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Contents
1. Reproduction of this information with alteration is an unfair and deceptive business practice TI is not responsible or liable for such altered documentation Information of third parties may be subject to additional restrictions Resale of TI products or services with statements different from or beyond the parameters stated by TI for that product or service voids all express and any implied warranties for the associated TI product or service and is an unfair and deceptive business practice TI is not responsible or liable for any such statements TI products are not authorized for use in safety critical applications such as life support where a failure of the TI product would reasonably be expected to cause severe personal injury or death unless officers of the parties have executed an agreement specifically governing such use Buyers represent that they have all necessary expertise in the safety and regulatory ramifications of their applications and acknowledge and agree that they are solely responsible for all legal regulatory and safety related requirements concerning their products and any use of TI products in such safety critical applications notwithstanding any applications related information or support that may be provided by TI Further Buyers must fully indemnify TI and its representatives against any damages arising out of the use of TI products in such safety critical applications TI products are neither designed nor intended for us2. Z location Engine A PC tool used to configure and display location engine results RSSI Received Signal Strength Indicator TIMAC Texas Instruments Media Access Control a SW protocol that handles IEEE 802 15 4 data handling SOC_BB System on Chip Battery Board CC243xEM CC2430 CC2431 Evaluation Module a small plug in module for SmartRFO4DK should be used as reference design for RF layout CC2430 F 128 CC2430 with 128 kB FLASH EXAS 43 T INSTRUMENTS SWRUO76D Page 4 of 32 G Chipcon Products C743 from Texas Instruments 4 CC2431DK content The development kit contains the following 2 X SmartRFO4EB 10 x SOC_BB Battery Board 2 x Evaluation Modules CC2430EM 10 x Evaluation Modules CC2431EM 12 x 2 4GHz Antennas 2 x USB cables 1 x RS232 Serial cable 1 x 10 wire flat cable for using SmartRFO4EB as emulator for external target systems 1 x Quick start guide SmartRFO4EB with CC2430EM Battery board with CC2431EM The SmartRFO4DK Development Kit includes a sample application for location calculation and demonstration The sample application allows you to e Evaluate the SmartRF 04 products Apply power the boards and the plug and play kit can be used for range testing and location engine testing e Use SmartRF Studio to perform RF evaluation and measurements The radio can be easily configured to measure sensitivity output power and other RF parameters e Develop and test your own firmware The CC2431DK includes a USB
3. this makes it possible to download firmware directly from the Z Location Engine PC application The USB can in addition be used for downloading and debugging the dongle node from e g the IAR embedded workbench development environment A UART cable is often called RS 232 cable serial cable or null modem cable It connects to a serial port on the PC and to the D SUB connector P200 on the SmartRFO4EB A TEXAS INSTRUMENTS SWRUO076D Page 18 of 32 Chipcon Products CC2431 from Texas Instruments 9 4Interaction with other network nodes The PC application will from time to time issue two different broadcast messages into the network This is done through the location dongle which is a complete node that participates in the network All nodes associated to the network will show up as either reference nodes or blind nodes in the Z Location Engine PC application Below is a highly simplified version of the algorithm used Broadcast request for blind nodes Wait for broadcast reply Broadcast request for reference nodes Wait for broadcast reply Iterate the list of received blind nodes Unicast request for calculated position Wait for reply Repeat from start Some of the timer intervals in the algorithm can be changed by the user Please notice that the actual implementation is not sequential even if the pseudo code looks that way j INSTRUMENTS SWRUO76D Page 19 of 32 Ge Chipcon Products CC2431 from Texas Instrum
4. 8 1 Setup Start up The SmartRFO4EB and CC2430DB boards have a 5 position joystick designated U400 which provides these switch inputs as shown in the table below Moving the joystick toward the U400 label up position activates the SW1 input Switch inputs SW2 SW4 result from moving the joystick to the right down away from U400 and left respectively SW5 occurs when the joystick is pressed straight down when in the center position s C308 m R381F i w csa2r SEET ke ie Figure 13 SmartRFO4EB joystick Figure 14 CC2430DB joystick Refer to chapter 9 for how to configure the nodes from the provided PC application 8 2 LEDs In each project there is a header file that is customized for the hardware named hal_board_cfg h and it contains the following define HAL_LED TRUE When this symbol is defined to TRUE the LED s available on the platform will blink to signal different states for the node It is recommended to define HAL_LED to FALSE in order to increase battery lifetime 9 Z Location Engine PC application 9 1 Overview The Z Location Engine communicates with a ZigBee node through a UART serial cable The node connected to the PC will in the following be called the Location Dongle The location dongle is a complete ZigBee node and will participate in the ZigBee network It is up to the user to decide if this node should be a coordinator a router or an end device This node is dn TEXAS IN
