metal detection robot_teja.newdoc
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CHAPTER-1
INTRODUCTION
1.1 EMBEDDED SYSTEMS
Embedded systems are designed to do some specific task, rather than be a
general-purpose computer for multiple tasks. Some also have real time performance
constraints that must be met, for reason such as safety and usability; others may have
low or no performance requirements, allowing the system hardware to be simplified
to reduce costs.
An embedded system is not always a separate block - very often it is
physically built-in to the device it is controlling. he software written for embeddedsystems is often called firmware, and is stored in read-only memory or flash
convector chips rather than a disk drive. !t often runs with limited computer hardware
resources" small or no keyboard, screen, and little memory.
#ireless communication has become an important feature for commercial
products and a popular research topic within the last ten years. here are now more
mobile phone subscriptions than wired-line subscriptions. $ately, one area of
commercial interest has been low-cost, low-power, and short-distance wirelesscommunication used for %personal wireless networks&. echnology advancements are
providing smaller and more cost effective devices for integrating computational
processing, wireless communication, and a host of other functionalities. hese
embedded communications devices will be integrated into applications ranging from
homeland security to industry automation and monitoring. hey will also enable
custom tailored engineering solutions, creating a revolutionary way of disseminating
and processing information. #ith new technologies and devices come new businessactivities, and the need for employees in these technological areas. Engineers who
have knowledge of embedded systems and wireless communications will be in high
demand. 'nfortunately, there are few adorable environments available for
development and classroom use, so students often do not learn about these
technologies during hands-on lab e(ercises. he communication mediums were
twisted pair, optical fiber, infrared, and generally wireless radio.
)
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1.2 OVERVIEW OF EMBEDDED SYSTEM ARCHITECTURE:
Every Embedded system consists of a custom-built hardware built around a
central processing unit. his hardware also contains memory chips onto which the
software is loaded.
Figure1.1:*verview of embedded system architecture
he operating system runs above the hardware and the application software
runs above the operating system. he same architecture is applicable to any computer
including desktop computer. +owever these are significant differences. !t is not
compulsory to have an operating system in every embedded system. or small
applications such as remote control units, air conditioners, toys etc.
1.3 APPICATIONS OF EMBEDDED SYSTEMS:
Some of the most common embedded systems used in everyday life are
S!"## e!$e%%e% &'()r'##er*: -bit /'s dominate, simple or no operating
system 0e.g., thermostats1
C'()r'# *+*)e!*: *ften use 2S/ chip for control computations0e.g.,
automotive engine control1
Di*)ri$u)e% e!$e%%e% &'()r'#:3i(ture of large and small nodes on a real-
time Embedded networks. 0e.g., cars, elevators, factory automation1
S+*)e! '( &,i: AS! design tailored to application area. 0e.g., consumer
electronics, set-top bo(es1
Ne)'r/ e0ui!e(): Emphasis on data movement4packet flow. 0e.g., network
switches; telephone switches1
Cri)i&"# *+*)e!*: Safety and mission critical computing. 0e.g., pacemakers,
automatic trains1
5
Application
S4# *perating System
+4#
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Sig("# r'&e**i(g: *ften use 2S/ chips for vision, audio, or other signal
/rocessing 0e.g., face recognition1
R'$')i&*: 'ses various types of embedded computing 0especially 6ision and
control1 0e.g., autonomous vehicles1 C'!u)er eri,er"#*: 2isk drives, keyboards, laser printers, etc.
Wire#e** *+*)e!*: #ireless network-connected %sensor networks7 and
%3otes7 to gather and report information
E!$e%%e% PC*: /almtop and small form factor /s embedded into
Equipment
C'!!"(% "(% &'()r'#: *ften huge military systems and %systems of
systems7 0e.g., a fleet of warships with interconnected omputers1 H'!e A#i"(&e*" intercom, telephones, security systems, garage door
openers, answering machines, fa( machines, home computers, 6s, cable 6
tuner, 68, camcorder, remote controls, video games, cellular phones,
musical instruments, sewing machines, lighting control, paging, camera,
pinball machines, toys, e(ercise equipment.
