National Institute of Technology, Kurukshetra

MINOR PROJECT REPORT

ON
DTMF CONTROLLED CAR

Under The Guidance of:

Submitted By:

Mr. ARVIND KUMAR

Nitin (111271)

ECE Department

Rinkesh (111295)
Deepa (111296)

Declaration
We, Nitin, Rinkesh and Deepa hereby declare that the work which is being presented in our B.Tech Minor Project
entitled, DTMF controlled toy car, in partial fulfillment of the requirement for the award of the degree of Bachelor
of technology (ECE Engineering) submitted to the department of Computer Engineering, National Institute of
Technology, Kurukshetra is an authentic report of our own work carried out under the supervision of Mrs. Arvind
Kumar. The work presented in this project has not been submitted by us for the award of degree elsewhere.

Submitted By:
Nitin (111271)
Rinkesh (111295)
Deepa (111296)

Acknowledgement
We would like to take the opportunity to express our sincere thanks and gratitude to our project guide, Mr. Arvind
Kumar, Department of Electronics and Communication Engineering, NIT Kurukshetra for providing us the right
direction for the conduction of the project and also for his enlightening guidance that was vital for the successful
completion of the project. He exuded in us tremendous faith and confidence which inspired us to conquer all the
challenges that we faced during the project. Even the present project report would not have been possible without his
valuable guidance.

Without any dilution, we would also like to thank all the staff members of the Electronics labs since their co-operation
and help to arrange the entire necessary infrastructure for carrying out the project was invaluable.

Nitin

Rinkesh

Deepa

INDEX
1

INTRODUCTION

BLOCK DIAGRAM

CIRCUIT DIAGRAM

COMPONENT LIST

BRIEF INTRODUCTION TO 8051

10

MICROCONTROLLER
6

HARDWARE DESCRIPTION

15

BASIC PARTS OF A TRANFORMER

16

CIRCUIT DIAGRAM OF POWER SUPPLY

18

DTMF DECODER

19

10

DC MOTOR

21

11

SCHEMATIC OF 1293D WITH DC MOTOR

24

12

ALGORITHM AND PROGRAMMING

25

13

CONCLUSION

30

14

REFERENCES

31

ABSTRACT

The goal of this project is to use DTMF decoders, sensors and micro-controllers to control autonomous navigation of
a robot between a start and end point along a fixed path. This has very practical applications, e.g. a mobile phone can
be used to start the car and allow it to autonomously drive itself to a pick up point and vehicles in warehouses to carry
goods from point A to point B, etc.
A DTMF decoder is interfaced with the microcontroller, and a phone on auto answer mode
is connected to the decoder. When the robot is called and a number on the users phone is pressed, the tone is sent to
the decoder, which decodes and sends a signal to the microcontroller, and the robot is started. To avoid obstacles the
robot has inbuilt Infrared sensors which detect obstacles and inform the microcontroller, which accordingly guides the
robot. In this setup only three sensors were used given the limitation in terms of input ports. However, a greater number
of sensors would allow for the robot to be aware of more specific situations. Therefore, it can be made more adaptable
in varying situations. The test robot was programmed using Embedded C with AVR Studios. This approach uses
existing technologies and is very inexpensive

