TinyOS Tutorial
Faisal Karim Shaikh
DEWSNet GroupDependable Embedded Wired/Wireless Networks
www.fkshaikh.com/dewsnet
Outline Hardware Details
Introduction to TinyOS
Introduction to nesC
Introduction toTOSSIM
Lab Task 1 (Blink Application)
Lab Task 2 (Energy Hole Application)
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UC Berkeley Family of Motes
Mica2 and Mica2Dot
ATmega128 CPU Self-programming 128KB Instruction
EEPROM 4KB Data EEPROM
Chipcon CC1000 Manchester encoding Tunable frequency
• 315, 433 or 900MHz 38K or 19K baud
Lower power consumption
2 AA batteries Expansion
51 pin I/O Connector
1 inch
MicaZ
MicaZ characteristics AVR ATMega 128L microcontroller @ 8MHz IEEE 802.15.4 Zigbee compliant with 2.4 GHz 128K of program memory 4KB SRAM for volatile data and 4KB EEPROM for persistent data Radio: CC2420 51 pin connector for connecting to a programming board Three visible LEDs serve as feedback
TelosB
TelosB characteristics: MSP430 microcontroller @ 8MHz Communicate via a 250 kbps IEEE 802.15.4 Zigbee transceiver Memory: 10K of RAM, 48K of Flash, Radio: CC2420 Three visible LEDs serve as feedback Integrated humidity, light and temperature sensors
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MTS300CA Sensor Board
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Programming Board (MIB510)
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Hardware Setup Overview
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TinyOS “Operating system” for Wireless Sensor Networks
Event driven
Light weight
Component based
An open-source development environment
Programming language: nesC
Supported platforms include Linux, Windows with Cygwin
Install TinyOS and the ‘make’ Download
http://www.tinyos.net/download.html
Directory Structure/apps
/Blink/Forwarder
/contrib/doc/tools
/java/tos
/interfaces/lib/platform
/mica/mica2/mica2dot
/sensorboard/micasb
/system/types
From within the application’s directory: make <platform> (re)install.<node id>
• <node id> is an integer between 0 and 255• <platform> may be mica2, mica2dot, or all
Example: make mica2 install.0
make pc• Generates an executable that can be run a pc for
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Components Define two scopes:
Specification of interfaces Implementation
Use and provide interfaces events Commands
Two types of components: Modules: Implement the application behavior Configurations: Wires components together
Connect via interfaces Connections called “wiring”
BA Wiring
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nesC Programming language for TinyOS
Used for writing libraries and applications in TinyOS
Extension of C
Built out of components, atomic statements with well-defined, interfaces
Component: module file (BlinkC.nc) Configuration file (BlinkAppC.nc)
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nesC-Interfaces Interfaces:
Bidirectional Multi-function interaction channel between two components, the provider
and the user Specifies a set of commands:
• to be implemented by the provider of interface Specifies set of events:
• to be implemented by the user of interface
Example:interface SendMsg { command result_t send(uint16_t address, uint8_t length, TOS_MsgPtr msg); event result_t sendDone(TOS_MsgPtr msg, result_t success); }
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nesC-Atomic Statements Atomic Statements:
Similar to “as-if” Used to implement mutual exclusion, for updates to shared data
structures etc. Should be short Forbids calling commands or signaling events
A simple example is: bool busy; // global void f( ) { bool available; atomic { available = !busy; busy = TRUE; } if (available) do_something; atomic busy = FALSE; }
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nesC-Wiring Wiring:
Connect interfaces, commands, events Three wiring statements in nesC:
• interface1 = interface2 (equate wires)• interface1 -> interface2 (link wires)• interface2 <- interface1
Determine relationships between interfaces component that uses an interface is on the left component provides the interface is on the right Uses -> provides
Example:BlinkM.Timer -> SingleTimer.Timer;
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TOSSIM: Simulator for TinyOS Requirements
Scalability Completeness
No change to application required Tested code can be deployed right away Replaces hardware with software components Allows user to drive, monitor, debug simulation Time is kept at 4MHz granularity TinyViz as GUI Simulates:
large scale sensor networks network at bit error per link repeatable loss rate asymmetric links each individual hardware every interrupt in the system
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Further Reading TinyOS
Tutorial: http://www.tinyos.net/tinyos-1.x/doc/tutorial/index.html Help archive: http://www.tinyos.net/search.html FAQ: http://www.tinyos.net/support.html#lists
nesC Manual: http://www.tinyos.net/tinyos-1.x/doc/nesc/ref.pdf Publication: David Gay, Philip Levis, David Culler, Eric Brewer, nesC: A
Programming Language for Deeply Networked Systems, 2003.
