an operating system for the msp430 microcontroler ...2009.rmll.info/img/pdf/tinyos_rmll2009.pdfan...

OS forMSP430

G. Goavec-Merou &

al

Objectives

Softwaredevelop-ment

Platform

Commu-nication

Filesystem

Results

Conclusion

An operating system for the MSP430microcontroler: development of a FAT driver

for TinyOS-2.x

G. Goavec-Merou, J.-M FriedtAssociation Projet Aurore, Besancon

July 13, 2009

G. Goavec-Merou & al OS for MSP430

OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Why an OS on a microcontroler ?

Sensor networks are under development for a wide range ofapplications: a set of nodes spatially distributed monitorenvironmental propertiescomplex and reusable software ⇒ dedicated operating systemfor such applications (low memory footprint & powerconsumption)TinyOS-2.x is a free (BSD license) operating system (a.k.aexecutive environment) for embedded platformsData acquisition during periodic wakeup sequencesData storage over a filesystem: radiofrequency links are not(yet) reliabl enough to answer our needs (+ consumption &communication range)


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Presentation

Two main systeme classes:Powerful but enrgy consuming platforms.Low power platforms will litte energy consumption.

A sensor node must beautonomoususe little electrical power to run on batteries

Objective:comfort of developing an application in the context of the former(OS) within the constraints of the latter: executive environmentgenerates a monolithic application within the context close to thatfound in an OS.


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Node architecture

Vservo

"JT

AG

"

US

B

DV

CC

1P

6.3/

A3

2P

6.4/

A4

3P

6.5/

A5

4P

6.6/

A6

5P

6.7/

A7

6V

RE

F+

7X

IN8

XO

UT

/TC

LK9

VE

RE

F+

10V

ER

EF

-11

P1.

0/T

AC

LK12

P1.

1/T

A0

13P

1.2/

TA

114

P1.

3/T

A2

15P

1.4/

SM

CLK

16

P1.5/TA017

P1.6/TA118

P1.7/TA219

P2.0/ACLK20

P2.1/TAINCLK21

P2.2/CAOUT/TA022

P2.3/CA0/TA123

P2.4/CA1/TA224

P2.5/ROSC25

P2.6/ADC12CLK26

P2.7/TA027

P3.0/STE028

P3.1/SIMO029

P3.2/SOMI030

P3.3/UCLK31

P3.4/UTXD032

P3.

5/U

RX

D0

33

P3.

6/U

TX

D1

34

P3.

7/U

RX

D1

35

P4.

0/T

B0

36

P4.

1/T

B1

37

P4.

2/T

B2

38

P4.

3/T

B3

39

P4.

4/T

B4

40

P4.

5/T

B5

41

P4.

6/T

B6

42

P4.

7/T

BC

LK43

P5.

0/S

TE

144

P5.

1/S

IMO

145

P5.

2/S

OM

I146

P5.

3/U

CLK

147

P5.

4/M

CLK

48

P5.5/SMCLK 49P5.6/ALK 50

P5.7/TBOUTH 51XT2OUT 52

XT2IN 53TDO/TDI 54

TDI 55TMS 56TCK 57

!RST/NMI 58P6.0/A0 59P6.1/A1 60P6.2/A2 61

AVSS 62DVSS 63AVCC 64

12

34

56

78

JP4

R8

C9

C1

C10

C13

C14

R14

C35

C36

C11

C12

A1

B2

C13

IC3A

A8

B9

C6

IC3C

714

IC3PVDD VSS

LED

5

LED

6

D3

3V3OUT17

USBDM16

USBDP15

_RESET19

OSCI27

OSCO28

GN

D1

7

GN

D2

18

GN

D3

21

TXD 1

RXD 5

_RTS 3

_CTS 11

_DTR 2

_DSR 9

_DCD 10

_RI 6

CBUS0 23

CBUS1 22

CBUS2 13

CBUS3 14

CBUS4 12

VC

CIO

4

AG

ND

25

TEST26

VC

C20IC5

CS 1

DI 2

GND 3

VCC 4

SCK 5

GND1 6

DO 7

IRQ 8

WP WP

CD CD

SW SW

SHIELD 14

D+D-VBUSGND

R1

21

Q1

Q3

R4

R5

1 2

JP1 1 2

JP2

GATE1 2

GATE2 7

GN

D3

IN14

IN25

VC

C6 IC2

Q2D

SGQ4

D

SG

SHDN/5

LBI2

LBO/ 3REF4

FB

1

LX 7

OUT 8

GN

D6

IC4

C2

L1R2

123

JP3123

JP5

12

JP7

12

JP6

12345

MP

S_R

ST

VDD

VDD

VDD

GND

GN

D

GN

D

TD

I

TC

LKTC

K

TD

OT

MS

ONOFF1

ONOFF2

VSERIE VSERIE

3.3

SHOOT2

SHOOT1

CS

VC

C_S

DS

CK

MO

SI

MIS

O

4.0MHz xtal

3k

VD

D

100n

1nGN

D

GND

GND

GND

1n

GN

D

VDD

10k

VDD

100nf

>22uF

GND

GND

4066

D

4066

D

VDDGND

4k7

2k

2k

LTC1157

GND

2N3819

2N3819

MAX1674

GND

GND GND

A non commercial platform to make sure we understand thewhole configuration procedure of TinyOS-2.x:

