freescale semiconductor confidential proprietary. freescale™ and the freescale logo are trademarks...

Freescale Semiconductor Confidential Proprietary. Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2004

You can do more with the IEEE 802.15.4 wireless standard then blink a LED or control a light

By Eric Gregori


RF details


The 802.15.4 / Zigbee sandbox

Range

Pea

k D

ata

Rat

e

Closer Farther

Slo

wer

Fas

ter

UWB

HomeRF

Wireless Data Applications

Wireless Video Applications

IrDA

802.11g

802.11b

802.11a

2.5G/3G

ZigBee

802.15.4

Bluetooth

ISM Link

WiFi


Wireless Technologies Compared

Common Name "Zigbee" Bluetooth WiFi UWB

IEEE standard 802.15.4 802.15.1 802.11 802.15.3

Max Data Rate 250Kbps 750Kbps 54Mbps 1000+ Mbps

TX power 30+ ma 40+ ma 400+ ma

Standby Idd 3ua 200ua 20ma

Stack Size 8-60KB 100+ KB 100+ KB

Network Type Star, Cluster, Mesh Star ( 8 nodes max ) Star

Network Join/Formation ms seconds seconds

Max Packet Size(bytes) 132 359 4095

Range Over 1200 meters 100 meters 100 meters* 10 meters

Devices 2^16 8


802.15.4 has 16 channels in the 2.4Ghz band


The 2.4Ghz ISM band

802.11 DSSS

2.40 2.41 2.482.472.462.452.442.432.42

2.4622.4372.412 2.4835 (end of ISM Band)

Possible 802.11 Channel (North America)802.11 Spectrum Occupancy (Typical)


802.15.4 Hardware


Freescale MC1319x Family Overview

Key Features• IEEE® 802.15.4 Compliant

2.4GHz 16 selectable channels 250Kbps 0-QPSK DSSS

• Multiple Power Saving Modes• Reduces MCU resources

Data Mode and Internal Timers• Flexible Micro Support• -16.6dBm to +3.6dBm output power

Software selectable• Low Component count

On-chip regulator Requires single 16Mhz Xtal (Auto Trim)

• Up to -92 Rx sensitivity at 1% PER• 2V to 3.4 operating voltage• -40˚C to +85˚C operating temperature• 5mmx5mm QFN-32

RoHS• Reduced design time

Flexible network support Complete set of design tools and reference

designs

PowerManagement

MC13191/2/3

Analog Receiver

Internal Clock

Generator

8-ch 10-BitADC

BDMHCS08 CPU

2xSCI

4-ch 16-bitTimer

FlashMemory

RAM

COP

IIC

Up to36 GPIO

SPI

LVI

MC9S08GT Family

Sensors

MMA Series Accelerometers

MPX Series Pressure Sensors

MC Series Ion and

Smoke PhotoSensors

Voltage Regulators

FrequencyGenerator

AnalogTransmitter

Dig

ital

Tra

nsc

eive

r GPIO

SPI

Timers

IRQ Arbiter

RAM Arbiter

Buffer RAM

ControlLogic


MC1320X Features

Key Features

• IEEE® 802.15.4 Compliant 2.4 GHz 16 selectable channels

• Multiple Power Saving Modes• Up to 7 GPIO• 2.0 to 3.4V operating voltage

On-chip regulator• -40˚ to +85˚C Operating Temperature• Integrated Tx/Rx switch• Up to -94 dBm Rx Sensitivity at 1% PER• -27 dBm to +4 dBm Programmable Output Power• Low External Component Count

Requires a single 16Mhz crystal• Software Crystal Trimming• 5x5x1 mm 32-pin QFN

Software • SMAC

Small memory footprint (< 3 KB) Supports point-to-point and star networks

• MAC IEEE 802.15.4 Standard Compliant

• ZigBee Supports ZigBee Alliance 1.0 Specification

RFIC Timers

Digital ControlLogic

AnalogReceiver

FrequencyGenerator

AnalogTransmitter

Buffer RAM

RAMArbiter

VoltageRegulators

IRQArbiter

PowerManagement

Digital Transceiver

Tx/Rx Switch

MC1320X


MC1320X Transceiver Family

MC13201 MC13202 MC13203

Overview

Low cost 2.4 GHz transceiver for

proprietary applications

IEEE 802.15.4 Compliant 2.4 GHz

transceiver

ZigBee-Ready 2.4 GHz transceiver

Buffered transmit and receive data packets for use with low cost MCUs

Low component count reduces complexity and cost

Programmable clock output available to MCU

Network Topology Point-to-Point and Star Peer-to-Peer, Star and Mesh

SoftwareSimple MAC (SMAC) IEEE 802.15.4 MAC ZigBee Stack

Transfer Mode Packet Packet and Streaming

Throughput 250 Kbps, O-QPSK Modulation, DSSS Energy Spreading Scheme

Tx/Rx Switch Integrated on-chip

Low Power Modes Off, Hibernate, Doze and Idle

Sensitivity -91 dBm -94 dBm

Power Supply 2.0 to 3.4 V

MCU Support 8-bit MCU, ColdFire, S12, DSC Optimized for 8-bit HCS08 Family

MCU Interface SPI Interface to MCU

Power Output -27 dBm to +4 dBm (software selectable)

Operating Temp -40º to +85ºC Operating Temperature

Package 5x5x1 mm 32-pin QFN (Meets RoHS requirements)

10K SRP $2.35 $2.75 $3.28


MC1320X Pricing and Availability

MC13201 – Samples Q405, Production Q106• Supports Simple MAC (SMAC)

• MC13201FC (Bulk part)

• MC13201FCR2 (Tape and Reel)

• 10K Suggested Resale $2.35

MC13202 – Samples Q405, Production Q106• Supports SMAC & IEEE 802.15.4 MAC




MC13203 – Samples Q405, Production Q106• Supports SMAC, IEEE 802.15.4 MAC & Figure 8 Wireless Z-Stack




All Prices are budgetary and subject to change


MC1321X OverviewOverview 2nd Generation ZigBee platform with 2.4 GHz

Transceiver and MC9S08GT Family 8-bit MCU

Component Count

10 external components:

7 caps, 1 inductor, 1 balun, 1 crystal

Network Support Point-to-Point, Star, Cluster Tree and Mesh

Sensitivity -94 dBm

Power Output -27 dBm to +4 dBm (software selectable)

Memory Up to 60 KB FLASH, 4 KB RAM

Low Power Modes

4-RF (Off, Hibernate, Doze, Idle) and

4-MCU (Run, Wait, STOP2, STOP3)

I/O Up to 39 GPIO, 8-channel 10-bit ADC, 9 Timers, 2 SCI, IIC, LVI, ICG, COP

Operating Volt.2.0 to 3.4 V

Operating Temp-40º to +85ºC

Package 9x9x1 mm 64-pin LGA

Meets RoHS requirements

HCS08 CPU

FLASH Memory

RAM

Low Voltage Interrupt

InternalClockGen

Background Debug Module

8-ch10-bitADC

2 x SCI

IIC

16-bitTimers

Up to 39 GPIO

RFIC Timers

Digital ControlLogic

AnalogReceiver

FrequencyGenerator

AnalogTransmitter

Buffer RAM

RAMArbiter

VoltageRegulators

IRQArbiter

PowerManagement

Digital TransceiverTx/Rx Switch

MC1321X

COPKeyboard Interrupt

Software compatible to the MC1319X• Proprietary Applications using SMAC

• IEEE® 802.15.4 Compliant Modem

• ZigBee Compliant Platform

Availability• Samples: Q4 2005

• Production: Q1 2006


MC1321X Features

Key Features

• System in a Package (SiP)

• IEEE® 802.15.4 Compliant 2.4 GHz 16 selectable channels

• Multiple Power Saving Modes

• Up to 39 GPIO

• 2.0 to 3.4 V Operating Voltage On-chip regulator

• -40˚ to +85˚C Operating Temperature

• Low External Component Count Requires one 16 MHz crystal (software trim)

• 9x9x1 mm 64-pin LGA

Microcontroller Features

• 40 MHz HCS08 Core

• Up to 60 KB FLASH and 4 KB RAM

• 5 16-bit Timers

• 8-bit Keyboard Interrupt (KBI)

• 8-channel 10-bit ADC

• 2 SCIs Supports up to 115.2 Kbaud

• IIC

• Low Voltage Detection (LVD) Programmable high or low trip points

• Watchdog Timer (COP)• In-circuit Debug and FLASH Programming via

Background Debug Module (BDM)

RF Features• Integrated Tx/Rx switch• -94 dBm Rx Sensitivity at 1% PER• -27 dBm to +4 dBm Programmable Output Power• 4 16-bit Timers

Software Features• SMAC

Small memory footprint (< 3 KB) Supports point to point and star networks

• MAC IEEE 802.15.4 Standard Compliant Supports peer-to-peer, star and clustertree

networks Supports beaconed networks Supports guaranteed time slots (GTS) AES 128-bit security

• ZigBee Supports ZigBee Alliance 1.0 Specification Supports star, tree and mesh networks AES 128-bit security


MC13192/3 State/Mode Features

SPI Slave Typical Power Consumption

Hibernate Reference oscillator is off. Will respond to an edge transition on Attention line by bringing up oscillator

2.3uA

Doze Reference oscillator running, not sourcing reference frequency outside of IC

35uA

Idle Reference oscillator running and sourcing reference frequency outside of IC, SPI bus active

500uA

Receive Ref oscillator running, receiver on, SPI bus paused 37mA

Transmit Ref oscillator running, transmitter on, SPI bus active 30mA

Doze is a unique feature of 802.15.4/ZigBee, allows very fast wake up for extended battery life.