INTRODUCTION
DTMF Mobile ROBO is a machine that can be controlled with a mobile . In this project, the robot is controlled by a
mobile phone that makes a call to the mobile phone attached to the robot. In the course of a call, if any button is
pressed, a tone corresponding to the button pressed is heard at the other end of the call. This tone is called "Dual Tone
Multiple-Frequency" (DTMF) tone. The robot perceives this DTMF tone with the help of the phone stacked on the
robot. The received tone is processed by the microcontroller with the help of DTMF decoder. The microcontroller
then transmits the signal to the motor driver ICs to operate the motors & our robot starts moving Conventionally,
Wireless-controlled robots use rf circuits, which have the drawbacks of limited working range, limited frequency range
and the limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides the
advantage of robust control, working range as large as the coverage area of the service provider, no interference with
other controllers and up to twelve controls. Although the appearance and the capabilities of robots vary vastly, all
robots share the feature of a mechanical, movable structure under some form of control. The Control of robot involves
three distinct phases: perception, processing and action. Generally, the preceptors are sensors mounted on the robot ,
processing is done by the on-board microcontroller or processor, and the task is performed using motors or with some
other actuators.
In this project the robot, is controlled by a mobile phone that makes call to the mobile phone attached to the robot in
the course of the call, if any button is pressed control corresponding to the button pressed is heard at the other end of
the call. This tone is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the help of
phone stacked in the robot. The received tone is processed by the atmega16 microcontroller with the help of DTMF
decoder MT8870 the decoder decodes the DTMF tone in to its equivalent binary digit and this binary number is send
to the microcontroller, the microcontroller is preprogrammed to take a decision for any give input and outputs.
The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So this simple robotic project
does not require the construction of receiver and transmitter units. DTMF signaling is used for telephone signaling
over the line in the voice frequency band to the call switching center. The version of DTMF used for telephone dialing
is known as touch tone.
DTMF assigns a specific frequency (consisting of two separate tones) to each key s that it can easily be identified by
the electronic circuit. The signal generated by the DTMF encoder is the direct algebraic submission, in real time of
the amplitudes of two sine (cosine) waves of different frequencies, i.e., pressing 5 will send a tone made by adding
1336 Hz and 770 Hz to the other end of the mobile. The important components of this robot are DTMF decoder,
Microcontroller and motor driver. An MT8870 series DTMF decoder is used here. All types of the mt8870 series use
digital counting techniques to detect and decode all the sixteen DTMF tone pairs in to a four bit code output. The built
-in dial tone rejection circuit eliminated the need for pre- filtering. When the input signal given at pin2 (IN-) single
ended input configuration is recognized to be effective, the correct four bit decode signal of the DTMF tone is
transferred to Q1 (pin11) through Q4(pin14) outputs.

BLOCK DIAGRAM

POWER SUPPLY

TELEPHONE

MOTOR

DTMF
L293D

DECODER

8051
MICROCONTR
OLLER
MOTOR

CIRCUIT DIAGRAM

COMPONENT LIST
Sr. no

Equipment

Quantity

IC 8051 MC

MT 8870 DTMF IC

Crystal (3.579545mhz)

VOLTAGE REGULATOR

2 LINE LCD DISPLAY

CRYSTAL

OSCILLATOR(11.0592mhz)

DIODE

PUSH BUTTON

LEDS

10

RESISTER(220,4.7k,10k)

BOX

11

CAPACITORS(10uf,1000uf)

12

MOTORS

13

L293D

A BRIEF INTRODUCTION TO 8051 MICROCONTROLLER

When we have to learn about a new computer we have to familiarize about the machine
capability we are using, and we can do it by studying the internal hardware design (devices architecture), and also to
know about the size, number and the size of the registers. A microcontroller is a single chip that contains the processor
(the CPU), non-volatile memory for the program (ROM or flash), volatile memory for input and output (RAM), a
clock and an I/O control unit. Also called a "computer on a chip," billions of microcontroller units (MCUs) are
embedded each year in a myriad of products from toys to appliances to automobiles. For example, a single vehicle
can use 70 or more microcontrollers. The following picture describes a general block diagram of microcontroller.

AT89S52: The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K bytes of insystem programmable Flash memory. The device is manufactured using Atmels high-density nonvolatile memory
technology and is compatible with the industry-standard 80C51 instruction set and pin out. 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 in-system programmable Flash on a monolithic chip, the Atmel AT89S52 is a
powerful microcontroller, which provides a highly flexible and cost-effective solution to many, embedded control
applications. The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O
lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level interrupt architecture, a
full duplex serial port, on-chip oscillator, and clock circuitry. In addition, the AT89S52 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 con-tents but freezes the oscillator, disabling all other chip functions until the next
interrupt.

10

11

The hardware is driven by a set of program instructions, or software. Once familiar with hardware and software, the
user can then apply the microcontroller to the problems easily.

The pin diagram of the 8051 shows all of the input/output pins unique to microcontrollers:

The following are some of the capabilities of 8051 microcontroller

1.

Internal ROM and RAM

2.

I/O ports with programmable pins

3.

Timers and counters

4.

Serial data communication

12

The 8051 architecture consists of these specific features:

16 bit PC &data pointer (DPTR)

8 bit program status word (PSW)

8 bit stack pointer (SP)

Internal ROM 4k

Internal RAM of 128 bytes.

4 register banks, each containing 8 registers

80 bits of general purpose data memory

32 input/output pins arranged as four 8 bit ports: P0-P3

Two 16 bit timer/counters: T0-T1

Two external and three internal interrupt sources Oscillator and

13

clock circuits.

