Anti Aircraft Missile

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ANTI AIRCRAFT MISSILE

A.A.N.M. & V.V.R.S.R.POLYTECHNIC, GUDLAVALLERU

CHAPTER I

INTRODUCTION

At the time of world war the military had found difficulties in tracing the

enemies and their activities. This difficulty had lead to the invention of RADAR. To

face new challenges in the present day situation in Military applications unmanned

systems are more accurate, flexible and reliable. One such system is the

MICROCONTROLLER BASED UNMANNED ANTI AIRCRAFT MISSILE

WITH RADAR USING RF IDENTIFICATION.

RADAR (Radio detection and Ranging), a remote detection system, is used to

locate and identify objects. Radar signals bounce off objects in their path and the Radar

system detects the echoes of signals that return. RADAR can determine a number of

properties of a distant object, such as its distance, speed, direction of motion and shape.

It can detect objects out of range of sight and works in all weather conditions, making it

a vital and versatile tool for many industries.

A radar system starts by sending out electromagnetic radiation, called the Signal.

The signal bounces off objects in its path. When the radiation bounces back part of the

signal returns to the Radar system; this echo is called the Return. The Radar system

detects the Return and depending on the sophistication of the system, simply reports the

detection or analyzes the signal for more information.

RFID or Radio Frequency identification is a technology that enables the tracking

or identification of objects using IC based tags with an RF circuit and antenna, and RF

readers that "read" and in some case modify the information stored in the IC memory.

Radio frequency identification (RFID) is a general term that is used to describe a

system that transmits the identity (in the form of a unique serial number) of an object

wirelessly, using radio waves.

RFID technologies are grouped under the more generic Automatic Identification (Auto

ID) technologies.

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The RF tags could be divided in two major groups:

Passive tags: The power to activate the tag microchip is supplied by the reader

through the tag antenna when the tag is in the interrogation zone of the reader, as is the

timing pulse.

Active RFID tags: Active RFID tags have a battery in them and are therefore more

capable in terms of range and data handling.

FREQUENCY USE:

There are four commonly used frequencies:

Low frequency (LF) 125/134.2 kHz

High frequency (HF) 13.56 MHz

Ultra high frequency (UHF) (including 869 and 915 MHz) and

Microwave (at 2450 MHz, a band familiar to ISPs).

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CHAPTER II

BLOCK DIAGRAM

The block diagram and its brief description of the project work are explained in

block wise and this block diagram consists the following blocks.

AT THE TRANSMITTER END:

Code generator

2051 Micro controller

RF transmitter

AT THE RECEIVER END:

RF Receiver

Signal Amplifier

Micro controller unit

Power supply

AT THE CONTROL UNIT:

Micro controller unit

Motor driver

Stepper Motors

Firing indicator

RADAR

Gun

RS232 driver &pin

PC

Accessories

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BLOCK DIAGRAM OF TRANSMITTER SECTION:

FIG 2.1

POWER SUPPLY UNIT:

FIG 2.2

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RECEIVER SECTION:

FIG :2.3

BLOCK DIAGRAM OF CONTROL SECTION:

FIG 2.4

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DESCRIPTION OF BLOCK DIAGRAM

TRANSMITTER UNIT:

RF TRANSMITTER:

This block generates a continuous frequency of 100MHz, which is used to form

a permanent link between the transmitter and receiver, and this is known as carrier

frequency. The output serial port is fed to this RF radio transmitter. This is a frequency

modulated radio transmitter. The radiating power of the transmitter is 20mw, and it is

designed using 2N3904 high frequency switching transistor.

RECEIVER UNIT:

POWER SUPPLY:

Power supply unit provides +5V regulated power to the system. It consists of two

parts Rectifier and Monolithic IC voltage regulators. Here the step down transformer of

voltage ratio 230V/9-0-9V steps down 230VAC primary to 909V secondary and

gives the secondary current up to 500mA, to the Rectifier. The output voltage of the

rectifier then regulated to +5V using LM7805.

RF RECEIVER:

The RF receiver is designed with IC CXA1619BM/BS, which is AM/RF Radio

receiver IC, operates at a local oscillator of 88 - 108MHz and is tuned with the

transmitter. This IC consists of built in RF amplifier, a double balanced mixer, local

oscillator, a two stage IF amplifier, a quadrature demodulator for a ceramic filter and an

automatic frequency control. The built in RF amplifier, a part from the amplification of

received RF signal, it also reduces the Noise figure, which could other wise be a

problem because of the large band widths needed for RF. It also matches the input

impedance of the radio receiver with the antenna.

SIGNAL AMPLIFIER: Here a differential amplifier in series with a voltage follower

constructed by using a Darlington pair. amplified to TTL level for follower

constructed

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DESCRIPTION OF CONTROL SECTION:

MICRO CONTROLLER UNIT:

The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with

4K bytes of Flash programmable and erasable read only memory (EPROM). The device

is manufactured using Atmels high-density nonvolatile memory technology and is

compatible with the industry-standard MCS-51 instruction set and pinout. The on-chip

Flash allows the program memory to be reprogrammed in-system or by a conventional

nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a

monolithic chip, the Atmel AT89C51 is a powerful microcomputer which provides a

highly-flexible and cost-effective solution to many embedded control applications.

FEATURES:

Compatible with MCS-51 Products

4K Bytes of In-System Reprogrammable Flash Memory

. Endurance: 1,000 Write/Erase Cycles

Fully Static Operation: 0 Hz to 24 MHz

Three-level Program Memory Lock

128 x 8-bit Internal RAM

32 Programmable I/O Lines

Two 16-bit Timer/Counters

Six Interrupt Sources

Programmable Serial Channel

Low-power Idle and Power-down Modes

PC BLOCK:

The PC is having various I/O peripherals such as parallel port, serial (COM)

port,

USB port, modems etc. For our project we have taken serial (COM) port because in

monoplex mode of communication, only one wire is sufficient. Here we can transmit

single wire information, so we have chosen this port.

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A ninepin D type connector is placed at the rear panel of the PC through which

we take data using an interfacing cable. For taking commands and transmitting the data,

C language is used. A user friendly menu is created for better operation

RS232:

The MAX232 family of line drivers/receivers is intended for all EIA/TIA-232E

and V.28/V.24 communications interfaces particularly applications where 12V is not

available. These parts are especially useful in battery-powered systems, since their low-

power shutdown mode reduces power dissipation to less than 5W. the features of these

I.C. are Superior to Bipolar, Operate from Single +5V Power Supply, Meet All

EIA/TIA-232E and V.28 Specifications, Multiple Drivers and Receivers, 2-State Driver

and Receiver Outputs.

MOTOR DRIVER:

For driving of motor coils, we used IRF540 MOSFET, which are having low on-

state resistance so that the dissipation is less, fast switching and low thermal resistance.

This MOSFET is driven by BC547 transistor. For each motor four MOSFET sections

are required.

MOTORS:

Unipolar stepper motors are used for moving the vehicle, because the driving

circuit is simpler and yet it works well. It consists four windings and there are two

driving methods are there. One is full step and other is half step. Full step moves 1.8

and half step moves 0.9. The torque for full step driving is more compared to half step

driving.

FIRING INDICATOR:

A red LED is used along with a buzzer, which is driven using BC547 transistors.

Whenever a fire command given, LED blinks once and buzzer beeps.

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CHAPTER III

CIRCUIT DIAGRAM

FLIGHT SECTION:

Fig:3.1

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RECEIVER SECTION:

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Driver Circuit

Fig 3.2

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CHAPTER IV

PRINCIPLE OF OPERATION

In this system we are simulating the RADAR function with optical beam. We

are providing an IR transmitter and receiver in place of RF transmitter and receiver. If

any object, reflecting the IR rays back to receiver can be detected. The IR transmitter

and receiver are placed on a rotating antenna to detect angle of the object. And we are

placing an Rfid tags at each plane of our origin. A gun is placed along with radar. If our

flight passes in front of radar, it sends its address through Rfid tag. The Rfid reader

reads this code and sends to micro controller. If the code is matched, the gun will not

fire. If some other planes pass, they are not able to produce the code, so as a result the

gun aims at that plane and blasts it. LED and buzzer are interfaced to simulate firing.

