wireless embedded systems (0120442x) node programming

Network Kernel Architectures and Implementation

(01204423)

Node Programming

Chaiporn Jaikaeochaiporn.j@ku.ac.th

Department of Computer EngineeringKasetsart University

2

Outline Microcontroller programming

Software development cycle Hardware platforms

IWING-MRF IWING-JN

IWING's MoteLib

3

IWING-MRF MoteRadio

transceiver

8-bit AVR Microcontroller

USB Connector(for

reprogramming and power)

Analog/Digital sensor

connectors

External battery

connector

UART connector

s

Morakot Saravanee, Chaiporn Jaikaeo, 2010. Intelligent Wireless Network Group (IWING), KU

IWING-JN Mote

Analog/Digital sensor

connectorsUART

connectors

Wireless microcontrollermodule with PCB

antenna

5

Microcontrollerflash

memory

BSL

Typical Development Process For microcontrollers with bootstrap

loader (BSL) installedSource code (C/Asm)

Cross Compiler/Assembler

Machine codeSerial/USB

6

Build Simple App Let's build a simple application How to know whether our program is

running? Make mote output something What can be used as output?

7

IWING-MRF Schematic Available on course's homepage

8

IWING-MRF – Blinking LED Task: turn a LED on and off

repeatedly Idea

Configure Port D's Pin 5 (PD5) for output

Repeatedly set the pin logic level to 0 and 1

Add some delay before toggling pin level

9

IWING-MRF C Code – blink.c

How to add delay? Can the code be made shorter?

#include <avr/io.h>

main(){ DDRD |= (1 << 5); // Make PD5 output while (1) { // Set pin logic to low PORTD &= ~(1 << 5);

// Add some delay

// Set pin logic to high PORTD |= (1 << 5); }}

10

Compiling Make an ELF binary by running cross

compiler

Note: blink.elf is not a Windows or Linux executable!

Translate the object file into ihex format

$ avr-gcc -mmcu=atmega328p –o blink.elf blink.c

$ avr-objcopy -j .text -j .data –O ihex blink.elf blink.hex

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Flashing Code Into Mote Plug mote into a USB port Activate boot-loader

Press and release RESET while holding USER/B.L.

Make sure it is recognized by your PC

Invoke chip programmer$ avrdude -p atmega328p -c usbasp -U flash:w:blink.hex

$ lsusbBus 003 Device 049: ID 16c0:05dc Bus 001 Device 003: ID 046d:c03d Logitech, Inc.

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IWING-MRF's Boot Loader

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Creating Makefile

To compile

To download program to flash (will compile if needed)

make

make flash

Tab character

14

IWING's MoteLib

SoftwareHardware

Morakot Saravanee, Patra Poome, Chaiporn Jaikaeo, 2009. Intelligent Wireless Network Group (IWING), KU

15

Hardware Abstraction

IWING-MRF Hardware

IWING-MRF API Implementation

16

Hardware Abstraction

IWING-JN Hardware

IWING-JN API Implementation

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Mote and Network Emulator

Virtual Mote

18

Programming Model MoteLib provides event-based

programming environment

Idle loop

Radio event handler

Sensor event handler

Timer event handler

Boot event handler

Handled by MoteLib Handled by developer

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Example Turn red LED on and off repeatedly

every 500 ms#include <motelib/system.h>#include <motelib/led.h>#include <motelib/timer.h>

Timer t;

void fired(Timer *t) { ledToggle(0);}

void boot() { timerCreate(&t); timerStart(&t, TIMER_PERIODIC, 500, fired);}

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Example: Creating Makefile

# Platform to build the code forPLATFORM = iwing-mrf

# Required target without extensionTARGET = blink

# Include MoteLib's main make rulesinclude $(MOTELIB_DIR)/Makerules

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Example: Build and Flash App Build your application

Program the mote with

make

make flash

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MoteLib API Residing in $(MOTELIB_DIR)/include

motelib/system.h motelib/led.h motelib/timer.h motelib/button.h motelib/sensor.h motelib/actor.h motelib/radio.h motelib/uart.h

Complete API documentation can be found here http://www.cpe.ku.ac.th/~cpj/motelib/

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System API (motelib/system.h) Provides boot() function signature Provides various function

declarations for node ID and network ID inquiry

Should be included in every MoteLib application

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LED API (motelib/led.h) Turn LED#2 on

Turn LED#1 off

Toggle LED#0

Use LEDs to display binary value

ledSet(2,1);

ledSet(1,0);

ledToggle(0);

ledSetValue(5);

