'! 0e "h#

re#"er ' ' p're ',,0(0)'"%r A.

*ig =2G B register

.uring programming, each of registers is called by name so that their e(act address is

not so important for the user .uring compiling into machine code series of he(adecimal

numbers recogni%ed as instructions by the microcontroller/, PC will automatically, instead of

registersN name, write necessary addresses into the microcontroller

R Re8iter 9R4:R;0


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*ig ='GRA&

Th# # ' ,%((%! !'(e -%r "he "%"') 8 e!er') p0rp%e re#"er R; R1 '!& R2 ...R7.

E$e! "he* 're !%" "r0e SFR "he* &eer$e "% /e ,0e& here /e,'0e %- "he#r p0rp%e. The

/'! # ',"#$e +he! "he R re#"er #" #!,)0&e 're #! 0e. S#(#)'r "% "he ',,0(0)'"%r "he* 're

0e& -%r "e(p%r'r* "%r#! $'r#'/)e '!& #!"er(e'"e re0)". h#,h %- "he /'! +#)) /e ',"#$e

&epe!& %! "+% /#" #!,)0&e& #! "he PS Re#"er. Thee re#"er 're "%re& #! -%0r /'! #! "he

,%pe %- RAM.

The -%))%+#! e'(p)e /e" #))0"r'"e "he 0e-0) p0rp%e %- "hee re#"er. S0pp%e "h'"

('"he('"#,') %per'"#%! %! !0(/er pre$#%0)* "%re& #! "he R re#"er h%0)& /e per-%r(e&:

R1JR2 ? R3JR4. O/$#%0)* ' re#"er -%r "e(p%r'r* "%r#! re0)" %- '&"#%! # !ee&e&.

E$er*"h#! # 0#"e #(p)e '!& "he pr%r'( # ' -%))%+:

MOV A R38 Me'!: (%$e !0(/er -r%( R3 #!"% ',,0(0)'"%r

ADD A R48 Me'!: '&& !0(/er -r%( R4 "% ',,0(0)'"%r re0)" re('#! #! ',,0(0)'"%r

MOV R5 A8 Me'!: "e(p%r'r#)* (%$e "he re0)" -r%( ',,0(0)'"%r #!"% R5

MOV A R18 Me'!: (%$e !0(/er -r%( R1 #!"% ',,0(0)'"%r

ADD A R28 Me'!: '&& !0(/er -r%( R2 "% ',,0(0)'"%r

SUBB A R58 Me'!: 0/"r'," !0(/er -r%( R5 "here 're R3JR4


27/84

(4*1 Re8iter Ban and Sta"

RAM %e%ory !a"e allo"ation in t,e (4*1

There are =2; bytes of RA& in the ;= The =2; bytes of RA& inside the ;= are

assigned addresses


28/84

!f RA& locations


29/84

*ig =>G ;= Register Ban#s and their RA& Addresses

PS+ Re8iter 9Pro8ra% Stat& +ord0

*ig =G P$1 register

Th# # %!e %- "he (%" #(p%r"'!" SFR. The Pr%r'( S"'"0 %r& PS ,%!"'#!

e$er') "'"0 /#" "h'" re-)e," "he ,0rre!" "'"e %- "he CPU. Th# re#"er ,%!"'#!: C'rr* /#"

A0#)#'r* C'rr* "+% re#"er /'! e)e," /#" O$er-)%+ -)' p'r#"* /#" '!& 0er&e-#!'/)e "'"0

-)'. The ALU '0"%('"#,'))* ,h'!e %(e %- re#"er@ /#" +h#,h # 00'))* 0e& #! re0)'"#%!

%- "he pr%r'( per-%r(#!.


30/84

P 9 P%&-#: ;-#I- ' !0(/er #! ',,0(0)'"%r # e$e! "he! "h# /#" +#)) /e '0"%('"#,'))* e" 1

%"her+#e #" +#)) /e ,)e're& ;. I" # ('#!)* 0e& &0r#! &'"' "r'!(##%! '!& re,e#$#! $#'

er#') ,%((0!#,'"#%!.

< B-# 1.Th# /#" # #!"e!&e& -%r "he -0"0re $er#%! %- "he (#,r%,%!"r%))er % #" # !%" 0pp%e& "%

/e here.

