NAVIGATION BY THE SOLES OF YOUR FEET

Project report submitted in partial fulfillment of the requirements for the award
of the Degree of Bachelor of Electronics and Communication Science of
Justice Basheer Ahmed Sayeed College for Women, (Autonomous) (Afternoon
Session)

Submitted by

ABITHA KUMARI.M (A13W101)

SANDHYA.G (A13W128)

SNEHA.M (A13W130)

PARVEEN BANU.A (A13W133)

SWARNA.V (A13W134)

JUSTICE BASHEER AHMED SAYEED COLLEGE FOR WOMEN

(AUTONOMOUS) (AFTERNOON SESSION)
TEYNAMPET, CHENNAI-600018.
(2015-2016)
JUSTICE BASHEER AHMED SAYEED COLLEGE FOR WOMEN
 (AUTONOMOUS) (AFTERNOON SESSION)
TEYNAMPET, CHENNAI-600018.
(2015-2016)

Project report submitted in partial fulfillment of the requirements for the award
of the Degree of Bachelor of Electronics and Communication Science of
Justice Basheer Ahmed Sayeed College for Women, (Autonomous) (Afternoon
Session).

SUBJECT CODE: WVICQ(4)

Certified to be the genuine project work titled “NAVIGATION BY THE
SOLES OF YOUR FEET” done by the following students of III B.SC.
Electronics and Communication Science in Justice Basheer Ahmed Sayeed
College for Women, (Autonomous) (Afternoon Session).

ABITHA KUMARI.M (A13W101)

SANDHYA.G (A13W128)
SNEHA.M (A13W130)
PARVEEN BANU.A (A13W133)
SWARNA.V (A13W134)

Internal guide Head of the

Department

Submitted for III B.SC Project and Viva-voce examination held on _________
in the Department of Electronic Science.
EXAMINERS:
1.

2.
 ACKNOWLEDGEMENT
First of all, we are grateful to the Almighty for establishing me to
complete this project.

We wish to express our sincere thanks to Dr.(Mrs.) Shanaz Ahamed,

M.SC., M.Phil., Ph.D. Principal of our college, for providing the necessary
facilities to complete this project.

Our sincere gratitude to Mrs.R.Vajubunnisa Begum, Head of the

Department, for guiding our project with attention and care. We take this
opportunity to record our sincere thanks to all the faculty members of our
Department for their guidance and encouragement.

We would also thank Non- teaching staff of our Department for their
constant help.

Our deep sense of gratitude to the team from Masstech for their constant
support to complete this project.

Finally our thanks and appreciation also goes to our friends in developing
the project and to the people who have willingly helped us out with their
abilities.
 INDEX

S.NO CONTENTS PAGE

NO
1. ABSTRACT 1

2. BLOCK DIAGRAM 2

3. BLOCK DIAGRAM DESCRIPTION 3

3. CIRCUIT DIAGRAM 5

4. CIRCUIT DESCRIPTION 6

5. MICROCONTROLLER-PIC 16F877A 8

6. RELAY 17

7. DC MOTOR 19

8. SENSORS, APR 9600 21

9. POWER SUPPLY 25

10. FLOW CHART 28

11. CONCLUSION 30

12. BIBLIOGRAPHY 31
 ABSTRACT
This project is very useful for visually impaired person, because they
have many drawbacks when compared to normal person. It leads easy process
without interaction of human.

The purpose of our project is to design a kit that has motors fixed in
the shoe or slipper. It has four motors which indicates North, South, West, East
direction. Two sensors are used: Direction sensor, Infrared sensor. Direction
sensor indicates the person in which direction they are moving. According to it,
the motor starts to vibrate. IR sensor is mainly to detect the obstacle. So if any
obstacle is detected, this sensor will indicate in which particular direction, the
obstacle is present. This project is divided into different modules for better
understanding of the circuit. The modules include:

 PIC16F877A Microcontroller
 Sensors
 Relay
 DC Vibrating Motor
 APR 9600
 Power Supply
 1
BLOCK DIAGRAM
 2
BLOCK DIAGRAM DESCRIPTION
We have designed a kit which is useful for visually impaired
persons. Direction sensor will indicate in which direction the person is moving
and Infrared sensor will detect any obstacle in their path. It also determines in
which particular direction, the obstacle is present.