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Timer API (motelib/timer.h) Define and initialize a timer

Start the timer with 1-second timeout; trigger only once; call function fired when triggered

Start the timer with 1-second timeout; trigger periodically

Timer t;timerCreate(&t);

timerStart(&t, TIMER_ONESHOT, 1000, fired);

timerStart(&t, TIMER_PERIODIC, 1000, fired);

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Timer API (cont'd) Defining callback

void fired(Timer *t){ // do something}

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Button API (motelib/button.h) Set handler to monitor button event

Usually called in boot()

Handler example

buttonSetHandler(handler);

void handler(ButtonStatus s){ if (s == BUTTON_PRESSED) // do something if (s == BUTTON_RELEASED) // do something}

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Programming Practice button-count.c

Counts how many times the USER button has been pressed

Then shows the number (only 3 LSBs) on the LEDs

Count to 7 and wrap around to 0

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Sensor API (motelib/sensor.h) Read digital input from input#0

Request analog reading (asynchronous) from input#3

uint16_t x = sensorReadDigital(SENSOR_0);

sensorRequestAnalog(SENSOR_3, dataReady);:

void dataReady(uint16_t value){ // value stores sensor reading}

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Actor API (motelib/actor.h) Activate output #2 (set logic to High)

Deactivate output #3 (set logic to Low)

actorSetState(ACTOR_2,1);

actorSetState(ACTOR_3,0);

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Measures light and temperature

Sensor Board

Sensor Power Supply

Light Sensor

Temperature Sensor

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IWING-MRF Schematic

33

IWING-JN Schematic

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Sensor Reading Procedure Step 1: Turn on sensor power Step 2: Request analog reading Step 3: Wait until value is available Step 4: Turn off sensor power

Split-Phase Operations

Request

Data

Blocking

SensorController

Synchronous Operation Asynchronous Operation

SensorController

Request

Ready

Ack

Read

Data

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Example: sense-light.c Every 100 ms, measure light and

display the value on LEDs Light value is in range 0 – 1023 Need to scale down to 0 – 7

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Example#include <motelib/system.h>#include <motelib/led.h>#include <motelib/timer.h>#include <motelib/sensor.h>#include <motelib/actor.h>

Timer t;

void readDone(uint16_t value);void readLight(Timer *t);

void boot(){ timerCreate(&t); timerStart(&t, TIMER_PERIODIC, 100, readLight);}

void readLight(Timer *t){ actorSetState(ACTOR_0, 1); sensorRequestAnalog(SENSOR_1, readDone);}

void readDone(uint16_t value){ ledSetValue(value/128); actorSetState(ACTOR_0, 0);}

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Programming Practice Modify sense-light.c so that light

is sampled 4 times in each measurement Average value is displayed on LEDs

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Creating a Reading Task Event-based code

can be difficult to read and maintain

Idea Make a reading

task that runs forever

Other tasks can also be added to run concurrently

Start timer

Wait until timer expired

Create timer

Turn on sensors

Request reading

Wait until data ready

Complete 4 samples?

Compute and display average

Turn off sensors

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Synchronous Operations MoteLib provides various checks to

support synchronous operation E.g.,

timerExpired(t) Determines whether timer t has already

expired Only works for one-shot timer

sensorAnalogWaiting(s) Returns true if the system still waits for

sensor s sensorAnalogResult(s)

Returns the most recent value of sensor s

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First Attempt#include <motelib/system.h>#include <motelib/led.h>#include <motelib/timer.h>#include <motelib/sensor.h>#include <motelib/actor.h>

Timer t;void readLightTask();

void boot(){ readLightTask();}

void readLightTask(){ uint8_t i; uint16_t sum = 0;

timerCreate(&t);

while (1) { timerStart(&t, TIMER_ONESHOT, 100, NULL); while (!timerExpired(&t)) ; actorSetState(ACTOR_0, 1); for (i = 0; i < 4; i++) { sensorRequestAnalog(SENSOR_1, NULL); while (sensorAnalogWaiting(SENSOR_1)) ; sum += sensorAnalogResult(SENSOR_1); } ledSetValue(sum/4/128); actorSetState(ACTOR_0, 0); }}

Will this work?