5. Default In Auto Mode the process for acquiring the Reference Node data is exactly the same as for polled mode except this mode allows the Blind Node to start collecting Reference Node data automatically in a periodic fashion by timer or user event Such as a button press without having to be manually asked by the host system By default the Blind Node Response is then sent to the Dongle short address 0x0000 However the user can also configure the destination address The user can also set or request the configuration parameters for the Reference Nodes and Blind Nodes by using the following Cluster IDs Reference Node Configuration Cluster ID 0x0015 Blind Node Configuration Cluster ID 0x0016 Reference Node Configuration Request Cluster ID 0x0017 Blind Node Configuration Request Cluster ID 0x0018 11 2 Reference Node Theory of Operation When the Reference Node receives a Reference Node Request it invokes the function sends the Reference Node coordinate data along with the received signal strength directly to the requester 11 3 Location Dongle Theory of Operation The location dongle is an application that uses the serial port to send and receive Location Profile messages with the Windows GUI This is typically the device that is attached to the host system e g a PC running the Z Location Engine and is used as the sink node for receiving Blind Node Responses and for configuring Reference Node and Blind Node setup parameters
6. Se e FEH REGER EWERS Side ig E Od Wa IEN l b ld WS EEN PER Sg ig eld WS INg 2 Tud N3 J Nay s cid WA 3 N g s Z zd a MEE te aad WS KEREN PCH AS NZ J N a GC gt an BIXZTMOHNId AE E JIXZTMOHNI d AE E AG Er dtc lid g 0 1 v Ol ICS SOC_BB Schemat Figure 26 Page 31 of 32 SWRU076D TEXAS STRUMENTS j IN Chipcon Products CC2431 from Texas Instruments 15 Document history Revision Date Description Changes 2006 03 10 KA 2006 06 01 2006 08 14 Some changed in the structure of the manual Updated to reflect some changes in the IAR project files 2006 11 14 Minor changes to make the document easier to read 2007 03 13 Updated with new PC GUI and TIMAC 2007_06_05 Changed constant values to correspond with MAC 1 1 0 release A TEXAS INSTRUMENTS SWRUO76D Page 32 of 32 IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries Tl reserve the right to make corrections modifications enhancements improvements and other changes to its products and services at any time and to discontinue any product or service without notice Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete All products are sold subject to Tl s terms and conditions of sale supplied at the time of order acknowledgment Tl warrants performance of its hardware products to the specifications appli
7. Texas Instruments Ch O 1 1333H 34v35 B ISEN E EV 13333H _ _ 8 p AJH ON ma ON wasa azs Org a e O NMVHO i S S gg JOS IMT gLya 5IYA0Hddy SA ue 2 Huet un YYW INI YSW TION LJ et D 3WVN ANVYANOZ ON LOVYLNOS ASTI TyyXxI h igs ASTITYYXI AG EF l SI zl 4 hd 2 EXZ MOUNId AE E q3Hn08S1137C31 rd GA ES red NIGS7HILIMS l 437Z0t070 ZTH ZH AE E ai PI N e N Joy asuuo0g ngap Jos 5 R sx Je D ty e Gd l SXZTMOHNId AE E x z LT NOLLMS7HSNMd l IS Dp lej to eee be pem e l ZE Ai N et s SC Ln A BL H e K Sl OI 5 K ji eR I N A Pk Ch AE Et RIN ze 3 H I Zu if S Ed GIN AGE te oe W 3 N2 gl xz H3qv ar GAS EISE ETH Zd ld S ag ag ud W3 e e Jo 4 9 Gd Na Di Die ld WS t Jo ENNEN uge MEERLE
8. The connection to the PC is via a serial port and therefore a device built as a Dongle must have a serial port Currently the only 2430 boards with a readily usable serial port are the EB boards Therefore the Sample Application for Dongle will only build as an EB device Note that although the Dongle will build as an EndDevice such a configuration is not recommended nor tested When the location dongle application receives a Blind Node Response message it will pass the data to the host system via the serial port 12 Messages The location protocol messages are defined as follows All multi byte fields are transmitted low byte first The message is sent as TIMAC payload data with the following format Destination Endpoint Cluster Id Source Endpoint Message Data 1 byte 2 bytes 1 byte N bytes The possible endpoints as well as all other constants related to the location protocol are defined in LocationProfile h 12 1 XY RSSI Request Cluster ID 0x0011 Send this to trigger an XY RSSI Response message This message should be sent shortly immediately after sending a burst of RSSI Blast messages in order to retrieve the coordinates and average RSSI radio link strength with Reference Nodes that are within 1 hop radio range Note that if this message is sent with a radius greater than 1 then the RSSI is not applicable only the XY content would be useful This message doesn t have a body to the message 12 2 XY RSSI Response Cluster ID 0
9. a PC with the USB port the debugger will connect to the SmartRFO4EB The CC2431EM is plugged into the SOC_BB board when running the SmartRFO4EB in this mode When designing applications with CC2430 or CC2431 it is recommended to include a pin header or test points to allow in circuit emulation or programming using SmartRFO4EB or other programming tools The pin out used on the SmartRFO4EB and the CC2430DB is explained in Table 2 and Figure 10 The connector includes 4 SPI control signals These are currently not used but they are included for flexibility The SmartRFO4EB includes a voltage converter to support programming and debugging of external systems with different operating voltage than the SmartRFO4EB The debug connector P14 SoC debug flash includes two VDD connections on pin 2 and pin 9 The function is different for these connections Pin 2 VDD supplies voltage to the voltage converter This pin should be connected to VDD on the external board to assure that the correct supply voltage is used for the voltage converter This pin must always be connected The voltage on the target system must be above 2 7 V when debugged from SmartRFO4EB Pin 9 VDD supplies VDD 8 3 V from the SmartRFO4EB If the target application is powered from the SmartRFO4EB supply during programming and debugging this pin should be connected If the target voltage differs from 3 3V this pin should not be connected The pin out used on the SmartRFO4E
10. fraction part Example UINT8 2 means unsigned 8 bits with 2 fraction bits This leaves 6 bit to the integer part Both UINT8 1 UINT8 2 and UINT16_ 2 are used in the source code A TEXAS INSTRUMENTS SWRUO076D Page 8 of 32 C Chipcon Products C7431 Notation Max Accuracy UINT8 1 from Texas Instruments UINT8 2 63 5 0 25 meter UINT16_2 16 383 75 0 25 meter Table 1 Notation A5 TEXAS INSTRUMENTS SWRUO76D Page 9 of 32 C Chipcon Products C743 from Texas Instruments 6 IAR Embedded Workbench Project The CC2431DK development kit is delivered with the software preprogrammed into the CC2431 on the evaluation modules The location demo can be started right out of the box by following the instructions in the CC2431DK Quick Start Instructions included in the kit The Quick start instructions can also be downloaded from the CC2431 product web site The source code is described in this user manual as it gives a good understanding of how the location demo works 6 1 Configurations The remainder of this chapter describes how to set up a location network with 3 or more Reference Nodes and 1 or more Blind Nodes Download the from the CC2431 product page on www ti com e TIMAC Requires registration e Location engine example source code e Z location Engine PC application Install the Z location Engine and IAR Workbench The Location engine example source code is provided as a sample appli