OV O='&"(!$%,,0r +he! "he re0)" %- 'r#"h(e"#,') %per'"#%! # re'"er "h'! 255 &e,#(') %

"h'" #" ,'! !%" /e "%re& #! %!e re#"er. I! "h'" ,'e "h# /#" +#)) /e e" 1. I- "here # !%

%$er-)%+ "h# /#" +#)) /e ,)e're& ;.

RS> RS1 9 R'-)#'& ;%0, )'('+#) ;-#). Thee "+% /#" 're 0e& "% e)e," %!e %- "he -%0r re#"er

/'! #! RAM. B* +r#"#! er%e '!& %!e "% "hee /#" ' r%0p %- re#"er R;R7 # "%re& #!

%!e %- -%0r /'! #! RAM.

RS1 RS2 S!a"e in RAM

< < Ban#<


31/84

Thee re#"er 're !%" "r0e %!e /e,'0e "he* &% !%" ph*#,'))* e#". The* ,%!#" %-

"+% ep'r'"e re#"er: DP< D'"' P%#!"er


32/84

H!$ )#%+,) %&' %++'))'* -0 #' @>51

I- "he "', # ' e,"#%! %- RAM "here (0" /e re#"er #!#&e "he CPU "% p%#!" "% #".

The re#"er 0e& "% ',,e "he "', # ,'))e& "he SP S"', p%#!" Re#"er. The "', p%#!"er #!

"he 8;51 # %!)* 8 /#" +#&eK +h#,h (e'! "h'" #" ,'! "'e $')0e %- ;; "% FF


33/84

+e ,'! ,h'!e "he SP "% p%#!" "% RAM )%,'"#%! 3;7F


34/84

T:') !" -0)#&+#-!0)

Depe!! %! %per'"#%! "he* per-%r( ')) #!"r0,"#%! 're $#&e& #! e$er') r%0p:

Arithmetic !nstructions

Branch !nstructions

.ata Transfer !nstructions

?ogical !nstructions

?ogical !nstructions with bits

The -#r" p'r" %- e',h #!"r0,"#%! ,'))e& MNEMONIC re-er "% "he %per'"#%! '! #!"r0,"#%!

per-%r( ,%p*#! '&"#%! )%#,') %per'"#%! e",.. M!e(%!#, ,%((%!)* 're h%r"e!e& -%r(

%- !'(e %- %per'"#%! /e#! ee,0"e&. F%r e'(p)e:

INC R17 !ncrement R= increment register R=/

LJMP LAB5 7?ong 0ump ?AB> long 6ump to address specified as ?AB>/

JNZ LOOP 70ump if 8ot ero ?55P if the number in the accumulator is not


35/84

Arit,%eti" intr&"tion

Thee #!"r0,"#%! per-%r( e$er') /'#, %per'"#%! '&"#%! 0/"r',"#%! $##%!

(0)"#p)#,'"#%! e",. A-"er ee,0"#%! "he re0)" # "%re& #! "he -#r" %per'!&. F%r e'(p)e:

ADD A, R1 The result of addition AQR=/ will be stored in the accumulator

Arit,%eti"al Intr&"tion

Mne%oni" De"ri!tionByte

N&%er

O"illator

Period

A.. A,Rn Add R Register to accumulator = =

A.. A,R(Add directly addressed R( Register to

accumulator2 2

A.. A,RiAdd indirectly addressed Register to

accumulator= =

A.. A,S Add number to accumulator 2 2

A..C A,Rn Add R Register with Carry bit to accumulator = =

Bran", Intr&"tion

There 're "+% #!& %- "hee #!"r0,"#%!:

U0+!0*-#-!0%( / -0)#&+#-!0)

A-"er "he#r ee,0"#%! ' 0(p "% ' !e+ )%,'"#%! -r%( +here "he pr%r'( ,%!"#!0e

ee,0"#%! # ee,0"e&.

C!0*-#-!0%( / -0)#&+#-!0)


36/84

I- %(e ,%!"#%! # (e" ? ' 0(p # ee,0"e&. O"her+#e "he pr%r'( !%r('))*

pr%,ee& +#"h "he !e" #!"r0,"#%!.