POWER SUPPLY (5V and 12V)

Power supply is an electronic circuit that is designed to provide a

constant DC voltage across load terminal. +5V is given to PIC Microcontroller,
Master clear, Crystal oscillator, Infrared sensor, Direction sensor. +12V is given
to APR 9600, Relay driver.

OBSTACLE SENSOR

This is an Infrared based sensor which can be used for obstacle

sensing. Sensor provides high immunity from ambient light and it can be used
in all light conditions quite effectively. The output pin of the sensor provides
1.5V whenever any obstacle is detected. It is connected to port RA1.

DIRECTION SENSOR

Direction sensor is used to indicate in which direction a person is

moving. It is connected to port bits RA0, RA2, RA3 corresponding to X,Y,Z
axis.

PIC MICROCONTROLLER 16F877A

The PIC16F877A is a 40-pin package. It is the heart of our

project. It controls external circuits such as Master clear, Crystal oscillator,
Infrared sensor, Direction sensor, APR 9600, Relay driver.
 3

RELAY DRIVER

PIC Microcontroller port pins does not have sufficient current to

drive the relay. The relay coil needs 10mA to be energized, the Microcontroller
port pin can provide a maximum of 1-2mA current. For this reason, we placed a
power transistor between the PIC Microcontroller and Relay.

RELAY

Relays are Electromechanical switches, which provides contact

between two mechanical elements. Relays have a coil which works on 12V DC
power supply and provides SPDT action. In general relays provide potential free
contacts which can be used for universal function like DC, AC voltage
switching and to control bigger electrical switch gear. In this project, we use
four relays that is used to switch the DC motors ON/OFF respectively.

APR 9600

APR is used for voice recording and play back. The duration of
the recording is 60 seconds. It has a non-volatile storage, so no external ICs are
required.

DC VIBRATION MOTOR

DC motor converts electrical energy into mechanical energy. It

produces vibration. Four DC motors have been used.
 4

CIRCUIT DIAGRAM
 5

CIRCUIT DESCRIPTION
In this project Navigation by the soles of your feet two sensors are used
namely Direction sensor and Infrared sensor to detect the direction of the
movement of the person and obstacle.

The Infrared (IR) sensor is connected to Port-A bit RA1 of PIC

Microcontroller. It is used to detect the obstacle. If any obstacle is detected this
sensor gives 1.5V.

The Direction sensor is connected to Port-A bits RA0, RA2, RA3 of PIC
Microcontroller. It is used to indicate in which direction the person is moving.

The toggle switch is used to switch the Infrared sensor and Direction
sensor.

The APR 9600 is connected to Port-B bits RB0, RB1, RB2, RB3 of PIC
Microcontroller. The message related to direction is recorded and play backed.

The Relay driver unit is used to drive the relay, as the relay coil needs
around 10mA to be energized so an NPN power transistor SL100S is used. A
Relay is an Electromechanical switch which is used to turn ON the DC motor. It
is connected to Port-C bits PC0, PC1, PC2, PC3 of PIC Microcontroller.
Depending on the output of sensor PIC Microcontroller turns ON the transistor.

The two DC batteries of 1.5 V are connected in series for producing 3V

which is connected to common terminal of the relay.

The Positive terminal of DC motor is connected to Normally Open(NO)

terminal of relay. Negative terminal of 1.5V battery(1) is linked to positive
terminal of battery(2). The negative terminal of battery(2) is connected to
negative terminal of DC motor.
 6

Whenever the power transistor SL100S is turned ON it energizes the relay,

hence the DC motor which is connected to shoe or slipper gives vibration with
respect to the direction the blind person is moving.

The +5V DC power supply is given to the circuits such as PIC

Microcontroller, Master clear, Crystal oscillator, Infrared sensor, Direction
sensor and toggle switch and +12V DC power supply is given to the circuits
such as APR 9600 and Relay driver unit.

The Master clear circuit is connected to first pin of PIC Microcontroller. It

is used to refresh the program and it can be loaded for 1 lakh times.

The Crystal oscillator is connected to CLK IN (13th pin) and CLK OUT
(14th pin) of PIC Microcontroller. It is used to generate the oscillating
frequency of PIC Microcontroller.
 7

PIC MICROCONTROLLER
The Microcontroller has many more reasons to be used than the
Microprocessors. The PIC16F877A is a dual in-line 40-pin package.