11. radio range Each Reference Node that hears the blast broadcasts will begin averaging the RSSI of the series of messages received Upon receiving the position request the Reference Node will send back to the Blind Node its position information along with the average received signal strength over the series of blasts There are two main modes of operation for the Blind Node in the sample Location Profile 11 1 1 Polled Mode This mode requires that the Dongle make a request for the position of the blind node on demand and thus the Blind Node will only acquire the Reference Node data when it is requested using the Blind Node Request command Cluster ID 0x0013 It will then perform the required calculation and then send a Blind Node Response Cluster ID 0x0014 back to the original requester When the Blind Node Request command is sent to a Blind Node the request is processed in the BlindNode_ProcessEvent event handler which handles all the system and user events for the Blind Node location application The application is notified of an incoming over the air message from the TIMAC and it processes the incoming message If the incoming message has a Cluster ID that matches the Blind Node Request command then it will start the process of acquiring the Reference Node information by calling startBlast The first thing the BLINDNODE_FIND_EVT event handler does is to turn on the RxOnWhenldle flag in the TIMAC capabilities flag of the device
12. B and the CC2430DB is explained in Table 2 and Figure 10 All signals in bold in the table are required for the programming and debugging functionality Figure 10 shows the required signal for a minimum connector layout Pin Function Note 1 GND 2 VDD Used to set correct voltage for the d Texas INSTRUMENTS SWRUO76D Page 15 of 32 G Chipcon Products CC2431 from Texas Instruments TI voltage level converter 3 Debug Clock DC 4 DebugData DD 5 In O 6 SCLK ss 7 ReetN 7 SS 8 MOS MOSS TI 9 3 3V VDD at NC Delivers VDD from SmartRF04EB MISO www ssOaI Table 2 P14 SoC debug connector pin out 1 GND 2 VDD 3 DC 4 DD 7 Reset_N Figure 10 Recommended debug connector layout Top view 7 3 SmartRFO4EB Please refer to the user manual available for CC2430DK Ti document number SWRU039 for a description of the SmartRFO4EB Figure 11 7 4 CC2430DB CC2430DB Figure 12 is only included in the CC2430ZDK please refer to CC2430ZDK User Manual for a description of the board Figure 11 SmartRFO4EB Figure 12 CC2430DB A5 TEXAS INSTRUMENTS SWRUO76D Page 16 of 32 G Chipcon Products C743 from Texas Instruments 8 Nodes All Blind Nodes must be CC2431 evaluation modules Reference Nodes and packet sniffer nodes may be equipped with either CC2430 or CC2431 If a CC2430 is used as a Blind Node an LED on the board used will start blinking
13. G x Chipcon Products CC2431 from Texas Instruments CC2431DK Development Kit User Manual Rev 1 5 TEXAS INSTRUMENTS SWRUO76D Page 1 of 32 lt Chipcon Products C743 from Texas Instruments Table of contents 1 INS EREECHEN Eeer EE 4 2 ABOUT THIS MANUAL dicvesessevssaceccececesabcssissacscacciaccszorsscccsdessecssdaced cascsacssscccecccscesawssadneneecseesns 4 3 PEFINITIONS EE 4 4 CC2431DK CONTENIT 5 5 SYSTEM OVERVIEWN 6 5 1 EE EE 6 52 IS S nese ee see ua sens so sac tne Seen ee Sas n ns 7 5 2 1 eege 7 5 2 2 Bina Node sns pu PS RS SSS AS SPSS Ee 7 2 2 Done us mu s nee ee mee me oro ee maana asa musuka asas aa ananassa teen errr pass 7 5 3 o EE 7 5 4 PROGR ANT POW EE 5 5 COMMUNICATION FLOW E 8 5 6 TYPE EREECHEN 8 6 IAR EMBEDDED WORKBENCH PROJECT 10 6 1 ONPG A OIG u uyu umn Za n naam eee cenaiue 10 6 2 EMBEDDED SOFTWARE ARCHITTBCTURE 11 7 HARDWARE DESCRIPTION 13 7 1 PATTER O ATI EE 13 7 2 PROG RAVING E NEE EE 14 7 3 MARTRE EE 16 7 4 EE een au unus u u musun a unan 16 8 NODE EE 17 8 1 SETU EE 17 8 2 EED oee EAE EE 17 9 LOCATION EN
14. GINE WINDOWS GLUI D 17 9 1 OERE dee 17 9 2 J T PI Aj j ns es nn sn u s sa ee tice S n 15 9 3 CONNECTIONS ee 15 9 4 INTERACTION WITH OTHER NETWORK NODES 19 10 GRAPHICAL USER INTERFACE 20 10 1 MERCI eege eene AAR 21 10 1 1 Eelere 21 LOS EN NR ICT E EE 22 10 2 1 EE 22 10 2 2 EE 22 10 2 3 Reference EEN 23 10 2 4 Bina E 24 EG SC TE q STI DAP u u uuu u maan ere Te 24 11 NODE EE 25 10 1 BLIND NODE THEORY OF OPERATION 25 11 1 1 Polled EE 25 11 1 2 AO Mole u uu u u au una E E A NC apana AAEE 26 11 2 REFERENCE NODE THEORY OF OUOPERATION 26 11 3 LOCATION DONGLE THEORY OF OPERATION ccccsceccsceccsceccececcececscecescscesescecescucescscescssesescass 26 12 MESSA E TEE 26 12 1 XY RSSI REQUEST CLUSTER ID 0xX0011 26 22 XY RSSI RESPONSE CLUSTER ID 0X0012 26 123 BLIND NODE FIND REQUEST CLUSTER ID 0X0013 27 12 4 BLIND NODE FIND RESPONSE CLUSTER ID 0X0014 2l 12 5 REFERENCE NODE CONFIGURATION CLUSTER ID 0X0015 27 12 6 BLIND NODE CONFIGURA
15. In the case where a Blind Node is an end device this is done in order for it to receive Reference Node information without having to poll for the actual data packet using a Data Request packet This also ensures that end devices can stay awake for the entire period of time when the acquisition of Reference Node information is taking place The Blind Node will then send out a series of 1 hop broadcast messages Once the Blind Node finishes blasting it requests the Reference Node audience to send the average RSSI of messages just sent and waits the configured time for reference nodes to respond Finally it calls the function FinishCollection to set the RxOnWhenldle flag to false so that normal end device operation is once again adhered to The function sendRsp is then called to process the received Reference Node data and calculate the Blind Node s position based on that information If the Blind Node was able to collect data from at least config minRefNodes number of nodes the status BLINDNODE_RSP_STATUS_ SUCCESS will be returned as part of the message If not the status BLINDNODE_RSP_STATUS_NOT_ENOUGH_REFNODES will be returned as part of the message The response is sent to the device that was the originator of the Blind Node Request A TEXAS INSTRUMENTS SWRUO076D Page 25 of 32 x Chipcon Products C743 from Texas Instruments The entire process is started again when another Blind Node Request is received 11 1 2 Auto Mode