Bran", Intr&"tion


N&%er

O"illator

Period

ACA?? adr==Call subroutine located at address within 2 I byte

Program &emory space2 '

?CA?? adr=Call subroutine located at any address within F I

byte Program &emory space' F

RET Return from subroutine = F

RET! Return from interrupt routine = F

A0&P adr==0ump to address located within 2 I byte Program

&emory space2 '

?0&P adr=0ump to any address located within F I byte

Program &emory space' F

Data Tran#er Intr&"tion

Thee #!"r0,"#%! (%$e "he ,%!"e!" %- %!e re#"er "% '!%"her %!e. The re#"er +h#,h

,%!"e!" # (%$e& re('#! 0!,h'!e&. I- "he* h'$e "he 0--# MO "he &'"' #

e,h'!e& +#"h e"er!') (e(%r*.

Data Tran#er Intr&"tion


N&%er

Cy"le

N&%er

&5M A,Rn &o"e R register to accumulator = =


37/84

&5M A,R(&o"e directly addressed R( register to

accumulator2 2

&5M A,Ri&o"e indirectly addressed register to

accumulator

= =

&5M A,S &o"e number to accumulator 2 2

Lo8i"al Intr&"tion

Thee #!"r0,"#%! per-%r( )%#,') %per'"#%! /e"+ee! ,%rrep%!! /#" %- "+%

re#"er. A-"er ee,0"#%! "he re0)" # "%re& #! "he -#r" %per'!&.

Lo8i"al Intr&"tion


N&%er

Cy"le

N&%er

A8? A,Rn ?ogical A8. between accumulator and R register = =

A8? A,R(?ogical A8. between accumulator and directly

addressed register R(

2 2

A8? A,Ri?ogical A8. between accumulator and indirectly

addressed register= =

A8? A,S ?ogical A8. between accumulator and number 2 2

Lo8i"al O!eration on Bit

S#(#)'r "% )%#,') #!"r0,"#%! "hee #!"r0,"#%! per-%r( )%#,') %per'"#%!. The

--ere!,e # "h'" "hee %per'"#%! 're per-%r(e& %! #!)e /#".

Lo8i"al o!eration on it

Mne%oni" De"ri!tion Byte Cy"le


38/84

N&%er N&%er

C?R C Clear Carry bit = =

C?R bit Clear directly addressed bit 2 2

$ETB C $et Carry bit = =

$ETB bit $et directly addressed bit 2 2

CP? C Complement Carry bit = =

CP? bit Complement directly addressed bit 2 2

TIMERS

5n-chip timing:counting facility has pro"ed the capabilities of the microcontroller for

implementing the real time application These includes pulse counting, freuency measurement,

pulse width measurement, baud rate generation, etc, Ha"ing sufficient number of

timer:counters may be a need in a certain design application The ;= has two

timers:counters They can be used either as timers to generate a time delay or as counters to

count e"ents happening outside the microcontroller ?et discuss how these timers are used to

generate time delays and we will also discuss how they are been used as e"ent counters

PRO3RAMMIN3 (4*1 TIMERS

The ;= has timersG Timer < and Timer=they can be used either as timers or as e"ent

counters ?et us first discuss about the timersN registers and how to program the timers to

generate time delays

BASIC RI3ISTERS OF T-E TIMER

Both Timer < and Timer = are = bits wide $ince the ;= has an ;-bit architecture,

each =-bit timer is accessed as two separate registers of low byte and high byte

TIMER 4 RE3ISTERS


39/84

The =-bit register of Timer < is accessed as low byte and high byte The low byte

register is called T?


40/84

MODES/

M1< M4/

&< and &= are used to select the timer mode There are three modesG Bit pre-scaler

4 1 1 =-bit timer mode

=-bit timer:counters TH( withT?( are Cascaded7 there is no

prescaler

1 < 2 ;-bit auto reload

;-bit auto reload


41/84

timer:counter7TH( Holds a

"alue that is to be reloaded

into T?( each time it

o"erflows

1 1 5 $plit timer mode

C6T 9"lo"6ti%er0

This bit in the T&5. register is used to decide whether the timer is used as a delay

generator or an e"ent counter !f C:T


42/84

$erial data communication uses two methods, asynchronous and synchronous The

synchronous method transfers a bloc# of data at a time, while the asynchronous method

transfers a single byte at a time

!n data transmission if the data can be transmitted and recei"ed, it is a duple(

transmission This is in contrast to simple( transmissions such as with printers, in which the

computer only sends data .uple( transmissions can be half or full duple(, depending on

whether or not the data transfer can be simultaneous !f data is transmitted one way at a time, it

is referred to as half duple( !f the data can go both ways at the same time, it is full duple( 5f

course, full duple( reuires two wire conductors for the data lines, one for transmission and one

for reception, in order to transfer and recei"e data simultaneously

Ayn",rono& erial "o%%&ni"ation and data #ra%in8

The data coming in at the recei"ing end of the data line in a serial data transfer is all