Power Comparison – Minimum Payload


Bandwidth

Max throughput (default backoff)

0

20

40

60

80

100

120

140

160

1 5

10

15

20

25

30

35

40

45

50

55

60

65

70

75

80

85

90

95

10

0

10

5

11

0

11

5

11

8

payload size (MAC)

kb

it/s

ec

With Ack

Without Ack

Indirect

Actual throughput with direct data, 125 kbit/sec with 101 byte

payload and acknowledge

Actual throughput with direct data and security enabled,

55 kbit/sec with 90 byte payload and acknowledge


802.15.4 Applications


What do you want to do with 802.15.4?

Wire replacement • Serial stream

Remote Control• Half duplex• Full duplex

Remote Monitor• Analog information• Digital information

Audio• Half duplex• Full duplex• Half duplex control• Full duplex control

Communicate with Zigbee devices from other companies?


802.15.4 Networks


IEEE 802.15.4 Topologies

Mesh

Cluster Tree

Star

PAN Coordinator

Full Function Device (FFD)•Any topology•Network coordinator capable•Talks to any other device

Reduced Function Device (RFD)•Limited to being leaf devices•Cannot become a network coordinator•Talks only to a network coordinator•Very simple implementation


Network Pieces –PAN Coordinator

PAN Coordinator• “owns” the network

Starts it Allows other devices to join it Provides binding and address-table

services Saves messages until they can be

delivered And more… could also have i/o

capability

• A “full-function device” – FFD

• Mains powered


Network Pieces - Router

Routers• Routes messages

• Does not own or start network Scans to find a network to join

> Given a block of addresses to assign

• A “full-function device” – FFD

• Mains powered depending on topology

• Could also have i/o capability


Network Pieces – End Device

End Device• Communicates with a single device

• Does not own or start network Scans to find a network to join

• Can be an FFD or RFD (reduced function device)

• Usually battery powered


What does Freescale have to offer when it comes to 802.15.4 technology?


Fully Embedded ZigBee

APS

P31 … ZDOP1

ZigBee

HCS08 MC13193

802.15.4 PHY

802.15.4 MAC

ZigBee NWK

Features HighlightsZigBee Compliant PlatformComplete Wireless Networking Standard – from

Antenna to APIWireless Embedded or Dongle Options

Target ApplicationsMesh & Clustertree NWKsEstablished Routing AlgorithmNetwork Recovery and HealingDevice Interoperability


Z-Stack

Z-Stack - Complete implementation of the ZigBee™ Alliance specification• Complete ZigBee Protocol Stack, Version 1.0• Documentation• Applications and Profile Source Code

Lighting profile Custom profiles (Generic Application and Serial Application)

• Z-Profile Builder – Windows based application that allows customers to build profiles.

Provides templates for profiles functions Customer defines the proper ID values, settings, etc. Profiles can be ported into the Z-Configurator

• Z-Configurator – Windows application that allows automated customization of ZigBee enabled applications

Integrate customers applications and profiles Builds CodeWarrior project for download to the HCS08 micro

• Z-Trace – Windows application that allows customers to test and debug Includes a tree structure for manual command operation Permits viewing of trace and debug information from the Freescale EVK

(supports both EVB and SARD boards)


Freescales IEEE 802.15.4 MAC Standards-Compliant & Certified

HCS08 MC13192

802.15.4 PHY

802.15.4 MAC

802.15.4 Solution

Hardware Features

802.15.4 PHY Compliant

• MC13192/3 Transceiver

• Supports Packet and Streaming Mode

• Compliant to all RF Specs

Targets the HCS08GT60

Software Features

802.15.4 MAC Compliant

• Standardized Communication Protocol

• Supports Beaconed and Non-Beaconed NWKs

• GTS, 128 AES Encryption

• Co-existence Mitigation Algorithm CSMA-CA

• Star & Clustertree NWKs

Option to Remove Unnecessary Features to reduce code size

Provided in Object Code

Target Applications•Star/Clustertree NWKs•Robust Communication and Timing Critical Protocol•NWK Standard not needed•Interoperability not needed

Free when you use it on a 13192 part• The Full MAC requires the streaming mode in the 13192 part.

Certified to the 802.15.3 standardSupports Beacon and non-beacon networksSupports GTS ( Guaranteed Time Slots )Fully handshaked protocol ( ACK’s )Supports long ( 64 bit ) and short ( 16 bit ) addressingSupports dynamic device addressingSupports active and Passive scansSupports 8 different encryption standards including AES 128Defines 3 types of network nodes

• PAN coordinator• Coordinator• device


What is the EMG_SMAC

The EMG version of the SMAC is a custom version of the SMAC built off of SMAC 4.1.It is NOT 802.15.4 or Zigbee. It is simply a PHY level user API and device driver for the MC13191 and MC13192 radio IC’s.The User API has been designed for simplicity.

• Only 16 user API functions ( no primitives )• Packet_Send( *data, number_of_bytes ) to send a packet• Packet_Received( *rxstructure ) to receive a packet

The Firmware has also been architected for simplicity• Only 4 C files and 8 header files, no library files• Easier start project using Codewarrior new project wizard

Small RAM FLASH• simple_phy.c.o 0 604 • drivers.c.o 3 834• MC13192_hw_config.c.o 0 100• mcu_hw_config.c.o 0 148 • 3 bytes of RAM + packet size + stack• 1686 bytes of FLASH

Hardware• SPI or 3 GPIO to communicate with radio• CE 1 GPIO Used for SPI communications• RTXEN 1 GPIO Not required but recommended• IRQ 1 GPIO Required for feedback from radio• ATTN 1 GPIO Not required unless using Hibernate mode in radio• RESET 1 GPIO Not required unless using Sleep mode in radio• 5 pin minimum requirement from CPU – can be used with 8 pin micro

Audio over 802.15.4 support• Interrupt structure optimized for audio applications ( original SMAC disabled interrupts for almost 1 ms )• New API facilitates audio applications

HCS08 MC13192

802.15.4 PHY

EMG SMAC Solution


Zigbee / 802.15.4 / EMG SMAC

Zigbee Standard defined by Zigbee Alliance$999 per seat – ZStackIncludes everything in 802.15.4 + mesh network> 32K of codepeer – peer, star, cluster, and mesh networks

802.15.4 Standard defined by IEEE 802.15.4Download from Freescale.comIncludes addressing, ACKS, Association, Encryption, GTS> 16K of codepeer-peer, start, cluster ( see demo ) networks

EMG_SMAC RAWJust use our partsIncludes audio support and simple addressing< 2K of code ( what do you expect for < 2K of code ) Optimized for remote control and audio applicationspeer-peer, star, cluster networks


Application Code Overview


802.15.4 MAC Application Code

Voice over the full 802.15.4 MAC• Supports sample rates up to 64Kbps

8 bit X 8Khz sample rate• Supports 802.15.4 short addressing with association• Uses full 802.15.4 with ACKS and retries• Half Duplex• Supports peer to peer and star networks• Supports a 9600 baud control channel while streaming audio• Device is used as audio input• Coordinator used as audio output• Ported to LSR modules• Applications include:

Addressable PA systems Addressable Intercoms Phone accessories


EMG SMAC Application Code

13 EMG SMAC application code examples• Simple Packet Sniffer • Streaming Packet Error Rate test• Wireless UART• Remote Analog monitoring• Frequency hopping low power learning remote control with flash storage• Remote Control Robosapien interface• 128kps half duplex audio with 9600 baud control channel• 64kbps half duplex audio with full duplex 9600 baud control channel• 64kbs Addressable Walkie Talkies• 64Kbps Addressable Intercom with ding dong• 64Kbps Addressable Frequency Hopping Audio*• Wireless Camera*• Wireless MP3 streaming*


Audio Over 802.15.4

802.15.4 MACDEVICE

AD1MICMIC

Preamp

VDDADExternal to MCU

AC Coupling and DC bias

AudioAmp

Low Pass Filter

External to MCU

802.15.4 MACCOORDINATOR

PWM

Audio Over 802.15.4

MICMIC

Preamp

VDDAD


A/D Converter( 10 bit in 8 bit mode )

External to MCU

Sample Rate Timer (TPM2)

A/D read in TPM2 overflow ISR

The TPM2 ISR creates an interrupt every 62.5us ( 16Khz sample rate )100us ( 10khz sample rate )125us ( 8khz sample rate )

In the interrupt the A/D value is read and stored in the FIFO.

