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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