Oi&e elephones, computers, security systems, fa( machines, microwave,
copier, laser printer, color printer, paging Au)' rip computer, engine control, air bag, A9S, instrumentation, security
system, transmission control, entertainment, climate control, cellular phone,
keyless entry.
1. OBECTIVE OF THE PROECT
he main ob:ective of the metal detector robot is used to detect the metal and
if the sensor found metal near to it, the robot stop moving and on $2 screen it is
displayed as metal detected.
1.4 HARDWARE RE5UIREMENTS
3icro ontroller 0AS
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$5=2
>ear 3otors
8egulated /ower Supply
1.6 SOFTWARE RE5UIREMENTS
he ?E!$ 3!8* 6!S!*@ !2E where ?E!$
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CHAPTER-2
IMPEMENTATION DETAIS
2.1 BOC7 DIA8AM FOR THE PROPOSED SYSTEM
Figure 2.1: 9lock 2iagram for the /roposed System
OPERATION:
8egulated /ower Supply feeds power required for 3etal Sensor, 3icro
controller, $2 unit Bear 3otors requires
B)56 2 power source. A 3etal Sensor is used to scan for a metal identification,$2 is used for 2isplay about the status of operation of the system, >ear motors are
attached to 8obot to make the 8obot body to move in different directions, to drive
motors in different directions and to *@ and * a driver ! is used, a 3icro
ontroller is used as a control unit to activate the sensor and drive input and output
devices.
#hen the system is initiated by the regulated power supply then micro
controller activates the motor driver ! so that the motors comes to *@ state and
1 during lash programming. !n normal operation,
A$E is emitted at a constant rate of )4F the oscillator frequency and may be used for
e(ternal timing or clocking purposes. @ote, however, that one A$E pulse is skipped
during each access to e(ternal data memory. !f desired, A$E operation can be disabled
by setting bit of S8 location E+. #ith the bit set, A$E is active only during a
3*6Q or 3*6 instruction. *therwise, the pin is weakly pulled high. Setting the
A$E-disable bit has no effect if the microcontroller is in e(ternal e(ecution mode.PSEN: /rogram Store Enable 0/SE@1 is the read strobe to e(ternal program memory.
#hen the AS@2 in order to enable
the device to fetch code from e(ternal program memory locations starting at +
up to +. @ote, however, that if lock bit ) is programmed, EA will be internally
latched on reset. EA should be strapped to 6 for internal program e(ecutions. his
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pin also receives the )5-volt programming enable voltage 06//1 during lash
programming.
?TA1: !nput to the inverting oscillator amplifier and input to the internal clock
operating circuit.
?TA2: *utput from the inverting oscillator amplifier during accesses to e(ternal
memory. his pin is also the program pulse
Figure 2.@:unctional block diagram of micro controller
;42 O*&i##")'r "(% C#'&/: he heart of the
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he
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Sense ferrous R non-ferrous metal ob:ects to&Iero speed&
5-wire current source 0@A3'81 R =-wire npn trueopen collector outputs
< siIes R = sensing distances for application versatility
$E2 arget indicator 0psa 5b, Fb, Hb, R b1
Figure 2.11: *perational view of metal sensor
!nductive /ro(imity Sensors detect the presence of metal ob:ects which come within
range of their oscillating field and provide target detection to &Iero speed&. !nternally,
an oscillator creates a high frequency electromagnetic field 081 which is radiated
from the coil and out from the sensor face 0See igure )1. #hen a metal ob:ect enters
this field, eddy currents are induced into the ob:ect.
5=
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Figure 2.12: 2imensions of metal sensor
As the metal moves closer to the sensor, these eddy currents increase and
result in an absorption of energy from the coil which dampens the oscillator
amplitude until it finally stops.
MODES PSA-1B 2B
Figure 2.13
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!n addition to the coil and oscillator circuit, the =-wire 3odels /SA-F9, H9,
and 9 each contain a 2etector ircuit and @/@ ransistor *utput 0See igure =1. !n
these units, the 2etector ircuit senses when the oscillator stops, and turns on the
*utput ransistor which controls the load. he 2etector ircuit also turns on an
integrally case mounted $.E.2., visually indicating when a metal ob:ect is sensed.
