- Author: Laurent Winkler
- Date: Decembre 2014
This documentation describes the more advanced aspects of the development of POPWin and is meant for developers only.
- EIFR
- Pierre Kuonen [email protected]
- Laurent Winkler [email protected]
- Lu Yao [email protected]
- UNI GE
- Pierre Leone [email protected]
- Cristina Munoz Illescas [email protected]
Contiki OS is the operation system that runs on the Z1 sensor. There are different ways of installing:
- With a VM ware virtual machine: http://www.contiki-os.org/start.html
- Or by installing a cross-compilation toolchain for Ubuntu https://github.com/contiki-os/contiki/wiki/Setup-contiki-toolchain-in-ubuntu-13.04
In this doc we have chosen the second option.
In this demo we use a Zolertia Z1 sensor (also called a mote)
http://www.contiki-os.org/hardware.html
or AdvanticSys sensors:
http://www.advanticsys.com/shop/asxm1000-p-24.html
To be able to write to the USB port you will need to have access rights to the /dev/ttyUSB0. This can be done with a chmod 777 command or better by adding your user (in this case lwinkler) to the group that has access to the port:
ll /dev/ttyUSB0
should give you:
crw-rw---- 1 root dialout 188, 0 Dez 5 17:02 /dev/ttyUSB0
You can give permission to your user (in this case lwinkler) to read-write to the USB port:
sudo adduser lwinkler dialout
Then logout of your Ubuntu session and login again. You should now have read-write access on the port.
As explained on:
https://github.com/contiki-os/contiki/wiki/Setup-contiki-toolchain-in-ubuntu-13.04
Dependencies to install (on Ubuntu):
sudo apt-get install build-essential binutils-msp430 gcc-msp430 msp430-libc binutils-avr gcc-avr gdb-avr avr-libc avrdude openjdk-7-jdk openjdk-7-jre ant libncurses5-dev doxygen graphviz git
Get the sources and compiling the example natively
git clone git://github.com/contiki-os/contiki.git contiki
cd contiki/examples/hello-world
make TARGET=native hello-world
This should give you the following output:
Contiki-2.6-1935-gb6b5c6e started with IPV6, RPL
Rime started with address 1.2.3.4.5.6.7.8
MAC nullmac RDC nullrdc NETWORK sicslowpan
Tentative link-local IPv6 address fe80:0000:0000:0000:0302:0304:0506:0708
Hello, world
To compile the example for the sensor and upload it
make TARGET=z1 hello-world
make TARGET=z1 savetarget
make hello-world.upload
To contact the sensor and visualize the hello-world message type:
make login
The application is executed on a reset of the sensor. If you click on the small reset button on the sensor you should see the message appear.
Important : For the AdvanticSys XM1000 mote, you also need to install specific files as explained in section (Installation of contiki files for xm1000)
The demo setup shows the communication between a POP-C++ application running on PC and a network of remote sensor.
Agents
- POP-C++ main application running on PC
- POP-C++ SensorProxy (or proxy node) running on PC
- Gateway mote running on Zolertia (or xm1000) sensor
- Other motes that form the network of sensors
This section indicates how to prepare the demonstration. The PC is running Ubuntu 14.10.
Downloading the develop version of POP-C++. As soon as the release is made the 3.0 version can also be used.
In case of problem with the installation, please refer to the README file contained in POP-C++.
sudo apt-get install git-core g++ flex bison cxxtest zlib1g-dev
git clone https://github.com/pop-team/pop-cpp.git -b develop
cd pop-cpp
cmake .
make
sudo make install
Type 'y' and enter and do not forget to add POPC_LOCATION to your path as specified at the end of the installation. Then restart another shell.
Contiki must be installed as mentionned above. The version to install is 2.6.
git clone git://github.com/contiki-os/contiki.git
git checkout -b 2.6 2.6-rc0
Do not forget to install the mentionned patch for cpu/msp430/Makefile.msp430
sudo apt-get install libjsoncpp-dev
git clone https://github.com/pop-team/pop-win.git
cd pop-win
make clean && make
- Connect the mote to your PC. In our setup we use a Zolertia z1 mote
- Go to the gatewayMote/ directory inside popwin
- Modify the Makefile to point to your contiki directory
Makefile:
CONTIKI=/home/lwinkler/prog/contiki/
include $(CONTIKI)/Makefile.include
- Compile and upload
make TARGET=z1 clean
make TARGET=z1 gatewayMote
make TARGET=z1 gatewayMote.upload
In your POPWin directory type:
make run
This should give you the following output:
=======================================================================================
POPWin demo: type a command to interact with your sensors
=======================================================================================
q: Quit
a: Ask the sensor to read temperature
b: Make leds blink on sensor
c + <nb>: Send a custom command to sensor. 'c0' should list the available commands.
