user manual - UCL Computer Science
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1. The sequence of events for the above commands can be outlined as follows 1 Create the build output directory as apps TestApp build imec 2 The nesC compiler driver ncc is invoked on the application component top level configuration file e g TestApp nc to control the whole compilation process until the production of an executable for the target platform 3 The ncc driver reads the tos platform imec platform file to obtain the actual C compiler for the selected platform msp430 gcc and MCU model msp430x149 this in turn 1 Invokes a series of helper tools that process all applica tion s components and end up generating a standalone C source file apps TestApp build imec app c Tt is possible to use USB or RS232 which is selectable through 3 pin jumper J1 in the middle of the programming board to side of USB connector for USB to other for legacy RS232 The USB radio interface is programmed with JTAG instead of BSL so the bs1 PORT option should be replaced with jtag on the command line Naturally 10 2 Then msp430 gcc is called to compile the standard C source code into a temporary binary object file going through an assembly step 3 Finally msp430 1d is invoked to link the object with the necessary libraries and produce an ELF executable for the target platform apps TestApp build imec main exe 4 Information from the executable file is extracted with objdump and filtered through a Perl script t2. hardware RTS CTS or no flow control Reset the mote to re execute the program Another demo application that exercises the UART is CntToUart which keeps a counter and outputs its value in ASCII for display on a serial terminal These applications rely on the BufferedUartC component which uses Circular Buffer to store and dispatch data to the UART port This components have been created in the context of this project under tos interfaces and tos lib Util1 and can be wired to from other applications components to provide a convenient means of debugging using the standard printf function defined in stdio h 15 The sensors Three test applications were written to sample the various sensor devices present on the IMEC prototypes and output the readings over the UART port to be printed on screen by a terminal emulator as described above e SenseToUart periodically samples MSP430 s internal temperature sensor mapped in platform msp430 DemoSensorC nc and sends the raw ADC reading converted to ASCII over the UART e TestLightSensor periodically samples the light sensor the light dependant resistor on the IMEC platform and sends the raw ADC reading converted to ASCII over the UART e TestHumTempSensor periodically samples temperature and humidity from the Sensirion SHT15 sensor converts the digital reading to appropriate phys ical units degrees celsius and RH and sends the results in ASCII over the UART 3 3 2 Oscillos
3. used to test different hardware subsystems of the IMEC sensor module under TinyOS The LED The Blink application covered in tutorial lesson 1 is the TinyOS incarna tion of the classical Hello World example as motes do not feature a screen it does nothing but toggle an LED on off every second To try it simply program one IMEC mote and watch the LED blinking The radio stack A pair of applications covered in tutorial lesson 4 are used to work out the radio subsystem CntToLedsAndRfm updates a counter every 1 4 second whose value is displayed on the mote s LEDs in binary form as the IMEC pro totype has only one LED it lights for every odd counter value and broadcasted over the radio RfmToLeds on the other hand just waits to receive packets with the counter s value and also display it on its LEDs Program one mote with CntToLedsAndRfm and one or more mote s with Rfm ToLeds The transmitting mote will constantly blink its LED while the receiver s should react accordingly to every packet received The UART HelloWorldUart was crafted to test raw serial communication from a mote to a computer it sends the ASCII string Hello World over the UART This string can be displayed on the computer using serial terminal emulation soft ware such as HyperTerm or minicom Communication parameters for the serial port should be set to 57600 bps 1 start bit 8 data bits 1 stop bit no parity and either
4. with TOSSIM Following the instructions provided in earlier sections the procedure below should achieve this 1 Compile the Surge application for the pc platform 2 Set up a simulation with the intended number of nodes and preferably with a lossy radio model otherwise all nodes will connect directly to the base station node 0 3 Launch TinyViz to spawn a SerialForwarder and connect to the simulation 15See tutorial lesson 4 for information about the purpose of group id in TinyOS messages Unless DEFAULT_LOCAL_GROUP is explicitly set usually from within Makelocal all motes are programmed with 0x7D by default 19 4 Set MOTECOM to tossim serial and run the Surge Java GUI 5 Start the simulation wait roughly 80 seconds of simulation time for the multi hop topology to form and be reflected in the Surge control panel 4 Further Information Please find additional information about the technical aspects of this project in the main group report Other resource and links of interest are listed below e GETTINGSTARTED txt file provided by IMEC with the project kit e IMEC s hardware schematic diagrams provided confidential e TinyOS Documentation http www tinyos net tinyos 1 x doc index html e TinyOS Tutorials http www tinyos net tinyos 1 x doc tutorial index html 20