The scanning process can be seen in PC.

A micro controller is used to supervise all these functions. All the peripherals

like, stepper motor, RS232, IR transmitter and receiver, RF transmitter and receiver are

interfaced to micro controller. Micro controller rotates the stepper motor in specified

angles and gets the feed back from IR receiver in that position. This information is sent

to PC via serial port to indicate the object at that particular angle in the monitor. Then

another micro controller reads the RF digital code and sends the status to PC. If that

code is not matched, PC sends back signal to micro controller to blast it. Then micro

controller rotates the gun using another stepper motor and fires.

RF receiver receives the signals using single Arial and gives demodulated o/p.

This o/p signal is further conditioned using LM358 op-amp. The o/p of the receiver is

very low, so its level is amplified using a Darlington pair. The o/p is fed to micro

controller (AT89C51). The micro controller receives the serial data and accordingly

drives the stepper motors and buzzer. Here we used uni-polar stepper motors, which

will have four windings. Each winding is driven with MOSFET (IRF540) for better

switching and lesser power dissipation. BC547 transistors are used to drive the

MOSFET, because controller o/p is in the range of +5V and MOSFET is operating in

the range of +12V. Full step mode is used for driving the stepper motor. In this mode,

the rotating angle per step is 1.8 and torque is high.

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CHAPTER V

DESCRIPTION OF MAIN COMPONENTS

POWER SUPPLY:

Fig 5.1Power supply

Power supply unit provides 5V regulates power supply to the systems. It

consists of two parts namely,

1. Rectifier

2. Monolithic voltage regulator

Rectifier:

Here the step down transformer 230-0v/9-0-9 and gives the secondary current up to

500mA, to the Rectifier. The Transformer secondary is provided with a center tap.

Hence the voltage V1 and V2 are equal and are having a phase difference of 1800. So it

is anode of Diode D1 is positive with respect to the center tap, the anode of the other

diode d2 will be negative with respect to the center tap. During the positive half cycle

of the supply D1 conducts and current flows through the center tap D1 and load.

During this period D2 will not conduct as its anode is at a negative potential. During

the negative half cycle of the supply voltage, the voltage on the diode D2 will be

positive and hence D2 conducts. The current flows through the transformer winding,

Diode D2 and load. It is to be noted that the current i1 and i2 are flowing in the same

direction in load.

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The average of the two current i1 and i2 flows through the load producing a voltage

drop, which is the D.C. output voltage of the rectifier. Using capacitor filters the ripple

in the out waveform can be minimized. The voltage can be regulated by using

monolithic IC voltage regulators.

Monolithic IC voltage regulator:

A voltage regulator is a circuit that supplies a constant voltage regardless of

changes in load currents. Although voltage regulators can be designed using op-amps, it

is quicker and easier to use IC voltage regulators. Furthermore, IC voltage regulators are

versatile and relatively inexpensive and are available with features such as

programmable output, current/voltage boosting, internal short-circuit current limiting,

thermal shutdown and floating operation for high voltage applications.

Here we are using 7800 series voltage regulators. The 7800 series consists of 3-

terminal +ve voltage regulators with seven voltage options. These ICs are designed as

fixed voltage regulators and with adequate heat sinking can deliver output currents in

excess of 1A. Although these devices do not require external components, such

components can be used to obtain adjustable voltages and currents. For proper operation

a common ground between input and output voltages is required. In addition, the

difference between input and output voltages (Vi Vo) called drop out voltage, must be

typically 1.5V even during the low point as the input ripple voltage. Further more, the

capacitor Ci is required if the regulator is located an appreciable distance from a power

supply filter. Even though Co is not needed, it may be used to improve the transient

response of the regulator.

Line regulation is defined as the change in output voltage for a change in the

input voltage and is usually expressed in milli volts or as a percentage of Vo.

Temperature stability or average temperature coefficient of output voltage (TCVo) is

the change in output voltage per unit change in temperature and is expressed in either

milli volts/C or parts per million (PPM/C). Ripple rejection is the measure of a

regulators ability to reject ripple voltage. It is usually expressed in decibels. The

smaller the values of line regulation, load regulation and temperature stability the better

the regulation.

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8 BIT MICROCONTROLLERS - AT89C51

The Micro controller is used for interface with FM receiver and stepper motors

and it gives proper stepping pulses for vehicle movements, by receiving serial data from

FM receiver.

INTRODUCTION:

Looking back into the history of microcomputers, one would at first come across

the development of microprocessor i.e. the processing element, and later on the

peripheral devices. The three basic elements-the CPU, I/O devices and memory-have

developed in distinct directions. While the CPU has been the proprietary item, the

memory devices fall into general-purpose category and the I/O devices may be grouped

somewhere in-between.

The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer

with 4K bytes of Flash programmable and erasable read only memory (PEROM). The

device is manufactured using Atmels high-density nonvolatile memory technology and

is compatible with the industry-standard MCS-51 instruction set and pinout. The on-

chip Flash allows the program memory to be reprogrammed in-system or by a

conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU

with Flash on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer,

which provides a highly flexible and cost-effective solution to many embedded control

applications.

The AT89C51 provides for 4k EPROM/ROM, 128 byte RAM and 32 I/O lines.

It also includes a universal asynchronous receive-transmit (UART) device, two 16-bit

timer/counters and elaborate interrupt logic. Lack of multiply and divide instructions

which had been always felt in 8-bit microprocessors/micro controllers, has also been

taken care of in the 89C51- Thus the 89C51 may be called nearly equivalent of the

following devices on a single chip: 8085 + 8255 + 8251 + 8253 + 2764 + 6116.

In short, the AT89C51 has the following on-chip facilities:

4k ROM (EPROM on 8751)

128 byte RAM32 input-output port lines

Two, 16-bit timer/counters

Six interrupt sources and

On-chip clock oscillator and power on reset circuitry

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INTERNAL BLOCK DIAGRAM:

Fig 5.2 AT89S51 internal block diagram

SALIENT FEATURES:

The 89C51 can be configured to bypass the internal 4 k ROM and run solely

with external program memory.

For this, its external access (EA) pin has to be grounded, which makes it

equivalent to 8031. The program store enable (PSEN) signal acts as read pulse for

program memory. The data memory is external only and a separate RD* signal is

available for reading its contents.

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Use of external memory requires that three of its 8-bit ports (out of four) are

configured to provide data/address multiplexed bus. Hi address bus and control signals

related to external memory use. The RXD and TXD ports of UART also appear on pins

10 and 11 of 8051 and 8031, respectively. The UART utilizes one of the internal timers

for generation of baud rate. The crystal used for generation of CPU clock has therefore

to be chosen carefully. The 11.0596 MHz crystals; available abundantly, can provide a

baud rate of 9600.

The 256-byte address space is utilized by the internal RAM and special function

registers (SFRs) array which is separate from external data RAM space of 64k. The 00-

7F space is occupied by the RAM and the 80 - FF space by the SFRs. The 128 byte

internal RAM has been utilized in the following fashion:

00-1F: Used for four banks of eight registers of 8-bit each. The four banks may be

selected by software any time during the program.

20-2F: The 16 bytes may be used as 128 bits of individually addressable locations.

These are extremely useful for bit oriented programs.

30- 7F: This area is used for temporary storage, pointers and stack. On reset, the stack

starts at 08 and gets incremented during use.The list of special function registers along

with their hex addresses is given:

Addr

.