DIFFERENCE BETWEEN MICROPROCESSOR AND

MICROCONTROLLER

Microprocessor Microcontroller
Microprocessor does not have memory. Microcontroller has separate RAM and
ROM.
It has no I/O Ports. Inbuilt ports are available in
Microcontroller.
It is less reliable. It is more reliable.
It is costly as it has only CPU in it. Overall system cost is low.
It has low specification. It has high specification.

ADVANTAGES OF PIC16F877A
 It is very ease to trouble shoot and maintain.
 Interfacing of an analog device is easy without any
extra circuitry.
 It has high clock speed.
FEATURES
 It is high performance RISC CPU.
 It has only 35 single words of FLASH Program Memory.
 Power-ON Reset, and Oscillator Start-up Timer is available.
 8
ARCHITECTURE
 9
ALU
The function of CPU in PIC Microcontroller is same as a normal
Microcontroller CPU.A CPU consists of several subunits such as Instruction
decoder, ALU, Accumulator, Control unit. The CPU in PIC Microcontroller
normally supports Reduced Instruction Set Computer (RISC) architecture, a
type of microprocessor that focuses on rapid and efficient processing of a
relatively small set of instructions.
MEMORY ORGANIZATION
There are three memory blocks in PIC16F877A. The Program Memory
and Data Memory have separate buses so that concurrent access can occur.
Program Memory Organization
The PIC16F877A devices have a 13-bit program counter capable of
addressing an 8K x 14 program memory space. The PIC16F877A devices have
8K x 14 words of FLASH program memory. The RESET vector is at 0000h
and the interrupt vector is at 0004h.
Data Memory Organization
The data memory is partitioned into multiple banks which contain the
General Purpose Registers and the Special Function Registers. The lower
locations of each banks are reserved for the Special Function Registers. The
data memory is divided into 4 banks, each 128 bytes length. To access each
bank, the RP0 and RP1 bits of the STATUS register needs to be accessed.
 10
SPECIAL FUNCTION REGISTERS
The Special Function Registers are registers used by the CPU and
peripheral modules for controlling the desired operation of the device. These
registers are implemented as static RAM.
GENERAL –PURPOSE REGISTER
It is used for storing temporary data and results are created during
operation. The data stored in the general purpose register will be erased after a
Power ON or a reset of the PIC Microcontroller.
STATUS REGISTER
The STATUS register contains the arithmetic status of the ALU, the
RESET status and the bank select bits for data memory. It is 8 bit register. The
STATUS register can be the destination for any instruction, as with any other
register. If the STATUS register is the destination for an instruction that affects
the Z, DC or C bits, then the write to these three bits is disabled. These bits are
set or cleared according to the device logic.
PROGRAM COUNTER
Program counter (PC) is of 13 bit word. Program counter is used to
keep track of the program execution by holding the address of the current
instruction. The counter is automatically incremented to the next instruction
during the execution of the current instruction.
 11
MULTIPLEXER (MUX)
Multiplexer is a device that selects one of several analog or digital input
signals and forwards the selected input into a single line. A multiplexer of 4
inputs has 1 select line, which is used to select which input line is send to the
output. Multiplexers are mainly used to increase the amount of data that can be
sent over the network within a certain amount of time and bandwidth. A
multiplexer is also called a data selector.
STACK
As the program counter is 13-bit register, the stack is organized as 8x13
bit register. The entire PIC Microcontroller chip has an area for storing the
return address. This area or unit is called stack which is used in some Peripheral
Interface Controllers. The stack is not accessible by software but for most of the
controllers, it can be easily accessible.
INSTRUCTION REGISTER AND DECODER
An Instruction register is 8-bit register. It is the part of a CPU’s control
unit that stores the instruction currently being executed or decoded.
The output of Infrared is available to control circuits which generate the
timing signals that control the various processing elements involved in
executing the instruction. In the Instruction cycle, the Instruction is loaded into
the instruction register after the processor fetches it from the memory location.
PORTS
 Some pins for these I/O ports are multiplexed with an alternate function
for the peripheral features on the device. In general, when a peripheral is
enabled,
That pin may not be used as a general purpose I/O pin.