TOSSIM Manual: www.eecs.berkeley.edu/~pal/pubs/nido.pdf http://www.eecs.berkeley.edu/~pal/research/tossim.html
Hardware http://www.xbow.com/ webs.cs.berkeley.edu/papers/hotchips-2004-mote-table.pdf
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Lab Task 1: Blink Application "Blink“:
The simple test program Causes the three LEDs on the mote to turn on and off. Composed of two components:
• a module file, called "BlinkC.nc“• a configuration file, called "BlinkAppC.nc"
BlinkC.ncconfiguration BlinkAppC { } Implementation { components MainC, BlinkC, LedsC ; components new TimerMilliC() as Timer0; components new TimerMilliC() as Timer1; components new TimerMilliC() as Timer2; BlinkC -> MainC.Boot;
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Interface
Instance
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Lab Task 1: Blink Application(Cont) BlinkC.Timer0 -> Timer0; BlinkC.Timer1 -> Timer1; BlinkC.Timer2 -> Timer2; BlinkC.Leds -> LedsC; }
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User
Interface
Provider
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Lab Task 1: Blink Application configuration BlinkAppC{ } states it is a configuration called
BlinkAPPC
Implementation { …. } actual configuration is implemented within this block
MainC, BlinkC, LedsC, TimerMilliC are components Timer0, Timer1, Timer2 are instances of TimerMilliC
component BlinkC -> MainC.Boot initializes LedsC and Timer components
in BlinkC BlinkC.Timer0 -> Timer0;
wires Timer0(instance of Timer<TMilliC> interface) used by BlinkC to the Timer<TMilliC> interface provided by Timer0 (instance of TimerMilliC component)
BlinkC.Leds -> LedsC; wires Leds interface used by BlinkC to the Leds interface provided by
LedsC
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Lab Task 1: Blink Application BlinkM.nc module BlinkC () { uses interface Timer<TMilli> as Timer0; uses interface Timer<TMilli> as Timer1; uses interface Timer<TMilli> as Timer2; uses interface Leds; uses interface Boot; } continued… module BlinkC declares the interfaces it provides and uses BlinkM module also uses three interfaces: Timer<TMilli>,
Leds and Boot Timer<TMilli> interface
Sets a periodic timer that repeats after a specified time. Leds interface
defines commands of Leds Led0On() , Led0Off(), Led0Toggle() etc
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Lab Task 1: Blink Application Boot interface notifies components when TinyOS booted.
BlinkC.nc: continued
implementation{ event void Boot.booted() { call Timer0.startPeriodic( 250 ); call Timer1.startPeriodic( 500 ); call Timer2.startPeriodic( 1000 ); }
event void Timer0.fired() { dbg("BlinkC", "Timer 0 fired @ %s.\n", sim_time_string()); call Leds.led0Toggle(); }
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Lab Task 1: Blink Application event void Timer1.fired() { dbg("BlinkC", "Timer 1 fired @ %s \n", sim_time_string()); call Leds.led1Toggle(); } event void Timer2.fired() { dbg("BlinkC", "Timer 2 fired @ %s.\n", sim_time_string()); call Leds.led2Toggle(); }}
Timer0.startPeriodic( 250 ) starts periodic timer at 250ms
Timer0.fired() event is triggered after 250 ms the Leds.Led0Toggle() toggles the red LED
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