5. Power efficient and Reliable MAC for Routing in Wireless Sensor Networks MSc DCNDS Group C User s Guide Ioannis Daskalopoulos Hamadoun Diall Kishore Raja Supervisors Stephen Hailes UCL and George Roussos Birkbeck College University College London Department of Computer Science MSc Data Communications Networks and Distributed Systems Gower Street London WC1E 6BT UK September 2005 Version 1 0 Contents 1 Introduction 2 2 TinyOS Environment Installation 3 2 1 Hardware and Software Requirements 2 3 2 1 1 Microsoft Windows 2000 or XP i os csa ee ee ee eee eS 4 212 GNU Linux Systeme cee ee ea Oe a eS 4 2 2 Directory Layout and Environment 4 5 2 9 Basic Systemi Verica o lt ps ee d es he g ew HAS eae e iewi 6 3 TinyOS Support for the IMEC Platform 6 3 1 Installation of the Software Release oaoa aaa 7 3 2 Compiling and Running Applications aooo a 8 3 2 1 Installing Applications on the IMEC Sensor Modules 9 3 2 2 Simulating Applications with TOSSIM and TinyViz 11 3 2 3 Connecting to the Sensor Network with SerialForwarder 13 ga Demo Applications se rec cesso ee EO e ee ee e 15 3 3 1 Miscellaneous Functionality Tests 15 Sas Qralloscope Family 2 cee ee ee a a ee Be ew SG 16 3 3 3 Surge Sensing and Multihop Routing 18 4 Further Information 20 1 Introduction This document provides usage and testing g
6. and the project s code properly installed If the FTDI drivers properly recognise the hardware the motelist utility should display on which virtual serial port the board is connected to Finally plug the IMEC sensor module into the programming board with the battery connector towards the side of the USB connector As introduced in the previous section TinyOS applications are compiled to an exe cutable image appropriate for the IMEC sensor modules with the make imec command To actually install or program the executable code onto a sensor module connected placed on the programming board a command with the following syntax should be issued make imec install lt gt bsl lt PORT gt Where lt gt is the TinyOS node id TOS_LOCAL_ADDRESS to be assigned to the sensor module and lt PORT gt is the operating system s identifier for the serial port where the programming board is connected It should be noted that this command compiles and installs the application onto the target sensor module to simply flash the a compiled application replace install with reinstall As an example the commands below will compile an hypothetical application TestA pp for the zmec platform program it onto an IMEC sensor module sitting on a program ming board connected to the USB port dev ttyUSB2 on GNU Linux on Windows it would be COM port 3 and assign it the node id 123 cd TOSROOT apps TestApp make imec install 123 bsl dev ttyUSB2
7. ata Load Data lt Reset gt Edit Legend F Show Legend x Clear Dataset F Connect Datapoints Control Panel Figure 3 Oscilloscope application displaying readings from 3 sensor modules If no data points appear in the plot window the X and Y axis may need to be zooomed out Oscilloscope Collects readings from the light sensor on the IMEC platform and forwards the data in a packet directly to the serial port i e destination address TOS_UART_ADDR Program a single mote with this application and set up the PC side as described above OscilloscopeRF Performs exactly as the previous one but broadcasts the packets over the radio i e destination address TOS_BCAST_ADDR instead of the UART Program one or more motes with OscilloscopeRF and another one with TOSBase that must be connected to the PC serving as base station The Java GUI will plot data points in different colours for every mote from which it receives readings OscilloscopeImec Operates similarly to OscilloscopeRF but each IMEC mote sends readings from multiple sensors Sensirion SHT15 relative humidity and tempera ture sensor light dependent resistor and MSP430 internal temperature sensor 17 3 3 3 Surge Sensing and Multihop Routing Surge is an application that demonstrates ad hoc multi hop routing of sensor readings the light sensor to be precise It is designed to be used in conjunction with a Java GUI that displays the n