16. Remember to check Show background image dn TEXAS INSTRUMENTS SWRUO076D Page 22 of 32 G Chipcon Products CC2431 from Texas Instruments Setup Background Reference Node Setup Blind Node Setup Background Image Background Settings map bmp 7 i Visible Grid width 50 Displacement horizontal direction Height 50 Displacement vertical direction Update W Show background image Figure 21 Background Panel By checking or unchecking Visible grid and or Show background image different views can be selected Figure 22 shows the effect of these check boxes The upper left figure in the shows both boxes unchecked the next image shows Visible grid checked the next shows both checked and the lowermost right image shows Visible grid unchecked and Show background image checked Figure 22 Different background settings 10 2 3 Reference Node Setup This tab gives the possibility to set up or change X and Y coordinates assigned to each of the reference nodes To configure this double click on a reference node in the list and right click j INSTRUMENTS SWRUO076D Page 23 of 32 Chipcon Products C743 from Texas Instruments while pointing to its intended location in the blue area or background map The X and Y coordinates of the intended location will be set in the X and Y fields of the Reference Node Setup tab Press Update to assign the coordinates of the reference
17. STRUMENTS SWRUO76D Page 17 of 32 x Chipcon Products CC2431 from Texas Instruments used to issue messages into the network and the other nodes in the network are using the dongle for addressing packets to the PC application RF UART Smart up RF04EB Figure 15 Overview Its recommended to use a SmartRFO4EB for the location dongle since this board gives easy access to a UART connection The dongle node can use either a CC2430 or a CC2431 RF chip The Z Location Engine includes a flash download function which makes it possible to download an already generated hex file to a connected development board Please note that flash programming can only be done with use of a USB cable How to perform flash programming is described later in this manual 9 2 Installation The Z Location Engine is distributed as an executable installation file This file can be downloaded from the CC2431 product page on www ti com The installation file will add an item to the start menu The Z Location Engine application can be started by clicking Start gt Programs gt Chipcon Z Location Engine 9 3 Connections 7 Smart up e cb RFO4EB Figure 16 Connections USB is optional The SmartRFO4EB should be powered either from a power supply or from USB The PC must be connected to the SmartRFO4EB using a UART cable All communication when the system is operating is over the UART If a USB cable is connected
18. TION CLUSTER ID 0X0016 28 12 7 REFERENCE NODE CONFIGURATION REQUEST CLUSTER ID 0xX0017 28 12 8 BLIND NODE CONFIGURATION REQUEST CLUSTER ID 0X00168 28 12 9 RSSI BLAST CLUSTER ID ONUOIO r asar 28 13 CONSTANTS INSOFTWA RE 29 j INSTRUMENTS SWRUO076D Page 2 of 32 G Chipcon Products from Texas Instruments 13 1 TIMING CONSTANTS 13 2 RSSI AVERAGING CONSTANTS 14 SCHEMATICS 15 DOCUMENT HISTORY A5 TEXAS INSTRUMENTS SWRU076D Page 3 of 32 Chipcon Products C743 from Texas Instruments 1 Introduction This CC2431DK User Manual describes how to use the software and hardware included in the CC2431 Development Kit Please refer to the Quick Start Guide for a brief introduction on how to get started using the development kit 2 About this manual This manual contains some of the theoretical material needed to develop a positioning system based on CC2431 and gives a brief introduction to the software provided in the kit 3 Definitions Blind Node A node using CC2431 and the Location Engine to calculate its own position Reference Node A node located on a static location GUI Graphic User Interface Chipcon Packet Sniffer A PC tool to visualize traffic on radio
19. a build should be selected from the Workspace pull down menu as displayed in Figure 5 IAR Embedded Workbench IDE File Edit View Project Tools Window Help D gt 1 Gal d SCENE EC2430BB Source ei SOLUCE i 4444 CC2430BB Source 2 File CC243006 Source H neri COCAAS0ER Source i 4 Keri a B Application Figure 5 IAR Workbench Setup Build the desired device application by pulling down the Project menu and clicking on Rebuild All 6 2Embedded Software Architecture The location logic is implemented as a simple client layer built atop of the TIMAC Each of the three different devices must be built individually by removing the comment from the line with the name of the device desired in the LocationProfile h Here is how to build a Dongle P JAR Embedded Workbench IDE File Edit wiew Project Tools Window Help ale pa BBB m x sU S gt gs o j d gt 8 z Ps wp ng Ee XS 9 others LocationProfile h 1 AOR EEE oe ooo oP oe So oe a oo oe Pe a oo oP 2 oo oP oe ee a oP oe oe Pa oo oo oe a oe LocationProfile r 2 Filename LecationProfile kh Revised sate s ZS on Files o SampleAppSrc CC2430BB Source lt SE d kerision SRevision La G Application 2 hal_uart c 6 Description S 5tack Location Profile Application E LocationProfile c c i Droe 8 Copyright fc 2006 by Texas Instruments Inc T 9 All Rights Reserved Permission to use r
20. and N please refer to application note AN042 for a description of each parameter 5 1 Grid To map each location to a distinct place in the natural environment a two dimensional grid is used The direction will in the following be named X and Y The CC2431 Location Engine can only handle two dimensions but it s possible to handle a third dimension in software i e to represent levels in a building The point named X Y 0 0 is located in upper left corner of the grid A TEXAS INSTRUMENTS SWRUO76D Page 6 of 32 G Chipcon Products CC2431 from Texas Instruments 5 2 Nodes The CC2431 Location Engine uses the RSSI value combined with the physical location of the Reference Nodes to calculate its own position Any number of Reference Nodes can be used in the system but a node can only calculate its position if it is within range of at least three Reference Nodes Experiments have shown that one Reference Node for each 100 m gives good location estimates The nodes should be placed in a grid with one node for each 10 meters in both directions 5 2 1 Reference Node A node which has static location is called a Reference Node This node must be configured with an X and a Y value that correspond to the physical location The main task for a Reference Node is to provide reference packets to the Blind Node Reference packets contain the X and Y coordinates of the Reference Node 5 2 2 Blind Node A Blind Nod
