An IoT device measuring soil moisture to help a municipality improve the work surrounding irrigation is deployed for testing and used by the concerned municipal workers. The IoT device is an initial prototype using Pycom’s LoPy4 with expansion board 3.1 and 3xAAA batteries as power supply. The prototype is not suitable for larger-scale testing due to the size, cost, and power consumption. This thesis focuses on decreasing the cost and size while increasing the battery life for the IoT device.The IoT device is communicating using the LoRaWAN protocol. For the device to be as energy-efficient as possible, the LoRa and LoRaWAN protocol are explored to use all possibilities to save energy. Active time and power consumption between different spreading factors are examined and discussed for power consumption and range concerns. The prototype produced by the work performed in this thesis is used to measure soil moisture. The microcontrollers selected and tested will not restrict to that purpose. The microcontrollers can integrate with many kinds of sensors. Integration with other types of sensors is under future work in this thesis. The integration possibilities making the thesis relevant for anyone with an intermediate knowledge inprogramming wanting to get introduced into the IoT development cycle, develop aLoRa node, and learning how to use the LoRaWAN stack with MicroPython.

This graduation thesis is aimed at design and implementation of embedded systems, network communication and support of the network communication for embedded systems. Furthermore it introduces school platform FITkit and offers a conceptional extension of the network interface for this platform based on Ethernet network standard. Based on that conception I'm trying to find and describe suitable solution for FITkit platform which realizes a network interface as a form of extension module capable of development supporting.

Automatisering av testprocesser är viktigt eftersom manuella tester är komplicerade och tidskrävande. Testarbetet effektiviseras och kvaliteten kan höjas genom att automatisera testprocesserna. Arbetet som beskrivs i det här examensarbetet har utförts på Phoniro AB i Halmstad och syftet med projektet är att identifiera och konstruera en helautomatiserad lösning för skanningen av NFC-taggar och QR-koder. I arbetet konstrueras en mekanisk testrigg som är en lämplig lösning baserat på framtagna krav. För att välja den mest lämpliga mjukvaru- och hårdvaruplattformen för testriggen utifrån kraven användes utvärderingsmatriser. Testriggen består av tre delar, en 3D-modell av testriggen, ett kretskort som är testriggens kontroller och mjukvarudel för att programmera testriggen och integrera den med företagets testramverk. Därefter har testriggen byggts upp, alla delar kopplats ihop och programmerats för att testas mot de krav som ställts upp. Testriggen som har tagits fram är en prototyp som har en stor utvecklingspotential med tanke på framtida utveckling / Automation of test processes is essential because manual tests are complicated and time-consuming. Automating the test processes makes the test work more efficient and increases quality. The work described in this diploma thesis was performed at Phoniro AB in Halmstad, and the purpose of the project is to identify and construct a fully automated solution for the scanning of NFC tags and QR codes. The report describes a design that meets the requirements and needs established for the development models used in the project. A mechanical test rig was constructed as a suitable solution, based on developed requirements during the project. Evaluation matrices were used to select the most suitable software and hardware platforms for the test rig based on the project needs. The test rig consists of a 3D-model, a circuit board, and a software component to program the test rig and integrate it with Phoniro’s test framework. The test rig developed is a prototype with excellent potential for future development.