43/84

The data transfer rate of gi"en computer system depends on communication ports

incorporated into that system *or e(ample, the early !B&PC:T could transfer data at the rate

of =M, while

a < bit is Q' to Q2>M, ma#ing -' to Q' undefined *or this reason, to connect any R$2'2 to a

microcontroller system we must use "oltage con"erters such as &A2'2 to con"ert the TT?

logic le"els to the R$2'2 "oltage le"els, and "ice "ersa &A2'2 !C chips are commonly

referred to as line dri"ers

RS252 !in

RS232 ,'/)e # ,%((%!)* re-erre& "% ' "he DB25 ,%!!e,"%r. I! )'/e)#! DB25P

re-er "% "he p)0 ,%!!e,"%r (')e '!& DB25S # -%r "he %,e" ,%!!e,"%r -e(')e. S#!,e !%"

')) "he p#! 're 0e& #! PC ,'/)e IBM #!"r%&0,e& "he DB9 er#%! %- "he er#') IO "'!&'r&

+h#,h 0e 9 p#! %!)* ' h%+! #! "'/)e.

1 2 3 4 5

7 8 9

5ut of computer and e(posed end of cable/

*ig 2=G .B-D pin connector

Pin *unctionsG


44/84

P#! De,r#p"#%!

1 D'"' ,'rr#er &e"e," DCD

2 Re,e#$e& &'"' RD

3 Tr'!(#""e& &'"' TD

4 D'"' "er(#!') re'&*DTR

5 S#!') r%0!& HND D'"' e" re'&* DSR

7 Re0e" "% e!& RTS

8 C)e'r "% e!& CTS

9 R#! #!,'"%r RI

N%"e:DCD DSR RTS'!&CTS're ',"#$e )%+ p#!.

The (e"h%& 0e& /* RS232 -%r ,%((0!#,'"#%! '))%+ -%r ' #(p)e ,%!!e,"#%! %- "hree )#!e:

T R '!& Hr%0!&. The "hree ee!"#') #!') -%r 2+'* RS232

C%((0!#,'"#%! 're "hee:

TXD: ,'rr#e &'"' -r%( DTE "% "he DCE.

RXD: ,'rr#e &'"' -r%( DCE "% "he DTE

SG: #!') r%0!&

(4*1 "onne"tion to RS252

The R$2'2 standard is not TT? compatible7 therefore, it reuires a line dri"er such as

the &A2'2 chip to con"ert R$2'2 "oltage le"els to TT? le"els, and "ice "ersa The interfacing

of ;= with R$2'2 connectors "ia the &A2'2 chip is the main topic

The ;= has two pins that are used specifically for transferring and recei"ing data

serially These two pins are called T. and R. and a part of the port ' group P'< and P'=/

Pin == of the ;= is assigned to T. and pin =< is designated as R. These pins are TT?

compatible7 therefore, they reuire a line dri"er to ma#e them R$2'2 compatible 5ne such line

dri"er is the &A2'2 chip

&A2'2 con"erts from R$2'2 "oltage le"els to TT? "oltage le"els, and "ice "ersa

5ne ad"antage of the &A2'2 chip is that it uses a Q>M power source which, is the same as

the source "oltage for the ;= !n the other words, with a single Q>M power supply we can

power both the ;= and &A2'2, with no need for the power supplies that are common in


45/84

many older systems The &A2'2 has two sets of line dri"ers for transferring and recei"ing

data The line dri"ers used for T. are called T= and T2, while the line dri"ers for R. are

designated as R= and R2 !n many applications only one of each is used

E(/e&&e&

C%!"r%))er

RD

TD

TD

RD2

3

5

HND

MA 232

*!L 22 GC588ECT!8L UC to PC using &A 2'2

INTERRUPTS

A #!)e (#,r%,%!"r%))er ,'! er$e e$er') &e$#,e. There 're "+% +'* "% &% "h'":

INTERRUPTS %r POLLINH.

POLLIN3/

I! p%))#! "he (#,r%,%!"r%))er ,%!"#!0%0)* (%!#"%r "he "'"0 %- ' #$e! &e$#,eK +he!