PSA-6B >B ;B
hese !nductive /ro(imity Sensors have a ma(imum sensing distance of
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the sensors field before the ne(t target appears. !ndividual targets can still be resolved
as separate ob:ects if this spacing is reduced to H or H
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A program must interact with the outside world using input and output devices
that communicate directly with a human being. *ne of the most common devices
attached to an controller is an $2 display. Some of the most common $2s
connected to the contollers are )FQ), )F(5 and 5(5 displays. his means )F
characters per line by ) line )F characters per line by 5 lines and 5 characters per line
by 5 lines, respectively.
3any microcontroller devices use Psmart $2P displays to output visual
information. $2 displays designed around $2 @-)F)) module, are
ine(pensive, easy to use, and it is even possible to produce a readout using the
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2ata can be placed at any location on the $2. or )FL) $2, the address
locations are"
Figure 2.14:" Address locations for a )()F line $2
Figure 2.16:2ifferent 3odels of $2
Even limited to character based modules, there is still a wide variety of shapes and siIes
available. $ine lenghs of ,)F,5,5C,=5 and C characters are all standard, in one, two and
four line versions. Several different $ technologies e(ists. %supertwist7 types, for e(ample,
offer !mproved contrast and viewing angle over the older %twisted nematic7 types. Some
modules are available with back lighting, so so that they can be viewed in dimly-lit
conditions. he back lighting may be either %electro-luminescent7, requiring a high voltage
inverter circuit, or simple $E2 illumination.
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2.4.1 PIN DESCRIPTION ' CD:
PIN DESCRIPTIONS:
#hile 6cc R 6ss provide B
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he &84S& bit is used to select whether data or an instruction is being
transferred between the microcontroller and the $2.
!f the 9it is set, then the byte at the current $2 &ursor& /osition can be
reader written. #hen the 9it is reset, either an instruction is being sent to the $2 or the
e(ecution status of the last instruction is read back.
Figure 2.1>: /in 2iagram of $2
CONTRO INES:
EN" $ine is called &Enable.& his control line is used to tell the $2 that you are
sending it data. o send data to the $2, your program should make sure this line is
low 01 and then set the other two control lines and4or put data on the data bus. #hen
the other lines are completely ready, bring E@ high 0)1 and wait for the minimum
amount of time required by the $2 datasheet 0this varies from $2 to $21, and
end by bringing it low 01 again.
RS" $ine is the &8egister Select& line. #hen 8S is low 01, the data is to be treated as
a command or special instruction 0such as clear screen, position cursor, etc.1. #hen
8S is high 0)1, the data being sent is te(t data which sould be displayed on the screen.
or e(ample, to display the letter && on the screen you would set 8S high.
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RW" $ine is the &8ead4#rite& control line. #hen 8# is low 01, the information on
the data bus is being written to the $2. #hen 8# is high 0)1, the program is
effectively querying 0or reading1 the $2. *nly one instruction 0&>et $2 status&1 is
a read command. All others are write commands, so 8# will almost always be low.
inally, the data bus consists of C or lines 0depending on the mode of
operation selected by the user1. !n the case of an -bit data bus, the lines are referred
to as 29, 29), 295, 29=, 29C, 29ear motors are complete motive force systems consisting
of an electric motor and a reduction gear train integrated into one easy-to-mount and
-configure package. his greatly reduces the comple(ity and cost of designing and
constructing power tools, machines and appliances calling for high torque at relativelylow shaft speed or 8/3. >ear motors allow the use of economical low-horsepower
motors to provide great motive force at low speed such as in lifts, winches, medical
tables, :acks and robotics. hey can be large enough to lift a building or small enough
to drive a tiny clock.
.
Figure2.1; :)56 2 >EA8 3**8
=)
http://i.ehow.com/images/a05/24/jr/gear-motor-800X800.jpg -
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Oer")i'( Pri(&i#e
3ost synchronous A electric motors have output ranges of from ),5 to
=,F revolutions per minute. hey also have both normal speed and stall-speed
torque specifications. he reduction gear trains used in gear motors are designed to
reduce the output speed while increasing the torque. he increase in torque is
inversely proportional to the reduction in speed. 8eduction gearing allows small
electric motors to move large driven loads, although more slowly than larger electric
motors. 8eduction gears consist of a small gear driving a larger gear. here may be
several sets of these reduction gear sets in a reduction gear bo(.