8. contrib apps All applications in this project were developed and tested inside the former directory apps Each application has a Makefile declaring the components it provides or uses if any specify special compiler flags define conditional behaviours in the end it provides a link include Makerules to hook up with the global TinyOS make system To compile install and or run a TinyOS application one needs to change into its sub directory and use the make with appropriate parameters the general syntax is shown below make lt platform gt extra options This will invoke the correct sequence of commands to compile the application for the specified lt platform gt such as imec for instance The extra options enable changing or extending the behaviour of the TinyOS make system to perform different or additional actions than compiling the application like generating documentation or installing the compiled image on a connected sensor module Specific platform compilation and installation details are provided in further sections A very useful feature to explore and analyse nesC programs is the nesdoc facility similar to JavaDoc that provides the ability to create automated documentation from the com ponents source code and specially formatted comments embedded therein Moreover with the GraphViz package installed component wiring diagrams are generated too This functionality is accessible with the following command for the in
9. cope Family This family of applications are introduced in tutorial lesson 6 There are basically two main pieces of software involved 1 An application running on the mote s apps Oscilloscope reads data from the sensors after a certain number of readings have been collected they are grouped into a packet that is sent either on the serial port or the radio 2 A Java application running on the PC tools java net tinyos oscope receives the packets containing the sensor readings and plots the raw data i e not converted to actual physical units on a graphical chart For best results each variation of the application described below requires e An active SerialForwarder connected to a mote sitting on the programming board as explained earlier e Arunning Oscilloscope Java GUI with the MOTECOM variable pointing to the correct SerialForwarder The example below assumes that the GUI is started on the same system but it can be just as easily done over the network by replacing the localhost 9001 with appropriate parameters export MOTECOM sf localhost 9001 java net tinyos oscope oscilloscope 13 As noted in earlier sections for proper serial communication through the mote s UART it is nec essary to disable BSL operation on the programming board by unplugging the patched on connector from the header JB 16 Ox66b 100 0 124 0 Zoom n xX zoomin Y F hex Y Axis Zoom Out X Zoom Out Y A Scrolling Sawe D
10. d length 0xe data 0x6 0x0 Oxb 0x0 Ox8d 4 Sent Message lt BaseTOSMsg gt addr 0x3 type 0x11 group 0x7d length Qxe dataz0x4 0x0 0x4 0x0 0x63 S Sent Message lt BaseTOSMsg gt addr 0x6 type 0x11 group 0x7d Clength 0xe data 0x5 0x0 0x5 0x0 0x64 3 Sent Message lt BaseTOSMsg gt addr 0x0 type 0x11 group 0x7d length 0xe data 0x3 0x0 0x4 0x0 Oxd2 6 Sent Message lt BaseTOSMsg gt addr 0xa type 0x11 group 0x7d length 0xe data 0x6 0x0 0x6 0x0 Ox8e 10 Sent Message lt BaseTOSMsg gt addr 0x2 types0x11 group 0x d length 0xe data z0xa 0x0 Oxa 0x0 Oxb 2 Sent Message lt BaseTOSMsg gt addr 0x0 type 0x11 group 0x7d length 0xe data 0x2 0x0 Oxa 0x0 Oxdf 8 Sent Message lt BaseTOSMsg gt addr 0x2 type 0x11 group 0x7d length 0xe data 0x8 0x0 0x8 0x0 Oxea k7 e 0x11 _ group 0x7d length 0xe data 0x7 0x0 Ox 0x0 0x85 37 C Highlight Clear Simulation paused Figure 2 TinyViz displaying a simulated sensor field on the left hand side and the tabbed plug in control panels on the right 3 2 3 Connecting to the Sensor Network with SerialForwarder A network of wireless sensors in itself is rather useless if the intended users cannot interact with it in some way It is therefore imperative to connect the sensor network to external applications running on more resourceful systems A common approach is to have a mote play the role of ba
11. d out in Directory Layout and Environment the CLASSPATH and MOTECOM environment variables must be correctly set The latter controls the method used by these Java classes and hence applications to connect to the base station For instance to print the contents of all packets received from an IMEC sensor module s UART connected on serial port COM3 JavaComm uses DOS semantics the Listen tool can used in this way export MOTECOM serial COM3 imec java net tinyos tools Listen Where the imec part selects both the communication baud rate 57600 bps in this case and the TinyOS packet format TOS_Msg structure Note To enable serial communication with the sensor module s UART BSL must be disabled on the IMEC programming board by unplugging the patched on connector from the header JB The orange LED on the board flashes when data is sent or received over the USB link To enable multiple applications on the same host or even across a TCP IP network to share access to the sensor network bridge i e base station mote the SerialForwader program must be started assuming the same parameters from the previous example java net tinyos sf SerialForwarder comm serial COM3 imec Once SerialForwarder is listening to the specified serial port applications can con nect to its TCP socket for bi directional communication with the base station mote MOTECOM needs to be updated to sf lt IP_ADDRESS gt lt TCP_PORT gt accordin
