Wirelss Sens NW

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ESE680: Wireless Sensor Networks

Special Topics in Embedded Systems
The FireFly Platform Programming FireFly and the Nano-RK Sensor OS Lecture #3
Prof. Rahul Mangharam
Wireless Sensor Networks
Administrivia
BlackBoard Access
Lab Partners
Labs 1, 2, and 3 in Levine 279 Getting started - http://nanork.org/
Previous Lecture
Some Sensor Nodes Application Domains for WSNs Advantages of WSNs Taxonomy of WSNs Batteries and Energy Challenges and Metrics Summary
Outline of Todays Lecture

FireFly Hardware
Atmel Processor Features Chipcon Radio FireFly Node FireFly Programmer
Operating System
Nano-RK Communication Link Layer Tips and Tricks
Lab Descriptions
FireFly History
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FireFly v2.2 - Overview
Atmel AVR
Microcontrollers
FireFly 1.2 Atmega32 (2K SRAM, 32K FLASH, 4K EEPROM) FireFly 2.0 Atmega128 (4K SRAM, 128K FLASH, 4K EEPROM) FireFly 2.2 Atmega1281 (8K SRAM, 128K FLASH,4K EEPROM)
ATmega1281 Features
1 I2C controller (2 wire serial protocol, Philips) 8-bit Harvard Architecture (16-bit address space) RISC Instruction Set 2 UARTS (RS232 115200 baud) 1 SPI (4 wire serial protocol, Motorola) 8 channel 10-bit ADC 2 8 bit Timers / Counters 4 16 bit Timers / Counters 6 Full 8-bit GPIO ports 32 8-bit Registers 64 Control Registers
Atmel AVR CPU Core

No Cache No Pre-Fetch No Branch Predictor No Memory Management Unit Yes Pipeline (Hooray 1962!)
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VERY Little RAM Reasonable ROM
AVR On Chip Memory

SRAM (8K)
Holds Program Data etc Cleared on Power Down
FLASH Memory (128K)

Holds Program Code Does not get cleared on power down, but is slow for a program to write into (must write large pages) Limited write cycle lifetime
EEPROM (4K)
Does not get cleared on power down Easy for a program to read / write from Uses interface that reads / writes to control registers
FUSES (a few bytes)

Holds CPU Hardware Configuration CPU can not access this data
Data Memory
32 8-bit Registers
Compiler (or you) use these for many instructions that only operate on registers
64 8-bit I/O Registers (all named in a header file)

Control UART parameters Set / Read Pin Values Configure Timers
Internal SRAM
This is memory that must be loaded and written to and from registers This is slower than directly accessing a register Program Data, Stack and Heap Live Here
AVR GPIO (General Purpose Input Output)
General Purpose Input-Output

Tri-state Buffer Port Memory-Mapped IO
Control Registers
Data Direction Register (DDR, TRIS) Internal Pull Up Register (PLP) Reading / Writing to the Port
Tri-state Buffer Gate

(controlled by DDR register)
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Each GPIO port can be configured as input or output on a bit-by-bit basis. Input can act as a high-impedance state to allow other devices to control the line level.
GPIO Register
Writing to a Port
A memory address directly maps to the state of a port
GPIO Register
Reading and Writing with a Port
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AVR Analog to Digital Converter
AVR Analog to Digital Converter

Converts an Analog Signal to a Digital One 8 Channels at 10 bit Resolution Sampling Rate (up to 15 kSPS)
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AVR UART (Universal Asynchronous Receiver / Transmitter)
AVR UART
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AVR SPI and I2C
I2C (Inter-Integrated Circuit)

Multi-drop 2 wire serial bus protocol Designed by Philips Two Bi-directional Open-Drain Lines 400 kbits / sec (up to 3.4Mbits / sec high speed mode)
SPI (Serial Peripheral Interface)

4 Wire Serial Bus from Motorola Up to 1Mbits / sec Bidirectional Data
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Radio (TI-Chipcon cc2420)

802.15.4 Radio
Physical / MAC layer of Zigbee
2.4 Ghz (ISM band) 250 Kbps (Burst Data Rate) 16 Channels (11-26) in 5MHz Steps Transmits > 100 meters line of sight 0.18 CMOS Process
Communication Logistics
128-Byte Max Packet Size SPI communication from Atmel to Radio Built-in CRC (cyclic redundancy code) 128-bit AES encryption
Horizontal Antenna Pattern
Vertical Antenna Pattern
cc2420 Power
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ATmega Power States
Radio + CPU Power
FireFly Board (1/3)
FireFly Board (2/3)
FireFly Board (3/3)
FireFly Programmer
Connect FireFly board like this...
FireFly Programmer
Download Firmware Image to Board Read and Write Serial Debugging Data TimeScope
4 channel code execution profiler (good for setting OS reserves)
Software Tools
>
Operating Systems
TinyOS (Berkeley)
Event Based Operation Not Multi-threaded nesC programming language
SOS (UCLA)
Cooperative Multi-tasking Loadable Modules
Mantis (Colorado)
Preemptive Multi-tasking
Nano-RK (CMU/Penn)
Preemptive Priority Based Multi-tasking RK (Resource Kernel)
Nano-RK Features
C GNU tool-chain Classical Preemptive Operating System Multitasking Abstractions Real-Time Priority-Based Scheduling
Rate Monotonic Scheduling
Built-in Fault Handling
Energy-Efficient Scheduling based on a priori taskset knowledge

Nano-RK Architecture
Nano-RK Reservations
CPU Utilization
Time Allowed Per Period For example, a task can run for 10ms of time every 250ms
Network Utilization
Packets In and Out Per Period
Sensors & Actuators Usage

Sensor Readings Per Period
{CPU, Network, Peripherals}

Together comprise the total energy usage of the node Static Offline Budget Enforcement
Nano-RK Time Management

