Intro to Motes
Contents
1. Light_Power 12C_BUS_1_CLK R12 M2 1M 29 Mote Programming and Base Station Boards Overview e MIB500 Parallel Port Programmer e MIB510 Serial Port Programmer e eMote e USB ALL o 010 Programs mote through the PC s parallel port eSupports Mica Mica2 Mica2Dot Voltage monitor to protect from low battery voltage Low battery voltage can cause fuse errors eSerial port for base station operation Parallel port can cause flash corruption on some computers due to uisp parallel port drivers THESE MAY BE IRRECOVERABLE e Crossbow application note at to help fix uisp problems e JTAG connector AVRStudio and JTAG pod allows viewing and setting all fuses MIB510 e Q3 release Programming through the serial port On board ISP uP is 3x faster than parallel port eShares serial port with mote for base station operation Voltage monitor to protect from battery voltage e Suports Mica Atmegal28 uP on Mica2 Mica2Dot e JTAG port powered directly USB e Q4 release eUSB interface for programming and base station operation ePower supplied thru USB 31 Ethernet connection as serial forwarder Programming through ethernet e Remote base station operation through ethernet e Remote powered ethernet sensor e Remote code debugging through ethernet Ideal for mote network debug e Similar configuration eprb us2. HSV14 VISAS YOLOANNOO O I Nid LS e External serial flash memory 512K byte e Connectors for interfacing to sensor and programming boards e 3 programmable leds 1 for Mica2Dot e JTAG port Mica Mica2 Mica2Dot The CC1000 Radio Interface e Dedicated cpu bus lines to configure radio registers for radio frequency power e Dedicated SPI bus for data transfer CC1000 is bus master e Radio generates one interrupt every 8 bits when in receive mode cC1000 lt JON Do li I Data provided by OCOD NRZ Baud Rate Xmt or Rev Time Does not include random delay e Runs usually at 38K or 19K bit rate default Manchester 2x bit e More in depth radio discussion later in session 16 The Flash Memory Interface e 512 K bytes of flash non volatile storage e Useful for data logging e Used by GSK Generic Sensor Kit and TinyDB for data logging at e Used by XNP for code download e Serial interface to Atmega uP e TinyOS driver Logger bit bangs interface e Attached to 2 uart port on Mica2 Another driver UCB uses synchonous usart for high speed data transfer SKB Sec driver Beware device consumes 15 ma when storing to memory The ADC Interface e Eight channels of 10 bit ADC multiplexed e Dedicated channels Mica2 Aee e ADCO Radio s RSSI e Shared Mica2 Channels g CADC 0 7 PFO ADCO F2
3. e ADC7 Battery monitor can be shared with another channel but will have 10K ohm impedance e ADC4 ADC7 JTAG If using JTAG debug these channels won t work as ADC inputs e Shared Mica2Dot Channels e ADCI1 Shared for both thermistor and battery voltage e ADC4 ADC7 JTAG If using JTAG debug these channels won t work as ADC inputs 17 Mica2 Sensor Interface Blue OK to use Yellow OK to use but has shared functionality Red Do no use See Atmegal 28 specification for more information regarding signal functionality Mica2 Sensor Interface lt Pwio 7 INT O 3 lt UART RADO BAT_MON LED3 eee LEDE tl EEDI o RD V y is USART1 ieee PROG_MOST PROG MISO SPI_SCK USART1_RXD USART1_TXD BC CLK I2C_DATA PWMO PWM1A AC AC l i if B iii HIROSE SOCKET lt THERM_PWR RSTN PYWM1B VCC ee DF9B 51S 1V 18 Mica2Dot Sensor Interface CROSSBOW DESCRIPTION DARPA MOTES aD c 2002 TPE TP TPA ADC7 ADC6 ADC5 ADC4 VCC Pwi PWO UART_TXD UART RXD RESETN SPI CK ADC3 ADC2 PWMIB GND INT1 INTO THERM_PWR T m R29 C23 ag DA R27 e 6 ADC Channels 6 I O Channels Power Budgets SYSTEM SPECIFICATIONS value units current full operation 6 ma current sleep 8 ua current in receive 8 ma current xmit 12 ma current sleep 2 ua write 15 ma read 4 ma sleep 2 ua current full operation 5 ma Average full operation curr
