project final document

8/19/2019 Project Final Document

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CHAPTER 1

INTRODUCTION


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1. INTRODUCTION

1.1 OBJECTIVE OF THE PROJECT

Antipersonnel mines may exist in any environments near human beings and threat

their lives. It is more difficult to detect and remove these mines especially if they exist in

unstructured environments or if they are close to crop fields. According to the United Nation

statistics, more than 100 million landmines exist in the ground in more than 60 countries

causing 10,000 deaths and 0,000 in!uries annually. "he mine clearance cost is greater than

the budget of poor countries that suffer from mines. In addition, this operation is usually

performed manually, #hich is slo# and dangerous. "herefore, demining robots have been

used to perform such dangerous tas$ instead of humans. %odern robotic technologies have

provided efficient solutions to protect #or$ers from ha&ards in the #or$ environments' such

as radioactive, toxic, or explosive.

No# a day(s every system is automated in order to face ne# challenges. In the

present days Automated systems have less manual operations, flexibility, reliability and

accurate. )ue to this demand every field prefers automated control systems. *specially in the

field of electronics automated systems are giving good performance. And #e can implement a

system in #hich a robot direction can be controlled #irelessly #ith respect to the commands

given by the user through + using -igbee technology.

"he main aim to design the pro!ect is to provide an Autonomous navigation robot to

detect and locate landmines to provide a safety environment in the demining procedures.

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1.2 OVERVIEW OF THE PROJECT

"he present pro!ect AUTONOMOUS NAVIGATION ROBOT FOR LANDMINE

DETECTION APPLICATIONS/ is designed to provide a safety environment in the

demining procedure. "he system is designed #ith -igee "ransceivers, +roximity, ultrasonic

sensors and camera #ith inbuilt #ireless transmitter and Av receiver.

-igee transmitter is attached to the + and receiver is placed in the obot. "he robot

is controlled by giving commands from the +, -igee %odule "ransmits the control data to

the receiver. 2rom the received data the directions of the robot is controlled. obot has ability

to move autonomously #hen the obstacle is detected in the travelling path. 2or this purpose

the ultrasonic sensor is used. +roximity sensor is mounted on the robot to detect the metals

placed in the travelling path. oth sensors are placed on the received part and the outputs of

the sensors are given to the A%3 4+15 controller to further process.

"he camera #ith inbuilt transmitter is mounted in front of the robot to record and

transmit the video of the path it travels. Av receiver is used to receive the transmitted data on

the reception side. 7ence continuous video streaming of the path robot travels is available at

the Av receiver side.

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1.3 BLOCK DIAGRAM

Trans!""#r S#$"!%n&

2ig 1.8.1 loc$ )iagram of "ransmitter 9ection

R#$#!'#r S#$"!%n&

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":


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2ig 1.8. loc$ )iagram of eceiver 9ection

1.3.1 BLOCK DIAGRAM DESCRIPTION

"his +ro!ect mainly consists of +o#er 9upply section, %icrocontroller section, -igee

"ransceiver, motor drive, +, %ax;8 and #ireless camera, transmitter and receiver

sections.

M!$r%$%n"r%((#r&

In this pro!ect #or$ the micro;controller is plays ma!or role. %icro;controllers #ere

originally used as components in complicated process;control systems. 7o#ever, because of

their small si&e and lo# price, %icro;controllers are no# also being used in regulators for

individual control loops. In several areas %icro;controllers are no# outperforming their

analog counterparts and are cheaper as #ell. In this pro!ect t#o types of microcontrollers are

used namely 4+15A% and 0


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movement of robot #hile the 0


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)igital systems and microcontroller pins lac$ sufficient current to drive the circuits

li$e relays, bu&&er circuits, motors etc. Dhile these circuits re=uire around 10milli amps to be

operated, the microcontrollerEs pin can provide a maximum of 1;milli amps current. 2or this

reason, a driver such as a po#er transistor is placed in bet#een the microcontroller and the

motor.

W!r#(#ss Ca#ra Trans!""#r an R#$#!'#r&

In this pro!ect 9uper mini #ireless colour camera and #ireless receiver is used for

#ireless transmission and receiving of video. "his is a great lo# priced option for covert

surveillance and security, as #ell as, #ith a little modding, an excellent choice for sending

video direct from your model as it is being used. It features an excellent #ireless

transmission range, broadcasts on 1. C7& to avoid interference, and a receiver #ith :ideo

FU" so it can easily and =uic$ly be set up #ith a ": for vie#ing the images from the camera

as they are being sent. "his product uses the +A4 colour system.

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CHAPTER 2

SCHEMATIC

REPRESENTATION


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2. SCHEMATIC REPRESENTATION

2.1 Trans!""#r S#$"!%n&

2ig .1 9chematic )iagram of "ransmitter

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2.2 R#$#!'#r S#$"!%n&

2ig . 9chematic )iagram of eceiver

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CHAPTER 3

RECEIVER HARDWARE

DESCRIPTION


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3. RECEIVER HARDWARE DESCRIPTION

3.1 +IGBEE TECHNOLOG&

-igee is an I*** 0.1


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support services operating on top of the I*** 0.1%A? and

+hysical 4ayer >+7G? #ireless standard. It employs a suite of technologies to enable

scalable, self;organi&ing, self;healing net#or$s that can manage various data traffic patterns.

-igee is an established set of specifications for #ireless personal area net#or$ing

>D+AN?, i.e. digital radio connections bet#een computers and related devices. D+AN 4o#

ate or -igee provides specifications for devices that have lo# data rates, consume very

lo# po#er and are thus characteri&ed by long battery life. -igee ma$es possible completely

net#or$ed homes #here all devices are able to communicate and be controlled by a single

unit. "he -igee Alliance, the standards body #hich defines -igee, also publishes

application profiles that allo# multiple F*% vendors to create interoperable products.

3.1.1 W0 !s +!,B## n###4

"here are a multitude of standards that address mid to high data rates for voice, +

4ANs, video, etc. 7o#ever, up till no# there hasnEt been a #ireless net#or$ standard

that meets the uni=ue needs of sensors and control devices. 9ensors and controls

donEt need high band#idth but they do need lo# latency and very lo# energy

consumption for long battery lives and for large device arrays.

"here are a multitude of proprietary #ireless systems manufactured today to solve a

multitude of problems that also donEt re=uire high data rates but do re=uire lo# cost

and very lo# current drain.

"hese proprietary systems #ere designed because there #ere no standards that met

their re=uirements. "hese legacy systems are creating significant interoperability

problems #ith each other and #ith ne#er technologies.

-igee is poised to become the global controlHsensor net#or$ standard. It has been designed

to provide the follo#ing features

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1. 4o# po#er consumption, simply implemented.

. luetooth has many different modes and states depending upon your latency

and po#er re=uirements such as sniff, par$, hold, active, etc. -igeeHI*** 0.1transmitHreceive? or sleep. Application soft#are needs to focus on the

application, not on #hich po#er mode is optimum for each aspect of operation.