AD_data[4][ADBUFSIZE]Stream to packet converter FIFO

Application Interface

This function extract a full packet from the FIFO. This can be done using a zero copy technique ( passing a pointer ) or just copying the packet byte by byte into a TX buffer.

Application ( MAC )

The application function sends the packet to the MAC.This function is different depending on which level of firmware is used ( EMG SMAC or MAC ).

Audio TX


interrupt void TPM2_OVERFLOW_ISR(void){ uint8_t data;

TPM2SC &= 0x7F; // Read, Clear bit 7, Write if( packet_counter > 1 ) { if( (PWM_HeadBuf != PWM_TailBuf) ) { data = PWM_GetFromRing(); Set_PWM( 2, 0, data ); } else packet_counter = 0; Timer ISR }}

void PWM_PutInRing(uint8_t data ){ PWM_RingBuf[PWM_HeadBuf] = data; PWM_HeadBuf = (PWM_HeadBuf+1) & (PWMBUFSIZE-1);}

Ring Buffer input

void inc_packet_counter( void ){ if( packet_counter < 0xFF ) packet_counter++; long_timer = 0;} Watermark

1 byte wide by 512 byte deep Ring Buffer FIFO

uint8_t PWM_GetFromRing(void){ uint8_t returnValue; returnValue = PWM_RingBuf[PWM_TailBuf]; PWM_TailBuf = (PWM_TailBuf+1) & (PWMBUFSIZE-1); return(returnValue);}

Ring Buffer Output

8 bit PWM generator in

MCUFc = 62Khz

AudioAmp

Low Pass FilterExternal to MCU

case gMcpsDataInd_c: if( (pMsgIn->msgData.dataInd.msdu[0] == 0) &&

(pMsgIn->msgData.dataInd.msdu[1] == MyShortAddress[1]) && (pMsgIn->msgData.dataInd.msdu[2] == MyShortAddress[0]) ){ for( n=3; n<(pMsgIn->msgData.dataInd.msduLength); n++ ) PWM_PutInRing(pMsgIn->msgData.dataInd.msdu[n]); inc_packet_counter(); connection_state = CONNECTION_STREAMING;}

Application MAC

Audio RX


Freescale Semiconductor Confidential and Proprietary Information. Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2005.

typedef struct { UINT16 unique_word; UINT8 packet_type; UINT8 address; UINT8 seq_number; UINT8 control_length; UINT8 audio_length; UINT8 control[ 10 ]; UINT8 audio[ 102 ];} EMG_AUDIO_PACKET;

Unique Word2 bytes0xFFFF

Packet type

1 byte

Destination address1 byte

Sequence number1 byte

Control length1 byte

Audio length1 byte

Control Data10 bytes

Audio Data102 bytes

Audio over 802.15.4 Data Structure


Audio Packet Timing

Audio Packet100 audio bytes10 control bytes

Audio Packet100 audio bytes10 control bytes

Time 0

A

B

C

EMG SMAC based Half Duplex Audio and Half Duplex Control Network Traffic

A = Time to send first packet ( input FIFO filling to watermark ).B = Time to send audio packet ( including software overhead ).C = Time between packets after FIFO has filled to watermark.

Audio packet size = 100 + 2 + 10 + 7 bytes for EMG_AUDIO_PACKET + 8 bytes for PHYAudio packet size = 119 + 8 = 127 bytesAt 2.4Ghz, 802.15.4 takes 32us per byte for transmission.Audio packet time ( ideal ) = 127 bytes * 32us/byte = 4.064msHardware overhead ( ideal ) = 144usAudio packet time(ideal) + Hardware overhead(ideal) = 4064us + 144us = 4208usAudio packet time(measured) = 5106usThe time difference between ideal and measured is due to software overhead and SPI transfer times.4208 / 5106 yields a system efficiency of 82.4%


Sampling at 8Khz

EMG SMAC 8Khz sample rate, 8 bit samples ( 64Kbps ), Half duplex audio, No controlThe watermark level is set to 2X.The 11 control bytes are used for audio data.A = 2 * 111 bytes * sample rate = (2 * 111) samples / 8000 samples/s = 27.75msB = 5.106ms ( measured )B + C = 111 bytes * sample rate = 111 samples / 8000 samples/s = 13.875msC = 13.875ms – 5.106ms = 8.8ms63% of the bandwidth is available

sample rate audio bytes bytes/sample A(sec) B(sec) C(sec) available bandwidth

4000 111 1 0.0555 0.005106 0.022644 81.60%

6000 111 1 0.037 0.005106 0.013394 72.40%

8000 111 1 0.02775 0.005106 0.008769 63.20%

10000 111 1 0.0222 0.005106 0.005994 54.00%

12000 111 1 0.0185 0.005106 0.004144 44.80%

14000 111 1 0.015857 0.005106 0.002823 35.60%

16000 111 1 0.013875 0.005106 0.001832 26.40%

18000 111 1 0.012333 0.005106 0.001061 17.20%

20000 111 1 0.0111 0.005106 0.000444 8.00%


Sampling at 8Khz – with a 10 byte control channel

EMG SMAC 8Khz sample rate, 8 bit samples ( 64Kbps ), Half duplex audio, Half duplex controlThe watermark level is set to 2X.A = 2 * 100 bytes * sample rate = (2 * 100) samples / 8000 samples/s = 25msB = 5.106ms ( measured )B + C = 100 bytes * sample rate = 100 samples / 8000 samples/s = 12.5msC = 12.5ms – 5.106ms = 7.4ms59% of the bandwidth is available

sample rate audio bytes bytes/sample A(sec) B(sec) C(sec) available bandwidth

4000 100 1 0.05 0.005106 0.019894 79.58%

6000 100 1 0.033333 0.005106 0.011561 69.36%

8000 100 1 0.025 0.005106 0.007394 59.15%

10000 100 1 0.02 0.005106 0.004894 48.94%

12000 100 1 0.016667 0.005106 0.003227 38.73%

14000 100 1 0.014286 0.005106 0.002037 28.52%

16000 100 1 0.0125 0.005106 0.001144 18.30%

18000 100 1 0.011111 0.005106 0.00045 8.09%

20000 100 1 0.01 0.005106 -0.00011 -2.12%


Robot Demo

The Dancing Robot Demonstration

Using the S08QG and a custom SMAC to stream audio and control data over

802.15.4By Eric Gregori

The Hardware

Robot with GT60 based SARD board mounted behind head.

S08QG based transmitter with geeky RF daughter card + Sound Source

Block Diagram

Internal Clock Source

8-ch 10-BitADC

BDMHCS08 CPU

SCI

2-ch 16-bitTimer

FlashMemory

RAM

COP

IIC

Up to12 GPIO

SPI

LVI

MC9S08QG Family

PowerManagement

MC13191/2/3

Analog Receiver

Voltage Regulators

FrequencyGenerator

AnalogTransmitter

Dig

ital

Tra

nsc

eive

r GPIO

SPI

Timers

IRQ Arbiter

RAM Arbiter

Buffer RAM

ControlLogic

Internal Clock

Generator

8-ch 10-BitADC

BDMHCS08 CPU

2xSCI

4-ch 16-bitTimer

FlashMemory

RAM

COP

IIC

Up to36 GPIO

SPI

LVI

MC9S08GT Family

Speaker is mounted in robot’s back

PowerManagement

MC13191/2/3

Analog Receiver

Voltage Regulators

FrequencyGenerator

AnalogTransmitter

Dig

ital

Tra

nsc

eive

r GPIO

SPI

Timers

IRQ Arbiter

RAM Arbiter

Buffer RAM

ControlLogic

Audio is capacitively coupled to the A/D converter

Both TX and RX MCU’s running the EMG SMAC

802.15.4

Note: bi-directional data transfer is supported by the EMG SMAC and hardware.

What do the buttons do?