"he "'"0 ,%!"#%! # (e" #" per-%r( "he er$#,e .A-"er "h'" #" (%$e %! "% (%!#"%r "he !e"

&e$#,e 0!"#) e',h %!e # er$#,e&. A)"h%0h p%))#! ,'! (%!#"%r "he "'"0 %- e$er') &e$#,e '!&

er$e e',h %- "he( ' ,er"'#! ,%!"#%! 're (e".

INTERRUPTS/

I! "he #!"err0p" (e"h%& +he!e$er '!* &e$#,e !ee& #" er$#,e "he &e$#,e !%"#-#e "he

(#,r%,%!"r%))er /* e!! #" '! #!"err0p" #!'). Up%! re,e#$#! '! #!"err0p" #!') "he


46/84

(#,r%,%!"r%))er #!"err0p" +h'"e$er #" # &%#! '!& er$e "he &e$#,e. The pr%r'( '%,#'"e&

+#"h "he #!"err0p" # ,'))e& "he #!"err0p" er$#,e r%0"#!e ISR.%r #!"err0p" h'!&)er.

INTERRUPTS POLLIN3/

The '&$'!"'e %- #!"err0p" # "h'" "he (#,r%,%!"r%))er ,'! er$e ('!* &e$#,e

!%" ')) "he '(e "#(e %- ,%0reK e',h &e$#,e ,'! e" "he '""e!"#%! %- "he (#,r%,%!"r%))er /'e&

! "he pr#%r#"* '#!e& "% #". The p%))#! (e"h%& ,'!!%" '#! pr#%r#"* #!,e #" ,he, ')) &e$#,e

#! r%0!&r%/#! -'h#%!. M%re #(p%r"'!")* #! "he #!"err0p" (e"h%& "he (#,r%,%!"r%))er ,'! ')%

#!%re (' ' &e$#,e re0e" -%r er$#,e. Th# # ''#! !%" p%#/)e +#"h "he p%))#! (e"h%&.

The (%" #(p%r"'!" re'%! "h'" "he #!"err0p" (e"h%& # pre-er'/)e # "h'" "he p%))#! (e"h%&

+'"e (0,h %- "he (#,r%,%!"r%))er@ "#(e /* p%))#! &e$#,e "h'" &% !%" !ee& er$#,e. S% #!

%r&er "% '$%#& "*#! &%+! "he (#,r%,%!"r%))er #!"err0p" 're 0e&.

INTERRUPT SERICE ROUTINE

*or e"ery interrupt, there must be an interrupt ser"ice routine !$R/, or interrupt

handler 1hen an interrupt is in"o#ed, the microcontroller runs the interrupts ser"ice routine *or

e"ery interrupt, there is a fi(ed location in memory that holds the address of its !$R The group

of memory location set aside to hold the addresses of !$R and is called the !nterrupt Mector

Table $hown belowG

Interr&!t e"tor Tale #or t,e (4*1/

S.No. INTERRUPT ROM LOCATION 9-E70 PIN FLA3

CLEARIN3

= Reset


47/84

2 E(ternal hardware

!nterrupt "olts and output "oltage of > "olts !t has a current rating of = amp

although lower current models are a"ailable !ts output "oltage is fi(ed at >


59/84

that pro"ide both positi"e and negati"e regulated "oltages, since the ;(( series can3t regulate

negati"e "oltages in such a system

The ; O ; is one of the most common and well-#nown of the ;(( series regulators, as it3s

small component count and medium-power regulated >M ma#e it useful for powering TT?

de"ices

Tale 2.1. S!e"i#i"ation o# IC;(4*

SPECIFICATIONS IC ;(4*

Mout >M

Mein- Mout.ifference >M - 2XC

5utput !ma( =A


60/84

CHAPTER >

$PEC!*!E. TECH85?5L4


61/84

L293D MOTOR DRIVE

FeaturesThe L293D is a popular motor driver IC that is usable from 6 to12V, at up to 1A totaloutput curret! "# itself, the IC is some$hat diffcult to $ire ad use, but the CompactL293D %otor Driver ma&es it much more coveiet to use!

Board Special Features 'our motor directio idicator L(D) )chott (%'*protectio diodes

)oc&et pi coectors for eas# lo+ic iterfaci+

(able pis are user accessible!