4. Application amp TinyOS C 20 Application Executable 10 The TinyOS Kernel Under The Hood nesC Compiler Om Code Output int main void Hardware and bool TOSH_run_next_task void Kernel Initialization RealMain hardwarelInit TOSH_sched_init RealMain StdControl init RealMain StdControl start RealMain Interrupt enable while 1 TOSH_run_taskQ static inline void TOSH_run_task while TOSH_run_next_task TOSH_sleep TOSH_wait Application Initialization uint8_t old_full void func void if TOSH_sched_full TOSH_sched_free return 0 else old_full TOSH_sched_full TOSH_sched_full TOSH_sched_full amp TOSH_TASK_BITMASK func TOSH_queue int old_full tp TOSH_queue int old_full tp 0 func s return 1 1 First Run All Tasks in the Task Queue Strictly a FIFO Task Runs To Completion But 2 Then Sleep In Low Power Mode May Be Interrupted 3 And Wait for an Interrupt By An Event Overhead of TinyOS Primitive Operations Operation Byte Copy Signal an Event Call a Command Schedule a Task Context Switch Cost cycles 8 10 10 46 51 Hardware Interrupt hw 9 Hardware Interrupt sw 71 Processor Init Scheduler C runtime Time uSecs Normalized to Byte Copy 2 1 2 5 2 5 Code Size bytes Data Size bytes 172 30 178 16 82 0 46 11 TinyOS nesC Application Notes e Everything is Static
5. Introduction to Motes Portions adapted from Crossbow Inc Bill Maurer maurer dsplabs com DSP Labs Livermore Ca USA www intel research net berkeley Why Smart Dust Advances in low power wireless communication technology and micro electromechanical sensors MEMS transducers Digital Nervous System Physical Internet Ubiquitous Computing NEST Technology e How do you combine sensing communication and computation into a complete architecture e What are the requirements of the software e Networked Embedded Systems Technology Ad hoc sensing Routing Tree Link Connectivity e Autonomous nodes self assembling into a network Base Station of sensors e Sensor information propagated to central collection point e Intermediate nodes assist distant nodes to reach the base station Today s Hardware e Assembled from off the shelf components 8bit MCU Low Power Radio sensors O Key Software Requirements Capable of fine grained concurrency Small physical size Efficient resource utilization Highly modular What is TinyOS e An Open Source Development Environment e A Simple Operating System e A Programming Language and Model e A Set of Services TinyOS Development Environment Windows and Linux Multiple Hardware Platforms Not only Crossbow Multiple Sensors Not only Crossbow Debugging Tools Reference Applications TinyOS A Sim
6. No Dynamic Memory no malloc No Function Pointers No Heap e nesC Compiler Analysis Data Race Conditions Function Inlining Development Made Easier Robustness Improved Application Memory Map e Text code Executable Code In the 128K Program Flash data Program Constants In the 128K Program Flash bss Variables Inthe 4K SRAM Free Space Fixed No Dynamic Memory stack Grows Down in the Free Space 12 TinyOS Concepts Embodied by nesC Tasks Events Commands e Tasks Background computation non time critical e Events Time critical External Interrupts Originator gives a Signal Receiver gets accepts an Event e Command Function call to another Component Cannot Signal Main nc Concepts of SW Components Mainne e Interfaces xxx nc e Specifies functionality to outside world e Tell outside world APPXXX NC what commands can be called No code what events need handling Wiring only e Software Components interfaceA nc Module xxxM nc e Code file code implementation e It codes the Interface Configuration xxxC nc comp 1C nc comp2M nc e Linking wiring of components wires code e When top level app drop C from filenamg XXX NC interfaceB nc e optional Module interfaceA nc interfaceA nc TinyOS app Blink Blinks the Red LED interfaceB nc BlinkM nc comp3M nc Blink nc code Ad infinitum 13 B
7. ed extensively at UCB for mote development SENSOR BOARD 32
8. ent 15 ma AA Batteries are 1800ma which mean 120hrs 5 days e AA standard 1800ma hours Slow decay Best price eLithium 3 6 fast decay more expensive Beware of low battery voltage adc flash programming DC Booster may may not help UCB Mica2Dot NiMH 3AH single cell with booster and recharge Crossbow Sensor Boards MTS101CA MICA MICA2 Light photo resistor Temperature Thermistor Prototyping area MDA300CA_ MICA2DOT Protoyping MTS3800CA_ MICA MICA2 Light Temperature Acoustic Sounder 2 Axis Accelerometer ADXL202 and 2 Axis Magnetometer MTS500CA_ Mica2Dot Prototyping MTS400 420 GPS weatherboard weatherboard Not Mica2Dot released See MTS MDA Sensor and Data Acquisition Boards User s Manual 20 MTS101CA eLight photo resistor Clairex CL94L e Thermistor YSI 44006 Both sensor are highly non linear eGood prototyping area To use this sensor board add modify the apps app makefile for SENSORBOARD basicsb WW Byatel01 0107 e Prototyping board for mica2dots 21 MTS3800CA MTS310CA Light Photo Clairex CL94L Temperature Panasonic ERT J1VR103J Acceleration ADI ADXL202 2 axis Resolution 2mg Magnetometer Honeywell HMC1002 Resolution 134uUG Microphone Tone Detector Sounder 4 5kHz SENSORBOARD micasb MTS400 420 GPS Weather e Gps LeadTek 9546 optional e SiRFstartII LP c