12
PORT-A
PORT A is a 6-bit wide, bi-directional port. Reading the PORT A register
reads the status of the pins, whereas writing to it will write to the port latch. All
write operations are read-modify-write operations.
PORT-B
PORT B is an 8-bit wide, bi-directional port. Three pins of PORT B are
multiplexed with the Low Voltage Programming function. PORT B pins has a
weak internal pull-up.
PORT-C
PORT C is an 8-bit wide, bi-directional port. PORT C is multiplexed
with several peripheral function.
PORT-D
PORT D is an 8-bit port with Schmitt Trigger input buffers. Each pin is
individually configurable as an input or output. PORT D can be configured as
an 8-bit wide Microprocessor port (Parallel Slave Port).
PORT-E
PORT E has three pins (RE0/RD/AN5, RE1/WR/AN6, and
RE2/CS/AN7) which are individually configurable as inputs or outputs.
UNIVERSAL SYNCHRONOUS ASYNCHRONOUS RECEIVER
TRANSMITTER (USART)
 The Universal Synchronous Asynchronous Receiver Transmitter
(USART) module is one of the two serial I/O modules. (USART is also known
as a Serial Communications Interface or SCI). USART module also has a Multi-
processor communication capability using 9-bit address detection.
The USART can be configured in the following modes :

13

• Asynchronous (full duplex)

• Synchronous - Master (half duplex)
• Synchronous - Slave (half duplex)
RESET
The PIC16F877A differentiates between various kinds of RESET :
• Power- ON Reset (POR)
• MCLR Reset during normal operation
• MCLR Reset during SLEEP
• WDT Reset (during normal operation)
• WDT Wake-up (during SLEEP
• Brown-Out Reset (BOR)
Some registers are not affected in any RESET condition. Their status is
unknown on POR and unchanged in any other RESET. Most other registers are
reset to a “RESET state” on Power-On Reset (POR), during SLEEP.
POWER ON RESET
A Power-ON Reset is a circuit that provides a predictable regulated
voltage to a Microcontroller with the initial application of power. The Power-
ON Reset system ensures that the Microcontroller will start in the same
condition every time that it is powered up. The Power-ON Reset system can
comprise a resistor and capacitor connected together with values tailored so that
when power is first applied, the capacitor takes a predictable and constant time
to charge up.

14

TIMERS
The PIC16F877A basically has three timer modules. These timer
module terminals are also multiplexed with other functions for handling
alternative functions. These timer modules are TIMER-0, TIMER-1, TIMER-2.
These modules help to perform various timing and counting functions inside the
chip.
Timer 0
Timer 0 has a register called TMR0 Register. This is an 8-bit
timer/counter with 8-bit prescaler. It is readable/writable.
Timer 1
Timer1 has a register called TMR1 Register. This is an 16-bit
timer/counter with prescaler. It can be incremented during SLEEP.
Timer 2
Timer 2 is an 8-bit timer/counter with 8-bit period register, prescaler
and postscaler. It is readable/writable.
ANALOG TO-DIGITAL CONVERTER (A/D) MODULE
The Analog-to-Digital (A/D) Converter module has five inputs for the
28-pin devices and eight for the other devices. The A/D conversion of the
analog input signal results in a corresponding 10-bit digital number. The A/D
converter has a unique feature of being able to operate while the device is in
SLEEP mode. The A/D module has four registers. These registers are:
• A/D Result High Register (ADRESH)
• A/D Result Low Register (ADRESL)
• A/D Control Register0 (ADCON0)
• A/D Control Register1 (ADCON1)

15

INTERRUPTS
The PIC16F877A family has up to 14 sources of interrupt. The
Interrupt control register (INTCON) records individual interrupt requests in flag
bits. It also has individual and global interrupt enable bits. A Global interrupt
enable bit enables all unmasked interrupts, or disables all interrupts. When bit
GIE is enabled, and an interrupt flag bit and mask bit are set, the interrupt will
vector immediately. Individual interrupts can be disabled through their
corresponding enable bits in various registers. Individual interrupt bits are set,
regardless of the status of the Global Interrupt Enable bit. The corresponding
interrupt enable bits are in Special Function Registers, PIE1 and PIE2, and the
Peripheral interrupt enable bit is in Special Function Register INTCON. When
an interrupt responds, the GIE bit is cleared to disable any further interrupt, then
return address is pushed onto the stack and the PC is loaded with 0004h. In the
Interrupt Service Routine, the source(s) of the interrupt can be determined by
polling the interrupt flag bits. The interrupt flag bit(s) must be cleared in
software before re-enabling interrupts to avoid recursive interrupts.
 16

RELAY
Relays are Electromechanical switches, which provides contact
between two mechanical elements. Relays have a coil which works on 12V DC
power supply. It allows the isolation of two separate sections of a system
with two different voltage sources. In response to an electrical signal
known as control signal, the relay opens or closes its switch contacts in
some pre arranged and fixed combinations. Important applications, where the
relays are used :

1) Control of high power load circuits.