L298 Features


62/84


63/84


64/84

DC MOTOR

DC (%"%r 're ,%!-#0re& #! ('!* "*pe '!& #e #!,)0! /r0h )e er$% '!& e'r

(%"%r "*pe. A (%"%r ,%!#" %- ' r%"%r '!& ' per('!e!" ('!e"#, -#e)& "'"%r. The ('!e"#,

-#e)& # ('#!"'#!e& 0#! e#"her per('!e!" ('!e" %r e)e,"r%('!e"#, +#!!. DC (%"%r

're (%" ,%((%!)* 0e& #! $'r#'/)e pee& '!& "%r0e.

M%"#%! '!& ,%!"r%) ,%$er ' +#&e r'!e %- ,%(p%!e!" "h'" #! %(e +'* 're

0e& "% e!er'"e '!&%r ,%!"r%) (%"#%!. Are' +#"h#! "h# ,'"e%r* #!,)0&e /e'r#! '!&

/0h#! ,)0",he '!& /r'e ,%!"r%) '!& &r#$e &r#$e ,%(p%!e!" e!,%&er '!& re%)$e

I!"er'"e& (%"#%! ,%!"r%) )#(#" +#",he )#!e'r ',"0'"%r )#!e'r '!& r%"'r* (%"#%!

,%(p%!e!" )#!e'r p%#"#%! e!#! (%"%r /%"h AC '!& DC (%"%r %r#e!"'"#%! p%#"#%!

e!#! p!e0('"#, '!& p!e0('"#, ,%(p%!e!" p%#"#%!#! "'e )#&e '!& 0#&e p%+er

"r'!(##%! (e,h'!#,') e') )#p r#! %)e!%#& pr#!.

M%"%r 're "he &e$#,e "h'" pr%$#&e "he ',"0') pee& '!& "%r0e #! ' &r#$e

*"e(. Th# -'(#)* #!,)0&e AC (%"%r "*pe #!)e '!& (0)"#ph'e (%"%r 0!#$er') er$%

(%"%r #!&0,"#%! *!,hr%!%0 '!& e'r (%"%r '!& DC (%"%r /r0h )e er$% (%"%r '!&

e'r (%"%r ' +e)) ' )#!e'r "epper '!& '#r (%"%r '!& (%"%r ,%!"',"%r '!& "'r"er.

I! '!* e)e,"r#, (%"%r %per'"#%! # /'e& %! #(p)e e)e,"r%('!e"#(. A ,0rre!",'rr*#!,%!&0,"%r e!er'"e ' ('!e"#, -#e)&K +he! "h# # "he! p)',e& #! '! e"er!') ('!e"#, -#e)& #"

+#)) eper#e!,e ' -%r,e pr%p%r"#%!') "% "he ,0rre!" #! "he ,%!&0,"%r '!& "% "he "re!"h %- "he

e"er!') ('!e"#, -#e)&. A *%0 're +e)) '+'re %- -r%( p)'*#! +#"h ('!e" ' ' #&

%pp%#"e N%r"h '!& S%0"h p%)'r#"#e '""r'," +h#)e )#e p%)'r#"#e N%r"h '!& N%r"h S%0"h '!&

S%0"h repe). The #!"er!') ,%!-#0r'"#%! %- ' DC (%"%r # &e#!e& "% h'r!e "he ('!e"#,
http://dc-motors.globalspec.com/Industrial-Directory/motorshttp://dc-motors.globalspec.com/Industrial-Directory/motors


65/84

#!"er',"#%! /e"+ee! ' ,0rre!",'rr*#! ,%!&0,"%r '!& '! e"er!') ('!e"#, -#e)& "% e!er'"e

r%"'"#%!') (%"#%!.

Le" "'r" /* )%%#! '" ' #(p)e 2p%)e DC e)e,"r#, (%"%r here re& repree!" ' ('!e"

%r +#!! +#"h ' QN%r"hQ p%)'r#'"#%! +h#)e ree! repree!" ' ('!e" %r +#!! +#"h '

QS%0"hQ p%)'r#'"#%!.

E$er* DC (%"%r h' # /'#, p'r" ')e r%"%r '..'. 'r('"0re "'"%r ,%((0"'"%r -#e)&

('!e" '!& /r0he. I! (%" ,%((%! DC (%"%r '!& ')) "h'" Be'(er +#)) ee "he

e"er!') ('!e"#, -#e)& # pr%&0,e& /* h#h"re!"h per('!e!" ('!e"1. The "'"%r # "he

"'"#%!'r* p'r" %- "he (%"%r "h# #!,)0&e "he (%"%r ,'#! ' +e)) ' "+% %r (%re

per('!e!" ('!e" p%)e p#e,e. The r%"%r "%e"her +#"h "he ')e '!& '""',he& ,%((0"'"%r

r%"'"e +#"h repe," "% "he "'"%r. The r%"%r ,%!#" %- +#!! e!er'))* %! ' ,%re "he

+#!! /e#! e)e,"r#,'))* ,%!!e,"e& "% "he ,%((0"'"%r. The '/%$e 'r'( h%+ '

,%((%! (%"%r )'*%0" +#"h "he r%"%r #!#&e "he "'"%r -#e)& ('!e".