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Problem with Event-based Model

Threads: sequential code flowEvents: unstructured code flow

Very much like programming with GOTOs

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Events Require One Stack Four event handlers, one stack

Eventhandler 1Eventhandler 2Eventhandler 3

Stack is reused for every event handler

Eventhandler 4

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Problem with Multithreading Four threads, each with its own stack

Thread 1 Thread 2 Thread 3 Thread 4

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Emulating Concurrency Previous example wouldn't work

because of the blocking while-loop Other parts of the system will be

unresponsive Must return to MoteLib inside of the

while-loops During MoteLib's idle loop, keep

jumping into the while-loops

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Coroutines Generalized subroutines

Allow multiple entry points for suspending and resuming execution at certain locations

Can be used to implement: Cooperative multitasking Actor model of concurrency

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Routine 2

Subroutines vs. Coroutines

Routine 1

Subroutines

Routine 2Routine 1

Coroutines

call

call

returnreturn

yield yield

yield

yield

“Subroutines are a special case of coroutines.”--Donald Knuth

Fundamental Algorithms. The Art of Computer Programming

48

Programming Model

MoteLib'sIdle loop

Task 2

Event handler2

Task 1

Event handler1

Handled by MoteLib Handled by developer

call

returncall

returncontinue

yield

yield

continue

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Implementation Details How to ask MoteLib to call our tasks?

MoteLib provides setLoopRoutine(), allowing a function to be called every idle loop

How to have a task yield and correctly come back to where it left?

void myroutine() { // something to be executed continuously}

void boot() { : setLoopRoutine(myroutine);}

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Implementing Continuation Each coroutine must be able to

continue from where it last yieldedRoutine 1

MainLoop

continue

yield

continue

yield

51

Duff's Device Invented to optimize data transfer by

means of loop unwinding Switch cases are used like GOTO

labelsdo { *to = *from++;} while(--count > 0);

register n = (count + 7) / 8;switch(count % 8) {case 0: do { *to = *from++;case 7: *to = *from++;case 6: *to = *from++;case 5: *to = *from++;case 4: *to = *from++;case 3: *to = *from++;case 2: *to = *from++;case 1: *to = *from++; } while(--n > 0);}

52

Protothreads Invented by Adam Dunkels and Oliver

Schmidt Used in the Contiki OS

Provides light-weight mechanism for concurrent programming using standard C macros and switch-case statements

Heavily inspired by Duff's Device and Simon Tatham's Coroutines in C

See http://dunkels.com/adam/pt/expansion.

html

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Protothreads Protothreads require only one stack E.g, four protothreads, each with its own

stack

Events require one stack

Protothread 1Protothread 2Protothread 3Protothread 4

Just like events

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Six-line implementation Protothreads implemented using the

C switch statement Heavily inspired by Duff's Device and

Simon Tatham's Coroutines in Cstruct pt { unsigned short lc; };

#define PT_INIT(pt) pt->lc = 0

#define PT_BEGIN(pt) switch(pt->lc) { case 0:

#define PT_EXIT(pt) pt->lc = 0; return 2

#define PT_WAIT_UNTIL(pt, c) pt->lc = __LINE__; case __LINE__: \

if(!(c)) return 0

#define PT_END(pt) } pt->lc = 0; return 1

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Revised sense-light.c//////////////////////////////PT_THREAD(readLightTask(struct pt *pt)){ static uint8_t i; static uint16_t sum = 0;

PT_BEGIN(pt);

timerCreate(&t);

while (1) { timerStart(&t, TIMER_ONESHOT, 100, NULL); PT_WAIT_UNTIL(pt, timerExpired(&t)); actorSetState(ACTOR_0, 1); for (i = 0; i < 4; i++) { sensorRequestAnalog(SENSOR_1, NULL); PT_WAIT_WHILE(pt, sensorAnalogWaiting(SENSOR_1)); sum += sensorAnalogResult(SENSOR_1); } ledSetValue(sum/4/128); actorSetState(ACTOR_0, 0); }

PT_END(pt);}

#include <motelib/system.h>#include <motelib/led.h>#include <motelib/timer.h>#include <motelib/sensor.h>#include <motelib/actor.h>#include <pt/pt.h>

struct pt readLight_pt;PT_THREAD(readLightTask(struct pt *pt));Timer t;

//////////////////////////////void scheduleTasks(){ readLightTask(&readLight_pt);}

//////////////////////////////void boot(){ setLoopRoutine(scheduleTasks);}

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Protothreads Limitations Local variables must be manually

preserved Local variables are created on stack They are destroyed when function

returns So they should be stored in an explicit

state object Or declared static, if reentrancy is not

required switch-case statements are not

allowed Cannot take advantage of multi-

processing