Plug in audio source here.Source must be greater than

1.0Vpp but less than 3.0Vpp. A laptop with the volume turned all the way up works well.

Walk Forward / Lean Forward

Dance/Walk

Walk Left / Lean Left

Walk Back/ Lean Back

No need for a power switch, the TX uses the low power features of the QG part to go into idle between button pushes.

Use the header to measure the current.

BDM port for future firmware releases

Stop / Dance

Walk Right / Lean Right

Accelerometer socket for future motion tracking

demos

High Performance MCU that makes it

all possible

How do I make it Dance?• Turn on Robot – Power switch is small black

circle behind right shoulder• Connect audio source – for PC or Laptop

turn up volume to max• As soon as audio is played, the QG part

detects it using the internal comparator. It will immediately start streaming the audio.

• Press and hold SW6 then push SW3.• If the audio source has quite periods, the

audio volume may go below the comparator threshold, stopping the stream. To override this, just push and hold SW6.

• While pushing SW6, the robot is in dance mode.

• Pushing SW6 + SW2 will make the robot lean forward

• Pushing SW6 + SW4 will make the robot Lean left

• Pushing SW6 + SW1 will make the robot lean right

• Pushing SW6 + SW5 will make the robot lean back

Power Switch

Getting the rhythm• The firmware in the QG part can auto synchronize to the rhythm of

the song.• The firmware analyzes the peaks and valleys of the audio source,

and triggers off of peak values of a specific width.• The trigger point is currently hardcoded. Synchronization

characteristics can be adjusted by changing the input volume ( volume on computer ).

• To activate auto dance, simply push and hold SW6 ( dance button ). The robot will start dancing in-sync with the music.

• Adjust the audio source volume to modify auto dance characteristics.

• If autodance starts interfering with manual dancing, simply decrease the volume of the audio source.

• Note: If no button is pushed while streaming audio, autodance will blink the robots eyes and hands to the rhythm of the music.

How do I make it walk?

• Pushing SW2, SW1, SW5, or SW4 without pushing the dance button ( SW6 ) makes the robot walk

• SW2 – forward

• SW1 – turn right

• SW5 – backward

• SW4 – turn left

How does it work?• The radio is a Freescale MC13192 802.15.4 (Zigbee) 2.4Ghz transceiver.• The firmware is a custom version of the SMAC, EMG SMAC.• Audio is sampled at a rate of 5Khz ( the EMG SMAC supports sample rates

as high as 16Khz (128Kbps)) by 8 bits PCM.• Samples are queued up at the front and back end to accommodate packet

loss and small synchronization errors. Auto synch firmware is still in test.• The packet structure contains both variable width audio and control fields.

The control fields are used to transfer commands to the robot.• Packets are sent multiple times with sequence numbers, increasing range

significantly.• Data is transferred to the robot by piggybacking on the IR sensor.• RX supports all 70+ robot commands, TX is limited by buttons.• The advanced sleep modes in the MC13192 part are used to reduce radio

current consumption to a couple of micro-amps.

MC1319x Family Overview•Key Features– IEEE® 802.15.4 Compliant

• 2.4GHz• 16 selectable channels• 250Kbps Data Rate• 250Kbps 0-QPSK DSSS

– Multiple Power Saving Modes• Hibernate 2.3uA• Doze 35uA• Idle 500uA

– RF Data Modem– Up to 7 GPIO– SPI Interface to Micro– Internal Timer comparators

(reduce MCU resources)– -16.6dBm to +3.6dBm output

power• Software selectable• On-chip regulator

– Up to -92 Rx sensitivity at 1% PER

– Pin Compatible within MC1319x Family

– 2V to 3.4 operating voltage– -40˚C to +85˚C operating temperature– Low external component count

• Requires single 16Mhz Xtal (Auto Trim)

– 5mmx5mm QFN-32• Lead-Free

PowerManagement

MC13191/2/3

Analog Receiver

Internal Clock Source

8-ch 10-BitADC

BDMHCS08 CPU

SCI

2-ch 16-bitTimer

FlashMemory

RAM

COP

IIC

Up to12 GPIO

SPI

LVI

MC9S08QG Family

Sensors

MMA Series Accelerometers

MPX Series Pressure Sensors

MC Series Ion and

Smoke PhotoSensors

Voltage Regulators

FrequencyGenerator

AnalogTransmitter

Dig

ital

Tra

nsc

eive

r GPIO

SPI

Timers

IRQ Arbiter

RAM Arbiter

Buffer RAM

ControlLogic

So how does it use the QG part?

• To use as little current as possible while idle, and still monitor the audio input line for a signal. The firmware uses the comparator and ultra-low clock modes available in the S08QG.

• When idle, the CPU is clocked at 15Khz. The comparator is enabled. When a audio signal is present and at a amplitude great enough to surpass the bandgap reference, the QG wakes up and starts streaming audio.

• The external IRQ and SPI are used to communicate with the Radio.• The high speed A/D converter is used to sample audio.• The Modulo Timer is used to set the audio sample rate.• When awake the high speed mode of the QG ( 8Mhz ) is used to

convert the audio from a stream to packets, and manage the radio and user interface.

The future of the robots• Robot firmware updates will be available on Freegeeks.net along

with many other EMG SMAC applications.• Firmware will be available to control the robot from a serial port,

using all 70+ commands.• A accelerometer + EMG SMAC demo will be available that will allow

a person to control the robot by moving. For example when a person leans forward, the robot will lean forward. When a person raises his right arm, the robot will raise its right arm.

• The radio supports bi-directional data, but the demo currently does not.

• The firmware currently supports addressing, but it is not implemented in this demo. This future feature will add the ability to control/monitor multiple robots from a single hub.

Schematic For QG Robot TX boardBy Mike Steffen

QG Robot TX Printed Circuit Board

AA BATTP3: Programming Header

9S08QC Microcontroller

Optional 3-Axis Accelerometer Eval Board

P4: DEFAULT JUMPER SETTINGS Microcontroller/RF Daughter Card Interface Header

RF Daughter Card PLUG IN

SW1-SW6 Switches for Robot Motion Control

D1 & R1: Optional power LED and resistor

P5: Audio Input Jack

Micro IDD current monitor jumper

Pinout Definitions for QG Robot TX board

P2,P3,P4,P5,SW8

Bill of Materials for QG Robot TX board

Freescale Semiconductor Confidential and Proprietary Information. Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2005.


Backup Slides


SMAC enabled 8 bit MCU with built in power drivers


SMAC enabled 8 bit MCU with built in motor control drivers ( 2 full bridges )


Mesh Network Overview


What is mesh networking

From Wikipedia, the free encyclopedia.Mesh networking is a way to route data, voice and instructions between nodes. It allows for continuous connections and reconfiguration around blocked paths by "hopping" from node to node until a connection can be established.Mesh networks are self-healing: the network can still operate even when a node breaks down or a connection goes bad. As a result, a very reliable network is formed.

http://en.wikipedia.org/wiki/Node_%28networking%29


Mesh Networking

Zigbee uses a mesh networking topology

The mesh topology

Mesh

Zigbee is not the only way to get mesh networking.

Millenial Net also provides mesh networking support for Freescale parts.

There are various mesh networking projects on the internet that can be used on our silicon.


Pro-active (Table-driven)mesh network algorithms

These algorithms maintain fresh list of destinations and their routes.

