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Use the required hardware and write the necessary software t…

Use the required hardware and write the necessary software to do the following: For this practical, you will use an ATxmega128A1U microcontroller to monitor the orientation of the uPAD, OOTB Memory Base (OMB) and OOTB Robotics Backpack (ORB). The uPAD/OMB/ORB PCBs will have three potential orientations:  flat on table, with OMB on bottom; on side, with OMB pins on top (and USB on right); and on side, with USB on top. Based on the orientation, you will output an orientation description and an analog voltage. Use the asynchronous serial (SCI) to output one of the bold strings below with the PCB orientation (followed with a new line and carriage return). The voltage to output for each orientation are in red. Flat on table (1.3 V) OMB pins on top (0.7 V) USB on top (2.1 V) At a baud rate of 63 kHz (=63,000 Hz), output one of these messages; also toggle a pin for an effective square waveform at the pin of 540 Hz. Use bit 0 of PortK, i.e., PK0; this pin is labelled A0 on the memory base connector (that you plugged into your breadboard in Lab 4). PortA is available on the ORB PCB. Use PortA pin 2 (PA2) to output the required analog voltage, based on the PCB orientation. Note that PA0 is top pin next to the J5 label, above and to the left of the screw terminals. The PA2 pin is indicated on the left of the below image. You can directly connect PA2 to your DAD. For the entirety of this problem, use the default system clock of 2 MHz. Use the IMU to determine the orientation of the PCBs. Use the appropriate USART on your µPAD with a baud rate of 63 kHz to output one of the above strings. (Use any other  serial parameters that you would like for this part of the problem.) Toggle PK0 such that it produces a square waveform of 540 Hz (