12. etwork topology based on the packets received from the sensor network Each Surge node takes sensor readings and forwards them hop by hop to the base station which is always the mote with node id 0 zero The motes can also respond to broadcast commands change sampling rate sleep wakeup sent from the Java control panel through the base station The original TinyOS application apps Surge could not be compiled to an MSP430 platform due to the lack of qsort in mspgcc s standard C library libc a used by the MultiHopRouter component tos lib Route This issue was overcome by creat ing another version of this application apps SurgeImec and providing a quick sort implementation locally Moreover all message headers structs SurgeMsg SurgeCmdMsg and MultihopMsg were adjusted to be even sized in order to ensure proper word alignment of their pay loads Under certain circumstances e g the first field of the payload is a 16 bit word this can be a major issue on MSP430 platforms This requires that the Surge Java GUI be re compiled to properly recognise the updated message structure formats cd TOSROOT tools java net tinyos surge make clean SURGE_PLATFORM imec make The procedure to run Surge with a network of IMEC motes is described below 1 Program all motes with Surge from directory apps SurgeImec assigning arbitrary addresses to all nodes except for one the base station which will have node id 0 2 The base stati
13. g to the Seri alForwarder s IP address and TCP port The example below assumes the localhost and the default port 9001 export MOTECOM sf localhost 9001 Finally it should be noted that TinyViz includes an embedded SerialForwarder which is active by default disabled with nosf command line switch This enables packet level interation with a running simulation MOTECOM must be set to tossim serial or tossim radio Further technical details about the serial protocol and values for the MOTECOM variable at http www tinyos net tinyos 1 x doc serialcomm 12Java support for the frame format developed for IMEC s nRF2401 radio stack is included in tools java net tinyos message imec initially generated with MIG and then customised 14 3 3 Demo Applications Building upon the general instructions provided above the following sub sections de scribe the sample applications used to test TinyOS on the IMEC sensor modules These applications are installed in individual sub directories under apps e g apps TestApp which also contain README files that the reader is advised to refer to as well Unless explicitly noted otherwise all procedures that involve compilation assume the current directory being the one of the application being described Also unless stated otherwise the node id assigned to the motes when programming are irrelevant 3 3 1 Miscellaneous Functionality Tests These are very simple applications that can be
14. graphviz org Note TinyOS was initially developed around the UC Berkeley motes the Mica family with Atmel AVR micro controllers and this heritage shows at the very core of version 1 x as well as throughout the documentation This is bound to change in version TinyOS 2 0 designed from the ground up with portability in mind 2 1 1 Microsoft Windows 2000 or XP A user friendly installer is available for Windows 2000 XP that automatically installs and configures all the software items listed above with exception of the FTDI driver to be installed manually This installer will set up the Cygwin emulation system featuring the a GNU development environment including the MSP430 specific tools the nesC compiler and a TinyOS release optionally the JDK 1 4 2 and JavaComm can also be installed This is the recommended procedure to install TinyOS on Windows for the first time To download and install this package look for Installshield Installation Instructions at http www tinyos net download html Instructions for a fully manual installation can be found on the same page the information available for the Telos platform from Moteiv also based on MSP430 may also be useful http moteiv com support install windows html 2 1 2 GNU Linux Systems TinyOS is supported on both Linux kernel version 2 4 and 2 6 and RPM packages exist for Red Hat Linux systems For most other GNU Linux distributions some of the software items w
15. ill be available on their native packaging systems namely GNU Make Java Development Kit and GraphViz the FTDI driver is bundled in the kernel as ftdi_sio compilation as module preferred Instructions for the resolution of all the software dependencies are beyond the scope of this guide and appropriate documentation should be consulted Below are listed resources for installation and configuration of the software packages specific to using TinyOS with the IMEC sensor modules All instructions that are AVR specific can be safely ignored unless support for Mica motes is required and replaced with the development tools for MSP430 platforms e http www tinyos net download html Instructions to download and install TinyOS on RPM based systems focussed on AVR platforms e http www tinyos net tinyos 1 x doc install from src txt Instructions to down load and install TinyOS from source code focussed on AVR platforms 3For GNU Linux the JavaComm package may be tricky as support varies with different vendors At the time of this writing apparently support was recently included by Sun and discontinued by IBM e http mspgec sourceforge net manual x1608 html Official instructions to in stall the mspgcc tool chain from source code e http www mikrocontroller net en mspgcc Unofficial instructions to install the mspgcc tool chain from source code e http cents cs berkeley edu tinywiki index php Tmote_Linux_install In