21. art gt d C Start b y Init Init D i Collect data Wait for packet Y Y Calculate position Send position Y Send postion Wait Figure 2 Reference Node Figure 3 Blind Node 5 5 Communication Flow The Z location Engine is configured to periodically query the entire network the X Y of all Reference Nodes is requested and all Blind Nodes are commanded to perform a position calculation When a Blind Node performs a position calculation the Over the Air OTA message traffic can be observed as three phases broadcast data collection amp position calculation and reporting Broadcast Phase The Blind Node sends out a 1 hop broadcast to learn the network address of all Reference Nodes that are within radio range Then the Blind Node sends out a blast of several 1 hop broadcast messages and any Reference Node receiving such a message shall make a running average of the RSSI of the packets received from a particular Blind Node Data Collecting Phase After the broadcast phase the Blind Node will send a 1 hop unicast message to every Reference Node in radio range requesting the average RSSI calculated during the broadcast blast Position Calculating Phase In this phase the Blind Node calculates the position and transmits it to the Dongle 5 6 Type definitions Some values are given in the notation UINT Tota Bits_FractionalBits this means unsigned total Jota Bits number of bits where FractionalBits number of bits represent the
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23. cation in the TIMAC To install the location sample source code in the right directory copy the zip file with the source code to C Texas Instruments TI MAC 1 1 0 Unzip the file and preserve file paths this will copy the source files to C Texas Instruments TI MAC 1 1 0 Projects mac Location Navigate to the IAR_Files project directory located at C Texas Instruments TI MAC 1 1 0 Projects mac Location cc2430 IAR Project Launch the IAR Embedded Workshop by double clicking on the SampleApp eww file Se C Texas Instruments TI MAC 1 1 0 Projects mac Location cc 24 30 MAR Project File Edit view Favorites Tools Help Back gt a A Search Key Folders E Address C YTexas Instruments TI MAC 1 1 0 FrojectsimaciLocationiecz4301IAR Project k 0 x Folders Mame Size Type E CH TI Mac 1 1 0 A E Sample pp ed 32KB EWD File Ge a Comconents Sampleapp ewp 98 KB EWF File C Documents 28 SampleApp eww 1 KE IAF IDE Workspz E Projects GI C mac C common C Libraries E LH Location 9 Application E gt cc2430 IAR Project C meu C target LC Sample 3 objects Disk free space 15 7 GB d My Computer Figure 4 Location Software Project Directory In the location software workspace there exist three different project configurations e CC2430BB e CC2430DB e CC2430EB INSTRUMENTS SWRUO76D Page 10 of 32 from Texas Instruments Ge Chipcon Products C743 The hardware platform of choice for
24. e in military aerospace applications or environments unless the TI products are specifically designated by TI as military grade or enhanced plastic Only products designated by TI as military grade meet military specifications Buyers acknowledge and agree that any such use of TI products which TI has not designated as military grade is solely at the Buyer s risk and that they are solely responsible for compliance with all legal and regulatory requirements in connection with such use TI products are neither designed nor intended for use in automotive applications or environments unless the specific TI products are designated by TI as compliant with ISO TS 16949 requirements Buyers acknowledge and agree that if they use any non designated products in automotive applications TI will not be responsible for any failure to meet such requirements Following are URLs where you can obtain information on other Texas Instruments products and application solutions Products Applications Amplifiers amolifier ticom Audio www ti com audio Data Converters dataconverter ti com Automotive www ti com automotive DSP dsp ti com Broadband www ti com broadband Interface interface ti com Digital Control www ti com digitalcontrol Logic logic ti com Military www ti com military Power Mgmt power ti com Optical Networking www ti com opticalnetwork Microcontrollers microcontroller ti com Security www ti com security RFID www ti rfid com Telephony www ti com telephony Low P
25. e will communicate with its nearest Reference Nodes collecting X Y and RSSI values for each of these nodes Then it uses the location engine hardware to calculate its position based on the collected parameters from several Reference Nodes 5 2 3 Dongle The Dongle will communicate with the entire network it can request or configure the X Y values of all Reference Nodes and the A and N values of the Blind Nodes via the Z location Engine PC Application The Z location Engine can also configure any Blind Node to automatically make a periodic position calculation and report by default the Blind Node is waiting for a command to perform a position calculation 5 3 RSSI The RSSI value is typically in the range 40 dBm to 90 dBm where 40 dBm is the highest value 40 dBm is approximately the measured signal strength on distance of one meter Input to the location engine hardware is the absolute value of the RSSI in dBm so the range will typically be from 40 to 90 where 40 is the highest signal strength Three is a lower theoretical limit for a good estimate three Reference Nodes may be too few A TEXAS INSTRUMENTS SWRUO076D Page 7 of 32 G x Chipcon Products CC2431 from Texas Instruments 5 4 Program flow The program flow for both Reference Node and Blind Node are shown in Figure 2 and Figure 3 The figures are simplified St