2) Low voltage control of remote equipment.

3) Isolation of control circuits from load circuits.

A +5 V system can be isolated from a 120V system by placing

a relay between them, one such relay is called an Electromechanical
Relay. The Electromechanical Relay have three components, the coil, spring
and contacts. A +5 V on the left side can control a 12 V motor on the
right side without any physical contact between them. When current flows
through the coil, a magnetic field is created around the coil which causes
the armature to be attracted to the coil. The armature contact acts like a
switch and closes or opens the circuit. When the coil is not energized, a
spring pulls the armature to its normal state of open or close.

1)The contacts can be Normally Open (NO) or Normally Closed (NC). In

the Normally Closed type, the contacts are closed when the coil is not
energized. In the Normally Open type, the contacts are open when the coil
is energized.

17

2) There can be one or more contacts. For example, we can have SPST,
SPDT, DPDT.

DRIVING A RELAY

Microcontroller port pins does not have sufficient current to drive the relay.
The relay coil needs around 10mA to be energized , the Microcontroller
port pin can provide a maximum of 1-2mA current. So power transistor
SL100S is used to drive the relay.
 18
DC VIBRATING MOTOR
DC motor is an Electrical machine that converts Direct current
electrical power into Mechanical power. The most common types rely on the
forces produced by Magnetic field. Nearly all types of DC motors have some
internal mechanism, either Electromechanical or Electronic, to periodically
change the direction of current flow in the part of the motor. Small DC motors
are used in tools, toys, and appliances. A simple DC motor has a stationary set
of magnets in the stator and an armature with one or more windings of insulated
wire wrapped around a soft iron core. The Universal motor can operate on
Direct current but it is a light weight motor used for portable power tools and
appliances. DC motor develops its highest torque at low speed. This low speed
DC motor rotates at about 1000rmp at 3.0V. It runs off any battery or solar cell
ranging from 0.5V to 6V.

DC VIBRATING MOTOR

19
INTERFACING RELAY WITH DC MOTOR
In this project four Relays and four DC motors have been interfaced
together. Whenever the NPN power transistor SL100S is turned ON,
it energizes the relay, hence the DC motor which is connected to the
shoe or slipper gives vibration with respect to the direction the blind
person is moving.

20
SENSORS
INFRARED SENSOR

An Infrared sensor is an Electronic device, that emits

Infrared radiation in order to sense the obstacle. An Infrared sensor can measure
the heat of an object as well as detects the motion. These types of sensors
measure only Infrared radiation. It is called as a Passive Infrared sensor. Usually
in the Infrared spectrum, all the objects radiates some form of thermal
radiations. These types of radiations are invisible to our eyes. It can be detected
by an Infrared sensor. Emitter is simply an Infrared Light Emitting Diode and
the detector is an Infrared photo diode which is sensitive to Infrared light of the
same wavelength as emitted by the Infrared Light Emitting Diode. When
Infrared light falls on the photodiode, the resistance of the output voltage is
changed in proportion to the magnitude of the Infrared light received. This
sensor is analogous to human's visionary senses, which can be used to detect
obstacles and it is one of the common applications.

INFRARED SENSOR

21
DIRECTION SENSOR
 Direction sensing Infrared motion detector is designed to detect
Infrared radiation from a moving human or animal both in day light and at night
and to indicate the direction of movement. This Direction sensor is used to
sense the direction in which the human or other object is moving when it is
connected to it. This direction may be the indication of Left, Right, Stop and
Backward direction. The Direction sensor is connected to relay of each ports to
indicate in which direction the human is moving.

DIRECTION SENSOR

22
 INTERFACING PIC MICROCONTROLLER WITH
SENSOR

Here we use two sensors namely Infrared sensor and Direction sensor.
The output port of Infrared sensor and Direction sensor is connected to Port A
bits (RA0,RA1,RA2,RA3) of PIC Microcontroller 16F877A. When sensor
senses any object, the PIC Microcontroller gives signal to Relays and APR 9600
to turn ON the DC motor and playback the voice message.