16. interface essentially pin directions in hardware h and integration with the make system This was not completed during the project due to lack of time to tackle the rather extensive changes required in TinyOS clock subsystem Please find more details in tos platform imec_usb README The following procedure is recommended to install the project s files in the target system s TinyOS environment configured according to the instructions in the previous section 1 Change to the TinyOS distribution root directory tinyos 1 x cd TOSROOT 2 Extract the project s code gzip d tarball assuming it is located in tmp gunzip c tmp ucl dcnds tinyos imec 1 0 tar gz tar xvf 3 Finally re compile the Java tools cd TOSROOT tools java make make 3 2 Compiling and Running Applications As described in the first lesson of the tutorial TinyOS or nesC application consists of one or more components linked together to form an executable There is not an operating system as such that is all core OS components the task scheduler clocks timers I O peripherals such as sensor ADC and radio stacks etc are combined with the components of the application logic itself and the libraries it uses routing protocols query processors flash filesystems etc into one monolithic program Applications bundled in the TinyOS distribution are normally located in the apps sub directory applications contributed by third parties live in
17. ls TinyOS system environment tools l java Java classes for interfacing sensor networks make Make system configuration and extensions Hee Gs Other tools and scripts tos TinyOS library modules and interfaces interfaces Global interface definitions lib Component library modules platform Platform specific components sensorboards Components for sensorboards system Core system components some mica specific types Core header files and type definitions Note The directory structure for TinyOS version 2 x will undergo major modifications 2 3 Basic System Verification If all went well execution of the TinyOS system checking utility toscheck should re port success failure of Mica specific tools avr uisp can be ignored as mentioned earlier It is important though to verify that the mspgcc C compiler assembler and all binary tools including msp430 bs1 msp430 jtag msp430 objcopy msp430 objdump etc as well as some TinyOS utilities such as motelist mote key etc are located in directories in the PATH environment variable and operational as these are not checked by the aforementioned utility When doing a manual installation of TinyOS the Java tools need to be compiled cd TOSROOT tools java make make 3 TinyOS Support for the IMEC Platform As a pre requisite before delving further into this section the reader is advised to turn to the online tutorial also available i
18. n the local copy doc tutorial index htm1 This will confer important knowledge on the major concepts about the programming model of TinyOS nesC as well as a get familiar with the terminology involved components interfaces commands events tasks modules configurations wirings etc Tutorial lesson 1 is very important lessons 2 and 3 are also recommended others will be suggested along the way as they become relevant to the topic at hand A word of warning again several instructions or examples throughout the TinyOS documentation pertain explicitly to the mica platform and are not always directly interchangeable with others such as telos or imec Tip If the reader has the luxury of having access to motes of the Mica family it may very well help smoothen the steep TinyOS learning curve If not the Telos platform also enjoys extensive support in the TinyOS community and might be a good alternative to getting used to the system That being said this manual attempts to provide sufficient information and precise instructions for the discerning reader to understand the key ideas involved as well as to be able to successfully test the sample applications with the IMEC sensor modules and in the built in simulator Nonetheless if any errors happen to occur some technical TinyOS nesC knowledge might be in order to troubleshoot them 4 Available from Crossbow at http www xbow com 5 Available from Moteiv at htt