26. ements four settings panels in the lower part of the GUI 10 2 1 Setup The setup panel serves the following purposes 1 Select which COM port that is used The application supports COM1 to COM20 2 Give the user the possibility to download firmware to a connected development board directly from the application This can be done easily by selecting the hex file to program selecting the correct device from the device list and pressing Load FW Note that this flash programming utility always will retain the IEEE address stored in the 8 last bytes in the flash of CC2430 CC2431 To generate a HEX file please refer to the Texas Instruments IAR user manual available from the TI web site Setup Background Aeference Node Setup Blind Node Setup Load Firmware via USB Select file LocDongle_2C_EB_1_4_1 hex E Load Fu Select device IEEE Address Ox Head IEEE Write IEEE ER ID 0184 Chip type CC2431 EB tune SmatAFO4EB Select one of the given devices Select Com Port Refresh Message count 7 Blind Node resp unsuccessful Dongle Connected Short Addr 0x4 466 IEEE Addr OxFFFFFFFFFF111111 Figure 20 Setup Panel 10 2 2 Background The PC application can show a map as a background image on the area where all the nodes are displayed The map must be an image of file tyoe bmp To add a map select the file you want to use type in the width and height for this map in meters and click Update
27. ents 10 Graphical User Interface Interaction with the Z Location Engine is done through graphical user interface shown below The user interface and menus are described in the following sections Z Location Engine CC2431 SEES l gt M og Lis ani Sg E SS G 4 e a GU be SC SE ee SE Y ai DK dr 2 SE SE sc L hb Bee ged rece PEI ESTE em u e e e e mm aa a T n o d D G d E a a a Dep i el tees te fete et eee ee k L A 46 A 1 Eom A O hry a J l LV AK A lt lli x Setup Background Reference Node Setup Blind Node Setup Load Firmware via USE Select file LocDongleZC EB hex EI Load EW Select device EB ID ODOC EB lupe SmarRFO4EB EB ID 05 0 e gie ZEIEN EB type CC243006 Select Com Port com j Refresh Message count Blind Node resp unsuccessful Dongle Connected Short Addr Ox000 Figure 17 Z Location Screenshot I INSTRUMENTS SWRU076D Page 20 of 32 G Chipcon Products C743 from Texas Instruments 10 1 Menus and buttons The PC application has a few menus and buttons to control the application Location Engine CC 2431 Settings Help a Toggle settings panel Slider for zoom Figure 18 Menus and buttons Toggle settings panel Show hide the settings panel in the lower part of the GUI Start Connect to the location dongle Stop Disconnect the location dongle and clear al
28. eproduce copy prepare Ej msa h 10 derivative works modify distribute perform display or sell this D ma maint ll software and or its documentation for any purpose is prohibited Ej msa_osal c D 12 without the express written consent of Texas Instruments Inc Pq HAL A 13 SALAH AAA AAA ALAA ALAA AAAS SAA ASSL ATLL A LSA A LAHSA AAAS S SAAS AHS a fa MAC x l4 ifndef LOCATIONPROFILE_H H OSAL 15 3eFfine LOCATIONPROFILE H La J Services a ree H E Output 17 Uncomment the definition of the LocationProfile derice to build 18 f define LOCATION REFNODE 13 define LOCATION BLINUNGDE 20 detine LOCATION DONGLE 21 From a IEEE 802 15 4 network standpoint there is no coordinator and the protocol is setup to be a proprietary network using the TIMAC as an abstraction layer with the use of the of the MCPS SAP primitive MCPS DATA Please refer to the TIMAC documentation for further details The Chipcon CC2431 SoC includes hardware functionality implementing the PHY layer and parts of the TIMAC layer E g the FCS IEEE 802 15 4 term for CRC generation and verification is implemented in CC2431 hardware The physical layer is not implemented as a INSTRUMENTS SWRUO76D Page 11 of 32 Chipcon Products CC2431 from Texas Instruments separate layer within the source code but is merged with the TIMAC sub layer for performance and code size purposes Wa TEXAS INSTRUMENTS SWRUO76D Page 12 of 32 Chipcon P
29. gine hardware should be as accurate as possible Averaging of the RSSI value is used to improve the accuracy The Blind Node blasts a number of 1 hop broadcasts to the Reference Nodes which calculate the running average RSSI of the received blasts The default number of blasts to send for the averaging is shown in the table below It is recommended to average over 2 4 8 or 16 packets to avoid time demanding division in the microcontroller The actual value to use is a trade of between position accuracy and update frequency power consumption value BLINDNODE_ BLAST COUNT Number of 1 hop broadcasts to blast for the Reference Nodes to calculate the average Table 5 Number of values used in averaging A TEXAS INSTRUMENTS SWRUO076D Page 29 of 32 G Chipcon Products C743 from Texas Instruments 13 3 Radio channel settings and PANID By default the location example applications are configured to used channel 16 0x10 and using PANID 0x11CC The channel and PANID can be changed in msa h 14 Schematics The schematic for the SOC_BB Battery Board is shown below The CC2431EM is equal to the CC2430EM except for the CC2430 CC2431 chip The complete reference design for the CC2430EM can be downloaded from the CC2430 product web site Schematic for the SmartRFO4EB is found in the CC1110DK CC2430DK CC2510DK Development Kit User Manual SWRU0339 A TEXAS INSTRUMENTS SWRUO76D Page 30 of 32 CC2431 Products ipcon from
30. hich is the path loss index that describes the rate at which the signal power decays with increasing distance from the transmitter Operating Mode 0 Polled Waits for Blind Node Requests to do a find amp rsp 1 Automatically initiate a location find and response Collect Time the number of milliseconds to In 100 millisecond increments wait for Reference Node Responses after sending the request Cycle Time Low byte first The number of In 100 millisecond increments milliseconds to wait before starting the calculation cycle Only valid in the Auto Operating Mode Report Short Address low byte first 0x0000 OxFFFF Destination address for Blind Node Response messages in AUTO mode In POLL mode the response is returned to the requestor s address Report Endpoint Destination endpoint for Blind Ww Node Response message in AUTO mode Minimum Reference Nodes to use to calculate location 12 7 Reference Node Configuration Request Cluster ID 0x0017 Send this message to a Reference Node to request its configuration The response to this request is the Reference Node Configuration message Cluster ID 0x0015 This message doesn t have a body to the message 12 8 Blind Node Configuration Request Cluster ID 0x0018 Send this message to a Blind Node to request its configuration The response to this request is the Blind Node Configuration message Cluster ID 0x0016 This message doesn t have a body to