8. *ven mains po#ered e=uipment needs to be conscious of energy. onsider a

future home #ith 100 #ireless controlHsensor devices,

ase 1 0.11 x po#er is 663mD >al#ays on?J 100 devicesHhome K 0.1M?

• 9%A;A channel access

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Gields high throughput and lo# latency for lo# duty cycle devices li$e sensors and

controls

• 4o# po#er >battery life multi;month to years?

•%ultiple topologies star, peer;to;peer, mesh

• Addressing space of up to

• 1,565 bit I*** address?

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maximum po#er savings, #hereas the non;beacon mode finds favor #hen the coordinator is

mains;po#ered.

In the beacon mode, a device #atches out for the coordinator(s beacon that gets

transmitted at periodically, loc$s on and loo$s for messages addressed to it. If message

transmission is complete, the coordinator dictates a schedule for the next beacon so that the

device Ogoes to sleep(' in fact, the coordinator itself s#itches to sleep mode. Dhile using

the beacon mode, all the devices in a mesh net#or$ $no# #hen to communicate #ith each

other. In this mode, necessarily, the timing circuits have to be =uite accurate, or #a$e up

sooner to be sure not to miss the beacon. "his in turn means an increase in po#er

consumption by the coordinator(s receiver, entailing an optimal increase in costs."he non;

beacon mode #ill be included in a system #here devices are Oasleep( nearly al#ays, as in

smo$e detectors and burglar alarms. "he devices #a$e up and confirm their continued

presence in the net#or$ at random intervals.

Fn detection of activity, the sensors Ospring to attention(, as it #ere, and transmit to

the ever;#aiting coordinator(s receiver >since it is mains;po#ered?. 7o#ever, there is the

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2ig 8.1. eacon Net#or$ ommunication2ig 8.1.1 Non eacon Net#or$ ommunication


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remotest of chances that a sensor finds the channel busy, in #hich case the receiver

unfortunately #ould Omiss a call(.

3.1.9 +!,B## Ar$!"#$"r#&

"he -igee 9tandard has evolved standardi&ed sets of solutions, called Olayers(.

"hese layers facilitate the features that ma$e -igee very attractive lo# cost, easy

implementation, reliable data transfer, short;range operations, very lo# po#er

consumption and ade=uate security features.

2ig 8.1.8 -igee Architecture

1. N#"-%r; an A//(!$a"!%n S//%r" (a0#r "he net#or$ layer permits gro#th of

net#or$ sans high po#er transmitters. "his layer can handle huge numbers of nodes. "his

level in the -igee architecture includes the -igee )evice Fb!ect >-)F?, user;defined

application profile>s? and the Application 9upport >A+9? sub;layer.

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"he A+9 sub;layer(s responsibilities include maintenance of tables that enable matching

bet#een t#o devices and communication among them, and also discovery, the aspect that

identifies other devices that operate in the operating space of any device.

"he responsibility of determining the nature of the device >oordinator H 22) or 2)? in

the net#or$, commencing and replying to binding re=uests and ensuring a secure

relationship bet#een devices rests #ith the -)F >-igee )efine Fb!ect?. "he user;defined

application refers to the end device that conforms to the -igee 9tandard.

2. P0s!$a( and so Osleeps( for long periods?

and its functions include searching for net#or$ availability, data transfer, chec$s for pending

data and =ueries for data from the coordinator.2or the sa$e of simplicity #ithout !eopardising

robustness, this particular I*** standard defines a =uartet frame structure and a super;frame

structure used optionally only by the coordinator .

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2ig 8.1.5 -igee Net#or$ %odel

"he four frame structures are

• eacon frame for transmission of beacons

• )ata frame for all data transfers

• Ac$no#ledgement frame for successful frame receipt confirmations

• %A command frame

"hese frame structures and the coordinator(s super;frame structure play critical

roles in security of data and integrity in transmission.All protocol layers contribute headers

and footers to the frame structure, such that the total overheads for each data pac$et range

are from 1< octets >for short addresses? to 81 octets >for 65;bit addresses?."he coordinator

lays do#n the format for the super;frame for sending beacons after every 1


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enables sixteen time slots of identical #idth bet#een beacons so that channel access is

contention;less. Dithin each time slot, access is contention;based. Nonetheless, the

coordinator provides as many as seven C"9 >guaranteed time slots? for every beacon

interval to ensure better =uality.

3.2 WIRELESS CAMERA TRANSMITTER AND RECEIVER

3.2.1 In"r%$"!%n "% Ia,# S#ns%rs&

Dhen an image is being captured by a net#or$ camera, light passes through the

lens and falls on the image sensor. "he image sensor consists of picture elements, also

called pixels that register the amount of light that falls on them. "hey convert the received

amount of light into a corresponding number of electrons. "he stronger the light, the more

electrons are generated. "he electrons are converted into voltage and then transformed into

numbers by means of an AH);converter. "he signal constituted by the numbers is processed

by electronic circuits inside the camera.

+resently, there are t#o main technologies that can be used for the image sensor in a

camera, i.e. ) >harge;coupled )evice? and %F9 >omplementary %etal;oxide

9emiconductor?. "heir design and different strengths and #ea$nesses #ill be explained in the

follo#ing sections. 2igure sho#s ) and %F9 image sensors.

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2ig 8..1 Image 9ensors ) >left? and %F9 >right?


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3.2.2 C%(%r :!("#r!n,&

Image sensors register the amount of light from bright to dar$ #ith no color

information. 9ince %F9 and ) image sensors are Ocolor blindE, a filter in front of the

sensor allo#s the sensor to assign color tones to each pixel. "#o common color registration

methods are C >ed, Creen, and lue? and %GC >yan, %agenta, Gello#, and Creen?.

ed, green, and blue are the primary colors that, mixed in different combinations, can

produce most of the colors visible to the human eye. "he ayer array, #hich has alternating

ro#s of red;green and green;blue filters, is the most common C color filter' see belo#

2igure >left?. 9ince the human eye is more sensitive to green than to the other t#o colors, the

ayer array has t#ice as many green color filters. "his also means that #ith the ayer array,

the human eye can detect more detail than if the three colors #ere used in e=ual measures in

the filter.

2ig8..8.#ireless camera transmitter

Another #ay to filter or register color is to use the complementary colorsPcyan,

magenta, and yello#. omplementary color filters on sensors are often combined #ith green

filters to form a %GC color array, see 2igure >right?. "he %GC system generally offers

higher pixel signals due to its broader spectral band pass. 7o#ever, the signals must then be

converted to C since this is used in the final image, and the conversion implies more

processing and added noise. "he result is that the initial gain in signal;to;noise is reduced,

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2ig 8.. AG* array color filter >left? and

%GC colour filter array >right?