14

HARDWARE DESCRIPTION
1. POWER SUPPLY
Power supply is a reference to a source of electrical power. A device or system that supplies electrical or other types
of energy to an output load or group of loads is called a power supply unit or PSU. The term is most commonly applied
to electrical energy supplies, less often to mechanical ones, and rarely to others. Here in our application we need a 5v
DC power supply for all electronics involved in the project. This requires step down transformer, rectifier, voltage
regulator, and filter circuit for generation of 5v DC power. Here a brief description of all the components are given as
follows:

2. TRANSFORMER
Transformer is a device that transfers electrical energy from one circuit to another through inductively coupled
conductors the transformer's coils or "windings". Except for air-core transformers, the conductors are commonly
wound around a single iron-rich core, or around separate but magnetically coupled cores. A varying current in the first
or "primary" winding creates a varying magnetic field in the core (or cores) of the transformer. This varying magnetic
field induces a varying electromotive force (EMF) or "voltage" in the "secondary" winding. This effect is called mutual
induction.

If a load is connected to the secondary circuit, electric charge will flow in the secondary winding of the transformer
and transfer energy from the primary circuit to the load connected in the secondary circuit. The secondary induced
voltage VS, of an ideal transformer, is scaled from the primary VP by a factor equal to the ratio of the number of turns
of wire in their respective windings:

15

By appropriate selection of the numbers of turns, a transformer thus allows an alternating voltage to be stepped up
by making NS more than NP or stepped down, by making it

BASIC PARTS OF A TRANSFORMER

In its most basic form a transformer consists of:

A primary coil or winding.

A secondary coil or winding.

A core that supports the coils or windings.

Refer to the transformer circuit in figure as you read the following explanation: The primary winding is connected to
a 60-hertz ac voltage source. The magnetic field (flux) builds up (expands) and collapses (contracts) about the primary
winding. The expanding and contracting magnetic field around the primary winding cuts the secondary winding and
induces an alternating voltage into the winding. This voltage causes alternating current to flow through the load. The
voltage may be stepped up or down depending on the design of the primary and secondary windings.

16

THE COMPONENTS OF A TRANSFORMER

Two coils of wire (called windings) are wound on some type of core material. In some cases the coils of wire are
wound on a cylindrical or rectangular cardboard form. In effect, the core material is air and the transformer is called
an AIR-CORE TRANSFORMER. Transformers used at low frequencies, such as 60 hertz and 400 hertz, require a
core of low-reluctance magnetic material, usually iron. This type of transformer is called an IRON-CORE
TRANSFORMER. Most power transformers are of the iron-core type. The principle parts of a transformer and their
functions are:

The CORE, which provides a path for the magnetic lines of flux.

The PRIMARY WINDING, which receives energy from the ac source.

The SECONDARY WINDING, which receives energy from the primary winding and delivers it to the load.

The ENCLOSURE, which protects the above components from dirt, moisture, and mechanical damage.

17

CIRCUIT DIAGRAM OF POWER SUPPLY

18

DTMF DECODER
Today, most telephone equipment use a DTMF receiver IC. One common DTMF receiver IC is the Motorola MT8870
that is widely used in electronic communications circuits. The MT8870 is an 18-pin IC. It is used in telephones and a
variety of other applications. When a proper output is not obtained in projects using this IC, engineers or technicians
need to test this IC separately. A quick testing of this IC could save a lot of time in re-search labs and manufacturing
industries of communication instruments. Heres a small and handy tester circuit for the DTMF IC. It can be assembled
on a multipurpose PCB with an 18-pin IC base. One can also test the IC on a simple breadboard.
For optimum working of telephone equipment, the DTMF receiver must be designed to recognize a valid tone pair
greater than 40 ms in duration and to accept successive digit tone-pairs that are greater than 40 ms apart. However,
for other applications like remote controls and radio communications, the tone duration may differ due to noise
considerations. Therefore, by adding an extra resistor and steering diode the tone duration can be set to different
values. The circuit is configured in balanced-line mode. To reject common-mode noise signals, a balanced differential
amplifier input is used. The circuit also provides an excellent bridging interface across a properly terminated telephone
line. Transient protection may be achieved by splitting the input resistors and inserting ZENER diodes (ZD1 and ZD2)
to achieve voltage clamping. This allows the transient energy to be dissipated in the resistors and diodes, and limits
the maximum voltage that may appear at the inputs.
Whenever you press any key on your local telephone keypad, the delayed steering (Std) output of the IC goes high on
receiving the tone-pair, causing LED5 (connected to pin 15 of IC via resistor R15) to glow. It will be high for a
duration depending on the values of capacitor and resistors at pins 16 and 17. The optional circuit shown within dotted line is used for guard time adjustment.
The LEDs connected via resistors R11 to R14 at pins 11 through 14, respectively, indicate the output of the IC. The
tone-pair DTMF (dual-tone multi-frequency) generated by pressing the telephone button is converted into bi-nary
values internally in the IC. The binary values are indicated by glowing of LEDs at the output pins of the IC. LED1
represents the lowest significant bit (LSB) and LED4 represents the most significant bit (MSB). So, when you dial a
number, say, 5, LED1 and LED3 will glow, which is equal to 0101. Similarly, for every other number dialed on your
telephone, the corresponding LEDs will glow. Thus, a non-defective IC should indicate proper bi-nary values
corresponding to the decimal number pressed on your telephone key-pad.