Port/Register

80 P0 (Port 0)

81 SP (stack pointer)

82 DPH (data pointer High)

83 DPL (data pointer Low)

88 TCON (timer control)

89 TMOD (timer mode)

8A TLO (timer 0 low byte)

8B TL1 (timer 1 low byte)

8C TH0 (timer 0 high byte)

8D TH1 (timer 1 high byte)

90 P1 (port 1)

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98 SCON (serial control)

99 SBUF (serial buffer)

A0 P2 (port 2)

A8 Interrupt enable (IE)

B0 P3 (port 3)

B8 Interrupt priority (IP)

D0 Processor status word (PSW)

E0 Accumulator (ACC)

F0 B register

AT89C51 SFR

AT89C51 SERIAL PORT PINS:

PIN ALTERNATE USE SFR

P3.ORXD Serial data input SBUF

P3.ITXD Serial data output SBUF

P3.2INTO External interrupt 0 TCON-1

P3.3INT1 External interrupt 1 TCON- 2

P3.4TO External timer 0 input TMOD

P3.5T1 External timer 1 input TMOD

P3.6WR External memory write

pulse

---------

P3.7RD External memory read

pulse

----

AT89C51 serial port pins

The two internal timers are wired to the system clock and prescaling factor is

decided by the software, apart from the count stored in the two bytes of the timer

control registers. One of the counters, as mentioned earlier, is used for generation of

baud rate clock for the UART. It would be of interest to know that the 8052 have a third

timer, which is usually used for generation of baud rate.

The reset input is normally low and taking it high resets the micro controller, in

the present hardware, a separate CMOS circuit has been used for generation of reset

signal so that it could be used to drive external devices as well.

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WRITING THE SOFTWARE:

The 89C51 has been specifically developed for control applications. As

mentioned earlier, out of the 128 bytes of internal RAM, 16 bytes have been organized

in such a way that all the 128 bits associated with this group may be accessed bit wise to

facilitate their use for bit set/reset/test applications. These are therefore extremely useful

for programs involving individual logical operations. One can easily give example of

lift for one such application where each one of the floors, door condition, etc may be

depicted by a single hit.

The 89C51 has instructions for bit manipulation and testing. Apart from these, it

has 8-bit multiply and divide instructions, which may be used with advantage. The

89C51 has short branch instructions for 'within page' and conditional jumps, short jumps

and calls within 2k memory space which are very convenient, and as such the controller

seems to favor programs which are less than 2k byte long.

Some versions of 8751 EPROM devices have a security bit which can be

programmed to lock the device and then the contents of internal program EPROM

cannot be read.

The device has to be erased in full for further alteration, and thus it can only be

reused but not copied. EEPROM and FLASH memory versions of the device are also

available now.

Memory consists of all memory locations, and addressing is nothing but

selecting one of them. This means that we need to select the desired memory location on

one hand, and on the other hand we need to wait for the contents of that location.

Besides reading from a memory location, memory must also provide for writing onto it.

This is done by supplying an additional line, called control line. We will designate this

line as R/W (read/write). Control line is used in the following way: if r/w=1, reading is

done, and if opposite is true then writing is done on the memory location.

Registers are the memory locations whose role is to help with performing

various mathematical operations or any other operations with data wherever data can be

found. We have two independent entities (memory and CPU), which are interconnected,

and thus any exchange of data is hindered, as well as its functionality. If, for example,

we wish to add the contents of two memory locations and return the result again back to

memory, we would need a connection between memory and CPU. Simply stated, we

must have some way through data goes from one block to another.

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That way is called bus. Physically, it represents a group of 8, 16, or more

wires. There are two types of buses: address and data bus. The first one consists of as

many lines as the amount of memory we wish to address and the other one is as wide as

data, in our case 8 bits or the connection line. First one serves to transmit address from

CPU memory, and the second to connect all blocks inside the micro controller.

Those locations weve just added are called ports. There are several types of

ports: input, output or bi-directional ports. When working with ports, first of all it is

necessary to choose which port we need to work with, and then to send data to, or take it

from the port. When working with it the port acts like a memory location.

Something is simply being written into or read from it, and it could be noticed on the

pins of the micro-controller.

AT89C2051 MICROCONTROLLER

The AT89C2051 is a low-voltage, high-performance CMOS 8-bit

microcomputer with 2K bytes of Flash programmable and erasable read-only memory

(PEROM). The device is manufactured using Atmels high-density nonvolatile memory

technology and is compatible with the industry-standard MCS-51 instruction set. By

combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel

AT89C2051 is a powerful microcomputer which provides a highly-flexible and cost-

effective solution to many embedded control applications.

The AT89C2051 provides the following standard features:

2K bytes of Flash

128 bytes of RAM

15 I/O lines

Two 16-bit timer/counters

A five vector two-level interrupt architecture

A full duplex serial port

A precision analog comparator

On-chip oscillator and clock circuitry

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In addition, the AT89C2051 is designed with static logic for operation down to

zero frequency and supports two software selectable power saving modes. The Idle

Mode stops the CPU while allowing the RAM, timer/counters, serial port and interrupt

system to continue functioning. The power-down mode saves the RAM contents but

freezes the oscillator disabling all other chip functions until the next hardware reset.

INTERNAL BLOCK DIAGRAM:

FIG 5.3 AT89C2051 internal block diagram

SALIENT FEATURES:

Compatible with MCS-51Products

2K Bytes of Reprogrammable Flash Memory

Endurance: 10,000 Write/Erase Cycles

2.7V to 6V Operating Range

Fully Static Operation: 0 Hz to 24 MHz

Two-level Program Memory Lock

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128 x 8-bit Internal RAM

15 Programmable I/O Lines

Two 16-bit Timer/Counters

Programmable Serial UART Channel

Direct LED Drive Outputs

On-chip Analog Comparator

Low-power Idle and Power-down Modes

Addr

.

Port/Register

81 SP (stack pointer)

82 DPL (data pointer Low)

83 DPH (data pointer High)

87 PCON

88 TCON (timer control)

89 TMOD (timer mode)

8A TLO (timer 0 low byte)

8B TL1 (timer 1 low byte)

8C TH0 (timer 0 high byte)

8D TH1 (timer 1 high byte)

90 P1 (port 1)

98 SCON (serial control)

99 SBUF (serial buffer)

A8 IE(Interrupt enable)

B0 P3 (port 3)

B8 IP(Interrupt priority)

D0 PSW(Processor status word)

E0 ACC(Accumulator)

F0 B register

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AT89C2051 SERIAL PORT PINS:

PIN ALTERNATE USE SFR

P3.0RXD Serial data input SBUF

P3.ITXD Serial data output SBUF

P3.2INTO External interrupt 0 TCON-1

P3.3INT1 External interrupt 1 TCON- 2

P3.4TO External timer 0 input TMOD

P3.5T1 External timer 1 input TMOD

RF TRANSMITTER

This block generates a continuous frequency of 100MHz, which is used to form

a permanent link between the transmitter and receiver, and this is known as carrier

frequency. The output of serial port is fed to this RF radio transmitter. This is a

frequency modulated radio transmitter. The radiating power of the transmitter is

20mw, and it is designed using BC 494 B high frequency switching transistor.

The instantaneous frequency of the carrier is varied directly in accordance with

the base band signal by means of a device known as VCO (Voltage Controlled

Oscillator) one of implementing such a device is to use to sinusoidal oscillator having a

relatively high-Q frequency. Determining Network and to control the oscillator by

symmetrical incremental variation of the reactive components. Thus the serial data is

modulated at 100MHz carrier.