19. o display how much space the program will take in ROM and RAM 5 Using msp430 objcopy the ELF executable is converted into IntelHex format apps TestApp build imec main ihex necessary for the BSL procedure yet another Perl script embeds the IntelHex output into an XML file des ignated TOS image 6 The IntelHex file is copied to apps TestApp build imec main ihex 123 and set mote id is used to change the TOS_LOCAL_ADDRESS variable to the appropriate value 123 in this case in the new image file 7 This latter image is passed to msp430 bs1 to actually program and reset the sensor module once BSL is finished the temporary image is deleted 3 2 2 Simulating Applications with TOSSIM and TinyViz The TinyOS distribution bundles a discrete event simulator framework TOSSIM as well as a GUI to visualise and control simulations Tiny Viz9 One of the most remarkable features of this framework is the possibility to compile unmodified code written for the simulator on real wireless sensor hardware and vice versa there are exceptional situations to the above more on this below but nonetheless it is a feat Other notable aspects include a very fine grained simulation a probabilistic radio bit error model and the possibility to analyse energy consumption This allows users to test troubleshoot and evaluate algorithms in a controlled re peatable and reasonably accurate environment furthermore in many cases reuse the code for the act
20. on mote must be connected to the host computer and the SerialForwarder started 3 Launch the Surge Java GUI recompiled with the updated message format see above specifying the appropriate TinyOS group id 0x7D by default on the command line and having the MOTECOM variable point to the correct SerialForwarder again this may be a remote computer export MOTECOM sf localhost 9001 java net tinyos surge MainClass Ox7d 4 The base station should appear in the Surge control panel At this point all the other motes may be scattered around the target area e g office and powered up After a while several seconds with the default settings a multi hop network topology should start forming and if there are motes in range of the base station this should be reflected in the GUI M4See MSP430x1xx Family User s Guide slau049e pdf section 1 4 5 Memory Organization 18 A Fit to screen Start root beacon Control Panel Send sleep Send wakeup Debug v Status vy Readings fees WO Mnsas sec es auality 0 o orield 0 msgs sec O O 0 1982 msgs sech ee Uuality 0 Me eld 0 3965 3 0 340 TT c E s i 7 teNgsas 0 3399 mbas sec Quality 0 mae NO Figure 4 Surge control panel displaying the topology of the sensor network Nodes can be repositioned on the screen by dragging them with the mouse As with the original Surge application this version can be simulated
21. p www moteiv com 3 1 Installation of the Software Release Having successfully configured the standard TinyOS environment the release of this project s code needs to be installed to enable support for the IMEC sensor modules imec platform and sample test applications The code in this project was produced against an official snapshot of the TinyOS CVS tree in May 2005 versioned as 1 1 13 downloaded from http www tinyos net dist 1 1 0 tinyos Note Although newer TinyOS releases in the 1 x branch might work for assured results it is recomended to install version 1 1 13 The project s software release is contained in a gzip d tar archive named ucl dcnds tinyos imec 1 0 tar gz After installing the project s release files the README imec file in tinyos 1 x should be referred to for details about the additions and modifi cations in the TinyOS tree An overview is presented below e New sample applications under apps see Demo Applications e Extra debugging components BufferedUart CircularBuffer in tos lib Util1 e New TinyOS platform definition and hardware support code for the IMEC sensor modules tos platform imec New target in make system for imec platform tools make imec target Support for IMEC s nRF2401 radio stack packet format TOS_Msg in the TinyOS Java tools tools java net tinyos message imec It should be noted that there is preliminary support for the IMEC USB stick radio
22. p while real world motes may fail Also if interrupt handlers run too long a real world mote may crash as code in TOSSIM runs instantaneously no problems will appear in simulation The TOSSIM simulation framework uses the same make system supports most of the standard TinyOS interfaces and core components and its specific modules reside in tos platform pc So compiling a TinyOS application say TestApp as a simulation program is as simple this cd TOSROOT apps TestApp make pc If all goes well a TOSSIM simulation of the application will be ready to run through the executable file apps TestApp build pc main exe The output of the simulation can be controlled through the DBG environment variable see documentation for details The simulation program receives a single mandatory argument the number of sensor nodes to simulate run it with the h command line switch to see other options and DBG modes For example to run the simulation compiled above with 20 nodes and display sensing and routing protocol activity the following sequence of commands can be issued while in the application s directory export DBG sensor route build pc main exe 20 To visualize the simulation in TinyViz it is recommended that the tinyviz script in tools java net tinyos sim be installed in a directory in the system s search path Tiny Viz is a Java application net tinyos sim SimDriver so it is very important that the CLASSPATH variable be correc