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and the %GC system is often not as good at presenting colors accurately."he %GC color

array is often used in interlaced ) image sensors, #hereas the C system primarily is

used in progressive scan image sensors.

3.3 CCD T#$n%(%,0&

In a ) sensor, the light >charge? that falls on the pixels of the sensor is transferred

from the chip through one output node, or only a fe# output nodes. "he charges are

converted to voltage levels, buffered, and sent out as an analog signal. "his signal is then

amplified and converted to numbers using an AH);converter outside the sensor, see 2igure 8.

"he ) technology #as developed specifically to be used in cameras, and ) sensors

have been used for more than 80 years. "raditionally, ) sensors have had some

advantages compared to %F9 sensors, such as better light sensitivity and less noise. In

recent years, ho#ever, these differences have disappeared.

"he disadvantages of ) sensors are that they are analog components that re=uire

more electronic circuitry outside the sensor, they are more expensive to produce, and can

consume up to 100 times more po#er than %F9 sensors. "he increased po#er consumption

can lead to heat issues in the camera, #hich not only impacts image =uality negatively, but

also increases the cost and environmental impact of the product.

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2ig 8.8.1 ) Fperation


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) sensors also re=uire a higher data rate, since everything has to go through !ust

one output amplifier, or a fe# output amplifiers.

3.9 CMOS "#$n%(%,0&

%F9 image sensors have received much attention over the last decade, offering the

promise of ultra lo# po#er and camera;on;chip integration. *arly on, ordinary %F9 chips

#ere used for imaging purposes, but the image =uality #as poor due to their inferior light

sensitivity. %odern %F9 sensors use a more speciali&ed technology and the =uality and

light sensitivity of the sensors have rapidly increased in recent years.

3.9.1 Pr!n$!/(# %: %/#ra"!%n&

%F9 sensor, as the ) sensor is based on the photoelectric effect. onsists of

many photo sites, one for each pixel, producing an electrical current that varies #ith the

intensity of light received. In the %F9, ) unli$e incorporates an amplifier of the

electrical signal at each photosite and is common to include digital converter on the chip

itself. In a ) has to send the electrical signal produced by each photosite overseas and

from there amplified. to the computer. "he advantage is that the electronics can directly read

the signal from each pixel thus solves the problem $no#n as blooming on the receipt of a

high light intensity at a point ad!acent pixels influence >strong brightness produces #hite

lines in the image?. "he disadvantage is that the light receptors >photositeEs? much electronics

is not sensitive to light, #hich means that it cannot capture as much light on the same surface

of the chip.

%F9 chips have several advantages. Unli$e the ) sensor, the %F9 chip

incorporates amplifiers and AH);converters, #hich lo#ers the cost for cameras since it

contains all the logics needed to produce an image. *very %F9 pixel contains conversion

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electronics. ompared to ) sensors, %F9 sensors have better integration possibilities

and more functions. 7o#ever, this addition of circuitry inside the chip can lead to a ris$ of

more structured noise, such as stripes and other patterns. %F9 sensors also have a

2aster readout, lo#er po#er consumption, higher noise immunity, and a smaller system si&e.

alibrating a %F9 sensor in production, if needed, can be more difficult than

calibrating a ) sensor. ut technology development has made %F9 sensors easier to

calibrate, and some are no#adays even self;calibrating.

It is possible to read individual pixels from a %F9 sensor, #hich allo#s

O#indo#ingE, #hich implies that parts of the sensor area can be read out, instead of the entire

sensor area at once. "his #ay a higher frame rate can be delivered from a limited part of the

sensor, and digital +"- >panHtiltH&oom? functions can be used. It is also possible to achieve

multi;vie# streaming, #hich allo#s several cropped vie# areas to be streamed

simultaneously from the sensor, simulating several Ovirtual camerasE.

3.9.2 A'an"a,#s an D!sa'an"a,#s&

A'an"a,#s

• %uch lo#er po#er consumption

• *conomic >re=uires fe# external components?

• 9imultaneous reading of greater number of pixels

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2ig 8.5.1 %F9 9ensor


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• "he digital converter can be integrated on the same chip

• 9carce looming >QsmearQ? or no

• Creater flexibility in reading >faster trailer, video, ...?

• "he pixels can be exposed and read simultaneously

•

Fther possible topologies >sensor 9uper ) of 2u!ifilm employs a panel;shaped

construction >octagonal? for the pixels?

• )ifferent types of pixels >depending on si&e and sensitivity? combined

• Image very high fre=uency compared to the same si&e )

D!sa'an"a,#s

• 4o#er light receiving surface per pixel

• 4o# uniformity of the pixels >higher fixed;pattern noise 2+N?

•

*ffect Q!ellyQ or instability in the image #ith =uic$ movements or flashes due >t#ists

the video? the rotating cho$es type you use.

3.8 Trans!ss!%n an R#$#/"!%n&

3.8.1 Trans!""#r&

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2ig 8.


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amera video is applied to a varactor #hich 2% modulates a simple 4 oscillator

follo#ed by a one transistor amplifier. "he transmission fre=uency of the transmitter is 1.

C7& #hich has a transmission range up to 0 meters. "he transmitter is in build #ith the

camera and transmitter #as sealed in heat shrin$ tubing to prevent any short;circuits #ith the

camera board #hen installed in the camera housing.

Trans!""#r $!r$!"&

"he ": transmitter circuit given here uses U standard 1 2% modulation for sound

and +A4 for video modulation. "he audio signal to be modulated is pre;amplified using the

transistor R1 and associated components. "he transistor R has t#o !obs production of

carrier fre=uency and modulation. "he pre;amplified audio signal is fed to the base of

transistor R for modulation. apacitor < and inductor 41 forms the tan$ circuit #hich is

responsible for producing the carrier fre=uency. "he video signal is fed to the emitter of

transistor R via +F" 3 for modulation. "he modulated composite signal >audio S video? is

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2ig 8.


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transmitted by the antenna A1. "his ": transmitter circuit can be operated from 1: ).

*ither a 1: ) po#er supply or a battery can be used for the purpose, using a battery #ill

surely reduce noise and improve the performance. If you are going #ith a ) po#er supply,

then it must be #ell regulated and free of noise.

3.8.2 R#$#!'#r&

In the receiver


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elo# is a list of some of the main types of 2% demodulator or 2% detector. In vie# of the

#idespread use of 2%, even #ith the competition from digital modes that are #idely used

today, 2% demodulators are needed in many ne# designs of electronics e=uipment.

• 9lope 2% detector

• 2oster;9eeley 2% detector

• atio detector

• +44, +hase loc$ed loop 2% demodulator

• Ruadrature 2% demodulator

• oincidence 2% demodulator

*ach of these different types of 2% detector or demodulator has its o#n advantages and

disadvantages. In this pro!ect +44 demodulator is used.