PIN DIAGRAM:

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FEATURES:

433.92 MHz Frequency

Low Cost

1.5-12V operation

11mA current consumption at 3V 4 dBm output power at 3V

APPLICATIONS:

Remote Lighting Controls

Wireless Alarm and Security Systems

Long Range RFID

Automated Resource Management

RF RECEIVER

The RF receiver is designed with IC TEA5710, which is AM/RF Radio receiver

IC, operates at a local oscillator of 88 - 108MHz and is tuned with the transmitter. This

IC consists of built in RF amplifier, a double balanced mixer, local oscillator, a two

stage IF amplifier, a quadrature demodulator and an automatic frequency control. The

built in RF amplifier, apart from the amplification of received RF signal reduces the

Noise figure, which could other wise be a problem because of the large band widths

needed for RF.

This radio receiver is used as a RF detector and limiter with minimum of

external components. This IC includes cascaded stages of IF limiting and balanced

product detector with a very low Harmonic distortion and high IF voltage gain.

The RF receiver that operates at 100MHz will have an IF of 10.7 MHz and

bandwidth of 200KHz.

PIN DIAGRAM

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FEATURES:

Low Cost

5V operation

Receiver Frequency: 433.92 MHZ

IF Frequency: 1MHz

APPLICATIONS:

Car security system

Sensor reporting

Automation system

Remote Lighting Controls

STEPPER MOTOR DRIVES

Fig 5.4 Stepper motor drive circuit

When the output of the controller is high, the base current I flows in to base of

the transistor, thus providing voltage drop more then 0.7V across the Ve junction, thus

the transistor goes in to saturation mode. So the Ic is maximum and the voltage drop

across the Vce junction is zero. I.e. the input to MOSFET is zero. So the MOSFET will

not conduct and stepper motor coil will not energize.

If the output of the controller is low, the base current I is zero, thus providing

voltage drop less then 0.1V across the Ve junction, thus the transistor goes in to cut-off

mode. So the Ic is minimum and the voltage drop across the Vce junction is maximum.

I.e. the input to MOSFET is almost Vcc. So the MOSFET will conduct and stepper

motor coil get energized.

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STEPPER MOTORS

INTRODUCTION:

Stepper Motors have several features which distinguish them from AC Motors,

and DC Servo Motors.

Brushless - Steppers are brush less Motors with contact brushes create sparks,

undesirable in certain environments. (Space missions, for example.)

Holding Torque - Steppers have very good low speed and holding torque.

Steppers are usually rated in terms of their holding force (oz/in) and can even hold a

position (to a lesser degree) without power applied, using magnetic 'detent' torque.

Open loop positioning - Perhaps the most valuable and interesting feature of a

stepper is the ability to position the shaft in fine predictable increments, without need to

query the motor as to its position. Steppers can run 'open-loop' without the need for any

kind of encoder to determine the shaft position. Closed loop systems- systems that feed

back position information, are known as servo systems. Compared to servos, steppers

are very easy to control, the position of the shaft is guaranteed as long as the torque of

the motor is sufficient for the load, under all its operating conditions.

Load Independent - The rotation speed of a stepper is independent of load,

provided it has sufficient torque to overcome slipping. The higher rpm a stepper motor

is driven, the more torque it needs, so all steppers eventually poop out at some rpm and

start slipping. Slipping is usually a disaster for steppers, because the position of the

shaft becomes unknown. For this reason, software usually keeps the stepping rate

within a maximum top rate. In applications where a known RPM is needed under a

varying load, steppers can be very handy.

TYPES OF STEPPERS:

Stepper Motors come in a variety of sizes, and strengths, from tiny floppy disk

motors, to huge machinery steppers rated over 1000 oz in. There are two basic types of

steppers-- bipolar and unipolar. The bipolar stepper has 4 wires have 5, 6 or 8 wires.

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MOTOR BASICS:

The Unipolar Stepper motor has 2 coils, simple lengths of wound wire. The

coils are identical and are not electrically connected. Each coil has a center tap - a wire

coming out from the coil that is midway in length between its two terminals. You can

identify the separate coils by touching the terminal wires together-- If the terminals of a

coil are connected, the shaft becomes harder to turn. Because of the long length of the

wound wire, it has a significant resistance (and inductance). The resistance from a

terminal to the center tap is half the resistance from the two terminals of a coil. Coil

resistance of half a coil is usually stamped on the motor; For example, '5 ohms/phase'

indicates the resistance from center tap to either terminal of a coil. The resistance from

terminal to terminal should be 10 ohms.

FIG 5.5 Stepper motor coil diagram

MOTOR CONTROL CIRCUITRY:

FIG 5.6 Magnetic field diagram

Current flowing through a coil produces a magnet field which attracts a

permanent magnet rotor which is connected to the shaft of the motor. The basic

principle of stepper control is to reverse the direction of current through the 2 coils of a

stepper motor, in sequence, in order to influence the rotor.

-28-



Since there are 2 coils and 2 directions, that gives us a possible 4-phase

sequence. All we need to do is get the sequencing right and the motor will turn

continuously. You may wonder how the stepper can achieve such fine stepping

increments with only a 4-phase sequence. The internal arrangement of the motor is quite

complex- the winding and core repeating around the perimeter of the motor many times.

The rotor is advanced only a small angle either forward or reverse, and the 4-phase

sequence is repeated many times before a complete revolution occurs.

FIG 5.7 Stepper motor basic control diagram

Let us return to the 4-phase sequence of reversing the current though the 2 coils.

A Bipolar stepper controller achieves the current reversal by reversing the polarity at the

two terminals of a coil. The Unipolar controller takes advantage of the center tap to

achieve the current reversal with a clever trick -- The Center tap is tied to the positive

supply, and one of the 2 terminals is grounded to get the current flowing one direction.

The other terminal is grounded to reverse the current. Current can thus flow in both

directions, but only half coils are energized at a time. Both terminals are never

grounded at the same time, which would energize both coils, achieving nothing but a

waste of power.

CONCEPTUAL MODEL OF UNIPOLAR STEPPER MOTOR:

-29-



With center taps of the windings wired to the positive supply, the terminals of

each winding are grounded, in sequence, to attract the rotor, which is indicated by the

arrow in the picture. (Remember that a current through a coil produces a magnetic

field.) This conceptual diagram depicts a 90-degree step per phase.

In a basic "Wave Drive" clockwise sequence, winding 1a is de-activated and

winding 2a activated to advance to the next phase. The rotor is guided in this manner

from one winding to the next, producing a continuous cycle. Note that if two adjacent

windings are activated, the rotor is attracted mid-way between the two windings.

The following table describes 3 useful stepping sequences and their relative

merits. The sequence pattern is represented with 4 bits; a '1' indicates an energized

winding. After the last step in each sequence the sequence repeats. Stepping backwards

through the sequence reverses the direction of the motor.

Table of Stepping Sequences:

Sequence Name Description

0001

0010

0100

1000

Wave

Drive,

One-

Phase

Consumes the least power. Only one phase is

energized at a time. Assures positional accuracy

regardless of any winding imbalance in the motor.

0011

0110

1100

1001

Hi-

Torque,

Two-

Phase

Hi Torque - This sequence energizes two adjacent

phases, which offers an improved torque-speed

product and greater holding torque.

0001

0011

0010

0110

0100

1100

1000

1001

Half-

Step

Half Step - Effectively doubles the stepping

resolution of the motor, but the torque is not

uniform for each step. (Since we are effectively

switching between Wave Drive and Hi-Torque

with each step, torque alternates each step.) This

sequence reduces motor resonance, which can

sometimes cause a motor to stall at a particular

resonant frequency. Note that this sequence is 8

steps.

-30-



IDENTIFYING STEPPER MOTORS:

F15 5.8 Stepper motor identification diagram

Stepper motors have numerous wires, 4, 5, 6, or 8. When you turn the shaft you

will usually feel a "notched" movement. Motors with 4 wires are probably bipolar

motors and will not work with a Unipolar control circuit. The most common

configurations are pictured above. You can use an ohm-meter to find the center tap -

the resistance between the center and a leg is 1/2 that from leg to leg. Measuring from

one coil to the other will show an open circuit, since the 2 coils are not connected.