23
 APR 9600
APR 9600 is a single-chip voice recording and play back device.
The duration of the recording is 60 seconds. It supports both random and
sequential access of multiple message.
In APR each memory cell can store 256 voltage levels. This
technology enables the APR 9600 device to reproduce the voice signals in their
natural form.
PIN DIAGRAM OF APR 9600

FEATURES
 No external ICs are required.
 It does not need any programming and development system.
 Minimum external components are required.
APPLICATION
The device is ideal for using in voice recorder, toys, industrial applications.

24
 POWER SUPPLY
CIRCUIT DIAGRAM

25
 Power supply is an Electronic device that supplies electric energy to an
electrical load.

STEP DOWN TRANSFORMER

Transformer of 230V/15-0-15V is used to perform the step down operation

where a 230V AC appears as 15V across the secondary winding. The current
rating of the transformer used is 2A. Apart from stepping down AC voltages, it
gives isolation between the power source and power supply circuit.

RECTIFIER UNIT

In the power supply unit, rectification is normally achieved using a solid

state diode. Diode has the property that will let the electron flow easily in one
direction at proper biasing condition. As AC is applied to the diode, electrons
only flow when the anode and cathode is negative. Reversing the polarity of
voltage will not permit electron flow. A commonly used circuit for supplying
large amount of DC power is the bridge rectifier. A bridge rectifier of four
diodes (4*IN4007) are used to achieve full wave rectification.

FILTERING UNIT

Filter circuits which are usually capacitors acting as a surge arrester always
follow the rectifier unit. This capacitor is also called as a Decoupling capacitor
or a Bypassing capacitor. It is used not only to 'short' the ripple with frequency
of 120Hz to ground but also to leave the frequency of the DC to appear at the
output. The load resistor should be 1% to 2.5% of the load.

2200uf/25V : For the reduction of ripples from the pulsating.

10uf/50V : For maintaining the stability of the voltage at the load side.

26
0.1uf : For bypassing the high frequency disturbances.

VOLTAGE REGULATOR

The voltage regulator play an important role in any power supply unit. The
primary purpose of a regulator is to aid the rectifier and filter circuit in
providing a constant DC voltage to the device. Power supplies without
regulators have an inherent problem of changing DC voltage values due to
fluctuations in the AC linear voltage with a regulator connected to the DC
output, the voltage can be maintained within a close tolerant region of the
desired output. IC7812 and IC7805 is used in this project for providing +12V
and +5V DC supply.
27
29
 CONCLUSION
Aim of this project is to develop touch-sensitive application for virtual
reality, navigation and assistance for the visually impaired persons. It is the first
device to stimulate the bottom of the feet to convey information rather than to
enhance sensation. Humans can glean a lot from the soles of their feet. In this
project we have designed a kit for the visually impaired persons using wires. In
future, we can also create a new tactile language for the feet. We can design a
kit which is very compact. We can fix it in their shoes, slippers or wrist watch.
So blind people can survive without the help of others.

This work focuses on the design and use of new tactile patterns that
represent more complex ideas than just directions. These patterns intend to
provide situational awareness assistance during navigation. Results show that
people are capable of navigating environments using the directions provided by
our tactile interfaces for the foot.

In future personal navigations system using Global Positioning Systems

(GPS) can be designed for visually impaired people. All these systems use
textual information to communicate with the user, in the form of either synthetic
speech or electronic braille.

30
 BIBLIOGRAPHY

WEB REFERENCE

 https://en.m.wikipedia.org/wiki/DC_motor
 http://education.rec.ri.cmu.edu/content/electronics/boe/ir_sensor/1.html
 http://education.rec.ri.cmu.edu/content/electronics/boe/direction_sensor/
1.html
 http://m.instructables.com/id/APR9600-Voice-Recording-System
 https://electrosome.com/power-supply-design

BOOK REFERENCE

 The 8051 Microcontroller and Embedded Systems by Muhammad Ali

Mazidi, Janice Gillispie Mazidi, Rolin D.McKinlay, Pentice Hall
Publication, First Edition.
 PIC Microcontroller by Milan Verle, Mikroelektronika Publication, First
Edition.

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