CGSR (Clusterhead Gateway Switch Routing protocol) - CHING-CHUAN CHIANG, HSIAO-KUANG WU, WINSTON LIU, MARIO GERLA Routing in Clustered Multihop, Mobile Wireless Networks with Fading Channel, IEEE Singapore International Conference on Networks, SICON'97, pp. 197-211, Singapore, 16.-17. April 1997, IEEE DBF (Distributed Bellman-Ford Routing Protocol) - DIMITRI P. BERTSEKAS, ROBERT G. GALLAGER, Distributed Asynchronous Bellman-Ford Algorithm, Data Networks, pp. 325-333, Prentice Hall, Enlgewood Cliffs, 1987, ISBN 0-13-196825-4 DSDV (Highly Dynamic Destination-Sequenced Distance Vector routing protocol) - C. E. PERKINS, P. BHAGWAT Highly Dynamic Destination-Sequenced Distance Vector (DTDV) for Mobile Computers Proc. of the SIGCOMM 1994 Conference on Communications Architectures, Protocols and Applications, Aug 1994, pp 234-244. Guesswork - TOM PARKER AND KOEN LANGENDOEN, Guesswork: Robust Routing in an Uncertain World, to be presented at the 2nd IEEE International Conference on Mobile Ad-hoc and Sensor Systems (MASS 2005), November 2005 http://www.st.ewi.tudelft.nl/~koen/papers/guesswork.pdf HSLS (Hazy Sighted Link State routing protocol) - CESAR SANTIVANEZ AND RAM RAMANATHAN Hazy Sighted Link State routing protocol (HSLS),BBN Technical Memorandum No. 1301, 31 August 2001. http://www.cuwireless.net/OSI/progress_report.html HSR (Hierarchical State Routing protocol) - ALAN O'NEILL HONGYI LI HIERARCHICAL STATE ROUTING PROTOCOL Internet Draft, draft-oneill-li-hsr-00.txt http://alternic.net/drafts/drafts-o-p/draft-oneill-li-hsr-00.txt Distance Source Distance Vector routing protocol (DSDV) LCA (Linked Cluster Architecture) - M. GERLA, J. T. TSAI Multicluster, Mobile, Multimedia Radio Network ACM Wireless Networks, VOl 1, No.3, 1995, pp. 255-265 MMRP (Mobile Mesh Routing Protocol) - K. GRACE Mobile Mesh Routing Protocol (MMRP), http://www.mitre.org/work/tech_transfer/mobilemesh/ OLSR (Optimized Link State Routing Protocol) - PHILIPPE JACQUET, PAUL MUHLETHALER, AMIR QAYYUM, ANIS LAOUITI, LAURENT VIENNOT, THOMAS CLAUSEN Optimized Link State Routing Protocol Internet Draft, RFC 3626. http://www.olsr.net/, http://www.olsr.org/ STAR (Source Tree Adaptive routing protocol) - J.J. GARCIA-LUNA, M. SPOHN Source Tree Adaptive Routing Internet Draft, draft-ietf-manet-star-00.txt, work in progress, October 1999. / J.J. GARCIA-LUNA, M. SPOHN Source-Tree Routing in Wireless Networks, Proceedings of the 7th International Conference on Network Protocols, IEEE ICNP 99, Toronto, Candada, pp. 273-282, IEEE, October 1999 http://citeseer.ist.psu.edu/garcia-luna-aceves99sourcetree.html TBRPF (Topology Broadcast based on Reverse-Path Forwarding routing protocol) - BHARGAV BELLUR, RICHARD G. OGIER, FRED L. TEMPLIN Topology Broadcast Based on Reverse-Path Forwarding (TBRPF) RFC 3684, work in progress, June 2001. WRP (Wireless Routing Protocol) - SHREE MURTHY, J.J. GARCIA-LUNA-AVECES A Routing Protocol for Packet Radio Networks, Proc. ACM International Conference on Mobile Computing and Networking, pp. 86-95, November, 1995. http://citeseer.nj.nec.com/murthy95routing.html; SHREE MURTHY, J.J. GARCIA-LUNA-AVECES, An Efficient Routing Protocol for Wireless Networks, AACM/Baltzer Journal on Mobile Networks and Applications, Special Issue on Routing in Mobile Communication Networks, Vol. 1, No. 2, pp 183-197, ACM, October 1996

http://en.wikipedia.org/w/index.php?title=CGSR&action=edit

http://en.wikipedia.org/w/index.php?title=Distributed_Bellman-Ford&action=edit

http://en.wikipedia.org/w/index.php?title=Special:Booksources&isbn=0131968254

http://en.wikipedia.org/w/index.php?title=DSDV&action=edit

http://en.wikipedia.org/w/index.php?title=Guesswork&action=edit

http://www.st.ewi.tudelft.nl/~koen/papers/guesswork.pdf

http://www.st.ewi.tudelft.nl/~koen/papers/guesswork.pdf

http://en.wikipedia.org/wiki/Hazy_Sighted_Link_State_Routing_Protocol

http://en.wikipedia.org/wiki/August_31

http://en.wikipedia.org/wiki/2001

http://www.cuwireless.net/OSI/progress_report.html

http://www.cuwireless.net/OSI/progress_report.html

http://en.wikipedia.org/wiki/HSR

http://alternic.net/drafts/drafts-o-p/draft-oneill-li-hsr-00.txt

http://en.wikipedia.org/wiki/LCA

http://en.wikipedia.org/w/index.php?title=MMRP&action=edit

http://www.mitre.org/work/tech_transfer/mobilemesh/



http://en.wikipedia.org/wiki/OLSR

http://www.ietf.org/rfc/rfc3626.txt

http://www.olsr.net/



http://www.olsr.org/



http://en.wikipedia.org/wiki/STAR

http://citeseer.ist.psu.edu/garcia-luna-aceves99sourcetree.html

http://en.wikipedia.org/wiki/Topology_Broadcast_based_on_Reverse-Path_Forwarding_routing_protocol


http://en.wikipedia.org/w/index.php?title=Wireless_Routing_Protocol&action=edit

http://citeseer.nj.nec.com/murthy95routing.html


Reactive (On-demand)mesh network algorithms

When no designed route is found, protocol finds one.

ARA (Ant-based Routing Algorithm for Mobile Ad-Hoc Networks) - Mesut Günes et. al., ARA - the ant-colony based routing algorithm for manets, In Stephan Olariu, editor, Proceedings of the 2002 ICPP Workshop on Ad Hoc Networks (IWAHN 2002), pages 79-85, IEEE Computer Society Press, August 2002, http://www.adhoc-nets.de ABR (Associativity-Based Routing protocol) - CHAI-KEONG TOH: A Novel Distributed Routing Protocol To Support Ad hoc Mobile Computing, Proc. IEEE 15th Annual International Phoenix Conference on Computers and Communications, IEEE IPCCC 1996, 27 March-29, Phoenix, AZ, USA, pp. 480-486 / CHAI-KEONG TOH: Long-lived Ad Hoc Routing based on the Concept of Associativity, Internet Draft, March 1999, Expired, http://www.ietf.org/proceedings/99nov/I-D/draft-ietf-manet-longlived-adhoc-routing-00.txt AODV (Ad hoc On Demand Distance Vector routing protocol) - C. PERKINS, E.ROYER AND S. DAS Ad hoc On-demand Distance Vector (AODV) Routing, RFC 3561 BSR (Backup Source Routing protocol) - SONG GUO, OLIVER W. YANG Performance of Backup Source Routing (BSR) in mobile ad hoc networks p 440-444, Proc. 2002 IEEE Wireless Networking Conference CHAMP (CacHing And MultiPath routing protocol) - ALVIN C. VALERA, WINSTON K.G. SEAH AND S.V. RAO, CHAMP: A Highly-Resilient and Energy-Efficient Routing Protocol for Mobile Ad hoc Networks. In Proceedings of the 5th IEEE Conference on Mobile and Wireless Communications Networks (MWCN 2002), Stockholm, Sept 9 - 11, 2002. Available from: http://www1.i2r.a-star.edu.sg/~winston/papers/MWCN2002-CHAMP.pdf DSR (Dynamic Source Routing protocol) - DAVID JOHNSON, DAVID MALTZ, YIH-CHUN HU: The Dynamic Source Routing Protocol for Mobile Ad Hoc Networks, Internet Draft, draft-ietf-manet-dsr-10.txt, work in progress, July 2004 / DAVID B. JOHNSON, DAVID A. MALTZ: Dynamic Source Routing in Ad Hoc Wireless Networks, Mobile Computing, Thomasz Imielinski and Hank Korth (Editors), Vol. 353, Chapter 5, pp. 153-181, Kluwer Academic Publishers, 1996 DSRFLOW (Flow State in the Dynamic Source Routing protocol) - YIH-CHUN HU, DAVID B. JOHNSON, DAVID A. MALTZ Flow State in the Dynamic Source Routing Protocol Internet Draft, draft-ietf- manet-dsrflow-00.txt, work in progress, June 2001. DNVR (Dynamic NIx-Vector Routing) - Young J. Lee and George F. Riley, Dynamic NIx-Vector Routing for Mobile Ad Hoc Networks. Proceedings of the IEEE Wireless Communications and Networking Conference (WCNC 2005), New Orleans, Mar. 13 - 17, 2005. DYMO (DYnamic Manet On-demand routing protocol) - I. Chakeres, E. Belding-Royer AND C. Perkins: Dynamic MANET On-demand Routing Protocol (DYMO), Internet Draft, draft-ietf-manet-dymo-00.txt, work in progress, January 2005. http://www.ietf.org/internet-drafts/draft-ietf-manet-dymo-00.txt FORP (Flow Oriented Routing Protocol) GB (Gafni-Bertsekas), E. Gafni, D. Bertsekas: Distributed Algorithms for Generating Loop-free Routes in Networks with Frequently Changing Topology, IEEE Transactions on Communication, Vol. 29, No. 1, Jan, 1981, pp.11-15. The first Link Reversal Routing (LRR) algorithm. LBR (Link life Based routing), B. S. Manoj, R. Ananthapadmanabha, and C. Siva Ram Murthy, "Link life Based Routing Protocol for Ad hoc Wireless Networks", Proc. of The 10th IEEE International Conference on Computer Communications 2001 (IC3N 2001), October 2001. LMR (Lightweight Mobile Routing protocol) - M.S. CORSON AND A. EPHREMIDES Lightweight Mobile Routing protocol (LMR), A distributed routing algorithm for mobile wireless networks, Wireless Networks 1 (1995).A Link Reversal Routing (LRR) algorithm. LQSR (Link Quality Source Routing) - Microsoft Version of DSR with Link Quality Metrics, http://research.microsoft.com/mesh/ LUNAR (Lightweight Underlay Network Ad hoc Routing) - CHRISTIAN TSCHUDIN AND RICHARD GOLD Lightweight Underlay Network Ad hoc Routing (LUNAR), http://www.docs.uu.se/selnet/lunar/ MOR (Multipath On-demand Protocol) MPRDV (Multipoint Relay Distance Vector protocol) - Géraud Allard, Philippe Jacquet and Laurent Viennot. "Ad hoc routing with multipoint relaying", http://gyroweb.inria.fr/~viennot/postscripts/algotel2003ajv.pdf RDMAR (Relative-Distance Micro-discovery Ad hoc Routing protocol) - G. AGGELOU, R. TAFAZOLLI Relative Distance Micro-discovery Ad Hoc Routing (RDMAR) protocol Internet Draft, draft-ietf-manet- rdmar-00.txt, work in progress, September 1999. SrcRR DSR and ETX based, optimized for performance D. AGUAYO, J. BICKET, R. MORRIS, "SrcRR: A High-Throughput Routing Protocol for 802.11 Mesh Networks (DRAFT)", http://pdos.csail.mit.edu/~rtm/srcrr-draft.pdf SSR (Signal Stability Routing protocol) - R. DUBE, C. D. RAIS, K. WANG, AND S. K. TRIPATHI Signal Stability based adaptive routing (SSR alt SSA) for ad hoc mobile networks, IEEE Personal Communication, Feb. 1997. TORA (Temporally-Ordered Routing Algorithm routing protocol) - V. PARK, S. CORSON TEMPORALLY-ORDERED ROUTING ALGORITHM (TORA) VERSION 1 Internet Draft, draft-ietf-manet-tora-spec- 03.txt, work in progress, June 2001. A Link Reversal Routing (LRR) algorithm. PLBR (Preferred link based routing)-- R. S. Sisodia, B. S. Manoj, and C. Siva Ram Murthy, "A Preferred Link Based Routing Protocol for Ad Hoc Wireless Networks", Journal of Communications and Networks, Vol. 4, No. 1, pp. 14-21, March 2002.