~1ms OS Tick Resolution
Variable Tick Timer (interrupts occur as required, not every quantum)
wait_until_xxx() functions
Suspend task until the event or timeout happens If there is no wait_until_xxx() call, then your reserve will be violated If reserves are disabled, then this can starve low priority tasks and will waste battery power
Nano-RK Fault Handling

Task Time Violations
OS will enforce time bounds given to a task
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Canary Stack Check

Check if user-specified stack has been overflowed Not 100%, but incurs low overhead and better than nothing
Unexpected Restarts
Capture restart that occurs without power-down
Resource Over-use
Manage sensors / actuators Low Voltage Detection Watchdog Timer
Nano-RK Task Set (nrk_cfg.h)
Creating a Nano-RK Task
Sample nano-RK Task
Nano-RK Network: Link Layers

LPL-CSMA (bmac)
Low-Power Listen Carrier Sense Multiple Access Contention Based Protocol
Polastre, Hill, Culler, Versatile Low Power Media Access for Wireless Sensor Networks, Sensys 2004
RT-Link
Time Division Multiple Access (TDMA) Protocol
Anthony Rowe, Rahul Mangharam, Raj Rajkumar, "RT-Link: A Time-Synchronized Link Protocol for Energy Constrained Multi-hop Wireless Networks," SECON 2006
LPL-CSMA
Low-Power Listen Carrier Sense Multiple Access (LPL-CSMA) schemes Tradeoff: Check Faster or Listen Longer
LPL-CSMA
TDMA-based Approach (RT-Link)
RT-Link Graph Coloring

Color Topology Graph to Avoid Collisions Each Color represents a TDMA slot
TX
a
RX
Gateway
f
c b e d b
TX RX
TX
c
RX
TDMA Frame
Low Power Listen within each TDMA Slot
Receiving a Packet with Nano-RK
Sending a Packet with Nano-RK
RT-Link Schedule
Tips and Tricks (1 of 4)

Don't Allocate Large Data Structures Inside Functions
Allocating large data structures in functions puts them on the stack Make them global if need be (bad style for a PC, but this isnt a PC) Stack is usually 128 bytes!
Take Care When Passing Large Data Types to Functions

Pass large structures by reference using pointers so less data gets pushed on the precious stack.
Avoid Recursive Function Calls

Recursive function calls keep pushing onto the stack each time they recurse
Use "inline" For Speed And To Save Stack Space

"inline" in C avoids function calls and (you guessed it) doesnt push onto the stack

Be very careful with Dynamic Memory
Malloc does work, but can cause fragmentation and all sorts of other problems. Use with EXTREME care or better yet not at all.
Watch out for strings

Strings declared anywhere consume DATA and hence use RAM. They don't show up using avr-nm. Sometimes it is better to pass a numerical value to a function that has a big kprintf() switch inside it.
Use nrk_kprintf() whenever possible for constant strings

nrk_kprintf() stores strings in FLASH memory using the PSTR() macro. Only use regular printf() when the string is dynamic (i.e. you use %d to print variables etc).

What variables are using up my memory?
Use avr-nm (NAME) to find a list of symbols and how much they consume. Below is an example that prints the size of functions and static memory sorted as decimal:
"T" refers to the text section, "B" refers to the BSS section, and "D" refers to the data section. Remember that strings don't show up in this list because they do not have compiler mapped labels.
Questions?
On Tuesday:
Labs and Get started with nano-RK Other Operating Systems

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QuickTime and a TIFF (Uncompressed) decompressor are neede d to see this picture.

ESE680: Wireless Sensor Networks

Prof. Rahul Mangharam

Wireless Sensor Networks

Wireless Sensor Networks

Wireless Sensor Networks

Outline of Todays Lecture

Wireless Sensor Networks

QuickTime an d a TIFF (Uncompressed) decompressor are need ed to see this picture.

Wireless Sensor Networks

FireFly v2.2 - Overview

Wireless Sensor Networks

Atmel AVR CPU Core

VERY Little RAM Reasonable ROM

Wireless Sensor Networks

AVR On Chip Memory

FLASH Memory (128K)

FUSES (a few bytes)

64 8-bit I/O Registers (all named in a header file)

AVR GPIO (General Purpose Input Output)

Wireless Sensor Networks

General Purpose Input-Output

Wireless Sensor Networks

Tri-state Buffer Gate

Wireless Sensor Networks

Wireless Sensor Networks

Wireless Sensor Networks

AVR Analog to Digital Converter

Wireless Sensor Networks

AVR Analog to Digital Converter

QuickTime an d a TIFF (Uncompressed) decompressor are need ed to see this p icture .

Wireless Sensor Networks

AVR UART (Universal Asynchronous Receiver / Transmitter)

Wireless Sensor Networks

QuickTime an d a TIFF (Uncompressed) decompressor are need ed to see this p icture .

Wireless Sensor Networks

AVR SPI and I2C

Wireless Sensor Networks

I2C (Inter-Integrated Circuit)

SPI (Serial Peripheral Interface)

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Wireless Sensor Networks

Radio (TI-Chipcon cc2420)

Wireless Sensor Networks

QuickTime an d a TIFF (Uncompressed) decompressor are need ed to see this p icture .

Wireless Sensor Networks

Horizontal Antenna Pattern

Wireless Sensor Networks

Vertical Antenna Pattern

Wireless Sensor Networks

QuickTime an d a TIFF (Uncompressed) decompressor are need ed to see this picture .

Wireless Sensor Networks

ATmega Power States

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Wireless Sensor Networks

Radio + CPU Power

Wireless Sensor Networks

FireFly Board (1/3)

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Wireless Sensor Networks

FireFly Board (2/3)

Wireless Sensor Networks