Pas# L%$;# L%%/&

+44 2% demodulator or detector is a form of 2% demodulator that has gained

#idespread acceptance in recent years. +44 2% detectors can easily be made from the variety

of phase loc$ed loop integrated circuits that are available, and as a result, +44 2%

demodulators are found in many types of radio e=uipment ranging from broadcast receivers

to high performance communications e=uipment.

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"he +44 2% demodulation integrated circuits started to appear #hen integrated

circuit technology developed to the degree to allo# 2 analogue circuits to be manufactured.

Although high fre=uencies are not normally needed, for +44 2% demodulators, the circuit

must be capable of operating at the intermediate fre=uency of the receiver, and for receivers

using 2% this #as often 10.3%7&. Although by today(s standards, this is not high, it

#asnecessary for the technology to reach this state before +44 2% demodulators became

available.

"he #ay in #hich a phase loc$ed loop, +44 2% demodulator #or$s is relatively

straightfor#ard. It re=uires no changes to the basic phase loc$ed loop, itself, utilising the

basic operation of the loop to provide the re=uired output.

"he #ay in #hich a +44 2% demodulator operates is =uite straightfor#ard. "he loop

consists of a phase detector into #hich the incoming signal is passed, along #ith the output

from the voltage controlled oscillator >:F? contained #ithin the phase loc$ed loop. "he

output from the phase detector is passed into a loop filter and then used as the control voltage

for the :F.

2ig 8.+44? )emodulator

Dith no modulation applied and the carrier in the centre position of the pass;band the

voltage on the tune line to the :F is set to the mid position. 7o#ever if the carrier deviates

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in fre=uency, the loop #ill try to $eep the loop in loc$. 2or this to happen, the :F fre=uency

must follo# the incoming signal, and in turn for this to occur the tune line voltage must vary,

monitoring the tune line sho#s that the variations in voltage correspond to the modulation

applied to the signal. y amplifying the variations in voltage on the tune line it is possible to

generate the demodulated signal.

3.8.3 PLL FM D#%(a"%r /#r:%ran$#

"he +44 2% demodulator is normally considered a relatively high performance form

of 2% demodulator or detector. Accordingly they are used in many 2% receiver applications.

"he +44 2% demodulator has a number of $ey advantages

L!n#ar!"0& "he linearity of the +44 2% demodulator is governed by the voltage to fre=uency

characteristic of the :F #ithin the +44. As the fre=uency deviation of the incoming signal

normally only s#ings over a small portion of the +44 band#idth, and the characteristic of the

:F can be made relatively linear, the distortion levels from phase loc$ed loop

demodulators are normally very lo#. )istortion levels are typically a tenth of a percent.

Man:a$"r!n, $%s"s& "he +44 2% demodulator lends itself to integrated circuit technology.

Fnly a fe# external components are re=uired, and in some instances it may not be necessary

to use an inductor as part of the resonant circuit for the :F. "hese facts ma$e the +44 2%

demodulator particularly attractive for modern applications.

PLL FM #%(a"%r #s!,n $%ns!#ra"!%ns&

Dhen designing a +44 system for use as an 2% demodulator, one of the $ey

considerations is the loop filter. "his must be chosen to be sufficiently #ide that it is able to

follo# the anticipated variations of the fre=uency modulated signal. Accordingly the loop

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response time should be short #hen compared to the anticipated shortest time scale of the

variations of the signal being demodulated.

A further design consideration is the linearity of the :F. "his should be designed for the

voltage to fre=uency curve to be as linear as possible over the signal range that #ill be

encountered, i.e. the centre fre=uency plus and minus the maximum deviation anticipated.

In general the +44 :F linearity is not a ma!or problem for average systems, but some

attention may be re=uired to ensure the linearity is sufficiently good for hi;fi systems.

3.> LPC2196

"he 4+151H5H55H56H5 microcontrollers are based on a 16;bitH8;bit

A%3")%I;9 +U #ith real;time emulation and embedded trace support, that combine

microcontroller #ith embedded high speed flash memory ranging from 8$ to s?, 10;bit )A, +D% channels and 5< fast C+IF lines

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#ith up to nine edge or level sensitive external interrupt pins ma$e these microcontrollers

suitable for industrial control and medical systems.

3.>.1 F#a"r#s

• 16;bitH8;bit A%3")%I;9 microcontroller in a tiny 4R2+65 pac$age.

• $ to 50$ of on;chip static A% and 8$ to I9+HIA+? via on;chip boot

loader soft#are. 9ingle flash sector or full chip erase in 500 ms and programming of

4+151H5 vs. 4+155H56H5? 10;bit A)s provide a total of 6H15

analog inputs, #ith conversion times as lo# as .55Ts per channel.

• 9ingle 10;bit )A provides variable analog output >4+15H55H56H5 only?.

3.>.2 B(%$; !a,ra

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3.>.3 P!nn!n, In:%ra"!%n

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2ig 8.6.14+15 loc$ )iagram

2ig 8.8.1 4+ 15 loc$ diagram


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3.>.9 P!n #s$r!/"!%n

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2ig 8.6. +in )iagram of 4+ 15


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8 +ins are C+IF>Ceneral +urpose Input Futput? are multiplexed +ins, there are as

many as 5 (functions( per pin

"o select the each pin functions "hree +IN9*4 egisters are used.

+IN9*40 contains C+IF pins 0.0 to 0.1<

+IN9*41 contains C+IF pins 0.16 to 0.81

+IN9*4 is a special case, and is used to control #hether pins 1.16..81 are

used as C+IF pins, or as a )ebug port in combination #ith a hard#are

*ach associated (pin( in +IN9*40 and +IN9*41 is assigned a ;bit address.

"o select a specific function simply assign one the follo#ing ;bit value to the

appropriate location in +IN9*4 register.

"he registers used to control the flo# of C+IF +ins are IF)I, IF9*", IF4 and

IF+IN.

IF)I controls the (direction( of the C+IF pin.

IF9*" to set C+IF pin to (highO. IF4 to set it to (lo#O

Page | 38


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IF+IN register to read the current (state( of every C+IF pin in the pin bloc$

Page | 39

CHAPTER 4

TRASMITTER HARDWARE

DESCRIPTION


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TRANSMITTER HARDWARE DESCRIPTION

9.1 6781 !$r%$%n"r%((#r

%icrocontroller is a programmable device. A microcontroller has a +U in addition to

a fixed. 0


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a highly flexible and cost;effective solution to many embedded control applications. In

addition, the A"Bs


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9.1.2 P!n D#s$r!/"!%n&

P!ns 1*6& +ort 1 each of these pins can be configured as an input or an output.

Page | 42

2i 5.1. +in )ia ram of 0


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P!n ?& 9 a logic one on this pin disables the microcontroller and clears the contents of most

registers. In other #ords, the positive voltage on this pin resets the microcontroller. y

applying logic &ero to this pin, the program starts execution from the beginning.