23. se station or sink by connecting it to a serial port on the host computer either directly or through a pro gramming board This mote also needs to be programmed to bridge data across the two sides the sensor network and the serial link to the computer Thus applications on the host computer have an interface to the sensor network and furthermore this interface can be exposed to other networked systems Tutorial lessons 6 and 7 provide the information necessary to grasp how the integra tion of the sensor network with external systems is achieved in TinyOS These show how to receive data e g sensor readings from the motes as well as to communicate back e g send commands to the sensor network Basically the standard TinyOS communication subsystem GenericComm imple ments a special behaviour that forwards all packets addressed to node id Ox7E defined as TOS_UART_ADDR to the mote s UART serial port as opposed to the radio stack 10The MCU of wireless sensor modules usually features an Universal Asynchronous Receive Transmit UART serial device which is linked to its external physical connectors 13 The base station mote is commonly programmed with the TOSBase application which bridges packets to and from the wireless sensor network The distribution also includes Java classes that implement this serial protocol and can be used by other Java applications on the host computer to interact with the sensor network As pointe
24. structions to download and install the software and tools necessary to develop for Tmote a k a Telos using TinyOS on a GNU Linux system e http www owlnet rice edu tm tinyos telos linux pdf Another document about setting up the TinyOS development environment for Telos motes based on MSP430 on GNU Linux 2 2 Directory Layout and Environment By default TinyOS is installed into opt tinyos 1 x but the base directory can be located anywhere as long as the appropriate environment variables point to the right place assuming bash shell export TOSROOT opt tinyos 1 x export TOSDIR TOSROOT tos export MAKERULES TOSROOT tools make Makerules In order to make use of the Java tools and utilities bundled with TinyOS in the net tinyos package that allow communication with the sensor network the following variables must be set too more details on these variables will be given in later sections export CLASSPATH TOSROOT tools java CLASSPATH export MOTECOM sf localhost 9001 Below is presented an overview of the main items in the TinyOS 1 x directory layout Henceforth all references to sub directories in the TinyOS tree assume tinyos 1 x as base unless explicitly noted otherwise or an absolute pathname with a leading forward slash is specified tinyos 1 x apps A large collection of example applications contrib Non core community contributed software doc Documentation including a tutorial too
25. tended platform make lt platform gt docs 3 2 1 Installing Applications on the IMEC Sensor Modules To program or flash an IMEC sensor module with a TinyOS application its executable image must be written from the host computer using MSP430 s Bootstrap Loader BSL mechanism For this the sensor module must be connected to the computer through the programming board Refer to the diagram presented below shows the correct assembly of the modular stack layers of the sensor prototypes G Antenna feed ae fe Crystal LED Power Antenna gap connector Battery Diode cap connector SOT23 diode a Easiest is Humidity aa Daal sa sensor these 4 items for Reset short these two pins orientation Figure 1 Correct stack assembly of sensor modules courtesy of IMEC Important There are two ways to power a sensor module placed on the programming board 1 Leave the battery plugged in and remove the red jumper J3 or 2 Unplug the battery and connect the red jumper to power the module with 3V from the USB port Never connect both the battery and the red jumper at the same time For further details refer to the GETTINGSTARTED txt file and hardware schematic diagrams provided by IMEC with the project kit To enable BSL operation the patched on connector must be plugged to the header JB on the IMEC programming board Using an USB A B cable the programming board must be connected to the PC hosting a TinyOS environment