19

To test the DTMF IC 8870/KT3170, proceed as follows:

Connect local telephone and the circuit in parallel to the same telephone line.

Switch on S1. (Switch on auxiliary switch S2 only if keys A, B, C, and D are to be used.)

Now push key * to generate DTMF tone.

Push any decimal key from the telephone keypad.

Observe the equivalent binary as shown in the table.

If the binary number implied by glowing of LED1 to LED4 is equivalent to the pressed key number

(decimal/A, B, C, or D), the DTMF IC 8870 is correct. Keys A, B, C, and D on the telephone keypad are used for
special signaling and are not available on standard pushbutton telephone keypads. Pin 5 of the IC is pulled down to
ground through resistor R8. Switch on auxiliary switch S2. Now the high logic at pin 5 enables the detection of tones
representing characters A, B, C, and D.

20

DC MOTOR
DC Motor has two leads. It has bidirectional motion . If we apply +ve to one lead and ground to
another motor will rotate in one direction, if we reverse the connection the motor will rotate in
opposite direction.

If we keep both leads open or both leads ground it will not rotate (but some inertia will be
there).
If we apply +ve voltage to both leads then braking will occurs.

21

H-BRIDGE

This circuit is known as H-Bridge because it looks like H Working principle of H-Bridge.

If switch (A1 and A2 )are on and switch (B1 and B2) are off
rotates in clockwise direction

then motor

If switch (B1 and B2 )are on and switch (A1 and A2) are off
rotates in Anti clockwise direction

then motor

we can use Transistor, mosfets as a switch ( Study the transistor as a a switch)

H-Bridge I.C (L293D)

22

TRUTH TABLE
Input 1

Input 2

Result

No rotation

Clockwise rotation

Anti-clockwise rotation

break

Note:-

Connect motors pins on output 1 and output 2 and control signal at input 1 and input 2 will
control the motion

Connect another motor pins on output 3 and output 4 and control signal at input3and input
4

Truth table for i/p 3 and i/p 4 is same as above shown

0 means 0 V or Low
1 means High or +5V
In Enable 1 and Enable 2 if you give high then you observe hard stop in condition 0 0 and
11. Unless slow stop of motor on low signal

Required Motor voltage has given on pin 8 (Vs) i.e 12V DC 24V DC

23

SCHEMATIC OF L293D WITH DC MOTOR

DC MOTOR

DUAL H-BRIDGE
2
7
10
15
+5 V DC

3
IN1

OUT1

IN2

OUT2

IN3

OUT3

IN4

OUT4

6
11
14

1
9

EN1
EN2

8
16

VS
VSS

L293D

DC MOTOR

+ 15 V DC

+ 5 V DC

MOTOR VOLTAGE

24

ALGORITHMS AND PROGRAMMING

I Algorithm
Call phone in robot
Initiation of DTMF decoder
Set sensor L, sensor R, sensor F as 0
Sensor L is = SL and Sensor R = SR and sensor F = SF
While (1)if DTMF=2 Initiate logic
End