http://en.wikipedia.org/wiki/ARA

http://www.adhoc-nets.de/

http://en.wikipedia.org/wiki/ABR

http://en.wikipedia.org/wiki/March_27

http://www.ietf.org/proceedings/99nov/I-D/draft-ietf-manet-longlived-adhoc-routing-00.txt

http://en.wikipedia.org/wiki/AODV


http://en.wikipedia.org/w/index.php?title=BSR&action=edit

http://en.wikipedia.org/w/index.php?title=CHAMP&action=edit

http://www1.i2r.a-star.edu.sg/~winston/papers/MWCN2002-CHAMP.pdf

http://en.wikipedia.org/wiki/Dynamic_Source_Routing

http://en.wikipedia.org/wiki/DSRFLOW

http://en.wikipedia.org/w/index.php?title=DNVR&action=edit

http://en.wikipedia.org/w/index.php?title=DYMO&action=edit

http://www.ietf.org/internet-drafts/draft-ietf-manet-dymo-00.txt

http://en.wikipedia.org/w/index.php?title=FORP&action=edit

http://en.wikipedia.org/w/index.php?title=GB_%28protocol%29&action=edit

http://en.wikipedia.org/wiki/LBR

http://en.wikipedia.org/wiki/LMR

http://en.wikipedia.org/w/index.php?title=LQSR&action=edit

http://research.microsoft.com/mesh/



http://en.wikipedia.org/w/index.php?title=LUNAR&action=edit

http://www.docs.uu.se/selnet/lunar/



http://en.wikipedia.org/wiki/MOR

http://en.wikipedia.org/w/index.php?title=MPRDV&action=edit

http://gyroweb.inria.fr/~viennot/postscripts/algotel2003ajv.pdf

http://en.wikipedia.org/w/index.php?title=RDMAR&action=edit

http://en.wikipedia.org/w/index.php?title=SrcRR&action=edit

http://pdos.csail.mit.edu/~rtm/srcrr-draft.pdf

http://en.wikipedia.org/wiki/SSR

http://en.wikipedia.org/wiki/Temporally-ordered_routing_algorithm

http://en.wikipedia.org/w/index.php?title=PLBR&action=edit


Hierarchicalmesh network algorithms

BRP (Bordercast Resolution Protocol) - ZYGMUNT J. HAAS, MARC R. PEARLMAN, PRINCE SAMAR The Bordercast Routing Protocol (BRP) for Ad Hoc Networks, Internet Draft, http://www.ietf.org/proceedings/02nov/I-D/draft-ietf-manet-zone-brp-02.txt, work in progress, July 2002. CBRP (Cluster Based Routing Protocol) - M. JIANG, J. LI, Y. C. TAY Cluster Based Routing Protocol (CBRP) Functional Specification Internet Draft, draft-ietf-manet-cbrp.txt, work in progress, June 1999. CEDAR (Core Extraction Distributed Ad hoc Routing) - RAGHUPATHY SIVAKUMAR, PRASUN SINHA, VADUVUR BHARGHAVAN Core Extraction Distributed Ad hoc Routing (CEDAR) Specification, Internet Draft, draft-ietf-manet-cedar-spec-00.txt; PRASUN SINHA, RAGHUPATHY SIVAKUMAR, VADUVUR BHARGHAVAN CEDAR: A Core-Extraction Distributed Ad Hoc Routing Algorithm, The 18th Annual Joint Conference of the IEEE Computer and Communications Societies, INFOCOM '99 New York, NY, USA, pp. 202-209 IEEE, March 1999 DART (Dynamic Address Routing) - JAKOB ERIKSSON, MICHALIS FALOUTSOS, SRIKANTH KRISHNAMURTHY Scalable Ad Hoc Routing: The Case for Dynamic Addressing, in proceedings of INFOCOM 2004. Project website http://dart.cs.ucr.edu DDR (Distributed Dynamic Routing Algorithm) - NAVID NIKAEIN, HOUDA LABIOD, CHRISTIAN BONNET Distributed Dynamic Routing Algorithm (DDR) for Mobile Ad Hoc Networks, in proceedings of the MobiHOC 2000 : First Annual Workshop on Mobile Ad Hoc Networking & Computing http://www.eurecom.fr/~nikaeinn/ddr.ps FSR (Fisheye State Routing protocol) - MARIO GERLA, GUANGYU PEI, XIAOYAN HONG, TSU-WEI CHEN Fisheye State Routing Protocol (FSR) for Ad Hoc Networks Internet Draft, draft-ietf-manet-fsr-00.txt, work in progress, June 2001. GSR (Global State Routing protocol) - Global State Routing protocol (GSR) [Chen98] Tsu-Wei Chen and Mario Gerla, "Global State Routing: A New Routing Scheme for Ad-hoc Wireless Networks" Proc. IEEE ICC'98, Atlanta, GA, USA, June 1998, pp. 171-175. http://www.ics.uci.edu/atm/adhoc/paper-collection/gerla-gsr-icc98.pdf; [Iwata99] A. Iwata, C.-C. Chiang, G. Pei, M. Gerla, and T.-W. Chen, "Scalable Routing Strategies for Ad Hoc Wireless Networks" IEEE Journal on Selected Areas in Communications, Special Issue on Ad-Hoc Networks, Aug. 1999, pp.1369-79. http://www.cs.ucla.edu/NRL/wireless/PAPER/jsac99.ps.gz HARP (Hybrid Ad Hoc Routing Protocol) - NAVID NIKAEIN, CHRISTIAN BONNET, NEDA NIKAEIN Hybrid Ad Hoc Routing Protocol - HARP, in proceeding of IST 2001: International Symposium on Telecommunications http://www.eurecom.fr/~nikaeinn/harp.ps HSR (Host Specific Routing protocol) IARP (Intrazone Routing Protocol) - ZYGMUNT J. HAAS, MARC R. PEARLMAN, PRINCE SAMAR The Intrazone Routing Protocol (IARP) for Ad Hoc Networks, Internet Draft, http://www.ietf.org/proceedings/02nov/I-D/draft-ietf-manet-zone-iarp-02.txt, work in progress, July 2002. IERP (Interzone Routing Protocol) - ZYGMUNT J. HAAS, MARC R. PEARLMAN, PRINCE SAMAR The Interzone Routing Protocol (IERP) for Ad Hoc Networks, Internet Draft, http://www.ietf.org/proceedings/02nov/I-D/draft-ietf-manet-zone-ierp-02.txt, work in progress, July 2002. LANMAR (Landmark Routing Protocol for Large Scale Networks) - MARIO GERLA, XIAOYAN HONG, LI MA, GUANGYU PEI Landmark Routing Protocol (LANMAR) Internet Draft, draft-ietf-manet- lanmar-01.txt, work in progress, June 2001. OORP (OrderOne Routing Protocol) - establishes a hierarchy, then uses ant-trail style rerouting to optimize it. Patented. OrderOne Networks- includes Java simulations and anmiations ZRP (Zone Routing Protocol) - ZYGMUNT J. HAAS, MARC R. PEARLMAN, PRINCE SAMAR The Zone Routing Protocol (ZRP) for Ad Hoc Networks, Internet Draft, http://www.ietf.org/proceedings/02nov/I-D/draft-ietf-manet-zone-zrp-04.txt, work in progress, July 2002.