P!ns17*1@& +ort 8 9imilar to port 1, each of these pins can serve as general input or output.

esides, all of them have alternative functions

P!n 17& @) 9erial asynchronous communication input or 9erial synchronous

communication output.

P!n 11& "@) 9erial asynchronous communication output or 9erial synchronous

communication cloc$ output.

P!n 12& IN"0 Interrupt 0 input.

P!n 13& IN"1 Interrupt 1 input.

P!n 19& "0 ounter 0 cloc$ input.

P!n 18& "1 ounter 1 cloc$ input.

P!n 1>& D Drite to external >additional? A%.

P!n 1@& ) ead from external A%.

P!n 16 1?&@, @1 Internal oscillator input and output. A =uart& crystal #hich specifies

operating fre=uency is usually connected to these pins. Instead of it, miniature ceramics

resonators can also be used for fre=uency stability. 4ater versions of microcontrollers operate

at a fre=uency of 0 7& up to over


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P!n 21*26& +ort if there is no intention to use external memory then these port pins are

configured as general inputsHoutputs. In case external memory is used, the higher address

byte, i.e. addresses A;A1< #ill appear on this port. *ven though memory #ith capacity of

65b is not used, #hich means that not all eight port bits are used for its addressing, the rest

of them are not available as inputsHoutputs.

P!n 2?& +9*N If external F% is used for storing program then a logic &ero >0? appears on it

every time the microcontroller reads a byte from memory.

P!n 37& A4* +rior to reading from external memory, the microcontroller puts the lo#er

address byte >A0;A3? on +0 and activates the A4* output. After receiving signal from the

A4* pin, the external register >usually 357"838 or 357"83< add;on chip? memori&es the

state of +0 and uses it as a memory chip address. Immediately after that, the A4U pin is

returned its previous logic state and +0 is no# used as a )ata us. As seen, port data

multiplexing is performed by means of only one additional >and cheap? integrated circuit. In

other #ords, this port is used for both data and address transmission.

P!n 31& *A y applying logic &ero to this pin, + and +8 are used for data and address

transmission #ith no regard to #hether there is internal memory or not. It means that even

there is a program #ritten to the microcontroller, it #ill not be executed. Instead, the program

#ritten to external F% #ill be executed. y applying logic one to the *A pin, the

microcontroller #ill use both memories, first internal then external >if exists?.

P!n 32*3?& +ort 0 9imilar to +, if external memory is not used, these pins can be used as general

inputsHoutputs. Fther#ise, +0 is configured as address output >A0;A3? #hen the A4* pin is driven

high >1? or as data output >)ata us? #hen the A4* pin is driven lo# >0?.

P!n 97& : S


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9.1.3 In/"5%"/" P%r"s addresses A0;A3? is applied on it. Fther#ise, all bits of this port are configured

as inputsHoutputs.

"he other function is expressed #hen it is configured as an output. Unli$e other ports

consisting of pins #ith built;in pull;up resistor connected by its end to < : po#er supply, pins

of this port have this resistor left out. "his apparently small difference has its conse=uences

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Fnly in case +0 is used for addressing external memory, the microcontroller #ill provide

internal po#er supply source in order to supply its pins #ith logic one. "here is no need to

add external pull;up resistors.

P%r" 1

+1 is a true IHF port, because it doesn(t have any alternative functions as is the case #ith +0,

but can be configured as general IHF only. It has a pull;up resistor built;in and is completely

compatible #ith ""4 circuits.

P%r" 2

+ acts similarly to +0 #hen external memory is used. +ins of this port occupy addresses

intended for external memory chip. "his time it is about the higher address byte #ith

addresses A;A1


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and chec$ed at regular intervals. Dhen using UA", all the programmer has to do is to

simply select serial port mode and baud rate. Dhen it(s done, serial data transmit is nothing

but #riting to the 9U2 register, #hile data receive represents reading the same register. "he

microcontroller ta$es care of not ma$ing any error during data transmission.

9erial port must be configured prior to being used. In other #ords, it is necessary to

determine ho# many bits is contained in one serial #ord/, baud rate and synchroni&ation

cloc$ source. "he #hole process is in control of the bits of the 9FN register >9erial

ontrol?.

9.1.8 S#r!a( P%r" C%n"r%(


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• RB6 ; eceiver bit or the Bth bit received in modes and 8. leared by hard#are if

Bth bit received is logic 0. 9et by hard#are if Bth bit received is logic 1.

• TI ; "ransmit Interrupt flag is automatically set at the moment the last bit of one byte

is sent. It(s a signal to the processor that the line is available for a ne# byte

transmitter. It must be cleared from #ithin the soft#are.

• RI ; eceive Interrupt flag is automatically set upon one byte receive. It signals that

byte is received and should be read =uic$ly prior to being replaced by a ne# data.

"his bit is also cleared from #ithin the soft#are.

As seen, serial port mode is selected by combining the 9%0 and 9% bits

SM7 SM1 MODE DESCRIPTION BAUD RATE

0 0 0 ;bit 9hift egister 1H1 the =uart& fre=uency

0 1 1 ;bit UA" )etermined by the timer 1

1 0 B;bit UA"

1H8 the =uart& fre=uency >1H65 the =uart&

fre=uency?

1 1 8 B;bit UA" )etermined by the timer 1

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2ig 5.1.8 UA" in 9erial %ode

In mode 0, serial data are transmitted and received through the @) pin, #hile the "@) pin

output cloc$s. "he bout rate is fixed at 1H1 the oscillator fre=uency. Fn transmit, the least

significant bit >49 bit? is sentHreceived first.

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TRANSMIT ; )ata transmit is initiated by #riting data to the 9U2 register. In fact, this

process starts after any instruction being performed upon this register. Dhen all bits have

been sent, the "I bit of the 9FN register is automatically set.

2ig 5.1.5 selection of bit t1

RECEIVE ; )ata receive through the @) pin starts upon the t#o follo#ing conditions are

met bit *NL1 and IL0 >both of them are stored in the 9FN register?. Dhen all bits

have been received, the I bit of the 9FN register is automatically set indicating that one

byte receive is complete.

2ig 5.1.< 9election of it 1 in eceiver

9ince there are no 9"A" and 9"F+ bits or any other bit except data sent from the 9U2

register in the pulse se=uence, this mode is mainly used #hen the distance bet#een devices is

short, noise is minimi&ed and operating speed is of importance. A typical example is IHF port

expansion by adding a cheap I >shift registers 357


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M%# 1

2ig 5.1.6 UA" in mode 1

In mode 1, 10 bits are transmitted through the "@) pin or received through the @) pin in

the follo#ing manner a 9"A" bit >al#ays 0?, data bits >49 first? and a 9"F+ bit >al#ays

1?. "he 9"A" bit is only used to initiate data receive, #hile the 9"F+ bit is automatically

#ritten to the bit of the 9FN register.

