Task 1

Title:
Analysis of the ATmega328 Microcontroller for Embedded Applications

1. Introduction
Purpose: This report provides an in-depth analysis of the ATmega328 microcontroller,
highlighting its hardware interfaces and software architecture.
Scope: Includes detailed descriptions of hardware interfaces, a critical evaluation of
the software architecture, and its application in embedded systems.

2. Hardware Interfaces
Overview: The ATmega328 is an 8-bit microcontroller from Atmel (now part of Microchip
Technology) with a variety of interfaces for versatile applications.

- GPIO (General-Purpose Input/Output)

- Description: Digital pins used for input and output operations.
- Configuration: Configurable as input, output, or alternate functions.
- Applications: Connecting sensors, LEDs, and other digital devices.

- USART (Universal Synchronous/Asynchronous Receiver/Transmitter):

- Description: Serial communication interface supporting both asynchronous and
synchronous modes.
- Configuration: Allows for serial data transmission and reception.
- Applications: Communication with other microcontrollers or serial devices.

- SPI (Serial Peripheral Interface):

- Description: A synchronous serial communication protocol used for high-speed data
exchange.
- Configuration: Includes MOSI (Master Out Slave In), MISO (Master In Slave Out), SCK
(Serial Clock), and SS (Slave Select) lines.
- Applications: Interfacing with peripherals like sensors and memory chips.

- I2C (Inter-Integrated Circuit):

- Description: A two-wire serial bus interface for connecting low-speed peripherals.
- Configuration: Uses SDA (Serial Data) and SCL (Serial Clock) lines.
- Applications: Connecting devices such as EEPROMs, RTCs, and sensors.
 - ADC (Analog-to-Digital Converter):
- Description: Converts analog signals to digital values.
- Configuration: 10-bit resolution with multiple input channels.
- Applications: Reading analog sensors and converting their outputs.

3. Software Architecture

- Overview: The software architecture of the ATmega328 is designed to facilitate a range of

embedded applications through its efficient subsystems and libraries.

- AVR Libc:
- Description: A standard library for AVR microcontrollers that provides functions for
handling hardware.
- Characteristics: Includes functions for GPIO manipulation, ADC, timers, and
communication interfaces.
- Evaluation: Simplifies development and abstraction of hardware-specific operations.

- Arduino Platform:
- Description: A widely-used open-source electronics platform that provides a simplified
programming environment for ATmega328.
- Characteristics: Includes an easy-to-use IDE and a rich set of libraries.
- Evaluation: Streamlines development for rapid prototyping and hobbyist projects.

- Interrupt Handling:
- Description: Mechanisms for handling asynchronous events.
- Characteristics: Allows for efficient event-driven programming.
- Evaluation: Enhances responsiveness and real-time performance of applications.

- Timers and Counters:

- Description: Built-in timers and counters for time-based operations.
- Characteristics: Supports various modes such as PWM (Pulse Width Modulation) and CTC
(Clear Timer on Compare Match).
- Evaluation: Essential for tasks requiring precise timing and signal generation.

4. Application Example

- Application: Simple Temperature Monitoring System.

 - Hardware Setup: Uses the ADC to read data from a temperature sensor.
- Software Implementation: Code to read analog values, convert to temperature, and output
data via USART.

5. Conclusion

- Summary: The ATmega328 microcontroller provides a versatile set of hardware interfaces

and a flexible software architecture, making it suitable for various embedded applications.
- Future Work: Exploring additional peripherals and advanced software features for more
complex applications.

6. Bibliography

- [1] Atmel, "ATmega328P Datasheet", [Online]. Available: https://www.microchip.com

- [2] Atmel, "AVR® 8-bit Microcontroller with 32K/16K/8K Bytes In-System Programmable
Flash", [Online]. Available: https://www.microchip.com
- [3] Arduino, "Arduino Software Reference", [Online]. Available: https://www.arduino.cc

Part 2
Design Report: Mobile Robot for Line Following Application

1. Introduction

This report presents a comprehensive design for a mobile robot equipped with an ATmega328
microcontroller, specifically for a line-following application. The goal is to create a robot that
can autonomously follow a line path on a surface using sensors and basic motor control.