Den här rapporten beskriver ett examensarbete i elektroteknik på Kungliga tekniska högskolan. Syftet var att skapa en unik systemlösning där ett CAN-adapterkort (Controller Area Network) skulle integreras med ett system för övervakning av däcktryck i tunga fordon. Målet var att presentera mätvärden från ventilsensorer på en persondator. Systemet för övervakning av lufttryck heter J1939 – TPMS och är en färdig produkt. J1939 – TPMS skickar CAN-ramar på en CAN-buss i J1939-format. Dessa ramar ska läsas in av adapterkortet och presenteras på ett terminalprogram på en persondator. Arbetet har bestått av att utreda hur systemet J1939 – TPMS fungerar i detalj. Rollen för protokollet J1939 och dess förhållande till CAN har förklarats. Hur J1939-ramar tolkas och hur mätdata rörande TPMS avkodas har beskrivits i detalj. Principer för hur en CAN-nod fungerar har klargjorts. Baserat på detta har ett CAN-adapterkort konstruerats. Konstruktionen har inneburit komponentval, design av elektronikschema, design av mönsterkort och utveckling av inbyggd programvara. Resultatet blev ett färdigt och fungerande CAN-adapterkort som har testats med J1939 – TPMS. Kraven för projektet uppfylldes. Dock så kommer mer arbete med kortet och systemet behövas för att det ska bli en färdig produkt. Arbetet genomfördes hos Motion Control i Västerås AB i samarbete med Transeco Däckservice. / This report describes a degree project at the Royal Institute of Technology. The purpose was to create a unique system solution in which a CAN adapter card (Controller Area Network) was to be integrated with an air pressure monitoring system for heavy duty vehicles. The goal was to present measurement values ​​from valve sensors on a personal computer. The air pressure monitoring system is called J1939 - TPMS and is a finished product. J1939 - TPMS sends CAN-frames to a CAN-bus in J1939 format. These frames are to be read by the adapter card and presented on a terminal program on a personal computer. The job has been to investigate how the J1939 - TPMS system works in detail. The role of the J1939 protocol and its relationship with CAN has been clarified. Also, a detailed description of how J1939 frames are interpreted and how the measuring data TPMS is decoded is done. Principles for how a CAN node works has been clarified. Based on this, a CAN adapter card has been designed. The design has included component selection, design of electronics schema, design of computer cards and development of embedded software. The result was a ready-to-use CAN adapter card tested with J1939-TPMS. Requirements for the project were met. However, more work with the card will be needed to make it a finished product. The work was carried out at Motion Control in Västerås AB in cooperation with Transeco Däckservice (Transeco Tire Service).

Device Firmware Upgrade (DFU) is now widely used on PC and smartphones for users to enjoy the latest applications. The project is derived from the new device of Yohoo and the firmware embedded in the system. This system can guide users on how to breathe through multiple sensory effects to reduce the harm from excessive stress. In order to be applied by different people, some breathing courses and personal settings will be used in the system, which makes the upgrade of the internal firmware of the device more important. However, the firmware upgrade for some embedded devices is not as rapid and convenient as PC and smartphones, which is still erasing and then programming the whole storage. This is a waste of time and meaningless wear to the entire device. In order to solve this problem and improve the efficiency of the firmware upgrade, the partial firmware upgrade is proposed in this project, and the storage method of new codes is improved to get better performance during the partial DFU process. The idea of wear leveling is introduced to extend the lifetime of the internal storage. As a result, the partial firmware upgrade feature was successfully designed and implemented, and integrated and tested on new devices. At the end of this work, the prototype system of the embedded software based on the nRF52832 microcontroller has basically been designed, improved and tested, and some functions which need to be updated instead of the whole firmware can be transmitted via Bluetooth and work normally. For the specific case of partial DFU, the firmware package size that maximizes the update efficiency is obtained through testing. In addition, the flash module in the chip has been divided into multiple portions for the update. The wear-leveling method ensures that when a certain function is updated multiple times, one certain part of the flash will not be overused, but the entire block will be used uniformly to alleviate the adverse effects of data abnormality or loss caused by damaged bits of the flash memory. In addition, the lifetime of the flash memory is prolonged and the industrial waste is reduced at the same time. / Device Firmware Upgrade (DFU) används nu allmänt på PC och smartphones för att användare ska kunna njuta av de senaste applikationerna. Projektet kommer från den nya enheten till Yohoo och den inbyggda programvaran i systemet. Detta system kan vägleda användare om hur man kan andas genom flera sensoriska effekter för att minska skadan från för hög stress. För att kunna tillämpas av olika personer kommer vissa andningskurser och personliga inställningar att användas i systemet, vilket gör uppgraderingen av enhetens interna firmware viktigare. Firmwareuppgraderingen för inbäddade enheter är dock inte lika snabb och bekväm som PC och smartphones, som fortfarande raderar och sedan programmerar hela lagringsutrymmet. Detta är slöseri med tid och meningslöst slitage på hela enheten. För att lösa detta problem och förbättra effektiviteten för uppgradering av firmware föreslås partiell uppgradering av firmware i detta projekt, och lagringsmetoden för nya koder förbättras för att få bättre prestanda under den partiella DFU-processen. Idén om slitstyrning införs för att förlänga livslängden för den interna lagringen. Som ett resultat designades och implementerades delvist firmware uppgraderings funktionen och integrerades och testades på nya enheter. I slutet av detta arbete har prototypsystemet för den inbäddade programvaran baserat på mikrokontrollern nRF52832 i princip utformats, förbättrats och testats, och vissa funktioner som måste uppdateras istället för hela firmware kan överföras via Bluetooth och fungera normalt. För det specifika fallet med delvis uppgradering erhålls firmwarepaketets storlek som maximerar uppdateringseffektiviteten genom testning. Dessutom har flashmodulen i chipet delats upp i flera delar för uppdateringen. Slitstyrningsmetoden gör att när en viss funktion uppdateras flera gånger kommer en viss del av blixt inte att överanvändas, men hela blocket kommer att användas enhetligt för att lindra de negativa effekterna av data i normalitet eller förlust orsakat av skadade bitar av flashminnet. Dessutom förlängs flashminnets livstid teoretiskt och industriavfallet minskas samtidigt.

