Anti Aircraft Missile

-1-
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.

-2-


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).

-3-


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

-4-


BLOCK DIAGRAM OF TRANSMITTER SECTION:

FIG 2.1

POWER SUPPLY UNIT:

FIG 2.2

-5-


RECEIVER SECTION:

FIG :2.3
BLOCK DIAGRAM OF CONTROL SECTION:

FIG 2.4

-6-


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

-7-


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.

-8-


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.

-9-


CHAPTER III
CIRCUIT DIAGRAM

FLIGHT SECTION:

Fig:3.1

-10-


RECEIVER SECTION:

-11-


Driver Circuit
Fig 3.2

-12-


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.

-13-


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 180
0
. 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.

-14-


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 C
i
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.

-15-


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
-16-


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.

-17-


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)

-18-


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.

-19-

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.

-20-


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

-21-


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

-22-


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

-23-


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:

-24-


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

-25-


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.

-26-


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.

-27-


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 <stdio.h>
#include <bios.h>
#include <conio.h>
#include <dos.h>
#include <graphics.h>
#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();

-59-


// gotoxy(2,2);printf("%x %d ",angl, dir);
for(cnt = 0; cnt <= 300 && !kbhit(); cnt++)
{
clr_cnt++;
mont = 0;
scnt = 0;
status = _bios_serialcom(_COM_STATUS, COM1, 0);
if (status & DATA_READY)
if ((out = _bios_serialcom(_COM_RECEIVE, COM1, 0)) >= 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 <= 20; i++)
// circle(maxx/2, maxy/2, i);
setcolor(DARKGRAY);
setcolor(WHITE);
arc(maxx/2, maxy/2, 45, 225, 20);
delay(18);
}
if((scnt == 1) || (scnt == 2))
{
flt = 1;
setcolor(RED);
outtextxy(250,maxy-50,"OBSTACLE
DETECTED");
}
}
bks = prs;
gettime(&tm);
prs = tm.ti_sec;
if(prs != bks)
{
textbackground(RED);

-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);

-63-

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);
setcolor(DARKGRAY);
arc(maxx/2, maxy/2, 45, 225, 130);
for(i = 0; i <= 20; i++)
circle(maxx/2, maxy/2, i);
setcolor(DARKGRAY);
setcolor(WHITE);
arc(maxx/2, maxy/2, 45, 225, 20);

-67-


CHAPTER VII
LIST OF COMPONENTS
ICS
AT89C51 1
AT89C2051 2
LM7805 1
LM358 1
MAX232 1
TRANSISTORS
BC547 11
MOSFETS
IRF540 8
DIODES
IN4007 12
CRYSTAL
11.059MHz 3
RESISTORS
470 8
1K 1
1.2K 8
10K 26
PRESET
10K 1
CAPACITORS
33PF 6
1000F 3
470 F 1
10 F 1
1 F 5
IR TRANSMITTER 2

-68-


IR RECEIVER 1
SLOT SENSOR 2
RF TRANSMITTER 1
RF RECEIVER 1
STEPPER MOTORS 2
TRANSFORMER
9V/1A 1
DB9 CONNECTOR 1
LED 3

-69-


CHAPTER VIII
FABRICATION MODEL

FIG 8.1

-70-


CHAPTER IX
CONCLUSION AND FUTURE SCOPE
CONCLUSIONS:
The conventional war fields are having only manual operations which leads to
human as well as wealth loss.
In this project we have done the following without any human loss.
Detection of Enemy flight
Authentication
Firing
FUTURE SCOPE:
In the future, the gun can be replaced by a GPS guided missile so that the
enemys flight is surely blasted.

-71-


ANNEXURE-A
AT89C51 DATASHEET
ABSOLUTE MAXIMUM RATINGS:

DC CHARACTERISTICS:
The values shown in this table are valid for TA = -40C to 85C and VCC = 4.0V to
5.5V, unless otherwise noted.