>ear" oothed wheel that transmits the turning movement of one shaft to another
shaft. >ear wheels may be used in pairs or in threes if both shafts are to turn in
the same direction. he gear ratio K the ratio of the number of teeth on the two
wheels K determines the torque ratio, the turning force on the output shaft
compared with the turning force on the input shaft. he ratio of the angular
velocities of the shafts is the inverse of the gear ratio.
he common type of gear for parallel shafts is the *ur ge"r, with straightteeth parallel to the shaft a(is. he ,e#i&"# ge"rhas teeth cut along sections of a heli(
or corkscrew shape; the double form of the heli( gear is the most efficient for energy
transfer. Be9e# ge"r*, with tapering teeth set on the base of a cone, are used to connect
intersecting shafts.
Figure2.1@:!nternal structure of 2 >EA8 3**8
=5
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he toothed and interlocking wheels which make up a typical gear movement.
>ear ratio is calculated by dividing the number of teeth on the driver gear by the
number of teeth on the driven gear 0gear ratio G driver4driven1; the idler gears are
ignored. !dler gears change the direction of rotation but do not affect speed. A high
driven to driver ratio 0middle1 is a speed-reducing ratio.
2ifferent gears are used to perform different engineering functions depending
on the change in direction of motion that is needed. 8ack and pinion gears are the
commonest gears and are used in car steering mechanics.
See% Re%u&)i'(
Sometimes the goal of using a gear motor is to reduce the rotating shaft speedof a motor in the device being driven, such as in a small electric clock where
the tiny synchronous motor may be spinning at ),5 rpm but is reduced to
one rpm to drive the second hand, and further reduced in the clock mechanism
to drive the minute and hour hands. +ere the amount of driving force is
irrelevant as long as it is sufficient to overcome the frictional effects of the
clock mechanism.
T'r0ue Mu#)i#i&")i'( Another goal achievable with a gear motor is to use a small motor to generate
a very large force albeit at a low speed. hese applications include the lifting
mechanisms on hospital beds, power recliners, and heavy machine lifts where
the great force at low speed is the goal.
M')'r V"rie)ie*
3ost industrial gear motors are A-powered, fi(ed-speed devices, although
there are fi(ed-gear-ratio, variable-speed motors that provide a greater degreeof control. 2 gear motors are used primarily in automotive applications such
as power winches on trucks, windshield wiper motors and power seat or power
window motors.
M"(+ A#i&")i'(*
#hat power can openers, garage door openers, stair lifts, rotisserie motors,
timer cycle knobs on washing machines, power drills, cake mi(ers and
electromechanical clocks have in common is that they all use various
==
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integrations of gear motors to derive a large force from a relatively small
electric motor at a manageable speed. !n industry, gear motor applications in
:acks, cranes, lifts, clamping, robotics, conveyance and mi(ing are too
numerous to count.
2.> 2@3D IC:
$5=2 is a dual +-bridgemotor driver integrated circuit 0!1. 3otor drivers
act as current amplifiers since they take a low-current control signal and provide a
higher-current signal. his higher current signal is used to drive the motors.
$5=2 contains two inbuilt +-bridge driver circuits. !n its common mode of
operation, two 2 motors can be driven simultaneously, both in forward and reverse
direction. he motor operations of two motors can be controlled by input logic at pins
5 R H and ) R )
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hermal Shutdown R !nternal ES2 /rotection
+igh-@oise-!mmunity !nputs
Dual H-bridge Motor Driver - L293D IC
>enerally, even the simplest robot requires a motor to rotate a wheel or
performs particular action. Since motors require more current then the
microcontroller pin can typically generate, you need some type of a
switch 0ransistors, 3*SE, 8elay etc.,1 which can accept a small
current, amplify it and generate a larger current, which further drives a motor. his
entire process is done by what is known as a motor driver.