2. Specifications, Features, and Functions

2.1. Specifications

- Microcontroller: ATmega328
- Power Supply: 7.4V rechargeable Li-ion battery
- Motor: DC motors with encoders
- Sensors: Infrared (IR) line sensors
- Communication Interface: UART for debugging

2.2. Features

- Autonomous Navigation: The robot follows a black line on a white surface.

- Speed Control: Adjustable speed via PWM (Pulse Width Modulation).
- Obstacle Avoidance: Basic algorithm to stop or reverse if an obstacle is detected.
- Real-time Feedback: UART for sending data to a PC for debugging.

2.3. Functions

- Line Detection: Uses IR sensors to detect the line and adjust the direction.
- Motor Control: Adjusts the motor speeds to keep the robot following the line.
- Direction Control: Turns left or right based on line position relative to the sensors.

3. Pin Assignments for Inputs and Outputs

Component Pin on ATmega328 Function

 IR Sensors Analog pins A0, A1 Line detection (input)
Left Motor Digital pins 3, 5 Motor control (PWM output)
Right Motor Digital pins 6, 9 Motor control (PWM output)
Encoder A Digital pin 2 Encoder signal (input)
Encoder B Digital pin 4 Encoder signal (input)
UART TX/RX Digital pins 0, 1 Serial communication
(TX/RX)
Power VCC, GND Power supply

4. Circuitry, Sensors, and Actuators Design

4.1. Circuit Design

- Power Supply: Connect the 7.4V battery to the power input of the ATmega328 and motor
driver.
- Motor Driver: Use an H-bridge motor driver (e.g., L298N) to control the DC motors. Connect
the control pins of the motor driver to the PWM pins on the ATmega328.
- IR Sensors: Connect the IR sensors' outputs to the analog input pins of the ATmega328. The
sensors should be placed in front of the robot for line detection.
- Encoders: Connect the encoder signals to digital interrupt pins for tracking wheel rotation.

4.2. Sensor Layout

- IR Sensors: Position two IR sensors at the front of the robot, spaced apart to detect line
position.
- Encoders: Attach encoders to the motor shafts to monitor the rotation and speed.

4.3. Actuators

- DC Motors: Use two DC motors for driving the robot, each connected to the motor driver to
control the speed and direction.

4.4. Design Schematic

- Power Circuit: Battery -> Voltage Regulator -> ATmega328 and Motor Driver.
- Motor Control: ATmega328 PWM Pins -> Motor Driver -> DC Motors.
- Sensor Input: IR Sensors -> Analog Pins on ATmega328.
- Encoder Input: Encoders -> Digital Interrupt Pins on ATmega328.
- Communication: UART TX/RX -> PC for debugging.
5. Application and Evaluation

5.1. Physical Testing

- Test Setup: Place the robot on a test track with a defined black line on a white surface.
- Functionality Check: Verify if the robot can follow the line consistently. Adjust PID
(Proportional-Integral-Derivative) parameters in the software for better line-following
performance.
- Obstacle Avoidance: Introduce obstacles and check if the robot stops or reverses
appropriately.

5.2. Evaluation

- Performance: Assess the robot's speed, accuracy in line following, and responsiveness to
direction changes.
- Reliability: Ensure the robot operates consistently over different test runs and under various
conditions.

6. Adaptations and Development for Commercial Solution

6.1. Prototype Adaptations

- Improved Sensors: Upgrade IR sensors to more sensitive ones for better line detection.
- Motor Enhancements: Use higher torque motors for better control and handling.

6.2. Commercial Development

- Design Optimization: Refine the mechanical design for durability and ease of assembly.
- Cost Analysis: Evaluate the cost of components and consider bulk purchasing for cost
reduction.
- Certification: Ensure the design meets relevant safety and quality standards.