TRANSMIT ; )ata transmit is initiated by #riting data to the 9U2 register. *nd of data

transmission is indicated by setting the "I bit of the 9FN register.

2ig 5.1.3 it "1 In the "ransmit %ode

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RECEIVE ; "he 9"A" bit >logic &ero >0?? on the @) pin initiates data receive. "he

follo#ing t#o conditions must be met bit *NL1 and bit IL0. oth of them are stored in

the 9FN register. "he I bit is automatically set upon data reception is complete.

2ig 5.1. it 1 in the eceive %ode

"he aud rate in this mode is determined by the timer 1 overflo#.

M%# 2

2ig 5.1.B UA" In mode

In mode , 11 bits are transmitted through the "@) pin or received through the @) pin a

9"A" bit >al#ays 0?, data bits >49 first?, a programmable Bth data bit and a 9"F+ bit

>al#ays 1?. Fn transmit' the Bth data bit is actually the " bit of the 9FN register. "his bit

usually has a function of parity bit. Fn receive, the Bth data bit goes into the bit of the

same register >9FN?."he baud rate is either 1H8 or 1H65 the oscillator fre=uency.

TRANSMIT ; )ata transmit is initiated by #riting data to the 9U2 register. *nd of data

transmission is indicated by setting the "I bit of the 9FN register.

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2ig 5.1.10 it "1 in "ransmit in mode

RECEIVE ; "he 9"A" bit >logic &ero >0?? on the @) pin initiates data receive. "he

follo#ing t#o conditions must be met bit *NL1 and bit IL0. oth of them are stored in

the 9FN register. "he I bit is automatically set upon data reception is complete.

2ig 5.1.11 it 1 in eceive mode

M%# 3

%ode 8 is the same as %ode in all respects except the baud rate. "he baud rate in %ode 8 is

variable.

9.1.> Ba Ra"# G#n#ra"%r

"imer is selected as the baud rate generator by setting "4 andHor 4 in

"FN. Note that the baud rates for transmit and receive can be different if "imer is used

for the receiver or transmitter and "imer 1 is used for the other function. 9etting 4

andHor "4 puts "imer into its baud rate generator mode.

"he baud rate generator mode is similar to the auto;reload mode, in that a rollover in "7

causes the "imer registers to be reloaded #ith the 16;bit value in registers A+7 and

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A+4, #hich are present by soft#are. "he baud rates in %odes 1 and 8 are determined by

"imer Es overflo# rate according to the follo#ing e=uation.

"he "imer can be configured for either timer or counter operation. In most

applications, it is configured for timer operation >+H" L 0?. "he timer operation is different

for "imer #hen it is used as a baud rate generator. Normally, as a timer, it increments every

machine cycle >at 1H1 the oscillator fre=uency?. As a baud rate generator, ho#ever, it

increments every state time >at 1H the oscillator fre=uency?. "he baud rate formula is given

belo#.

Dhere >A+7, A+4? is the content of A+7 and A+4 ta$en as a 16;bit

unsigned integer. "imer as a baud rate generator is sho#n in the belo# figure. "his figure is

valid only if 4 or "4 L 1 in "FN. Note that a rollover in "7 does not set "2

and #ill not generate an interrupt. Note too, that if *@*N is set, a 1;to;0 transition in "*@

#ill set *@2 but #ill not cause a reload from >A+7, A+4? to >"7, "4?. "hus,

#hen "imer is in use as a baud rate generator, "*@ can be used as an extra external

interrupt.It should be noted that #hen "imer is running >" L 1? as a timer in the baud rate

generator mode, "7 or "4 should not be read from or #ritten to.

9.2 P%-#r S//(0 D#s!,n&

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"he input to the circuit is applied from the regulated po#er supply. "he a.c. input i.e.,

80: from the mains supply is step do#n by the transformer to 1: and is fed to a rectifier.

"he output obtained from the rectifier is a pulsating d.c voltage. 9o in order to get a pure d.c

voltage, the output voltage from the rectifier is fed to a filter to remove any a.c components

present even after rectification. No#, this voltage is given to a voltage regulator to obtain a

pure constant dc voltage.

2ig5..1 +o#er supply

Trans:%r#r&

Usually, ) voltages are re=uired to operate various electronic e=uipment and these

voltages are


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"he output from the transformer is fed to the rectifier. It converts A.. into pulsating

).. "he rectifier may be a half #ave or a full #ave rectifier. In this pro!ect, a bridge rectifier

is used because of its merits li$e good stability and full #ave rectification.

"he four;diode rectifier circuit sho#n to the right serves very nicely to provide full;

#ave rectification of the ac output of a single transformer #inding. "he diamond

configuration of the four diodes is the same as the resistor configuration in a Dheatstone

ridge. In fact, any set of components in this configuration is identified as some sort of

bridge, and this rectifier circuit is similarly $no#n as a bridge rectifier

FILTER&

apacitive filter is used in this pro!ect. It removes the ripples from the output of

rectifier and smoothens the ).. Futput received from this filter is constant until the mains

voltage and load is maintained constant. 7o#ever, if either of the t#o is varied, ).. voltage

received at this point changes. "herefore a regulator is applied at the output stage.

VOLTAGE REGULATOR&

As the name itself implies, it regulates the input applied to it. A voltage regulator is an

electrical regulator designed to automatically maintain a constant voltage level. In this

pro!ect, po#er supply of


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2ig 5..8 30< :oltage egulator

9.3 MA 232&

%ax8 I is a speciali&ed circuit #hich ma$es standard voltages as re=uired by

98 standards. "his I provides best noise re!ection and very reliable against discharges

and short circuits. %A@8 I chips are commonly referred to as line drivers.

2ig 5.8.1 +in )iagram of %A@ 8 I 2ig 5.8. 2unctional )iagram of %A@8 I

"o ensure data transfer bet#een + and microcontroller, the baud rate and voltage

levels of %icrocontroller and + should be the same. "he voltage levels of microcontroller

Page | 57


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are logic1 and logic 0 i.e., logic 1 is S


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• Internal *9) +rotection

• "hermal 9hutdo#n

•

7igh;Noise;Immunity Inputs

• 2unctionally 9imilar to 9C9 4B8 and 9C9 4B8)

• Futput urrent 1 A +er hannel >600 mA for 4B8)?

• +ea$ Futput urrent A +er hannel >1. A for 4B8)?

• Futput lamp )iodes for Inductive "ransient 9uppression >4B8)?

D#s$r!/"!%n

"he 4B8 and 4B8) are =uadruple high;current half;7 drivers. "he 4B8 is designed to

provide bidirectional drive currents of up to 1 A at voltages from 5.< : to 86 :. "he 4B8) is

designed to provide bidirectional drive currents of up to 600;mA at voltages from 5.< : to 86

:. oth devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar

stepping motors, as #ell as other high;currentHhigh;voltage loads in positive;supply

applications.