3otor driver is basically a current amplifier which takes a low-current signal
from the microcontroller and gives out a proportionally higher current signal which
can control and drive a motor. !n most cases, a transistor can act as a switch and
perform this task which drives the motor in a single direction.
urning a motor *@ and * requires only one switch to control a single
motor in a single direction. #hat if you want your motor to reverse its directionU he
simple answer is to reverse its polarity. his can be achieved by using four switchesthat are arranged in an intelligent manner such that the circuit not only drives the
motor, but also controls its direction. *ut of many, one of the most common and
clever design is a +-bridge circuit where transistors are arranged in a shape that
resembles the English alphabet &+&.
As you can see in the image, the circuit has four switches A, 9, and 2.
urning these switches *@ and * can drive a motor in different ways.
). urning on Switches Aand Dmakes the motor rotate clockwise
5. urning on Switches Band Cmakes the motor rotate anti-clockwise
=. urning on Switches Aand Bwill stop the motor 09rakes1
C. urning off all the switches gives the motor a free wheel drive
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Se&ii&")i'(*
Supply 6oltage 8ange C.
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CHAPTER-3
SOFTWARE TOOS
3.1 S')"re )''#* u*e%
?eil micro vision for writing source code
lash 3agic for dumping the code
Pr'gr"!!i(g "(gu"ge
/rogramming language used in this pro:ect is . is a general purpose
structured programming language that is powerful, efficient and compact. !t has
emerged as the language of choice for most applications due to speed, portability andcompactness of code. he compiler combines the capabilities of an assembler
language with the features of high level language.
is highly portable. his means that programs written for one computer can
be on another with little or no modification. /ortability is important if we plan to use a
new computer with a different operating system.
language is well suited for structured programming thus requiring the user
to think of a problem in terms of function modules and blocks. A proper collection of
these modules make a complete program. his modular structure makes program
debugging, testing and maintenance easier.
Another important feature of is its ability to e(tend itself. A program is
basically a collection of functions that are supported by the library. #e cancontinuously add our own functions to the library. #ith the availability of a large
number of functions, the programming task becomes simple.
3.2 7EI SOFTWARE
GVi*i'(3
O6ision= is an !2E 0!ntegrated 2evelopment Environment1 that helps you write, compile, and
debug embedded programs. !t encapsulates the following components" A pro:ect manager.
=H
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A make facility.
ool configuration.
Editor.
A powerful debugger.o help you get started, several e(ample programs 0located in the C41E"!#e*,
C241E"!#e*, C166E"!#e*, andARM...E"!#e*1 are provided.
HEOis a simple program that prints the string &+ello #orld& using the Serial
!nterface.
Bui#%i(g "( A#i&")i'( i( GVi*i'(2
o build 0compile, assemble, and link1 an application in O6ision5, you must"
). Select /ro:ect - 0for e(ample, 166E?AMPESHEOHEO.UV21.5. Select /ro:ect - 8ebuild all target files or 9uild target.
O6ision5 compiles, assembles, and links the files in your pro:ect.
Cre")i(g Y'ur O( A#i&")i'( i( GVi*i'(2
T' &re")e " (e r'Je&) i( GVi*i'(2 +'u !u*)"
). Select /ro:ect - @ew /ro:ect.
5. Select a directory and enter the name of the pro:ect file.
=. Select /ro:ect - Select 2evice and select an
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2ebug your program using standard options like Step, >o, 9reak, and so on.
S)"r)i(g GVi*i'(2 "(% &re")i(g " Pr'Je&)
O6ision5 is a standard #indows application and started by clicking on the program icon. o
create a new pro:ect file select from the O6ision5 menu
Pr'Je&)K @ew /ro:ectZ. his opens a standard #indows dialog that asks you for the new
pro:ect file name.
#e suggest that you use a separate folder for each pro:ect. Dou can simply use the icon reate
@ew older in this dialog to get a new empty folder. hen select this folder and enter the file
name for the new pro:ect, i.e. /ro:ect).
O6ision5 creates a new pro:ect file with the name /8*[E).'65 which contains a default
target and file group name. Dou can see these names in the /ro:ect
Wi(%' L Fi#e*.