31. interface that can be used as an emulator interface for the CC2430 or CC2431 All I O ports are available on pin connectors on the edge of the board to allow easy access for testing or for external I O A5 TEXAS INSTRUMENTS SWRUO76D Page 5 of 32 G x Chipcon Products CC2431 from Texas Instruments 5 System overview For an introduction to the location engine please see application note AN042 document number SWRAO95 The note is available from www ti com x y 0 0 Figure 1 Location Estimation The location algorithm used in CC2431 Location Engine is based on RSSI Received Signal Strength Indicator values The RSSI value will decrease with increasing distance An important parameter related to the performance of the location estimate is the absolute tolerance of the RSSI measurement of the RF transceiver This is specific to our transceiver and is provided in the datasheet The main feature of the CC2431 Location Engine is that the location estimation is performed in each Blind Node hence the algorithm is decentralized This reduces the amount of data transferred on the RF interface since only the calculated position is transmitted The location engine implemented in CC2431 can use up to 16 Reference Nodes for each calculation The data that is necessary to do a calculation are X Y and RSSI values for each of the Reference Nodes used in the system setup In addition it needs two RF transmission parameters A
32. l node lists Zoom Set zoom level of the location area display 10 1 1 Settings All settings that can be changed are available in the dialog box shown below This dialog is opened by pressing Settings in the menu Settings start Mode eee ae request interval Remove node alter i z seconds W Request Cont data Ref Nodes W Request Cont data Blind Nodes W Request Position data blind nodes Cancel Figure 19 Settings Node discovery interval Start Node request interval This value is given in seconds The value sets the interval between each time the PC application attempt to start broadcast of node requests The value 0 can be used to disable the broadcast of node requests Remove node after The nodes registered by the PC application will be checked regularly The time since last message from a node will be checked and if longer than the time given in this field the node will be removed dn TEXAS INSTRUMENTS SWRUO76D Page 21 of 32 G Chipcon Products C743 from Texas Instruments Request Conf data Ref Nodes Checkbox to control the broadcast of Request of configuration data from ref nodes If not checked the message will not be sent to the ref nodes Request Conf data Blind Nodes Same as above but for the Blind nodes Request Position data blind nodes Checkbox to control the Request of position data from the blind nodes 10 2 Settings panels The Z Location Engine impl
33. nd Node in response to the Blind Node Request message Byte Description Value Index Status 0 Success 1 Not enough Reference Node responding Blind Node s calculated X position Bits 15 2 whole meters Bits 1 0 0 25 meters Blind Node s calculated Y position Bits 15 2 whole meters Bits 1 0 0 25 meters eneen u calculation FT eta ee POT gE Node s Bo address invalid Water TS Saar Bits 1 ER 0 25 meters ee 1 ER 0 25 meters 12 Closest Reference Node s RSSI 12 5 Reference Node Configuration Cluster ID 0x0015 send this message to the Reference Node to set its configuration items This message is also sent from the Reference Node in response to the Reference Node Configuration Request dn TEXAS INSTRUMENTS SWRUO76D Page 27 of 32 G x Chipcon Products C743 from Texas Instruments Reference Node s X position Bits 1 0 0 25 meters Reference Node s Y position Bits 1 0 0 25 meters 12 6 Blind Node Configuration Cluster ID 0x0016 Send this message to the Reference Node to set its configuration items This message is also sent from the Blind Node in response to the Blind Node Configuration Request Blind Node s A parameter A is defined as the absolute value of the average power in dBm received at a close in reference distance of one meter from the transmitter assuming an omni directional radiation pattern Blind Node s N parameter w
34. node After a few seconds the node will appear as a yellow circle and the X and Y values in the list will be updated Setup Background Reference Node Setup Blind Mode Setup esis ees E a E a y paeen 00004 20 E on Pa DDD C0006 1625 2850 osc D0007 3225 29 50 D0004 2425 20 00 gt 2850 000 2275 20 75 OxO00E 34 25 32 75 ile ER fo Update 00017 3 00 22 UU UxFFFF 4 00 Airo Figure 23 Reference Node Setup 10 2 4 Blind Node Setup The Blind node setup tab shows all blind nodes that are present in the system and it can be used to change the settings used for each blind node By double clicking on a node in the list the present configuration values can be seen These values can be changed By pressing Update the new settings will be transferred to the selected node After a few seconds the node will be updated The status of this update process will be shown in the column named Status in the device list The parameters are described in chapter 12 6 Setup Background Reference Node Setup Blind Node Setup Status Address MY i Node S _ Node id DsDDO8 Cycle Time EA 33 00 Rep short addres H E Rep Endpoint Operating Mode to Mm Ret Nodes Collect T ime 2 Update Figure 24 Blind Node Setup m 10 3 The Status Bar The status bar provides displays real time status information for both the location dongle and the Z Location Engine in general Message count Blind Node res
35. ower www ti com lpw Video amp Imaging www ti com video Wireless Wireless www ti com wireless Mailing Address Texas Instruments Post Office Box 655303 Dallas Texas 75265 Copyright 2007 Texas Instruments Incorporated