(Notice that if you touch all the wires together, with power off, the shaft is difficult to

turn!)

SHORTCUT FOR FINDING THE PROPER WIRING SEQUENCE:

Connect the center tap(s) to the power source (or current-Limiting resistor.)

Connect the remaining 4 wires in any pattern. If it doesn't work, you only need try these

2 swaps...

1 2 4 8 - arbitrary first wiring order

1 2 8 4 - switch end pair

1 8 2 4 - switch middle pair

If the motor turns in the opposite direction from desired, reverse the wires so

that ABCD would become DCBA.

-31-



HEAT CONSIDERATIONS:

Over-heating can be an early indicator of a problem or need for additional heat

sinking. This is true of both the controller and motors. Components can be warm to the

touch, but not so hot that you can't leave your finger on them for a few seconds.

Motors are designed to be mounted in such a way that, heat is drawn away from

the motors. This is usually accomplished with a metal mounting bracket. Motors that

are not yet mounted may require some type of temporary heat sinking. Motors heat

more running at the LOW speeds or in Hold Mode.

If a component or motor is running too hot, try using the Wave Drive stepping

mode only, if it still runs too hot, try heat sinking, and/or a fan. If it still runs too hot,

something is wrong.

FIRING INDICATOR

FIG 5.9 Firing indicator circuit diagram

The fire signal from micro controller is a pulse output of 1sec. i.e. the output is

high for 1sec. When the output of the controller is high, the base current I flows in to

base of the transistor, thus providing voltage drop more then 0.7V across the Ve

junction, thus the transistor goes in to saturation mode. So the Ic is maximum and the

LED will glow and simultaneously, buzzer gives a beep sound.

-32-



IR TRANSMITTER AND RECEIVER

FIG 5.10

Infrared transmitter is one type of LED which emits infrared rays generally

called IR Transmitter. Similarly IR Receiver is used to receive the IR rays transmitted

by the IR transmitter. One important point is both IR transmitter and receiver should be

placed straight line to each other.

IR transmitter is used to release the IR light rays. These rays are collected by IR

receiver. The IR receiver is connected with comparator. The comparator is constructed

with LM358 operational amplifier. In the comparator circuit the reference voltage is

given to non-inverting input terminal. The inverting terminal s connected to IR receiver.

When any interrupt the IR rays between the IR transmitter and receiver, the IR receiver

is not conducting. So the comparator inverting input voltage is higher then non-

inverting input. So it sends an active low pulse to the MCU. When there is vehicle in

between transmitter and receiver, IR rays are collected by receiver.

In the first stage of LM358, the output of the op-amp is connected directly to

inverting input so that it acts as a voltage follower or buffer. This will prevent any

loading of signal by the next stage.

In the second stage a variable voltage reference is connected to non-inverting

input and signal is connected to inverting input. If the signal is lower then the reference

the output will go high (+5V), or if the signal is higher then the reference then the

output goes low (0V). Normally the signal level will be 2V for low and 2.5V for high.

After comparator the output will be 0V for high input and +5Vfor low input i.e. the

level is converted.

-33-



PC INTERFACE SECTION

RS-232 Connecter diagram

The above shown connector known as 9-pin, D-type male connector used for

RS232 connections. The pin description is given in the following table.

Pin

number

Comm

on

Name

RS23

2

name

Description Sign

al

dire

ctio

n

1 /CD CF Received line signal

detector

IN

2 RXD BB Received data IN

3 TXD BA Transmitted data OU

T

4 /DTR CD Data terminal ready OU

T

5 GND AB Signal ground --

6 /DSR CC Data set ready IN

7 /RTS CA Request to send OU

T

8 /CTS CB Clear to send IN

9 -- CE Ring indicator IN

RS-232 pin details

1 2

3

4 5

6

7 8

9

-34-



We cannot simply connect our system to this terminal with out providing proper

hand shaking signal. For communicating with RS-232 type equipment, the /RTS of the

connector is simply looped into the /CTS, so /CTS will automatically be asserted when

/RTS is asserted internally. Similarly the /DTR is looped into /DSR and /CD, so when

PC asserts its /DTR output the /DSR and /CD inputs are automatically be asserted. They

are necessary to get the PC and our system talk each other. The connection diagram is

shown below.

The MAX232 I.C convert input TTL level into RS-232C standard level and

connected to PC through 9-pin D-type connector. Now discuss about standards of

RS232 and Serial communication through RS232 .

MAX232 CIRCUIT DIAGRAM:

FIG 5.11 RS-232 Circuit diagram

-35-



RS-232 logic levels are indicated by positive and negative voltages, rather than

by the positive-only signals of 5V TTL and CMOS logic. At an RS-232 data output

(TD), a logic 0 is defined as equal to or more positive than +5V, and a logic 1 is defined

as equal to as or more negative than 5V. In other words, the signals use negative logic,

where the more negative voltage is logic 1.

RS-232 interface chips invert the signals. According to the standard, the logic

level of an input between 3V and +3V is undefined.

-36-



CHAPTER VI

SOFTWARE IMPLEMENTATION

ASSEMBLY PROGRAM:

MASTER:

;---------------------------------------------------------------------------------------------------------

--

;>

;> TITLE : RADAR SIMILATION WITH OPTICAL SENSOR

;> TARGET : AT89C51

;> VERSION : VER-01

;> STARTED : 05-03-2005

;>

;---------------------------------------------------------------------------------------------------------

;>

;> INCLUDES :

$MOD51

;>

;---------------------------------------------------------------------------------------------------------

;>

;> HARD WARE DETAILS :

;> RADAR MOTOR CONTROL - P0.0 TO P0.3

;> GUN MOTOR CONTROL - P0.4 TO P0.7

;> COMMUNICATION O.K. IND - P1.0

COK BIT P1.0

;> I.R.FEED BACK - P2.6

IRF BIT P2.6

;> CODE MATCH INPUT - P1.7

CMI BIT P1.7

;> ANTENNA HOME SENSOR - P2.7

AHS BIT P2.7

-37-



;> GUN HOME SENSOR - P2.5

GHS BIT P2.5

;> FIRING CONTROL - P3.7

FNC BIT P3.7

;> FIRING CONTROL - P3.6

FNC1 BIT P3.6

;> SLAVE RESET CONTROL - P3.4

SRST BIT P3.4

;>

;---------------------------------------------------------------------------------------------------------

;>

;> FLAGS :

KEY_RLS BIT 00H

MOT_DIR BIT 01H

SEND_ANG BIT 02H

ENEMY BIT 03H

ABS_LOCK BIT 04H

ZERO_LOCK BIT 05H

;>

;---------------------------------------------------------------------------------------------------------

;>

;> VARIABLES :

STEP_CNT DATA 30H

MOT_FB DATA 32H

RAD_CNTL DATA 33H

RAD_CNTH DATA 34H

GUN_CNTL DATA 35H

GUN_CNTH DATA 36H

ABS_CNTL DATA 37H

ABS_CNTH DATA 38H

STEP_CNTG DATA 39H

-38-



P2_BUF DATA 3AH

ROT_CNT1 DATA 3BH

ROT_CNT2 DATA 3CH

;>

;---------------------------------------------------------------------------------------------------------

;>

;> VECTOR ADDRESESS:

ORG 0000H

ljmp INITIALISATION

ORG 000BH

reti

ORG 0023H ; serial interrupt

; push ACC

push PSW

jbc RI, RECEIVE_DATA

ajmp SKIP_CHKS

RECEIVE_DATA:

cpl COK

mov MOT_FB, SBUF

setb SEND_ANG

SKIP_CHKS:

pop PSW

; pop ACC

reti

;>

;---------------------------------------------------------------------------------------------------------