6.3. Final Product Features

- Enhanced Control: Implement advanced algorithms for smoother navigation.

- User Interface: Develop a mobile app or PC software for easier configuration and monitoring.

7. Conclusion
This report outlines the design and implementation of a line-following robot using the
ATmega328 microcontroller. The design includes essential components like IR sensors, DC
motors, and a motor driver. The robot's performance was evaluated in a physical context, and
potential adaptations for commercial development were discussed.

8. Bibliography

- [1] Atmel, "ATmega328P Datasheet", [Online]. Available: https://www.microchip.com

- [2] L298N Motor Driver Datasheet, [Online]. Available: https://www.st.com
- [3] Arduino, "Arduino Reference", [Online]. Available: https://www.arduino.cc

Part 3
Software Code/Design Report: Line Following Mobile Robot

1. Introduction

This report details the software code and design for a line-following mobile robot utilizing the
ATmega328 microcontroller. The robot’s primary function is to autonomously follow a black
line on a white surface using IR sensors. The software is designed to interface with the
hardware components and manage the robot's movement based on sensor input.

2. Code Implementation

2.1. Hardware Interface Overview

- IR Sensors: Connected to analog pins A0 and A1.

- Motors: Controlled via PWM on digital pins 3 and 5 (left motor), and pins 6 and 9 (right
motor).
- Encoders: Connected to digital interrupt pins 2 and 4.
- UART: For debugging purposes, connected to digital pins 0 (RX) and 1 (TX).

2.2. Software Code

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>

// Motor control pins

#define LEFT_MOTOR_PWM 3
#define RIGHT_MOTOR_PWM 5
#define LEFT_MOTOR_DIR 4
#define RIGHT_MOTOR_DIR 7

// Sensor input pins

#define LEFT_SENSOR_PIN A0
#define RIGHT_SENSOR_PIN A1

// Function prototypes
void setup();
void read_sensors(uint8_t *left_sensor, uint8_t *right_sensor);
void set_motor_speed(uint8_t left_speed, uint8_t right_speed);
void stop_motors();
void forward();
void turn_left();
void turn_right();

int main(void) {
setup();
uint8_t left_sensor, right_sensor;

while (1) {
read_sensors(&left_sensor, &right_sensor);

if (left_sensor && right_sensor) {

forward(); // Both sensors on the line
} else if (!left_sensor && right_sensor) {
turn_right(); // Only right sensor on the line
} else if (left_sensor && !right_sensor) {
turn_left(); // Only left sensor on the line
} else {
stop_motors(); // No line detected
}

_delay_ms(100); // Small delay to stabilize readings

}
}

void setup() {
// Set motor control pins as output
DDRB |= (1 << LEFT_MOTOR_PWM) | (1 << RIGHT_MOTOR_PWM) | (1 <<
LEFT_MOTOR_DIR) | (1 << RIGHT_MOTOR_DIR);
// Set sensor pins as input
DDRC &= ~(1 << LEFT_SENSOR_PIN) & ~(1 << RIGHT_SENSOR_PIN);

// Initialize ADC
ADMUX = (1 << REFS0); // AVcc with external capacitor at AREF pin
 ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0); // Enable ADC and set prescaler to
8

// Initialize UART for debugging

// (Assuming a baud rate of 9600 and 8N1 configuration)
UBRR0H = 0;
UBRR0L = 103; // For 9600 baud rate
UCSR0B = (1 << TXEN0) | (1 << RXEN0);
}

void read_sensors(uint8_t *left_sensor, uint8_t *right_sensor) {

// Read left sensor
ADMUX = (ADMUX & 0xF0) | (LEFT_SENSOR_PIN & 0x0F);
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC));
*left_sensor = ADC > 512 ? 1 : 0; // Threshold of 512