http://en.wikipedia.org/wiki/BRP

http://www.ietf.org/proceedings/02nov/I-D/draft-ietf-manet-zone-brp-02.txt

http://en.wikipedia.org/w/index.php?title=CBRP&action=edit

http://en.wikipedia.org/w/index.php?title=CEDAR&action=edit

http://en.wikipedia.org/w/index.php?title=Dynamic_Address_Routing&action=edit

http://dart.cs.ucr.edu/

http://dart.cs.ucr.edu/

http://en.wikipedia.org/w/index.php?title=Distributed_Dynamic_Routing&action=edit

http://www.eurecom.fr/~nikaeinn/ddr.ps

http://www.eurecom.fr/~nikaeinn/ddr.ps


Geographical mesh network algorithms

DREAM (Distance Routing Effect Algorithm for Mobility) - S. BASAGNI, I. CHLAMTAC, V. R. SYROTIUK, B. A. WOODWARD A Distance Routing Effect Algorithm for Mobility (DREAM) In Proc. ACM/IEEE Mobicom, pages 76-84, October 1998. GLS(Grid) (Geographic Location Service) - JINYANG LI, JOHN JANOTTI, DOUGLAS S. J. DE COUTU, DAVID R. KARGER, ROBERT MORRIS A Scalable Location Service for Geographic Ad Hoc Routing M.I.T. Laboratory for Computer Science LAR (Location-Aided Routing protocol) - Y.-B. KO, V. N. H. Location-Aided Routing in mobile Ad hoc networks In Proc. ACM/IEEE Mobicom, pages 66-75, October 1998. GPSAL (GPS Ant-Like Routing Algorithm) - Daniel Câmara, Antonio Alfredo F. Loureiro, A Novel Routing Algorithm for Hoc Networks, Baltzer Journal of Telecommunications Systems, 18:1-3, 85-100, Kluwer Academic Publishers, 2001. ZHLS (Zone-Based Hierarchical Link State Routing) - JOA NG, I-TAI LU Zone-Based Hierchical Link State Routing (ZHLS). An abstract routing protocol and medium access protocol for mobile ad hoc networks Submitted for partial fulfillment of the requirements for the degree of doctor of philosophy (Electrical engineering) in January 1999.; MARIO JOA-NG, I-TAI-LU A Peer-to-Peer Zone-Based Two-Level Link State Routing for Mobile Ad Hoc Networks, IEEE Journal on Selected Areas In Communication, Vol. 17, No. 8, pp. 1415-1425, August 1999 GPSR (Greedy Perimeter Stateless Routing) - BRAD N. KARP, H. T. KUNG GPSR: Greedy Perimeter Stateless Routing for Wireless Networks, Proceedings of the sixth annual ACM/IEEE International Conference on Mobile computing and networking (MobiCom '00), pages 243-254, August 2000.


Wait, there is more!

There were an additional 28 mesh network protocols on Wikipedia alone.


The Zigbee Alliance does not work for free

The cost of admission!


802.15.4 Terminology

CCA clear channel assessment

MCPS MAC common part sublayer

MLME MAC sublayer management entity

O-QPSK offset quadrature phase-shift keying

PLME physical layer management entity


IEEE 802.15 .4 MAC/PHY Frame Format

MAC protocol data unit

MAC HeaderMAC service

data unit MAC footer

Framecontrol

Sequence number

Addressinfo Payload

Frame checksequence

PHY service data unit

PHY protocol data unit

LengthPreamble

Bytes: 2 1 0-20 variable 2

MACsub layer

MAC frame

Four frame types:

1. Beacon

2. Data

3. MAC command

4. Acknowledge

Max 127 Bytes

Bytes: 4 1 Max 127 Bytes

SFD

1


Sending Data

From Device to Coordinator ( coordinator always on )• Direct asynchronous ( no beacon / no GTS )

• Direct synchronous ( beacon / GTS )

From Coordinator to Device• Direct asynchronous ( If Device is always on )

• Direct synchronous ( beacon / GTS )

• Indirect ( polling )


• No syncronisation mechanisms are available

• All channel access is done through unslotted access Unslotted access means that only one CCA is made

• Beacon order shall be set to 0xF and superframe order is ignored

• 1 symbol = 16µs

Non Beacon network


SuperFrame Structure ( No GTS )


SuperFrame Structure ( GTS )


Superframe example


CSMA

7.5.1.3 The CSMA-CA algorithm

The CSMA-CA algorithm shall be used before the transmission of data or MAC command frames

transmitted within the CAP, unless the frame can be quickly transmitted following the acknowledgment of a

data request command (see 7.5.6.3 for timing requirements). The CSMA-CA algorithm shall not be used for

the transmission of beacon frames, acknowledgment frames, or data frames transmitted in the CFP.


• For dedicated bandwidth and low latency

• Set up by network coordinator to transmit in predetermined intervals All channel access is relative to Beacon start, using slotted access at a backoffslot (backoffslot length = 20 symbols)

• Slotted access means that two CCA’s are made• Beacons are not sent using CCA

16 equal time slots in the active period (Beacon + CAP + CFP)• Channel access in the CAP is contention based i.e. with 2*CCA• Channel access in the CFP is contention free i.e. with no CCA• Up to 7 guaranteed time slots (GTS) can be allocated per CFP for Quality of Service

May have an inactive period for coordinator power saving Beacon order (BO) and superframe order (SO) between 0 and 0xE Beacon interval = 2BO * 960 * 16µs (~16ms to ~252sec) Superframe length = 2SO * 960 * 16µs

Beacon network

Beacon frame

ContentionAccess Period

Inactive Period

ContentionFree Period

Slo

t


Beacon Contents

The Beacon frame contains information for• Addressing

• Superframe specification

• GTS information

• Addresses of devices with pending data

• Beacon payload

• Battery Life Extension


Wireless Networking Basics

Network Scan• Device scans the 16 channels to determine the best channel to occupy.

Creating/Joining a PAN• Device can create a network (coordinator) on a free channel or join an existing

network

Device Discovery• Device queries the network to discover the identity of devices on active

channels

Service Discovery• Device scans for supported services on devices within the network

Binding• Devices communicate via command/control messaging


Associating

• Prepare the Coordinator to become associated macRxOnWhenIdle PIB is already set to TRUE macAssociationPermit PIB must be set to TRUE

• Prepare the Device to become associated Perform ED scan

> Find out if a PAN is present Do Active scan to chose PAN to associate to

> Look at the PAN descriptor to chose correctly Initiate association procedure

• Why associating The device gets a short address The NWK/APP gets information about the associated devices

• From a MAC point of view association is not strictly necessary The MAC does not care Data can be transferred anyway if the PIB’s are set up correctly


Freescale 802.15.4 MAC

Security

IEEE 802.15.4 MAC/PHY TrainingMay 2005


Security Suite/Level

Level Name Encrypted Integrity CheckLength (bytes)

Packet LengthOverhead (bytes)

0x00 N/A No 0 (no check) 0

0x01 MIC-32 No 4 9

0x02 MIC-64 No 8 13

0x03 MIC-128 No 16 21

0x04 ENC Yes 0 (no check) 5

0x05 ENC-MIC-32 Yes 4 9

0x06 ENC-MIC-64 Yes 8 13

0x07 ENC-MIC-128 Yes 16 21

Access Control is always present if sending secured• Conversely: Sending non-secured means no access control at the receiver

Freshness is optional according to the specification


Freescale Security

A unit can contain a maximum of four ACL entries

ACL entries can be changed/added separately (instead of all at once) by using the vendor-specific PIB attributes• macACLEntryCurrent, macACLEntryExtAddress, macACLEntryShortAddress,

macACLEntryPanId, macACLEntrySecurityMaterialLength, macACLEntrySecurityMaterial, and macACLEntrySecuritySuite

• The PIB’s are defined in NwkMacInterface.h

Security is not yet applied to beacon frames

The key always takes up 16 bytes. Insert don’t cares if using a shorter key


Freescale 802.15.4 MAC library Device Types

√: Included in the device type Grey fields: Not included according to the 802.15.4 specNA: Not included.