@ow use from the menu /ro:ect K Select 2evice for arget and select a /' for your pro:ect.
he Select 2evice dialog bo( shows the O6ision5 device database. [ust select the
microcontroller you use. #e are using for our e(amples the /hilips
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S)"r) De$uggi(g
Dou start the debug mode of O6ision5 with the 2ebug K Start4Stop 2ebug Session
command. 2epending on the *ptions for arget K 2ebug onfiguration, O6ision5
will load the application program and run the startup code O6ision5 saves the editor
screen layout and restores the screen layout of the last debug session. !f the program
e(ecution stops, O6ision5 opens an editor window with the source te(t or shows /'
instructions in the disassembly window. he ne(t e(ecutable statement is marked with
a yellow arrow. 2uring debugging, most editor features are still available.
Di*"**e!$#+ Wi(%'
he 2isassembly window shows your target program as mi(ed source and assembly
program or :ust assembly code. A trace history of previously e(ecuted instructions
may be displayed with 2ebug K 6iew race 8ecords. o enable the trace history, set
2ebug K Enable42isable race 8ecording.
!f you select the 2isassembly #indow as the active window all program step
commands work on /' instruction level rather than program source lines. Dou can
select a te(t line and set or modify code breakpoints using toolbar buttons or the
conte(t menu commands.
3.2.1 STEPS TO USE 7EI U VISION:
1. lick on the ?eil u6ision !con on 2esktop
2. he following ::fig will appear
C
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3. lick on the /ro:ect menu from the title bar
. hen lick on @ew /ro:ect
4. Save the /ro:ect by typing suitable pro:ect name with no e(tension in u r own
folder sited in either "\ or 2"\
6. hen lick on *"9ebutton above.
C)
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>. Select the component for u r pro:ect. i.e. AtmelZZ
;. lick on the B Symbol beside of Atmel
@. Select A
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11. he ollowing fig will appear
12. hen lick %@*7 for copy of standard code
13. @ow your pro:ect is ready to 'SE
1. @ow double click on the arget), you would get another option %Source group )7
as shown in ne(t page.
C=
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14. lick on the file option from menu bar and select %new7
16. he ne(t screen will be as shown in ne(t page, and :ust ma(imiIe it by double
clicking on its blue boarder.
1>. @ow start writing program in either in %7 or %AS37
CC
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1;. or a program written in Assembly, then save it with e(tension %. asm7 and for
%7 based program save it with e(tension % .7
1@. @ow right click on Source group ) and click on %A%% i#e* )' 8r'u
S'ur&e7
C
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2. @ow you will get another window, on which by default %7 files will
appear.
21. @ow select as per your file e(tension given while saving the file
22. lick only one time on option %ADD7
23. @ow /ress function key H to compile. Any error will appear if so happen.
CF
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2. !f the file contains no error, then press ontrolB< simultaneously.
24. he new window is as follows
26. hen lick %*?7
2>. @ow lick on the /eripherals from menu bar, and check your required port
as shown in fig below
CH
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2;. 2rag the port a side and click in the program file.
2@. @ow keep /ressing function key %))7 slowly and observe.
3. Dou are running your program successfully
3.3 F#"*, M"gi&
I()r'%u&)i'(
lash 3agic is #indows software from the Embedded Systems Academy that
allows easy access to all the !S/ features provided by the devices. hese features
include"
Erasing the lash memory 0individual blocks or the whole device1
/rogramming the lash memory 3odifying the 9oot 6ector and Status 9yte
8eading lash memory
/erforming a blank check on a section of lash memory
8eading the signature bytes
8eading and writing the security bits
2irect load of a new baud rate 0high speed communications1
Sending commands to place device in 9oot loader modelash 3agic provides a clear and simple user interface to these features and more as
described in the following sections. 'nder #indows, only one application may have
access the *3 /ort at any one time, preventing other applications from using the
*3 /ort. lash 3agic only obtains access to the selected *3 /ort when !S/
operations are being performed. his means that other applications that need to use
the *3 /ort, such as debugging tools, may be used while lash 3agic is loaded.
he screenshot of the main lash 3agic window is as shown in the figure. heappearance may differ slightly depending on the device selected. !t contains five
blocks. he five blocks are e(plained as follows"
3.3.1 Fi9e S)e Pr'gr"!!i(g:
S)e 1 L C'((e&)i'( Se))i(g* Select the desired *3 port from the drop down list or
type the desired *3 port directly into the bo(.