Notes: 1. Under steady state (non-transient) conditions, IOL must be externally limited as follows:
Maximum IOL per port pin: 10 mA
Maximum IOL per 8-bit port: Port 0: 26 mA Ports 1, 2, 3: 15 mA
Maximum total IOL for all output pins: 71 mA
If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not guaranteed to
sink current greater than the listed test conditions.
3. Minimum VCC for Power-down is 2V.

-72-


AC CHARACTERISTICS
Under operating conditions, load capacitance for Port 0, ALE/PROG, and
PSEN = 100 pF; load capacitance for all other outputs = 80 pF.
EXTERNAL PROGRAM AND DATA MEMORY CHARACTERISTICS:

-73-


ANNEXURE-B
AT89C2051 DATASHEET

DC CHARACTERISTICS:
TA = -40C to 85C, VCC = 2.7V to 6.0V (unless otherwise noted)

Notes: 1. Under steady state (non-transient) conditions, IOL must be externally limited as follows:
Maximum IOL per port pin: 20 mA Maximum total IOL for all output pins: 80 mA If IOL exceeds the
test condition, VOL may exceed the related specification. Pins are not guaranteed to sink current greater
than the listed test conditions.
2. Minimum VCC for Power-down is 2V.

-74-


ANNEXURE-C
IRF540 DATASHEET
Absolute Maximum Ratings TC = 25
o
C, Unless Otherwise Specified

NOTE: 1. TJ = 25
o
C to TJ = 150
o
C.
ELECTRICAL SPECIFICATIONS: TC = 25
o
C, Unless Otherwise Specified

-75-


BC547 DATASHEET
ABSOLUTE MAXIMUM RATINGS: Ta=25C unless otherwise noted.

ELECTRICAL CHARACTERISTICS: Ta=25C unless otherwise noted.

-76-


ANNEXURE-D
LM358 DATASHEET
ABSOLUTE MAXIMUM RATINGS OVER OPERATING FREE-AIR
TEMPERATURE RANGE:

Notes: 1. All voltage values, except differential voltages and VCC specified for measurement of IOS, are
with respect to the network ground terminal.
2. Differential voltages are at IN+ with respect to IN.
3. Short circuits from outputs to VCC can cause excessive heating and eventual destruction.
4. Maximum power dissipation is a function of TJ(max), JA, and TA. The maximum allowable power
dissipation at any allowable ambient temperature is PD = (TJ(max) TA)/JA. Operating at the absolute
maximum TJ of 150C can affect reliability.
5. The package thermal impedance is calculated in accordance with JESD 51-7.
6. Maximum power dissipation is a function of TJ(max), JC, and TC. The maximum allowable power
dissipation at any allowable case temperature is PD = (TJ(max) TC)/JC. Operating at the absolute
maximum TJ of 150C can affect reliability.
7. The package thermal impedance is calculated in accordance with MIL-STD-883.

-77-


ELECTRICAL CHARACTERISTICS AT SPECIFIED FREE-AIR
TEMPERATURE, VCC = 5 V:

-78-


ANNEXURE-D
MAX232 DATASHEET

ELECTRICAL CHARACTERISTICS:

-79-


ANNEXURE-E
TCST1000 DATASHEET
INPUT (EMITTER):

OUTPUT (DETECTOR):

COUPLER:

ELECTRICAL CHARACTERISTICS (T
amb
=25
o
C):
INPUT (EMITTER):

-80-


OUTPUT (DETECTOR):

COUPLER:

-81-


BIBILIOGRAPHY

The 8051 Microcontroller and Embedded Systems By Muhammad Ali Mazidi
Electronic Devices and Ciruits By Jacob Milliman and Christos C.Halkias
www.datasheetcatalog.com
www.solarbotics.net
www.electronicspoint.com

Anti Aircraft Missile

Загружено:

Сведения о документе

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Anti Aircraft Missile

Загружено:

Авторское право:

Доступные форматы

-1-

ANTI AIRCRAFT MISSILE

Вам также может понравиться