g: Generate test data
e: Clear stored data
p: Print stored data
---------------------------------------------------------------------------------------
Creating sensor proxy with id=1000 on port /dev/ttyUSB0
2015-04-02 16:21:16 9908 WARN POP-C++ exception in paroc_broker::DoInvoke Cannot open device: /dev/ttyUSB1 (broker_serve.cc:214 DoInvoke)
2015-04-02 16:21:16 9928 WARN POP-C++ exception in paroc_broker::DoInvoke Cannot open device: /dev/ttyUSB2 (broker_serve.cc:214 DoInvoke)
2015-04-02 16:21:16 9948 WARN POP-C++ exception in paroc_broker::DoInvoke Cannot open device: /dev/ttyUSB3 (broker_serve.cc:214 DoInvoke)
Created 1 sensor proxy objects
Enter selection:
By typing commands in the application you will be able to interact with your sensors. Enjoy!
Support for templates in POP-C++ is only experimental. Not included in this release.
To compile the code for xm1000 mote, you will need to add the following files to your Contiki directory:
In directory popwin/gatewayMote: decompress the files in archive contiki-xm1000-v2012-08-29.rar (along with popwin sources). Then copy the content of tools/ and platform/ directories in your Contiki directory.
You can find the latest version of the code on page:
http://www.advanticsys.com/shop/asxm1000-p-24.html
http://www.advanticsys.com/wiki/index.php?title=XM1000
You can't run the hello-world example inside contiki/examples/hello-world
Message:
using saved target 'z1'
../../tools/sky/serialdump-linux -b115200 /dev/ttyUSB0
connecting to /dev/ttyUSB0 (115200)
open: Invalid argument
make: *** [login] Error 255
Use the same contiki version as for the demo (2.6), doing inside contiki/ folder
git checkout -b 2.6 2.6-rc0
The sensors outputs garbage characters with serialdump or nothing at all
-
The reset (using the sensor button) is not handled properly. You need to unplug the device of USB port and plug it back in after at least 5 seconds.
-
Another solution to this problem (with the Zolertia z1) is to hit the reset button repeatidly until an output can be seen
-
And also check that the baudrate of your port is set to 115200. You can get the current value with:
stty -F /dev/ttyUSB0
The SensorProxy class of POPWin will try to reset the value to 115200 but this does apparently not work each time.
Cannot compile application with Contiki 2.6:
Message:
... relocation truncated to fit: R_MSP430_16_BYTE against `no symbol'
diff --git a/cpu/msp430/Makefile.msp430 b/cpu/msp430/Makefile.msp430
index 8e9ffd2..651bd3f 100644
--- a/cpu/msp430/Makefile.msp430
+++ b/cpu/msp430/Makefile.msp430
@@ -129,7 +129,7 @@ ifndef CC_MCU
endif
ifndef CFLAGSNO
-CFLAGSNO = -Wall -mmcu=$(CC_MCU) -g $(CFLAGSWERROR)
+CFLAGSNO = -Wall -mmcu=$(CC_MCU) $(CFLAGSWERROR)
endif
CFLAGS += -Os -fno-strict-aliasing
LDFLAGS += -mmcu=$(CC_MCU) -Wl,-Map=contiki-$(TARGET).map
Image generated and uploaded on sensor is corrupt
**Caution 1: ** As stated in the doc, if the upload phase is almost instantaneous, this probably means that the upload failed. In this case check if your sensor is connected and if you have access to the /dev/ttyUSB0 port.
**Caution 2: ** With the latest versions of contiki (November 2014) it seems that sometimes the upload fails randomly. If you get an output similar to this you may have to re-upload: If the application is already in communication, the port will be busy and the upload will fail with a very criptic message:
Traceback (most recent call last):
File "../tools/z1/z1-bsl-nopic", line 1940, in <module>
main(0);
File "../tools/z1/z1-bsl-nopic", line 1855, in main
for f in toinit: f()
File "../tools/z1/z1-bsl-nopic", line 1120, in actionMassErase
0xa506) #Required setting for mass erase!
File "../tools/z1/z1-bsl-nopic", line 762, in bslTxRx
self.bslSync(wait) #synchronize BSL
File "../tools/z1/z1-bsl-nopic", line 700, in bslSync
c = self.serialport.read(1) #read answer
File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 460, in read
raise SerialException('device reports readiness to read but returned no data (device disconnected?)')
serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected?)
+++++ Programming /dev/ttyUSB0
MSP430 Bootstrap Loader Version: 1.39-goodfet-8
Invoking BSL...
Transmit default password ...
MSP430 Bootstrap Loader Version: 1.39-goodfet-8
Invoking BSL...
Transmit default password ...