Detta projekt syftar till att undersöka om det går att kurskorrigera en av Weda AB:s poolrengöringsrobotar med hjälp av ett MEMS-gyroskop. Den valda rengöringsroboten styrs idag av en PLC, och konceptet är att komplettera styrenheten med ett MEMS gyroskop som kan detektera kursavvikelser. Undersökandet av möjligheterna för implementeringen börjar med att samla information om MEMS gyroskopens funktion och i vilka tekniker de används idag. Vidare utförs beräkningar mot Wedas definition av rak kurs, det resulterade i för höga krav på känsligheten i gyroskopet. Trots det otillfredsställande resultatet beslutar Weda att projektet ska fortsätta undersöka gyroskopets möjligheter. En marknadsundersöknings med 9 tillverkningsföretag genomförs i syfte att se vad marknaden erbjuder för MEMS gyroskop idag. Sedan konsulteras distribueringsföretaget Avnet som bidrar med sina kunskaper, erfarenheter och rekommendationer för konceptet. Ett av de framstående gyroskopen i undersökningen användes för att genomföra två tester. Syftet av dem var att simulera olika situationer som rengöringsroboten kan utsättas för. Resultatet visar att repetitionsnoggrannheten är god men att gyroskopet inte är tillförlitligt i låga hastigheter, vilket är en dålig egenskap för rengöringsroboten W2000 som körs med en hastighet 0,2 m/s. Testresultatet diskuterades med Bosch och dem tror att gyroskopets automatiska kalibrering är orsaken till att det inte ger tillförlitliga mätdata vid låga hastigheter. / During this project the possibilities to monitor and adjust the direction of a pool cleaning robot with a MEMS gyroscope are evaluated. The robot chosen for the evaluation is manufactured by Weda AB. The concept is to add a MEMS gyroscope to the robot, which will give the control unit (PLC) feedback regarding the direction of the robot. The evaluation includes general information about MEMS gyroscopes, where they are used, common built in errors etc. To be able to select a suitable MEMS gyroscope the needed sensitivity is calculated. The needed sensitivity is based on requirements from Weda AB. The evaluation also includes a market survey which shows that the needed sensitivity cannot be fulfilled by products available on the market. The market survey is based on nine manufacturing companies and a recommendation from a distribution company called Avnet. One of the prominent MEMS gyroscopes was used to carry out two tests. The tests were designed to mimic motions of the pool cleaning robot. The test result shows that the gyroscope has good repetition accuracy, but it is not trustworthy when the rotation speed is low. The test result was discussed with the manufacturer and they think that the non positive result is caused by the automatic calibration.