36. p unsuccessful Dongle Connected Short Addr Ox0000 JEEE Addr Ox0000200000000000 L Number of Number of blind node Dongle messages messages status Figure 25 Status Bar INSTRUMENTS SWRUO076D Page 24 of 32 G x Chipcon Products CC2431 from Texas Instruments Number of messages Shows the total number of incoming messages to the PC application since the Z Location Engine was started Number of blind node messages Shows the total number of incoming blind node messages since the Z Location Engine was started The Number of unsuccessful messages is the number of messages that is reported to be false Dongle status Shows the current status for the connected location dongle 11 Nodes 10 1 Blind Node Theory of Operation The Blind Node is the device that contains the CC2431 location engine The location engine estimates its position by using the coordinates of all responding reference nodes within direct radio range up to 16 along with the average RSSI of messages sent to them Reference Nodes are neighbour devices that are within radio range of the Blind Node The Blind Node begins a find by broadcasting a sequence of blast message Cluster ID 0x0019 with radius one After waiting the interval specified in its configuration the blind node then broadcasts to the Reference Nodes a position request Cluster ID 0x0011 also with radius one in order to limit the recipients and thus responders to the reference nodes in direct
37. roducts CC2431 from Texas Instruments T Hardware description 7 1 Battery Board LED Button S1 connector Power Switch Figure 6 System on Chip Battery Board with CC2430EM 5 r N N Ps Nee Oks K t D A We e be E e f N w d i G f df 2 v Ka ss 9 H Ka 2 Zz N Ve N 2 2 E LUC Connector A KS Ke V KN z SoC Deb Wea ae O ebug lt P Lo Figure 6 is showing the system on chip battery board The main function for this board is to power the CC2430 or CC2431EM with use of two AA batteries The System on Chip battery board should be powered by two AA batteries It can in addition be powered by a lab power connected directly to GND and VDD on the board The user should notice that no voltage converter is used the lab power voltage is connected directly to the chip Figure 7 Bottom side of SoC Battery Board UO connector A and B gives access to all I O on the SoC and to some additional pins I O connector A and B have the same pin out as P10 and P11 on the SmartRFO4EB Details can A5 TEXAS INSTRUMENTS SWRUO76D Page 13 of 32 G Chipcon Products C743 from Texas Instruments be found in the schematic in Figure 26 and in the CC1110DK CC2430DK CC2510DK Development Kit User Manual SWRU0339 The SoC Debug connector can be used both for downloading firmware to the flash and for debugging of the chip For both actions use of SmartRFO4EB as an In Circuit Em
38. the message 12 9 RSSI Blast Cluster ID 0x0019 Broadcast this message with a radius of 1 several times in relatively short succession to trigger Reference Nodes within radio range to average the RSSI received signal strength A TEXAS INSTRUMENTS SWRUO076D Page 28 of 32 lt x Chipcon Products CC2431 from Texas Instruments indication of the blast of broadcasts received This message doesn t have a body to the message 13 Constants in software This chapter describes some of the constants used in the software These constants can be modified to change the behavior of the location system The constants are all defined in the file blindnode c 13 1 Timing constants All values related to timing are defined with macros Constant Default Description value BN TIME INCR 100 Milliseconds per time increment BLINDNODE_FIND_ DELAY 20 Delay between automatic location find calculations in BN TIME _INCR ticks the Reference Nodes and between each poll in BN_TIME_INCR ticks ee BLAST DELAY Milliseconds to delay in between x each blast Table 3 constants value BLINDNODE MAX REF _ NODES Maximum number of Reference Nodes to poll for the RSSI average before selecting the best 16 and feeding them to the location engine Nodes to feed to the location engine pooo s suger Fa Haas blast Table 4 Other Constants 13 2 RSSI averaging constants The RSSI value used as input to the location en
39. ulator is required This board exists in two different versions PCB version 1 0 and 1 1 The only noticeable difference between these two versions is the option for disconnection Button S1 The most important pins on P4 are pin 3 4 for enabling the LED and pin 5 6 to enable the button S1 Pin 1 is P1 6 TD and pin 2 is P1 7 RD for easy access to UART Pin 7 is VDD and pin 8 is GND CC2430 EM connector CC St T WOO I O Connector Figure 8 Battery board Signal flow Power to the board can be switched on and off by using power switch P3 7 2 Programming of SOC BB CC2431EM can be programmed debugged when mounted on SOC_ BB Connect a 10 wire ribbon cable between P14 on SmartRFO4EB and P5 on SOC_BB as shown in Figure 9 SOC_BB most be powered from batteries and turned on when programming is performed NOTE The voltage on SOC_BB must be above 2 7 V when debugged from SmartRFO4EB A TEXAS INSTRUMENTS SWRUO76D Page 14 of 32 C Chipcon Products C743 from Texas Instruments E Chipcon y SmertAF 4EB 19 j Shar AFS p d Figure 9 SmartRFO4EB to program SOC_BB The SmartRFO4EB is used as ICE for external target hardware such as the SOC_BB To use the SmartRFO4EB as ICE the IAR Embedded Workbench software must be installed The Embedded Workbench is a C Compiler Simulator and ICE debugger When the SmartRFO4EB is connected to
40. x0012 This message Is sent in response to the XY RSSI request message The RSSI average value includes the RSSI of the RSSI Request message itself and then the RSSI average is zeroed A TEXAS INSTRUMENTS SWRUO076D Page 26 of 32 E x Chipcon Products CC2431 from Texas Instruments in preparation for another series of blasts Thus if a blast was never sent the RSSI average is just the RSSI value of the request message Byte Description Index 0 amp 1 Reference Node s X position Bits 15 2 whole meters Bits 1 0 0 25 meters If this field contains OxFFFF the Reference Node hasn t been configured Reference Node s Y position Bits 15 2 whole meters Bits 1 0 0 25 meters If this field contains OxFFFF the Reference Node hasn t been configured RSSI Average of any RSSI Blast broadcasts and that of the request message itself 12 3 Blind Node Find Request Cluster ID 0x0013 Send this message to a Blind Node to force it to perform a location find if a Blind Node is properly configured to perform finds as often as necessary for its intended use then the XY RSSI Request should suffice The response to this message will be sent by the Blind Node when the location find process is complete which could take seconds depending on the total network traffic This message doesn t have a body to the message but just a cluster ID 12 4 Blind Node Find Response Cluster ID 0x0014 This message is sent out of the Bli
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