[1] Data-Response done implicitly through the ack[2] Get-confirm done implicitly through the direct call of get-request[3] Reset-confirm done implicitly through the direct call of reset-request[4] Set-confirm done implicitly through the direct call of set-request

Type Description Code Size

FFD Full Function Device 33,6 k

FFDNGTS Full Function Device, No GTS 30,0 k

FFDNB Full Function Device, No Beacon 24,3 k

FFDNBNS Full Function Device, No Beacon, No Security 18,2 k

RFD Reduced Function Device 25,8 k

RFDNB Reduced Function Device, No Beacon 21,4 k

RFDNBNS Reduced Function Device, No Beacon, No Security 15,3 k


EMG SMAC Overview


What is the EMG_SMAC

The EMG version of the SMAC is a custom version of the SMAC built off of SMAC 4.1.It is NOT 802.15.4 or Zigbee. It is simply a PHY level user API and device driver for the MC13191 and MC13192 radio IC’s.The User API has been designed for simplicity.

• Only 16 user API functions ( no primitives )• Packet_Send( *data, number_of_bytes ) to send a packet• Packet_Received( *rxstructure ) to receive a packet

The Firmware has also been architected for simplicity• Only 4 C files and 8 header files, no library files• Easier start project using Codewarrior new project wizard

Small RAM FLASH• simple_phy.c.o 0 604 • drivers.c.o 3 834• MC13192_hw_config.c.o 0 100• mcu_hw_config.c.o 0 148 • 3 bytes of RAM + packet size + stack• 1686 bytes of FLASH

Hardware• SPI or 3 GPIO to communicate with radio• CE 1 GPIO Used for SPI communications• RTXEN 1 GPIO Not required but recommended• IRQ 1 GPIO Required for feedback from radio• ATTN 1 GPIO Not required unless using Hibernate mode in radio• RESET 1 GPIO Not required unless using Sleep mode in radio• 5 pin minimum requirement from CPU – can be used with 8 pin micro

Audio over 802.15.4 support• Interrupt structure optimized for audio applications ( original SMAC disabled interrupts for almost 1 ms )• New API facilitates audio applications


EMG SMAC

Hardware• SPI or 3 GPIO to communicate with radio

• CE 1 GPIO Used for SPI communications

• RTXEN 1 GPIO Not required but recommended

• IRQ 1 GPIO Required for feedback from radio

• ATTN 1 GPIO Not required unless using Hibernate mode in radio

• RESET 1 GPIO Not required unless using Sleep mode in radio

• 5 pin minimum requirement from CPU – can be used with 8 pin micro

Audio over 802.15.4 support• Interrupt structure optimized for audio applications ( original SMAC disabled interrupts for almost 1 ms )

• New API facilitates audio applications

Supported with 11 application examples• Simple Transmitter

• Simple Receiver ( packet sniffer ) ( LAB )

• Packet error rate test ( no ACKS )

• Frequency hopping learning remote control ( addressing and binding ) ( LAB )

• Wireless UART ( non conical , multi_tx )

• Wireless analog monitor ( used to monitor analog sensors )

• Walkie Talkies

• Half Duplex Voice level audio with 9600 baud control channel

• Watch for more applications on Freegeeks.net


Zigbee / 802.15.4 / EMG SMAC

Zigbee Standard defined by Zigbee Alliance$999 per seat – ZStackIncludes everything in 802.15.4 + mesh network> 32K of codepeer – peer, star, cluster, and mesh networks

802.15.4 Standard defined by IEEE 802.15.4Download from Freescale.comIncludes addressing, ACKS, Association, Encryption, GTS> 16K of codepeer-peer, start, cluster ( see demo ) networks

EMG_SMAC RAWJust use our partsIncludes audio support and simple addressing< 2K of code ( what do you expect for < 2K of code ) Optimized for remote control and audio applicationspeer-peer, star, cluster networks


MC1319x Family Transceivers

MC13191 MC13192 MC13193

Overview

Low cost 2.4GHz transceiver for proprietary applications (SMAC)

802.15.4 Compliant 2.4GHz transceiver

ZigBee-Ready 2.4GHz transceiver

Buffered transmit and receive data packets for use with low cost MCUs

Low component count reduces complexity and cost

16MHz clock output available to MCUNetwork Topology Point-to-Point and Star Peer-to-Peer, Star and Mesh

Transfer Mode Packet Packet and Streaming Packet and Streaming

Throughput 250Kbps 0-QPSK DSSS

Low Power Mode Hibernate, Doze and Idle

Sensitivity -91 -92dBm

Power Supply 2.0V to 3.4V

MCU Support 8-bit MCU Optimized for 8-bit HCS08 Family

MCU Interface SPI Interface to MCU

Power Output -16.6 dBm to +3.6 dBm (software selectable)

Operating Temp -40 to +85 Operating Temperature

Package 5x5 QFN-32 (Meets lead-free requirements)10 K Sugg. Resale $2.28 $2.70 $3.26

Shared Features MC13191Features MC13192/3 Features

802.15.4 MACDEVICE

AD1MICMIC

Preamp

VDDADExternal to MCU


AudioAmp

Low Pass Filter

External to MCU

802.15.4 MACCOORDINATOR

PWM

Audio Over 802.15.4

MICMIC

Preamp

VDDAD


A/D Converter( 10 bit in 8 bit mode )

External to MCU


A/D read in TPM2 overflow ISR

The TPM2 ISR creates an interrupt every 62.5us ( 16Khz sample rate )100us ( 10khz sample rate )125us ( 8khz sample rate )

In the interrupt the A/D value is read and stored in the FIFO.

AD_data[4][ADBUFSIZE]Stream to packet converter FIFO

Application Interface

This function extract a full packet from the FIFO. This can be done using a zero copy technique ( passing a pointer ) or just copying the packet byte by byte into a TX buffer.

Application ( MAC )

The application function sends the packet to the MAC.This function is different depending on which level of firmware is used ( EMG SMAC or MAC ).

Audio TX


interrupt void TPM2_OVERFLOW_ISR(void){ uint8_t data;

TPM2SC &= 0x7F; // Read, Clear bit 7, Write if( packet_counter > 1 ) { if( (PWM_HeadBuf != PWM_TailBuf) ) { data = PWM_GetFromRing(); Set_PWM( 2, 0, data ); } else packet_counter = 0; Timer ISR }}

void PWM_PutInRing(uint8_t data ){ PWM_RingBuf[PWM_HeadBuf] = data; PWM_HeadBuf = (PWM_HeadBuf+1) & (PWMBUFSIZE-1);}

Ring Buffer input

void inc_packet_counter( void ){ if( packet_counter < 0xFF ) packet_counter++; long_timer = 0;} Watermark

1 byte wide by 512 byte deep Ring Buffer FIFO

uint8_t PWM_GetFromRing(void){ uint8_t returnValue; returnValue = PWM_RingBuf[PWM_TailBuf]; PWM_TailBuf = (PWM_TailBuf+1) & (PWMBUFSIZE-1); return(returnValue);}

Ring Buffer Output

8 bit PWM generator in

MCUFc = 62Khz

AudioAmp

Low Pass FilterExternal to MCU

case gMcpsDataInd_c: if( (pMsgIn->msgData.dataInd.msdu[0] == 0) &&

(pMsgIn->msgData.dataInd.msdu[1] == MyShortAddress[1]) && (pMsgIn->msgData.dataInd.msdu[2] == MyShortAddress[0]) ){ for( n=3; n<(pMsgIn->msgData.dataInd.msduLength); n++ ) PWM_PutInRing(pMsgIn->msgData.dataInd.msdu[n]); inc_packet_counter(); connection_state = CONNECTION_STREAMING;}

Application MAC

Audio RX

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