9. hipset 60ma e External active antenna e 12 channels e 15 Meter SA off 7 Meter WAAS corrected e DC Booster to maintain required voltage eTemperature amp Humidity Sensirion SHT11 e All digital 14 bits e 3 5 RH accuracy 0 5degC Temperature accuracy 22 M1TS400 420 GPS Weather eBarometric Pressure and Temperature Intersema MS5534A e All digital e 300 to1100 mbar 3 accuracy e 10 to 60 degC 3 accuracy e Ambient Light TAOS TSL2250 eAll digital 400 1000nm response eAcceleration ADI ADXL202 2 axis Resolution 2mg e2 K EEPROM for user configuration info MDA300 8 External Analog Inputs External Sensors Hi and low level signals Block Screw Terminal 8 channel digital I O 2 relays On board 2 bit ADC 0 2 5V 0 3V 0 5V Ranges Stable 2 5V Reference 3V and 5V power Designed by UCLA CENS w Crossbow and UCB http www cens ucla edu mhr daq 29 PNI Magnetometer Compass e Resolution 400 uGauss e Very low power e Three axis 4 at Ta gi rr E m ou 0 4 i J zE D os zE LA I OdL dl Zdi dl tdl A101010 Ultrasonic Transceiver Used for ranging Up to 2 5m range 6cm accuracy Dedicated microprocessor 25kHz element Mica2 and Mica2Dot versions 24 ers PA DIOM e UCB environmentally packaged weatherboards for GDI eTemperature amp Humidi
10. link nc Application A top level configuration SW component used to form an executable What the executable does 1 Main initializes and starts the application 2 BlinkM initializes ClockC s rate at 1Hz 3 ClockC continuously signals BlinkM at a rate of 1 Hz 4 BlinkM commands LedsC red led to toggle each time it receives a signal from ClockC tos system Main nc tos interfaces StdControl ne Blink nc tos interfaces StdControl nc Blink ne Note The StdControl interface is similar to state machines init start stop used extensively throughout TinyOS apps amp libs Cee ecrreseesoeseecoseseesesoeeeeeee Tees eees BSCS Sse Teccscccscscscsecscsesesescccssesescece tos interfaces Clock nc tos interfaces Leds nc tos interfaces Clock nc tos interfaces Leds nc tos system ClockC nc tos system LedsC nc Mote Hardware 14 Family of Motes Mote Type We Renee Mica Mica2__ Mica2Dot Microcontroller Nonvolatile storage Radio Communication Mica2 and Mica2Dot e Almegai28 CPU Self programming e Chipcon CC1000 FSK Manchester encoding unable frequency e Lower power consumption 15 Common Platform Architecture e Atmega uP e 32Khz crystal and 4Mhz 7 3728Mhz Mica2 crystal e 10 bit ADC e UART Mica2 Mica2Dot have 2 e SPI bus Atmega uP e I2C bus hardware for mica2 mica2dot e Radio RFM or Chipcon 1000
11. measure battery voltage Sensor s FS changes Voltage for 1 5V input with battery voltage eRatio metric sensors may not work over full range of battery voltage eADC full scale is proportional to battery voltage e Must measure battery voltage to get accurate sensor readings Battery Volts RefVolt ADC_FS data eMica2 and Mica2Dot have on board voltage references to calibrate the ADC full scale contrib xbow apps XSensorMica2 LM4041 1 2 Enclosures for Environmental WWiKovalikelaiare 28 Mi ca2Dot Enclosures Sensor Power Management e Simple Strategy for Low Power Sensors e Use Atmega output pins to source sensor power e Will source 5 10ma of current per pin e Analog Switch Strategy e Use hardware I2C mica2 or software I2C mica2dot in Sourceforge e Switch connects sensor power to VCC e ADG714 switch has 2 5 ohm on resistance e DC DC Booster Strategy e Create battery independent constant supply eo oan voltage o e Create 5 V or more e Turn on booster from analog switch or Atmega e Boosters are 80 90 efficient Need good layout and decoupling Not ratiometric Accel_Out t RT1 Thermistor Power Switches 19 5V_DC DC_Shutdown 3 3V_DC DC Shutdown Rig iM 1M ADG715BRU 20 S6 17 D6 8 12C_BUS_1_ DATA S Accel_Power i EEPROM Power 10 g Humidity_Power 3 Pressure_Power x D 6