-39-



INITIALISATION:

mov P0, #0FFH

mov P1, #0FFH

mov P2, #0FFH

mov P3, #0FFH

mov SP, #65H

mov DPTR, #0400H

mov TMOD, #21H

anl pcon, #7fh ; set smod

mov th1, #0FDh ; set TH1 for 9600 rate.

mov scon, #050h ; set MODE 3, REN, TB8, TI. Clr SM2.

mov IE, #90H

setb TR1

mov STEP_CNT, #00h

mov STEP_CNTG, #00h

clr MOT_DIR

clr ABS_LOCK

clr ZERO_LOCK

mov ABS_CNTH, #00H

mov ABS_CNTL, #00H

mov GUN_CNTL, #00H

mov GUN_CNTH, #00H

mov RAD_CNTL, #00H

mov RAD_CNTH, #00H

mov ROT_CNT2, #00H

mov ROT_CNT1, #00H

lcall BRING_HOME

orl P2_BUF, #0F0H

lcall BRING_HOME_GUN

orl P2_BUF, #0FFH

-40-



mov P0, P2_BUF

clr SRST

mov SBUF, #0AAH

CHAN0: jnb TI, CHAN0

clr TI

;>

;---------------------------------------------------------------------------------------------------------

;>

MAIN:

jb IRF, ON_IR_IND

clr P3.5

ON_IR_IND:

jnb IRF, OFF_IR_IND

setb P3.5

OFF_IR_IND:

; jnb SEND_ANG, MAIN

; clr SEND_ANG

inc ROT_CNT1

mov A, ROT_CNT1

cjne A, #00H, SKIP_CY_CNT

inc ROT_CNT2

mov A, ROT_CNT2

SKIP_CY_CNT:

mov A, ROT_CNT2

cjne A, #01H, CP_REV_CNT1

mov A, ROT_CNT1

cjne A, #2CH, CP_REV_CNT1

-41-



CP_REV_CNT1:

jc CP_REV_CNT

jnb MOT_DIR, CP_REV_CNT2

lcall BRING_HOME

clr ENEMY

setb FNC

setb FNC1

CP_REV_CNT2:

cpl MOT_DIR

mov ROT_CNT2, #00H

mov ROT_CNT1, #00H

CP_REV_CNT:

jb MOT_DIR, MOVE_MOT_FD

lcall MOVE_FRWD

lcall DLY2

inc RAD_CNTL

mov A, RAD_CNTL

cjne A, #00H, MOVE_MOT_FD

inc RAD_CNTH

MOVE_MOT_FD:

jnb MOT_DIR, MOVE_MOT_BD

lcall MOVE_REV

lcall DLY2

dec RAD_CNTL

mov A, RAD_CNTL

cjne A, #0FFH, MOVE_MOT_BD1

dec RAD_CNTH

MOVE_MOT_BD1:

mov A, RAD_CNTH

-42-



cjne A, #0FFH, MOVE_MOT_BD

mov A, RAD_CNTL

cjne A, #0FFH, MOVE_MOT_BD

mov RAD_CNTL, #00H

mov RAD_CNTH, #00H

MOVE_MOT_BD:

; mov A, MOT_FB

; cjne A, #0BBH, MOVE_MOT_HM

; mov MOT_FB, #00H

; lcall BRING_HOME

; mov RAD_CNTL, #00H

; mov RAD_CNTH, #00H

;MOVE_MOT_HM:

; mov A, MOT_FB

; cjne A, #0CCH, STOP_FIRING

; mov MOT_FB, #00H

; clr ENEMY

; setb FNC

; setb FNC1

;STOP_FIRING:

mov A, GUN_CNTH

cjne A, ABS_CNTH, DONT_FIRE_GUN

mov A, GUN_CNTL

cjne A, ABS_CNTL, DONT_FIRE_GUN

orl P2_BUF, #0FH

orl P0, #0FH

jnb ENEMY, DONT_FIRE_ON

cpl FNC

cpl FNC1

-43-



DONT_FIRE_ON:

ljmp DONT_SEND_INF

DONT_FIRE_GUN:

jc MOVE_GUN_FOR

jnc MOVE_GUN_REV

MOVE_GUN_FOR:

setb FNC

setb FNC1

lcall MOVE_G_FRWD

inc GUN_CNTL

mov A, GUN_CNTL

cjne A, #00H, MOVE_GUN_REV1

inc GUN_CNTH

MOVE_GUN_REV1:

ljmp DONT_SEND_INF

MOVE_GUN_REV:

setb FNC

setb FNC1

lcall MOVE_G_REV

dec GUN_CNTL

mov A, GUN_CNTL

cjne A, #0FFH, DEC_GUN_CNT1

dec GUN_CNTH

DEC_GUN_CNT1:

mov A, GUN_CNTH

cjne A, #0FFH, DONT_SEND_INF

mov A, GUN_CNTL

cjne A, #0FFH, DONT_SEND_INF

mov GUN_CNTL, #00H

mov GUN_CNTH, #00H

-44-



DONT_SEND_INF:

jb ABS_LOCK, RESET_GUN

mov A, ABS_CNTH

cjne A, #00H, RESET_GUN

mov A, ABS_CNTL

cjne A, #00H, RESET_GUN

setb ABS_LOCK

lcall BRING_HOME_GUN

orl P2_BUF, #0FH

mov P1, P2_BUF

mov GUN_CNTL, #00H

mov GUN_CNTH, #00H

RESET_GUN:

jb IRF, SEND_NO_INT

cpl P1.4

jb CMI, LOAD_ENEMY

setb ENEMY

mov ABS_CNTL, RAD_CNTL

mov ABS_CNTH, RAD_CNTH

clr ABS_LOCK

mov A, #06H

mov C, MOT_DIR

mov ACC.7, C

mov SBUF, A

LOAD_ENEMY:

jnb CMI, LOAD_FRIEND

clr ENEMY

mov A, #05H

mov C, MOT_DIR

-45-



mov ACC.7, C

mov SBUF, A

LOAD_FRIEND:


clr TI

SEND_NO_INT:

jnb IRF, SEND_INT

cpl P1.4

mov A, #01H

mov C, MOT_DIR

mov ACC.7, C

mov SBUF, A


clr TI

SEND_INT:

lcall DLY3

ljmp MAIN

;>

;---------------------------------------------------------------------------------------------------------

;>

MOVE_FRWD:

mov DPTR, #STEP_RUN

mov A, STEP_CNT

movc A, @A+dptr

mov P2_BUF, P0

anl P2_BUF, #0FH

orl P2_BUF, A

mov P0, P2_BUF

inc STEP_CNT

-46-



mov A, STEP_CNT

cjne A, #08h, NOTCH1

mov STEP_CNT, #00h

NOTCH1:

lcall DLY1

ret

;>

;---------------------------------------------------------------------------------------------------------

;>

MOVE_REV:

mov DPTR, #STEP_RUN

mov A, STEP_CNT

movc A, @A+dptr

mov P2_BUF, P0

anl P2_BUF, #0FH

orl P2_BUF, A

mov P0, P2_BUF

dec STEP_CNT

mov A, STEP_CNT

cjne A, #0FFh, NOTCH2

mov STEP_CNT, #07h

NOTCH2:

lcall DLY1

ret

;>

;---------------------------------------------------------------------------------------------------------

;>

BRING_HOME:

mov DPTR, #STEP_RUN

mov A, STEP_CNT

-47-



movc A, @A+dptr

mov P2_BUF, P0

anl P2_BUF, #0FH

orl P2_BUF, A

mov P0, P2_BUF

dec STEP_CNT

mov A, STEP_CNT


mov STEP_CNT, #07h

NOTCH3:

lcall DLY2

jnb AHS, BRING_HOME

mov STEP_CNT, #00h

ret

;>

;---------------------------------------------------------------------------------------------------------