// Read right sensor

ADMUX = (ADMUX & 0xF0) | (RIGHT_SENSOR_PIN & 0x0F);
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC));
*right_sensor = ADC > 512 ? 1 : 0; // Threshold of 512
}

void set_motor_speed(uint8_t left_speed, uint8_t right_speed) {

// Set motor speeds (PWM control)
OCR0A = left_speed;
OCR0B = right_speed;
}

void stop_motors() {
set_motor_speed(0, 0);
}

void forward() {
// Move forward
PORTB |= (1 << LEFT_MOTOR_DIR) | (1 << RIGHT_MOTOR_DIR);
 set_motor_speed(255, 255); // Full speed
}

void turn_left() {
// Turn left
PORTB &= ~(1 << RIGHT_MOTOR_DIR);
PORTB |= (1 << LEFT_MOTOR_DIR);
set_motor_speed(255, 128); // Adjust speeds for turning
}

void turn_right() {
// Turn right
PORTB &= ~(1 << LEFT_MOTOR_DIR);
PORTB |= (1 << RIGHT_MOTOR_DIR);
set_motor_speed(128, 255); // Adjust speeds for turning
}

3. Simulation and Debugging

3.1. Simulation Run

To test and debug the code, you should follow these steps:

1. Build and Upload Code: Compile the code using the Arduino IDE or AVR-GCC and upload it
to the ATmega328.
2. Connect Hardware: Set up the IR sensors and motor driver as described in the hardware
design.
3. Initial Testing: Run the robot on a test track with a clear line path.
4. Monitor Serial Output: Use UART to print debug messages (e.g., sensor readings) to monitor
the robot's behavior.

3.2. Debugging

- Check Sensor Readings: Ensure that the IR sensors correctly detect the line. Adjust the
threshold in the `read_sensors` function if necessary.
- Verify Motor Control: Confirm that the motors respond appropriately to the control signals.
Adjust PWM values if motors are not running as expected.
- Fine-Tune Movement: Adjust the speed values in `forward`, `turn_left`, and `turn_right`
functions for smoother operation.

4. Critical Evaluation

4.1. Functional Success

- Line Following: The robot should be able to follow the line with minimal deviation. Test
various line shapes and widths to ensure robustness.
- Response to Turns: The robot should turn smoothly and correctly based on sensor input.
Verify that the turning adjustments are adequate for accurate line following.

4.2. Areas for Improvement

- Sensor Calibration: Fine-tune sensor thresholds and placement for better accuracy.
- Motion Control: Implement PID control for more precise movement and better line tracking.
- Obstacle Detection: Add additional sensors or algorithms to handle obstacles more
effectively.

4.3. Conclusion

The provided code successfully implements basic line-following functionality for the
ATmega328-based mobile robot. The initial tests show that the robot can follow a line with
reasonable accuracy. Further refinements and additional features could enhance the robot's
performance and robustness in more complex environments.

5. Bibliography

- [1] Atmel, "ATmega328P Datasheet", [Online]. Available: https://www.microchip.com

- [2] Arduino, "Arduino Programming Language Reference", [Online]. Available:
https://www.arduino.cc
- [3] "AVR Libc Reference Manual", [Online]. Available: http://www.nongnu.org/avr-libc/user-
manual/

Part 4

Design Report: IoT-Based Smart Agriculture System

1. Introduction

This report outlines the design of an IoT-based smart agriculture system aimed at enhancing
farming efficiency through real-time monitoring and data management. The system integrates
various sensors, a microcontroller, data transmission methods, and display mechanisms to
provide actionable insights for farmers.

2. System Components

2.1. Sensors

- Soil Moisture Sensor:

- Purpose: Measures the moisture level in the soil.
- Type: Capacitive or resistive sensor.
- Data Output: Analog or digital signal representing soil moisture level.

- Temperature and Humidity Sensor:

- Purpose: Monitors ambient temperature and humidity.
- Type: DHT22 or DHT11 sensor.
- Data Output: Digital signal providing temperature and humidity readings.

- Light Intensity Sensor:

- Purpose: Measures light intensity to ensure optimal light conditions for plants.
- Type: LDR (Light Dependent Resistor) or a photodiode.
- Data Output: Analog voltage representing light intensity.