The geometry of the brushes, commutator contacts, and rotor windings

are such that when power is applied, the polarities of the energi%ed winding and the

stator magnets/ are misaligned, and the rotor will rotate until it is almost aligned with

the stator3s field magnets As the rotor reaches alignment, the brushes mo"e to the

ne(t commutator contacts, and energi%e the ne(t winding Li"en our e(ample two-

pole motor, the rotation re"erses the direction of current through the rotor winding,

leading to a )flip) of the rotor3s magnetic field, and dri"ing it to continue rotatingI! re') )#-e "h%0h DC (%"%r +#)) ')+'* h'$e (%re "h'! "+% p%)e "hree # '

$er* ,%((%! !0(/er. I! p'r"#,0)'r "h# '$%#& Q&e'& p%"Q #! "he ,%((0"'"%r. Y%0 ,'!

#('#!e h%+ +#"h %0r e'(p)e "+%p%)e (%"%r #- "he r%"%r # e',")* '" "he (#&&)e %- #"

r%"'"#%! per-e,")* ')#!e& +#"h "he -#e)& ('!e" #" +#)) e" Q"0,Q "here. Me'!+h#)e +#"h '

"+%p%)e (%"%r "here # ' (%(e!" +here "he ,%((0"'"%r h%r" %0" "he p%+er 0pp)* #.e.


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/%"h /r0he "%0,h /%"h ,%((0"'"%r ,%!"'," #(0)"'!e%0)*. Th# +%0)& /e /'& -%r "he

p%+er 0pp)* +'"e e!er* '!& &'('e (%"%r ,%(p%!e!" ' +e)). Ye" '!%"her

'&$'!"'e %- 0,h ' #(p)e (%"%r # "h'" #" +%0)& eh#/#" ' h#h '(%0!" %- "%r0e r#pp)eQ

"he '(%0!" %- "%r0e #" ,%0)& pr%&0,e # ,*,)#, +#"h "he p%#"#%! %- "he r%"%r.

$o since most small .C motors are of a three-pole design, let3s tin#er with the

wor#ings of one "ia an interacti"e animation 0a"a$cript reuired/G

Y%0)) !%"#,e ' -e+ "h#! -r%( "h# !'(e)* %!e p%)e # -0))* e!er#e& '" ' "#(e

/0" "+% %"her 're Qp'r"#'))*Q e!er#e&. A e',h /r0h "r'!#"#%! -r%( %!e ,%((0"'"%r

,%!"'," "% "he !e" %!e ,%#) -#e)& +#)) r'p#&)* ,%))'pe ' "he !e" ,%#) -#e)& +#)) r'p#&)*

,h're 0p "h# %,,0r +#"h#! ' -e+ (#,r%e,%!&. e)) ee (%re '/%0" "he e--e," %- "h#

)'"er /0" #! "he (e'!"#(e *%0 ,'! ee "h'" "h# # ' re," re0)" %- "he ,%#) +#!! er#e

+#r#!:


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There pr%/'/)* !% /e""er +'* "% ee h%+ '! '$er'e &, (%"%r # p0" "%e"her "h'! /*

0" %pe!#! %!e 0p. U!-%r"0!'"e)* "h# # "e%0 +%r ' +e)) ' re0#r#! "he &e"r0,"#%! %- '

per-e,")* %%& (%"%r.