Traceback (most recent call last):
File "../tools/z1/z1-bsl-nopic", line 1940, in <module>
main(0);
File "../tools/z1/z1-bsl-nopic", line 1865, in main
speed=speed,
File "../tools/z1/z1-bsl-nopic", line 1151, in actionStartBSL
self.txPasswd(self.passwd) #transmit password
File "../tools/z1/z1-bsl-nopic", line 1079, in txPasswd
wait=wait) #if wait is 1, try to sync forever
File "../tools/z1/z1-bsl-nopic", line 762, in bslTxRx
self.bslSync(wait) #synchronize BSL
File "../tools/z1/z1-bsl-nopic", line 700, in bslSync
c = self.serialport.read(1) #read answer
File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 460, in read
raise SerialException('device reports readiness to read but returned no data (device disconnected?)')
serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected?)
+++++ Resetting /dev/ttyUSB0
MSP430 Bootstrap Loader Version: 1.39-goodfet-8
Use -h for help
Use --fromweb to upgrade a GoodFET.
With contiki 2.7 while compiling for xm1000
.../dev/sht11.c: In function ‘sht11_init’:
.../dev/sht11.c:218:4: warning: #warning SHT11: DISABLING I2C BUS [-Wcpp]
.../dev/sht11.c:221:5: error: ‘SHT11_PxREN’ undeclared (first use in this function)
.../dev/sht11.c:221:5: note: each undeclared identifier is reported only once for each function it appears in
...file.include:214: recipe for target 'obj_xm1000/sht11.o' failed
Add this line in contiki/platform/xm1000/dev/sht11-arch.h (http://sourceforge.net/p/contiki/mailman/message/31712247/)
#define SHT11_PxREN P1REN
A big problem encountered with the XM1000 sensors happens with the communication PC->sensor. It seems that the XM1000 receives a message from the PC but is unable to read it. This is annoying and I was not able to fix it after contacting both AdvanticSys and Contiki. AdvanticSys was useless for support and on the Contiki mailing list someone replied and suggest a workaround (using the Zolertia Z1 as gateway).
I ended using the workaround.
The thread on Contiki mailing list:
http://ehc.ac/p/contiki/mailman/message/34129191/
The e-mail sent to AdvanticSys:
Dear support team
I am having trouble with the XM1000 remote sensor and contiki 2.7. It seems that the incoming communication (PC->sensor) are not handled by the sensor.
It seems that the following program gets stuck at PROCESS_WAIT_EVENT_UNTIL and does not handle any events (ie nothing gets printed)
The code is compiled with the toolchain and contiki 2.7. (The same code works with Zolertia z1 sensors)
Can you help me ?
Best regards
Laurent Winkler
#include "contiki.h"
#include "dev/leds.h"
#include <stdio.h>
#include "dev/serial-line.h"
/*---------------------------------------------------------------------------*/
/* We first declare our processes. */
PROCESS(gateway_communication_process, "Communication to/from the gateway");
/* The AUTOSTART_PROCESSES() definition specifices what processes to
start when this module is loaded. We put our processes there. */
AUTOSTART_PROCESSES(&gateway_communication_process);
PROCESS_THREAD(gateway_communication_process, ev, data)
{
PROCESS_EXITHANDLER(goto exit);
PROCESS_BEGIN();
/* Initialize stuff here. */
printf("++++++++++++++++++++++++++++++\n");
printf("+ INIT/START SERIAL COM +\n");
printf("++++++++++++++++++++++++++++++\n");
while(1) {
PROCESS_WAIT_EVENT_UNTIL(ev == serial_line_event_message && data != NULL);
printf("RECEIVED DATA\n");
if(data == NULL)
{
printf("Received empty data\n");
continue;
}
}
exit:
printf("Exiting process\n");
leds_off(LEDS_ALL);
PROCESS_END();
}
I was not able to fix this problem so I used a workaround instead: I used the Zolertia Z1 as a gateway sensor. It works pretty much ok.
- Broadcast of messages: In the current state of advancement the communication is enabled from the PC to the sensor but not the other way around since the sensors are not yet allowed to emit messages (to be done by UNIGE)
- Full implementation of routing : So far the routing of message is implemented twice: the first implementation is a full implementation made by UNIGE (slow), the second is a faster implementation using the libraries of Contiki (fast). The second implementation was used for tests.
// note: we can choose here which version of the code we want to run:
\#if 0
// Processes to run with routing algo of UNIGE
AUTOSTART_PROCESSES(&gateway_communication_process, &button_pressed, &communication_process, &drw, &sensor_events); // Processes to run with algo of UNIGE
\#else
// Processes to use the routing of messages given by the multihop example
AUTOSTART_PROCESSES(&gateway_communication_process, &button_pressed, &multihop_announce, &multihop_sense);
\#endif
- Temperature sensor on Zolertia Z1: The temperature sensor works ok on AdvanticSys xm1000 sensors but is currently broken on Zolertia Z1.