;>

MOVE_G_FRWD:

mov DPTR, #STEP_GUN

mov A, STEP_CNTG

movc A, @A+dptr

mov P2_BUF, P0

anl P2_BUF, #0F0H

orl P2_BUF, A

mov P0, P2_BUF

inc STEP_CNTG

mov A, STEP_CNTG

cjne A, #08h, NOTCH4

mov STEP_CNTG, #00h

-48-



NOTCH4:

lcall DLY1

ret

;>

;---------------------------------------------------------------------------------------------------------

;>

MOVE_G_REV:

mov DPTR, #STEP_GUN

mov A, STEP_CNTG

movc A, @A+dptr

mov P2_BUF, P0

anl P2_BUF, #0F0H

orl P2_BUF, A

mov P0, P2_BUF

dec STEP_CNTG

mov A, STEP_CNTG


mov STEP_CNTG, #07h

NOTCH5:

lcall DLY1

ret

;>

;---------------------------------------------------------------------------------------------------------

;>

BRING_HOME_GUN:

mov DPTR, #STEP_GUN

mov A, STEP_CNTG

movc A, @A+dptr

mov P2_BUF, P0

anl P2_BUF, #0F0H

-49-



orl P2_BUF, A

mov P0, P2_BUF

dec STEP_CNTG

mov A, STEP_CNTG


mov STEP_CNTG, #07h

NOTCH6:

lcall DLY2

jnb GHS, BRING_HOME_GUN

mov STEP_CNTG, #00h

ret

;>

;---------------------------------------------------------------------------------------------------------

;>

DLY1:

mov r4, #02h

GONE1: mov r5, #02h

OUT1: mov r6, #10h

IN1: djnz r6, IN1

djnz r5, OUT1

djnz r4, GONE1

RET

DLY2:

mov r4, #05h

GONE2: mov r5, #07h

OUT2: mov r6, #00h

IN2: djnz r6, IN2

djnz r5, OUT2

djnz r4, GONE2

RET

-50-



DLY3:

mov r4, #02h

GONE3: mov r5, #04h

OUT3: mov r6, #0B0h

IN3: djnz r6, IN3

djnz r5, OUT3

djnz r4, GONE3

RET

;>

;---------------------------------------------------------------------------------------------------------

--

ORG 0400H

STEP_RUN:

db 090H

db 010H

db 050H

db 040H

db 060H

db 020H

db 0A0H

db 080H

STEP_GUN:

db 09H

db 01H

db 05H

db 04H

db 06H

db 02H

db 0AH

db 08H

END

-51-



RFID TRANSMITTER:

;---------------------------------------------------------------------------------------------------------

;>

;> TITLE : RFID TAG

;> TARGET : AT89C2051

;> STARTED : 18-06-2009

;>

;---------------------------------------------------------------------------------------------------------

;>

;> INCLUDES :

$MOD51

;>

;---------------------------------------------------------------------------------------------------------

;>


ORG 0000H

ljmp RESET

ORG 0023H

RETI

;>

;---------------------------------------------------------------------------------------------------------

;>

RESET:

mov P3, #0FFH

mov P1, #0FFH

mov sp, #65H ; init stack pointer

anl PCON, #7FH ; CLR SMOD BIT

mov TMOD, #21H ; TIMER 1 IN MODE 2

mov TH1, #0E8H ; SET BAUD RATE AS 1200

mov SCON, #50H

; SERIAL MODE 1 AND RECEIVE ENABLE

-52-



mov IE, #90H ; ENABLE SERIAL INTERRUPT

setb TR1 ; RUN TIMER 1

;>

;---------------------------------------------------------------------------------------------------------

;>

MAIN:

cpl P3.2

mov SBUF, #055H


clr TI

lcall SERL_DLY1

mov SBUF, #055H


clr TI

lcall SERL_DLY1

mov SBUF, #0AAH ; AA IS HEADER


clr TI

lcall SERL_DLY1

mov A, P1

mov SBUF, A


clr TI

lcall SERL_DLY1

mov A, P1

xrl A, #0AAH

mov SBUF, A

-53-




clr TI

lcall SERL_DLY1

ljmp MAIN

;>

;---------------------------------------------------------------------------------------------------------

--

;>

SERL_DLY1:

mov R6, #05H

SOUT1: mov R7, #00H

SIN1: djnz R7, SIN1

djnz R6, SOUT1

RET

;>

;---------------------------------------------------------------------------------------------------------

--

;>

END

RFID RECEIVER:

;---------------------------------------------------------------------------------------------------------

;>

;> TITLE : Radar with RFid

;> TARGET : AT89C2051

;> STARTED : 24-12-2005

;>

;---------------------------------------------------------------------------------------------------------

;>

;> INCLUDES :

$MOD51

;>

;---------------------------------------------------------------------------------------------------------

-54-



;>

;> FLAGS :

;>

;---------------------------------------------------------------------------------------------------------

;>

;> VARIABLES :

COMMD DATA 30H

CHK_SUM DATA 31H

TMP_VAL DATA 32H

SERL_CNT DATA 33H

;>

;---------------------------------------------------------------------------------------------------------

;>


ORG 0000H

ljmp RESET

ORG 000BH ; TIMER 0 interrupt

push ACC

push PSW

inc SERL_CNT

mov A, SERL_CNT

cjne A, #30D, RESET_CNT

mov SERL_CNT, #00H

mov COMMD, #0FFH

RESET_CNT:

pop PSW

pop ACC

reti

ORG 0023H ; serial interrupt

push ACC

push PSW

-55-



cpl P3.5

jbc RI, RECEIVE_DATA

ajmp SKIP_CHKS

RECEIVE_DATA:

mov A, SBUF

cjne A, #055H, CHEK_NEXT0

mov R0, #00H

ljmp SKIP_CHKS

CHEK_NEXT0:

cjne A, #0AAH, CHEK_NEXT1

clr P3.4

mov R0, #01H

ljmp SKIP_CHKS

CHEK_NEXT1:

cjne R0, #01H, CHEK_NEXT2

mov R0, #02H

mov TMP_VAL, A

ljmp SKIP_CHKS

CHEK_NEXT2:

cjne R0, #02H, SKIP_CHKS

mov R0, #00H

mov CHK_SUM, A

mov A, #0AAH

xrl A, TMP_VAL

cjne A, CHK_SUM, SKIP_CHKS

mov SERL_CNT, #00H

mov COMMD, TMP_VAL

setb P3.4

SKIP_CHKS:

pop PSW

-56-



pop ACC

reti

;>

;---------------------------------------------------------------------------------------------------------

;>

RESET:

mov P1, #0FFH ; move all ports HIGH

mov P3, #0FFH

anl PCON, #7FH

mov SCON, #50H

mov TMOD, #21H

mov IE, #92H

mov TH1, #0F4H

mov TH0, #00H

mov TL0, #00H

setb TR1

setb TR0

mov SERL_CNT, #00H

;>

;---------------------------------------------------------------------------------------------------------

;>

MAIN:

cpl P3.7

mov A, COMMD

anl A, #0F0H

swap A

cjne A, #05H, CODE_COMP

CODE_COMP:

jc CODE_NOT_OK

-57-



clr P3.2

clr P3.3

ljmp MAIN

CODE_NOT_OK:

setb P1.2

setb P1.3

ljmp MAIN

;>

;---------------------------------------------------------------------------------------------------------

--

;>

end

C PROGRAM:

#include

#include

#include

#include

#include

#define COM1 0

#define DATA_READY 0x100

#define TRUE 1

#define FALSE 0

#define SETTINGS (_COM_9600 | _COM_NOPARITY | _COM_STOP1 |

_COM_CHR8)

void screen(); /* DISPLAYS RECTANGLES AND LETTERS*/

char ch;

int maxx,maxy;

int i;

int main(void)