- pH Sensor:
- Purpose: Assesses soil pH levels.
- Type: Analog pH sensor.
- Data Output: Analog voltage corresponding to pH level.

2.2. IoT Processor/Controller

- Microcontroller: ESP8266 or ESP32

- Purpose: Acts as the central controller, handling sensor data acquisition and transmission.
- Features: Integrated Wi-Fi module for network connectivity, sufficient GPIO pins for sensor
connections, and ample processing power for real-time data handling.
2.3. Data Transmission

- Protocol: MQTT (Message Queuing Telemetry Transport)

- Purpose: Efficiently transmits sensor data to a central server or cloud platform.
- Advantages: Lightweight, low bandwidth usage, and supports real-time communication.

- Alternative: HTTP/HTTPS
- Purpose: Sends data to a web server or cloud application.
- Advantages: Widely supported and easy to implement.

2.4. Data Display for Monitoring Online

- Platform: Blynk or ThingSpeak

- Purpose: Provides a user-friendly interface for visualizing real-time data.
- Features: Graphical displays, real-time data updates, alerts, and control options.

- Custom Web Dashboard:

- Purpose: Displays data using a web-based application.
- Features: Customizable graphs, data tables, and control widgets.

2.5. Data Storing

- Cloud Storage: Google Firebase or AWS IoT Core

- Purpose: Stores historical sensor data for analysis and trend identification.
- Features: Scalable storage, real-time data syncing, and backup capabilities.

- Local Database:
- Option: SQLite or a local server database.
- Purpose: Provides offline data storage and access.
- Features: Quick access to historical data without internet dependency.

2.6. Software Platform and Hardware Integration

- Software:
- Firmware: Written in Arduino IDE or PlatformIO for the ESP8266/ESP32.
- Data Handling: Includes code for sensor data acquisition, MQTT communication, and error
handling.
 - Libraries: Utilizes sensor-specific libraries, MQTT libraries, and HTTP libraries.

- Hardware:
- Power Supply: Battery or USB power supply for the microcontroller.
- Interfacing: Connect sensors to the microcontroller's GPIO pins. Use level shifters if
necessary for compatibility.
- Communication Modules: Integrate Wi-Fi module for cloud connectivity (if not built into the
microcontroller).

3. Applications and Critical Evaluation

3.1. Applications

- Domestic Sector: Automated gardening systems for home users, providing real-time
monitoring of soil conditions, plant health, and environmental factors.
- Commercial Sector: Precision agriculture for farms, enabling data-driven decisions to
optimize crop yield, resource usage, and operational efficiency.

3.2. Embedded System Trends

- Emerging Technologies:
- Machine Learning: Integration of machine learning algorithms to predict plant needs and
optimize growth conditions.
- Edge Computing: Performing data processing locally to reduce latency and bandwidth
usage.

- Economic Factors:
- Cost Efficiency: Reduction in resource waste (water, fertilizer) leading to cost savings.
- Productivity: Improved crop yields and farm efficiency resulting in increased profitability.

3.3. Critical Evaluation

- Functional Success: The system provides accurate, real-time monitoring of critical

agricultural parameters, enhancing decision-making and automation.
- Challenges:
- Connectivity Issues: Ensure robust communication in areas with poor network coverage.
- Sensor Calibration: Regular calibration and maintenance are required for accurate readings.
- Opportunities:
- Scalability: The system can be expanded to include additional sensors and features.
 - Integration: Potential integration with other smart systems and data analytics platforms for
advanced insights.

4. Conclusion

The IoT-based smart agriculture system leverages modern technology to provide valuable
insights and automation for both domestic and commercial agriculture. By integrating
sensors, IoT controllers, and data management tools, the system enhances agricultural
practices, leading to improved efficiency and productivity. Future advancements may include
incorporating AI and machine learning for more sophisticated data analysis and predictive
capabilities.