II Algorithm Logic
Program
The program was done using AVR studios using the C language. It detects lines other obstacles in the car park.
#define F_CPU 1000000UL
#include <avr/io.h>
#include<util/delay.h>
int move_back=0b00000110;
int move_right=0b00001010;
int move_forward=0b00001001;
int move_left=0b00000101;
int stop=0b0000000;
int left_sensor_on=0b0010000;
int right_sensor_on=0b0100010;

25

int forward_sensor_on=0b0001000;
int left_sensor_off=0b0000000;
int right_sensor_off=0b0000000;
int forward_sensor_off=0b0000000;
int main(void)
{
DDRB=0b11111111;
DDRC=0b0000000;
int ls=0;
int rs=0;
int fs=0;
int DTMF=0;
while (1)
{ ls = (PINC&0b0010000);
rs = (PINC&0b0100000);
fs = (PINC&0b0001000);
DTMF=PINC&0b0001111;
If (DTMF==2)
{
PORTB=move_forward;
_delay_ms(4000);

26

PORTB=move_right;
If ((ls==left_sensor_on) & (rs==right_sensor_on) & (fs==forward_sensor_on))
{
PORTB=stop;
}
If ((ls==left_sensor_on) & (rs==right_sensor_off) & (fs==forward_sensor_on))
{
PORTB=move_back;
_delay_ms(3000);
PORTB=move_right;
_delay_ms(3000);
}
if((ls==left_sensor_off) & (rs==right_sensor_off) & (fs==forward_sensor_on))
{
PORTB=move_back;
_delay_ms(3000);
PORTB=move_left;
_delay_ms(3000);
}
if((ls==left_sensor_off)

& (rs==right_sensor_on) & (fs==forward_sensor_on))

27

PORTB=stop;
}

if((ls==left_sensor_on)

& (rs==right_sensor_off) & (fs==forward_sensor_off))

{
PORTB=move_forward;
}
if((ls==left_sensor_on)

& (rs==right_sensor_on) & (fs==forward_sensor_off))

{
PORTB=move_forward;
}
if((ls==left_sensor_off)

& (rs==right_sensor_off) & (fs==forward_sensor_off))

{
PORTB=move_forward;
}

if((ls==left_sensor_off)

& (rs==right_sensor_on) & (fs==forward_sensor_off))

{
PORTB=move_forward;
if((ls==left_sensor_off) & (rs==right_sensor_off) & (fs==forward_sensor_on))
{
PORTB = move_right;
}
}
}

28

if(DTMF==4)
{
PORTB=0b00001000;
}
if(DTMF==6)
{
PORTB=0b00000001;
}
if(DTMF==8) // if Key 8 of cell phone pressed
{
PORTB=0b00000110; // move back
}
}

29

CONCLUSION
This robot is only a rudimentary version of what could be implemented in the real world. Given the limitation in terms
of input ports, only three sensors were used in this robot. Therefore only a certain set of conditions could be taken into
account. What is represented here is a reasonably accurate solution to the navigation of vehicles in a specified area.
The program allows for both manual and autonomous features so the user can choose between the two. A camera
could also be added as an additional feature to allow the user to track the progress of the vehicle as it performs its
task. By using Ultrasound sensors instead of infrared, one could extend the application of this technology to scenarios
in which infrared would be ineffective. The investigation represents a step into autonomous vehicles that could well
be implemented in the very near future. While Autonomous cars are still in their infancy, the simple use of IR
technology and Dual Tone Multi Frequency could lead the way to more advances in autonomous vehicles. It is also
fairly affordable given that IR and DTMF are common technologies.

30

REFERENCES
[1]

Sharma, Toshendra K. Robotics with AVR. 2nd ed. Noida: Robosapiens India Publications, 2011. Print.

[2]

Gupta, Sabuj D., Arman R. Ochi, Mohammad S. Hossain, and Nahid A. Siddique. "Designing & Implementation

of Mobile Operated Toy Car by DTMF" International Journal of Scientific and Research 3.1 (2013): n. pag. Web. 12
July 2013. <http://www.ijsrp.org/>.
[3]

Singh, Surinder, Mr. "DTMF-Tester." Electronics for You 2003: n. pag. Web.

[4]

"Infrared Sensor Designing- Basic." Robosense. N.p., n.d. Web. 14 July 2013.

[5]

Hector of SCP. "Dual Tone Multiple Frequency A Guide to Understanding and Exploiting Australias Most

Common Telecommunications Signaling Method." N.p., n.d. Web. 12 July 2013. <http://www.pogden.co.uk>.

31