All inputs are ""4 compatible. *ach output is a complete totem;pole drive circuit,

#ith a )arlington transistor sin$ and a pseudo; )arlington source. )rivers are enabled in

pairs, #ith drivers 1 and enabled by 1,*N and drivers 8 and 5 enabled by 8,5*N.

Dhen an enable input is high, the associated drivers are enabled and their outputs are

active and in phase #ith their inputs. Dhen the enable input is lo#, those drivers are disabled

and their outputs are off and in the high;impedance state. Dith the proper data inputs, each

pair of drivers forms a full;7 >or bridge? reversible drive suitable for solenoid or motor

Page | 59


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applications. Fn the 4B8, external high;speed output clamp diodes should be used for

inductive transient suppression.

A :1 terminal, separate from :, is provided for the logic inputs to minimi&e

device po#er dissipation. "he 4B8 and 4B8) are characteri&ed for operation from 0 to 30

degree elsius.

2ig 5.5.loc$ )iagram of 4B8)

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2ig 5.5.8 4ogic )iagram and 2unctional "able for 4B8)

"his chip contains 5 enable pins. *ach enable pin corresponds to inputs. ased on the input

values given, the device connected to this I #or$s accordingly.

9.8 S#ns%rs Us#

9.8.1 U("ras%n!$ s#ns%r&

"he sensor is primarily intended to be used in security systems for detection of moving

ob!ects, but can be effectively involved in intelligent childrenEs toys, automatic door opening

devices, and sports training and contact;less;speed measurement e=uipment.

In"r%$"!%n

%odern security systems utili&e various types of sensors to detect unauthori&ed ob!ect access

attempts. "he sensor collection includes infrared, micro#ave and ultrasound devices, #hich

are intended to detect moving ob!ects. *ach type of sensor is characteri&ed by its o#n

advantages and dra#bac$s. %icro#ave sensors are effective in large apartments because

micro#aves pass through dielectric materials. ut these sensors consist of expensive super;

high fre=uency components and their radiation is unhealthy for living organisms.

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Infrared sensors are characteri&ed by high sensitivity, lo# cost and are #idely used. ut,

these sensors can generate false alarm signals if heating systems are active or temperature

change speed exceeds some threshold level. %oreover, infrared sensors appreciably lose

sensitivity if small insects penetrate the sensor lens. Ultrasound motion detection sensors are

characteri&ed by small po#er consumption, suitable cost and high sensitivity. "hat it #hy this

$ind of sensor is commonly used in home, office and car security systems. *xisting

ultrasound sensors consist of multiple passive and active components and are relatively

complicated for production and testing. 9ensors often times re=uire a laborious tuning

process.

"he ultrasound transmitter T is emitting ultrasound #aves into sensor ambient space

continuously. "hese #aves are reflecting from various ob!ects and are reaching ultrasound

receiver R. "here is a constant interference figure if no moving ob!ects are in the

placement.Any moving ob!ect changes the level and phase of the reflected signal, #hich

modifies the summed received signal level. %ost lo# cost sensors >car security systems, for

instance? perform reflected signal amplitude analysis to detect moving ob!ects. In spite of

implementation simplicity, this detection method is characteri&ed by a high sensitivity to

noise signals. 2or example, heterogeneous airflo#s, sensor vibrations, room #indo# and

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2ig 5.


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door deformations, and gusts can change the interference figure and generate false alarm

signals.

etter noise resistance may be obtained if the received sensor is performing reflected

signal fre=uency analysis instead of amplitude examination. "he reflected signal spectrum

emulates a )oppler *ffect. 2re=uency components of the moving ob!ect speed vector have a

component in the direction of ultrasound radiation propagation. ecause ultrasound #aves

reflect from the #indo#s, #alls, furniture etc., the sensor can detect ob!ect movements in any

direction. "o implement this principle, the sensor must perform selection and processing of

)oppler *ffect fre=uency shift to detect moving ob!ects.

"he air condition systems, heat generators, and refrigerators typically include

movable parts, #hich can cause device vibrations that generate high;fre=uency )oppler

components in the reflected ultrasound signal. "he heterogeneous variable temperature

airflo#s are characteri&ed by different ultrasound propagation speed that can raise lo#;

fre=uency )oppler components in the reflected signal. "hat is #hy the noise resistant motion

detection sensor should limit the )oppler signalsE fre=uency range from lo#er and upper

bounds to satisfactory false;alarm free operation. "he ultrasound motion detection sensor has

been developed in compliance #ith operation principles considered above.

9.8.2 Pr%)!!"0 s#ns%r

A proximity sensor is a sensor able to detect the presence of nearby ob!ects #ithout

any physical contact. A proximity sensor often emits an electromagnetic field or a beam

of electromagnetic radiation >infrared, for instance?, and loo$s for changes in the field or

return signal. "he ob!ect being sensed is often referred to as the proximity sensor(s target.

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https://en.wikipedia.org/wiki/Sensorhttps://en.wikipedia.org/wiki/Electromagnetic_fieldhttps://en.wikipedia.org/wiki/Electromagnetic_radiationhttps://en.wikipedia.org/wiki/Infraredhttps://en.wikipedia.org/wiki/Electric_fieldhttps://en.wikipedia.org/wiki/Sensorhttps://en.wikipedia.org/wiki/Electromagnetic_fieldhttps://en.wikipedia.org/wiki/Electromagnetic_radiationhttps://en.wikipedia.org/wiki/Infraredhttps://en.wikipedia.org/wiki/Electric_field


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)ifferent proximity sensor targets demand different sensors. 2or example,

a capacitive photoelectric sensor might be suitable for a plastic target' an inductive proximity

sensor al#ays re=uires a metal target.

"he inductive proximity sensor choice seems natural due to its rugged metal housing and

enclosed internal circuitry. "he proximity sensorEs epoxy potting ma$es the inductive device

superior to other sensing technologies #hen the environment is harsh li$e those found in

machine tool sensor applications #here dust and dirt build;up are an issue.

In$"!'# Pr%)!!"0 S#ns%r T#$n%(%,0&

*valuation of inductive proximity sensorEs ob!ect detection capabilities first

re=uires an understanding of the design fundamentals of the sensing technology. "his

understanding in turn #ill lend insights to the effectiveness of the technology versus the

ob!ect tas$ at hand.

An inductive proximity sensor is made up of four components. "here is the coil, the

oscillator circuit, the detection circuit, and the output circuit. "he coil is a tightly #ound

strand of copper #ire turned many times and is located #ithin the sensorEs face. "he

inductive sensorEs oscillator circuit then generates a fluctuating current through the copper

#ire and induces a magnetic field in the coil. "his field extends out#ards from the sensorEs

face much li$e the shape of a doughnut.

"he magnetic field that extends from the inductive proximity sensorEs face induces

*ddy currents in the target detectable ob!ect. "he *ddy currents in the detectable ob!ects

themselves magnetically push bac$ and dampen the inductive sensors o#n oscillation field.