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!f you enter the *3 port yourself then you must enter it in one of the following
formats"
*3 n
n
Select the baud rate to connect at. ry a low speed first. he ma(imum speed
that can be used depends on the crystal frequency on your hardware.
Re&'!!e(%")i'(" ry F baud first. !f it does not work or does not work
reliably then try H5 baud.
Select the device being used from the drop down list. Ensure you select the
correct one as different devices have different feature sets and different methods of
setting up the serial communications.
Select the interface being used, if any. An interface is a device that connects
between your / and the target hardware. !f you simply have a serial cable or 'S9 to
serial cable connecting your *3 port to the target hardware, then chooses &@one
0!S/1&. hoosing the correct interface will automatically configure lash 3agic for
that interface, along with enabling and disabling the relevant features.
Enter the oscillator frequency used on the hardware. 2o not round the
frequency, instead enter it as precisely as possible. Some devices do not require the
oscillator frequency to be entered, so this field will not be displayed.
S)e 2 L Er"*i(g
his step is optional, however if you attempt to program the device without
first erasing at least one lash block, then lash 3agic will warn you and ask you if
you are sure you want to program the device. Select each lash block that you wish to
erase by clicking on its name. !f you wish to erase all the lash then check that option.
!f you want to erase a lash block and all the lash then the lash block will
not be erased individually. !f you wish to erase only the lash blocks used by the he(
file you are going to select, then check that option.
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S)e 3 L Se#e&)i(g ),e He Fi#e
his step is optional. !f you do not wish to program a +e( ile then do not
select one. Dou can either enter a path name in the te(t bo( or click on the 9rowse
button to select a +e( ile by browsing to it. Also you can choose *penZ from the
ile menu. @ote that the +e( file is not loaded or cached in any way. his means that
if the +e( ile is modified, you do not have to reselect it in lash 3agic. Every time
the +e( ile is programmed it is first re-read from the location specified in the main
window. his information is updated whenever the he( file is modified.
S)e L O)i'(*
his section is optional, however 6erify After /rogramming, ill 'nused lash and
>en 9lock hecksums may only be used if a +e( ile is selected 0and therefore being
programmed1, as they all need to know either the +e( ile contents or memory
locations used by the +e( ile.
hecking the E(ecute option will cause the downloaded firmware to be e(ecuted
automatically after the programming is complete. @ote that this will not work if using
the +ardware 8eset option or a device that does not support this feature.
S)e 4 L Per'r!i(g ),e Oer")i'(*
licking the Start button will result in all the selected operations in the main
window taking place. hey will be in order"
Erasing lash
/rogramming the +e( ile
6erifying the +e( ile
illing 'nused lash
E(ecuting the firmwar
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CHAPTER-
RESUT ANAYSIS
Figure .1: op 6iew of the 2esigned system
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Figure .2: System when *@ State
Figure .3: System when 3etal 2etected
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CHAPTER-4
CONCUSION
4.1 APPICATIONS
'sed in military applications
'sed in industrial applications
'sed to detect land mines
4.2 CONCUSION
he 3etal 2etection 8obot system is successfully designed and e(ecuted. he
hardware components are selected based on required, it is low cost and easy to use .!tis designed and well tested. he micro controller is programmed efficiently in
Embedded language using ?E!$ 3icro 6ision software. he system is designed to
the level of identifying the metal when the metal is found in front of the metal sensor.
#hen the metal is found it makes the 8obot *, and displays on $2 screen that a
metal is detected.
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CHAPTER-6
BIBIO8RAPHY
WEB SITES:1. ###.3!E$.2AA9**?.*3
2. ###.A3E$.2AA9**?.*3
3. ###.8A@?$!@.*3
. ###.?E!$.*3
REFERENCES:
). &he