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CHAPTER6

SOFTWARE DEVELOPMENT

SOFT+ARE

V-)-!03

YMision' is an !.E !ntegrated .e"elopment En"ironment/ that helps you write, compile, and

debug embedded programs !t encapsulates the following componentsG

A pro6ect manager

A ma#e facility

Tool configuration

Editor

A powerful debugger

To help you get started, se"eral e(ample programs located in the ?C*1?E>a%!le,

?C2*1?E>a%!le, ?C1@@?E>a%!le, and?ARM?...?E>a%!le/ are pro"ided


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-ELLOis a simple program that prints the string )Hello 1orld) using the $erial !nterface

B-(*-0 %0 A(-+%#-!0 -0 V-)-!02

To build compile, assemble, and lin#/ an application in YMision2, you mustG

= $elect Pro6ect - for e(ample, 1@@?E7AMPLES?-ELLO?-ELLO.U2/

2 $elect Pro6ect - Rebuild all target files or Build target

YMision2 compiles, assembles, and lin#s the files in your pro6ect

C&'%#-0 Y!& O$0 A(-+%#-!0 -0 V-)-!02

To "reate a ne$ !roe"t in iion2< yo& %&tG

= $elect Pro6ect - 8ew Pro6ect

2 $elect a directory and enter the name of the pro6ect file

' $elect Pro6ect - $elect .e"ice and select an ;=, 2>=, or C=(:$T=< de"ice from the

.e"ice .atabaseZ

F Create source files to add to the pro6ect

> $elect Pro6ect - Targets, Lroups, *iles, Add:*iles, select $ource Lroup=, and add the

source files to the pro6ect

$elect Pro6ect - 5ptions and set the tool options 8ote when you select the target de"ice

from the .e"ice .atabaseZ all special options are set automatically 4ou typically only

need to configure the memory map of your target hardware .efault memory model

settings are optimal for most applications

$elect Pro6ect - Rebuild all target files or Build target

D';-0 %0 A(-+%#-!0 -0 V-)-!02

To debug an application created using YMision2, you mustG

= $elect .ebug - $tart:$top .ebug $ession

2 se the $tep toolbar buttons to single-step through your program 4ou may enter 3G select de"ice foer target

14. Then Clic# on J5IK

11. The *ollowing fig will appear


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*ig 'G Copy ;= startup code

12. Then Clic# either 4E$ or 85[[[mostly J85K

15. 8ow your pro6ect is ready to $E

1. 8ow double clic# on the Target=, you would get another option J$ource group =K

as shown in ne(t page

*ig 'G $ource group =


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1*. Clic# on the file option from menu bar and select JnewK

*ig '; new file

1@. The ne(t screen will be as shown in ne(t page, and 6ust ma(imi%e it by double

clic#ing on its blue boarder

*ig 'DG 5pened new file

1;. 8ow start writing program in either in JCK or JA$&K


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1(. *or a program written in Assembly, then sa"e it with e(tension J asmK and for

JCK based program sa"e it with e(tension J CK

*ig F


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F# 42: A&! -#)e "% "he %0r,e r%0p

21. N%+ e)e," ' per *%0r -#)e e"e!#%! #$e! +h#)e '$#! "he -#)e

22. C)#, %!)* %!e "#(e %! %p"#%! ADD

23. N%+ Pre -0!,"#%! e* F7 "% ,%(p#)e. A!* err%r +#)) 'ppe'r #- % h'ppe!.

*ig F' Compilation

24. I- "he -#)e ,%!"'#! !% err%r "he! pre C%!"r%)JF5 #(0)"'!e%0)*.


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25. The !e+ +#!&%+ # ' -%))%+

F# 44: /0#)!

26. The! C)#, O6

27. N%+ C)#, %! "he Per#pher') -r%( (e!0 /'r '!& ,he, *%0r re0#re& p%r" '

h%+! #! -# /e)%+

*ig F> G $electing the Ports to be "isuali%ed

2@. Dr' "he p%r" ' #&e '!& ,)#, #! "he pr%r'( -#)e.


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F# 4:"'r" &e/0#!

2. N%+ eep Pre#! -0!,"#%! e* F11 )%+)* '!& %/er$e.

3>. Y%0 're r0!!#! *%0r pr%r'( 0,,e-0))*.


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C-APTER ;

CONCLUSION

The pro6ect JBOMB DETECTION ROBOThas been successfully designed and tested

!ntegrating features of all the hardware components used ha"e de"eloped it Presence of e"ery


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module has been reasoned out and placed carefully thus contributing to the best wor#ing of the

unit

$econdly, using highly ad"anced !CNs and with the help of growing technology the pro6ect has

been successfullyimplemented

REFERENCES

;=-&!CR5C58TR5??ER A8. E&BE..E. $4$TE&$

&ohd &a%idi

The 8;51 M#,r% ,%!"r%))er Ar,h#"e,"0re Pr%r'((#! App)#,'"#%!


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mrb06 bomb detection robot

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