12. ple Operating System e Scheduler e Concurrency Intensive e Limited Resources SW Components for Efficient Modularity TinyOS A Programming Language and Model e Separation of construction and composition programs are built out of components e Specification of component behavior in terms of set of interfaces e Components are statically wired to each other via their interfaces This increases runtime efficiency TinyOS Services e Radio MAC Messaging Routing sensor Interfaces Power Management security Debug Time Why TinyOS e Unix Analog aka 1969 A Uniform Programming Language C A Uniform Abstraction e E g device abstraction Open Source e Many Different Developers e Many Different Needs Many Tools Who Controls TinyOS e UC Berkeley Invented st written by Jason Hill in 2000 Large portion of development changed to Intel Berkeley Research Lab Intel Berkeley Research Lab has largest role today in core OS components www intel research net berkeley Real World Deployments Great Duck Island http www greatduckisland net Center for Embedded Network Sensing httpo www cens ucla edu Introduction to TinyOS and nesC Programming TinyOS Kernel Design and Implementation nesC Software Concepts and Basic Syntax nesC Code Lab TinyOS Packet Networking and PC Base Station Lab TinyOS Design Goals e Support Networked Embedded System
13. s asleep but remain vigilant to stimuli bursts of events and operations e Support Mica Hardware power sensing computation communication e Support Technological Advances keep scaling down smaller cheaper lower power TinyOS Design Options e Can t Use Existing RTOS s Microkernel Architecture e VxWorks QNX WinCE PalmOS Execution Similar to Desktop Systems e PDA s Cell Phones Embedded PC s More Than a Order of Magnitude Too Heavy amp Slow Energy Hog TinyOS Design Conclusion e Similar to Building Networking Interfaces Data Driven Execution Manage Large of Concurrent Data Flows Manage Large of Outstanding Events Add Managing Application Data Processing Conclusion Need a Multi Threading Engine Extremely Efficient Extremely Simple TinyOS Kernel Design e TinyOS Kernel 2 Level Scheduling Structure Events e Small Amount of Processing E g Timer ADC Interrupts e Can Interrupt Longer Running Tasks Tasks e Not Time Critical e Tasks Larger Amount of Processing e E g Computing an Average on an Array e Run to Completion WRT other Tasks Implies Only Need a Single Stack TinyOS Applications Under The m0010 e Application is created in the nesC Language Details of nesC Forthcoming e nesC Programming Language Supports the TinyOS Kernel Design Events and Tasks TinyOS Kernel C TinyOS Libs nesC Application nesC
14. ty Sensirion SHT11 e All digital 14 bits e 3 5 RH accuracy 0 5degC Temperature accuracy eBarometric Pressure and Temperature Intersema MS5534A e All digital e 300 tol 100 mbar 3 accuracy e 10 to 60 degC 3 accuracy eAmbient Light TAOS TSL2250 eAll digital 400 1000nm response e Photosensitive Light Sensor W o oan lane Blasts e Real time control of vehicle dynamics 3 bridge accelerometers SO0g 1000g mounted in tire e Sensor board has 3 channels of amplifiers filters programmable D As for bridge balancing eMonitor and analyzed acceleration forces when tire is in contact with ground e Transmit results every revolution e 3 motes 1 master 2 slaves 25 Darpa project Detect intruders with micro powered radar detectors and relay data through mote network Drop detectors from UAV ex Predator Ghz Doppler radar detector e Done with LLL and Advantaca COTS BOTS UCB e 5 x 2 5 x 3 size e lt 250 total e 2 axis accelerometer 26 Robomote USC e Less than 0 000047m e 150 each e Platform to test algorithms for adaptive wireless networks with autonomous robots MICAbot Notre Dame Designed for large scale research in distributed robotics and ad hoc wireless networking 300 each 21 Ratiometric Adcs amp Sensors e Atmegal28 is 10 bit 1024 ratio metric ADC e If sensor is ratio metric then don t have to ADC Output vs Battery
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