This thesis describes the work process two (WP2) of a project led by the traffic administration in Stockholm to achieve the passengers' thermal comfort in traffic buses.  The purpose of this thesis is to design and implement a measurement system comprised in eight measurement position in a bus. Each position is able to transmit data using a wireless communication protocol, with a central unit collecting all the transmitted data taking into consideration the accuracy of the measurements and filtering out the incorrect data. In order to accomplish this, a literature study is conducted investigating different measurement methods for different parameters, different communication protocols were analysed as well to determine an appropriate communication protocol suitable for climate measurement in a bus environment with passengers present on board.  The output of the HVAC system is also required to help the traffic administration demonstrate the results of adjusting the temperature in the bus to reach the thermal comfort and how it led to saving energy. The system incorporates ZigBee , ESP32 microcontroller in the sender positions and a Raspberry pi operating as a central unit to collect data and store it in a file system providing an accurate data that will help the traffic administration achieve their goals. Unfortunately, there were some diffculties accessing CAN system data to provide the output of the HVAC system. / Detta examensarbete beskriver arbetsprocess två i ett projekt som leds av trafikförvaltningen i Stockholm för att uppnå termiska komfort för passagerare i busstrafik.  Syftet med detta examensarbete är att utforma och implementera ett mätsystem bestående av åtta positioner i en buss. Varje position kan överföra data med hjälp av ett trådlöst kommunikationsprotokoll, en central enhet samlar in all data med hänsyn till mätningens noggrannhet och filtrering av felaktig data. För att uppnå detta utfördes en litteraturstudie för att undersöka mätningsmetoder för de olika parametrar. Olika kommunikationsprotokoll undersöktes för att bestämma en lämplig kommunikationsprotkoll för ett mätsystem som mäter klimat i bussar med passagerare ombord. Uteffekten av HVAC-systemet krävs också för att hjälpa trafikförvaltningen att bestämma fördelarna med att justera temperaturen i bussen för att nå den termiska komforten och hur den ledde till att spara energi. Systemet inkorporerar kommunikaitonsprotokollet ZigBee, ESP32-mikrokontroller i avsändarpositionerna och en Raspberry pi som fungerade som en central enhet för att samla in data och lagra det i ett filsystem med korrekta data som hjälper trafikförvaltningen att uppnå sina mål. Svårigheter uppstod med att få tillgång till CAN-system data för uteffekten av HVAC-systemet.

<p dir="ltr">Achieving higher throughput is one of the most important requirements of a modern microcontroller. It is therefore not affordable for it to waste a considerable number of clock cycles in branch mispredictions. This paper proposes a hardware mechanism that makes microcontrollers forgo branch predictors, thereby removing branch mispredictions. The scope of this work is limited to low cost microcontroller cores that are applied in embedded systems. The proposed technique is implemented as five different modules which work together to forward required operands, resolve branches without prediction, and calculate the next instruction's address in the first stage of an in-order five stage pipelined micro-architecture. Since the address of successive instruction to a control transfer instruction is calculated in the first stage of pipeline, branch prediction is no longer necessary, thereby eliminating the clock cycle penalties occurred when using a branch predictor. The designed architecture was able to successfully calculate the address of next correct instruction and fetch it without any wastage of clock cycles except in cases where control transfer instructions are in true dependence with their immediate previous instructions. Further, we synthesized the proposed design with 7nm FinFET process and compared its latency with other designs to make sure that the microcontroller's operating frequency is not degraded by using this design. The critical path latency of instruction fetch stage integrated with the proposed architecture is 307 ps excluding the instruction cache access time.</p>

This document details the design, implementation, testing, and analysis of an inverted short baseline acoustic positioning system. The system presented here is an above-water, air-based prototype for an underwater acoustic positioning system; it is designed to determine the position of remotely-operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs) in the global frame using a method that does not drift over time. A ground-truth positioning system is constructed using a stacked hexapod platform actuator, which mimics the motion of an AUV and provides the true position of an ultrasonic microphone array. An ultrasonic transmitter sends a pulse of sound towards the array; microphones on the array record the pulse of sound and use the time shift between the microphone signals to determine the position of the transmitter relative to the receiver array. The orientation of the array, which is necessary to transform the position estimate to the global frame, is calculated using a Madgwick filter and data from a MEMS IMU. Additionally, a dead reckoning change-in-position estimate is formed using the IMU data. The acoustic position estimate is combined with the dead reckoning estimate using a Kalman filter. The accuracy of this filtered position estimate was verified to 22.1mm within a range of 3.88m in this air-based implementation. The ground-truth positioning system runs on an ESP32 microcontroller using code written in C++, and the acoustic positioning system runs on two STM32 microcontrollers using code written in C. Extrapolation of these results to the underwater regime, as well as recommendations for improving upon this work, are included at the end of the document. All code written for this thesis is available on GitHub and is open-source and well-documented.

Master’s thesis contains description parameters of microcontroller ATMEGA644P, also contains differences between older and newer version of microcontrollers ATMEGA644 and ATMEGA644PA. Inside structure of microcontroller, memories and peripherals are described here. The construction of the universal microcontroller unit is main target of this thesis. The unit contains supply, A/D converter, current loop, communication interfaces, temperature sensor, accelerometer and other. The unit collects and saves data, communicates by interfaces and manages other functions. Using devices and circuits are described in this thesis. Development of software for microcontroller(firmware) are positioned to last part of this thesis. This software control functions of all parts positioned on the unit.