-58-



{

int in, out, status = 0, send;

int bks, prs;

int cnt, flt;

int angl = 300, dir = 0;

int scnt = 0, mont, clr_cnt = 0;

struct arccoordstype arcinfo;

struct arccoordstype arcinfo1;

struct time tm;

char string[5];

int errorcode;

int gdriver=DETECT, gmode;

initgraph(&gdriver, &gmode, "C:\\TC\\BGI");

errorcode = graphresult();

if (errorcode != grOk)

{

printf("Graphics error: %s\n", grapherrormsg(errorcode));

printf("Press any key to halt:");

getch();

exit(1); /* terminate with an error code */

}

maxx = getmaxx();

maxy = getmaxy();

screen();

_bios_serialcom(_COM_INIT, COM1, SETTINGS);

_bios_serialcom(_COM_SEND, COM1, 0xFF);

while(!kbhit())

{

flushall();

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// gotoxy(2,2);printf("%x %d ",angl, dir);

for(cnt = 0; cnt = 0)

{

if((out & 0x0F) == 0x05)scnt = 1;

if((out & 0x0F) == 0x06)scnt = 2;

if((out & 0x0F) == 0x01)scnt = 0;

if((out & 0xF0) == 0x00)dir = 0;

if((out & 0xF0) == 0x80)dir = 1;

// gotoxy(1,1);printf("%x ",out);

if(dir == 0)

{

mont = 1;

angl++;

if(angl == 361)angl = 0;

if(angl == 241){dir = 1;delay(500);break;}

setcolor(LIGHTGRAY);

arc(maxx/2, maxy/2, angl, angl + 1, 125);

getarccoords(&arcinfo);

setcolor(BLUE);

line(maxx/2, maxy/2, arcinfo.xstart, arcinfo.ystart);


arc(maxx/2, maxy/2, angl - 1, angl, 125);


arc(maxx/2, maxy/2, angl - 1, angl, 100);

-60-



getarccoords(&arcinfo1);



if(scnt == 2)setcolor(LIGHTRED);

if(scnt == 1)setcolor(LIGHTGREEN);

line(arcinfo1.xstart, arcinfo1.ystart, arcinfo.xstart,

arcinfo.ystart);


setcolor(DARKGRAY);

circle(maxx/2, maxy/2, 20);

setcolor(WHITE);

arc(maxx/2, maxy/2, 45, 225, 20);

delay(20);

}

if(dir == 1)

{

mont = 1;

angl--;

if(angl == -1)angl = 360;

if(angl == 299){dir =

0;_bios_serialcom(_COM_SEND, COM1, 0xBB);delay(500);flt = 0;break;}


arc(maxx/2, maxy/2, angl, angl - 1, 125);


setcolor(BLUE);



arc(maxx/2, maxy/2, angl + 1, angl, 125);


arc(maxx/2, maxy/2, angl + 1, angl, 100);

-61-



getarccoords(&arcinfo1);



if(scnt == 2)setcolor(LIGHTRED);

if(scnt == 1)setcolor(LIGHTGREEN);

line(arcinfo1.xstart, arcinfo1.ystart, arcinfo.xstart,

arcinfo.ystart);


// for(i = 0; i

-62-



sprintf(string, "%2d:%02d:%02d",tm.ti_hour, tm.ti_min, tm.ti_sec);


bar(27,maxy-64,maxx-427,maxy-27);

setcolor(RED);

settextstyle(0,0,2);

outtextxy(50,maxy-50,string);

if(flt == 0)

{


bar(238,maxy-65,maxx-25,maxy-25);

}

}

}

flushall();

if (kbhit())if (getch() == '\x1B')break;

}

return 0;

}

void screen()

{

cleardevice();

setfillstyle(SOLID_FILL,LIGHTGRAY);

bar(1,1,maxx,maxy);

setcolor(WHITE);

rectangle(2,2,maxx,maxy);

setcolor(DARKGRAY);

line(1,maxy,maxx,maxy);

line(maxx,1,maxx,maxy);

setcolor(BLUE);

rectangle(1,1,maxx-1,maxy-1);

setcolor(DARKGRAY);

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line(1,maxy,maxx,maxy);

line(maxx,1,maxx,maxy);

//BORDER

setcolor(DARKGRAY);


setcolor(WHITE);

line(13,maxy-13,maxx-13,maxy-13);

line(maxx-13,13,maxx-13,maxy-13);

setcolor(BLACK);


setcolor(BLACK);

line(15,15,maxx-15,15);

//HEADING

setcolor(WHITE);

rectangle(15,16,maxx-15,77);

setcolor(DARKGRAY);

line(15,77,maxx-15,77);

line(maxx-15,16,maxx-15,77);

setcolor(DARKGRAY);

line(15,78,maxx-16,78);

line(maxx-15,16,maxx-15,78);

setcolor(BLACK);

line(15,79,maxx-15,79);

setcolor(WHITE);


setcolor(DARKGRAY);



//MAIN WINDOW

setcolor(DARKGRAY);


setcolor(WHITE);

-64-





setcolor(WHITE);


setcolor(DARKGRAY);



setcolor(BLACK);


//STATUS BAR

setcolor(DARKGRAY);

rectangle(235,maxy-68,maxx-22,maxy-22);

setcolor(WHITE);


line(maxx-22,maxy-68,maxx-22,maxy-22);

setcolor(WHITE);


setcolor(DARKGRAY);



setcolor(BLACK);


//TIME BAR

setcolor(DARKGRAY);


setcolor(WHITE);



setcolor(WHITE);


-65-



setcolor(DARKGRAY);



setcolor(BLACK);



setcolor(DARKGRAY);

// multx = 2; divx = 1; /* 2:1 */

// multy = 3; divy = 2; /* 3:2 */

// setusercharsize(int 2, int 1, int 3, int 2);

// setusercharsize(int div2 , int 1, int 3, int 1);

// setusercharsize(3,1,3,2);

outtextxy(23,36," UNMANNED ANTI AIR CRAFT MISSLE ");

setcolor(WHITE);

outtextxy(20,33," UNMANNED ANTI AIR CRAFT MISSLE ");

// setcolor(11);

// outtextxy(17,28," UNMANNED ANTI AIR CRAFT MISSLE ");

setcolor(DARKGRAY);


setcolor(DARKGRAY);

line(385, 355, 393, 372);

line(maxx/2 +135, maxy/2 , maxx/2 +150, maxy/2);

line(maxx/2 +70, 125 , maxx/2 +80, 110);

line(maxx/2 -62, 120 , maxx/2 -70, 105);

line(maxx/2 -135, maxy/2 , maxx/2 -150, maxy/2);

line(252, 355, 244, 373);

outtextxy(395,375,"0");

outtextxy(maxx/2 +160, maxy/2 - 5,"60");

outtextxy(maxx/2 +90, 95,"120");

outtextxy(maxx/2 -125, 95,"180");

-66-



outtextxy(105, maxy/2 - 5,"240");

outtextxy(maxx/2 -125, 375,"300");

setcolor(WHITE);

line(386, 356, 394, 373);

line(maxx/2 +136, maxy/2+1 , maxx/2 +151, maxy/2+1);

line(maxx/2 +71, 126 , maxx/2 +81, 111);

line(maxx/2 -61, 121 , maxx/2 -69, 106);

line(maxx/2 -134, maxy/2+1 , maxx/2 -149, maxy/2+1);

line(253, 356, 245, 374);

outtextxy(396,376,"0");

outtextxy(maxx/2 +161, maxy/2 - 4,"60");

outtextxy(maxx/2 +91, 96,"120");

outtextxy(maxx/2 -124, 96,"180");

outtextxy(106, maxy/2 - 4,"240");

outtextxy(maxx/2 -124, 376,"300");

setcolor(WHITE);

circle(maxx/2, maxy/2, 130);

setcolor(DARKGRAY);

arc(maxx/2, maxy/2, 45, 225, 130);


for(i = 0; i

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CHAPTER VII

LIST

Documents

Anti Aircraft Missile