26. tly set in the environment as shown earlier in Directory Layout and Environment Then TinyViz can be invoked to run the example simulation above as follows export DBG sensor route tinyviz run build pc main exe 20 Tiny Viz accepts a host of other command line options to control its operation see tinyviz help For instance there is support for executing simple scripts command batch files with the autorun switch which is very useful to automate simulation runs moreover TinyViz boasts a fully featured Python scripting capability to interact with the simulation dubbed as Tython Finally TinyViz supports a plug in API to present simulation data in an application specific way or interact with the running simulation several bundled plug ins are available see documentation for more details 12 File Layout Plugins AD Reaniigs V Show Debug Messges v Show Radio Messges C Selected motes only Match Z Or sem message Xba TOSE anor 0rd CYPE Tyr oUp ox roy L Teng Ur Oxe TUATAU UET UKS UKU UKS 11 Sent Message lt BaseTOSHsg gt addr 0x5 type 0x11 group z0x7d length 0xe data 0xb 0x0 Oxb 0x0 Ox 10 Sent Message lt BaseTOSMsg gt addr 0x2 type 0x11 group 0x7d length 0xe data Oxa 0x0 0x9 0x0 Oxb 5 Sent Message lt BaseTOSMsg gt addr 0x6 type 0x11 group 0x7d length 0xe data 0x5 0x0 Oxb 0x0 0x63 6 Sent Message lt BaseTOSMsg gt addr 0xa type 0x11 group 0x
27. ual wireless sensors Tutorial lesson 5 provides a good introduction to the usage of both TOSSIM and TinyViz Further technical details about the simula tion engine and usage instructions can be found in the document entitled TOSSIM A Simulator for TinyOS Networks which discloses some of the simulator s imperfections 8These helpers are basically nesC s Perl scripts nescc starts up by calling msp430 gcc itself over riding the built in specs to recognize nc files and parse them with nesc compile and in conjunction with nesci transform all nesC code into a single standard C source file Due to a peculiarity in the design of IMEC s programming board it is necessary to invert the polarity of the RTS and DTR control lines to program over USB without any extra hardware Hence invert reset invert test command line switches defined in tools make imec target are necessary for msp430 bs1 to work Please note that this might not be so with other programming kits 11 Although TOSSIM captures TinyOS behavior at a very low level it makes several simplifying assumptions This means that it is very possible that code which runs in a simulation might not run on a real mote For example in TOSSIM interrupts are non preemptive a result of being a discrete event simulator On a real mote an interrupt can fire while other code is running If pre emption can put a mote in an unrecoverable state then simulated motes will run without misha
28. uidelines to the TinyOS software developed for the IMEC sensor module prototypes in the context of the DCNDS Project 2005 Group C at the Computer Science Department of UCL Note that this document is more than a mere User s Guide as it contains a host of relevant technical details as well as insights into the rationale of specific issues presented It is assumed that the reader is fairly experienced dealing with computer hardware in general as well as working in a Unix Linux software environment Some familiarity with small embedded systems wireless sensor networks and TinyOS in particular is a plus but not an absolute requirement pointers to further documentation will be given throughout For convenience this guide is provided in PDF and HTML formats 2A Linux API emulation layer Cygwin is used on top of MS Windows 2 TinyOS Environment Installation This sections presents summarised installation instructions of the environment necessary for developing and using TinyOS applications Please refer to the appropriate documen tation for full details as noted in the sections ahead Managing a TinyOS installation and all the software dependencies is not for the faint of heart a degree of patience and persistence may be required to make a sense of the basic concepts and eventually master the whole system 2 1 Hardware and Software Requirements An IBM PC compatible computer with one free USB port is required plus the follo
29. wing hardware 1 standard USB A B cable 1 IMEC programming board w USB B type connector 2 or more IMEC sensor stack modules 2 4V batteries or power supply w appropriate connectors Both GNU Linux and MS Windows 2000 XP with Cygwin are supported The software listed below is required to use TinyOS with the IMEC sensor modules FTDI FT232 driver enables USB to serial RS232 port emulation for commu nications between the host computer and the sensor modules attached to the USB port http www ftdichip com Java Development Kit only tested with J2SE 1 4 2 used for TinyOS Java tools to bridge data to and from sensor networks http java sun com j2se Java Communications API a k a JavaComm or javax comm package enables support for RS232 serial ports and IEEE 1284 parallel ports in Java applications http java sun com products javacomm GNU development tools and mspgcc standard GNU development environ ment make binutils and port of the GCC compiler tools for Texas Instruments MSP430 micro controller family including utilities for managing reading and writ ing binary code images to from devices http mspgcc sourceforge net TinyOS and nesC distribution of TinyOS software http www tinyos net and its supporting nesC programming language http nescc sourceforge net GraphViz optional Enables support for dynamic generation of documentation for nesC code with component wiring diagrams http www
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