It is for this reason that inductive proximity sensors detect metal ob!ects. Also, since *ddy

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https://en.wikipedia.org/wiki/Capacitive_proximity_sensorhttps://en.wikipedia.org/wiki/Photoelectric_sensorhttps://en.wikipedia.org/wiki/Inductive_sensorhttps://en.wikipedia.org/wiki/Capacitive_proximity_sensorhttps://en.wikipedia.org/wiki/Photoelectric_sensorhttps://en.wikipedia.org/wiki/Inductive_sensor


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current build up is needed for the inductive proximity sensor to sense, #e find that the

conductive metals that disperse current to be poor detectable ob!ects. Fn the other hand, thin

materials li$e foils >for example, aluminum? allo# *ddy current build up and are excellent

)etectable ob!ects. "he inductive sensorEs detection circuit monitors the dampening effect

due to *ddy currents and #hen the magnetic effect becomes sufficiently damped, it triggers

the output circuitry.

Inductive proximity sensors come in t#o varieties' shielded and unshielded. Dith the

shielded type of inductive sensor, the sensing coil is encased in a metal >ferrous? shielding.

"his type of sensor is less affected by surrounding metal, and can be embedded in a metal

base, but has a shorter sensing distance. Dith the unshielded type of inductive sensor, the

sensing coil is not metal shielded.

"his type of inductive sensor provides a longer detecting distance and is easily affected by

surrounding metals. "herefore, no ob!ect other than the target must be present around the end

of the sensor face.

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Page | 66

CHAPTER 5

SOFTWARES TOOLS


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SOFTWARE TOOLS

8.1KEIL S%:"-ar#&

1. lic$ on the eil u:ision Icon on )es$top

2. "he follo#ing fig #ill appear

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3. lic$ on the +ro!ect menu from the title bar

9. "hen lic$ on Ne# +ro!ect

8. 9ave the +ro!ect by typing suitable pro!ect name #ith no extension in u r o#n

folder sited in either or )

>. "hen lic$ on 9ave button above.

@. 9elect the component for u r pro!ect. i.e. AtmelVV

6. lic$ on the S 9ymbol beside of Atmel

?. 9elect A"B


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17. "hen lic$ on F/

11. "he 2ollo#ing fig #ill appear

12. "hen lic$ either G*9 or NFVVVmostly NF/

13. No# your pro!ect is ready to U9*

19. No# double clic$ on the "arget1, you #ould get another option 9ource group 1/

as sho#n in next page.

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18. lic$ on the file option from menu bar and select ne#/

1>. "he next screen #ill be as sho#n in next page, and !ust maximi&e it by double

clic$ing on its blue boarder.

1@. No# start #riting program in either in / or A9%/

16. 2or a program #ritten in Assembly, then save it #ith extension . asm/ and for

/ based program save it #ith extension ./

1?. No# right clic$ on 9ource group 1 and clic$ on A :!(#s "% Gr%/ S%r$#/

27. No# you #ill get another #indo#, on #hich by default / files #ill appear.

21. No# select as per your file extension given #hile saving the file

22. lic$ only one time on option ADD/

23. No# +ress function $ey 23 to compile. Any error #ill appear if so happen. If the

file contains no error, then press ontrolS2< simultaneously.

29. "he ne# #indo# is as follo#s

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28. "hen lic$ F/

2>. No# lic$ on the +eripherals from menu bar, and chec$ your re=uired port as

sho#n in fig belo#

2@. )rag the port a side and clic$ in the program file.

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26. No# $eep +ressing function $ey 211/ slo#ly and observe.

2?. Gou are running your program successfully.

8.2 FLASH MAGIC

2lash %agic is a tool #hich used to program hex code in **+F% of micro;controller. It is

a free#are tool. It can be used to burn a hex code into those controllers #hich supports I9+

>in system programming? feature.

2lash magic supports several chips li$e ARM C%r"#) M7 M3 M9 ARM@ an 6781.

"he procedure to program code memory is very easy and needs only five steps to configure

2lash magic for better operation. 2lash magic use 9erial or *thernet protocol to program the

flash of device. elo# is the screenshot of flash magic.

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In the belo# section it is clearly explained that ho# to use this tool and configure it. 2irst of

all go to %/"!%ns and then go to a'an$# %/"!%ns.

then $eep follo#ing setting in all different tabs of A'an$# s#""!n,.

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8.2.1 F!'# S"#/ Pr%,ra!n,

After configuring above settings then !ust go to follo#ing < steps..

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S"#/*1 C%n!$a"!%n&

1? 9elect your target device

? 9elect your com port and if you are using U9 to serial converter ma$e sure that you #ill

select proper com port other#ise you cannot communicate

8? No# select baud rate ideally it should be B600 >recommended?. Avoid higher than B600 for

proper communication

5? No# select your interface if you are using );B then it #ill be None >I9+?

S"#/*2 Eras#&

No# here tic$ mar$ the *rase all 2lash option. "his is the most crucial thing because #rong

selection in this step can be result into lost of boot loader in your chip. Nothing to #orry if

you lost your boot loader because you can again load it but to load boot loader you must

program you chip through universal programmer or any other programmer #hich is not

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depend upon boot loader for loading hex code. After loading boot loader you can again able

to program your chip using flash magic.

S"#/*3 H#) :!(#&

"his is very simple and you need to set up a path of your 7ex file #hich is to be loaded on

chip.

S"#/*9 O/"!%ns&

In this al#ays $eep :erify after programming option enable by tic$ mar$. Gou can use

another features as #ell according to your need.

S"#/*8 S"ar"&

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No# you are all set to burn your code memory !ust clic$ on start but and it #ill start to load

hex code in your chip. Gou can see the process at the bottom.

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>. CONCLUSION

"he pro!ect AU"FNF%FU9 NA:ICA"IFN FF" 2F 4AN)%IN* )*"*"IFN

A++4IA"IFN9/ has been successfully designed and tested.

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CHAPTER 6

CONCLUSIONS


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It has been developed by integrating features of all the hard#are components

used. +resence of every module has been reasoned out and placed carefully thus contributing

to the best #or$ing of the unit.

9econdly, using highly advanced IEs and #ith the help of gro#ing technology

the pro!ect has been successfully implemented.

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@. FUTURE ENHANCEMENT

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CHAPTER 7

FUTURE ENHANCEMENT


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"his pro!ect is to design an Autonomous navigation obot for 4andmine )etection

Application. 7ere in this pro!ect robot is controlled through +. And to implement a system

in military areas and also to monitor the locations by using cam #hich is connected to robot.

And also #e can also implement a system in #hich a robot direction can be controlled

#irelessly #ith respect to the commands given by the user through + and control the

direction of the cam by connecting the camera in to the servo motors using the -igee

technology.

project final document

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