MSP430F149 microcontroler (60 KB flash, 2 KB de RAM)L1 C/A ET312 GPS receiver (RS232)removable SD card (SPI bus)


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

TinyOS-2.x

Compromise between low levelprogramming and an operting system:

set of routinesstructure including abstractionlayers during the developmentphaseuses the nesC programminglanguagegenerates a single monolithicapplication


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Node integration

Defined by two items:a declaration filea configuration directory


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Platform directory content

projet.target.platformhardware.hPlatformC.ncPlatformP.nc

PLATFORM = pro j e t$ ( c a l l TOSMake include platform ,msp)

p ro j e t : $ (BUILD DEPS)@:


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion



push ( @includes , qw(

%T/ ch ips /msp430%T/ ch ips /msp430/adc12%T/ ch ips /msp430/dma%T/ chips /msp430/ pins%T/ ch ips /msp430/ timer%T/ ch ips /msp430/ usart%T/ ch ips /msp430/ s en so r s%T/ l i b / timer%T/ l i b / s e r i a l%T/ l i b /power) ) ;

push ( @opts , qw(−gcc=msp430−gcc−mmcu=msp430x149−fnesc−t a rg e t=msp430−fnesc−no−debug−fnesc−s chedu l e r=TinySchedulerC , TinySchedulerC →

↪→ . TaskBasic , TaskBasic , TaskBasic , runTask , →↪→ postTask

) ) ;


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion



#inc lude " h a r d w a r e . h "

con f i gu r a t i on PlatformC {prov ides i n t e r f a c e I n i t ;

}implementation {

components PlatformP , Msp430ClockC ;I n i t = PlatformP ;PlatformP . Msp430ClockInit −> Msp430ClockC . →

↪→ I n i t ;}


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion



#inc lude " h a r d w a r e . h "

module PlatformP {prov ides i n t e r f a c e I n i t ;uses i n t e r f a c e I n i t as Msp430ClockInit ;uses i n t e r f a c e I n i t as Leds In i t ;

}implementation {

command e r r o r t I n i t . i n i t ( ) {c a l l Msp430ClockInit . i n i t ( ) ;c a l l Leds In i t . i n i t ( ) ;re turn SUCCESS;

}de f au l t command e r r o r t Leds In i t . i n i t ( ) { →

↪→ return SUCCESS; }}


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Validating the platform: blinking LEDs

Applicationexample:apps/Blink

#inc lude " h a r d w a r e . h "con f i gu r a t i on PlatformLedsC {

prov ides i n t e r f a c e GeneralIO as Led0 ;prov ides i n t e r f a c e GeneralIO as Led1 ;prov ides i n t e r f a c e GeneralIO as Led2 ;uses i n t e r f a c e I n i t ;

}implementation {

components HplMsp430GeneralIOC as GeneralIOC ,new Msp430GpioC ( ) as Led0Impl ,

new Msp430GpioC ( ) as Led1Impl ;

components new NoPinC () as Led2Impl ;components PlatformP ;

I n i t = PlatformP . Leds In i t ; // Raccorde l ’ event →↪→ i n i t c e l u i de PlatformP

Led0 = Led0Impl ;Led0Impl −> GeneralIOC . Port16 ;Led1 = Led1Impl ;Led1Impl −> GeneralIOC . Port17 ;Led2 = Led2Impl ; // No led2 on board

}


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Beyond the LED driver: using an LCD

#inc lude " h a r d w a r e . h "con f i gu r a t i on PlatformLcdC {

prov ides i n t e r f a c e GeneralIO as LcdData0 ;[ . . . ]

p rov ides i n t e r f a c e GeneralIO as LcdData3 ;prov ides i n t e r f a c e GeneralIO as LcdE ;prov ides i n t e r f a c e GeneralIO as LcdRS ;uses i n t e r f a c e I n i t ;

}implementation {

components HplMsp430GeneralIOC as GeneralIOC ,new Msp430GpioC ( ) as LcdData0Impl ,

[ . . . ]new Msp430GpioC ( ) as LcdData3Impl ,new Msp430GpioC ( ) as LcdEImpl ,new Msp430GpioC ( ) as LcdRSImpl ;

components PlatformP ;

I n i t = PlatformP . LcdIn i t ;

LcdData0 = LcdData0Impl ;LcdData0Impl −> GeneralIOC . Port24 ;

[ . . . ]

LcdData3 = LcdData3Impl ;LcdData3Impl −> GeneralIOC . Port27 ;

LcdE = LcdEImpl ;LcdEImpl −> GeneralIOC . Port23 ;

LcdRS = LcdRSImpl ;LcdRSImpl −> GeneralIOC . Port22 ;

}


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Exploiting the LCD driver

Bitwise signal manipulation

// Ecr i t un demi oc t e tvoid writeDB ( u in t 8 t va l ) {

val = val & 0 x0f ;i f ( va l & LCD DATA0)

c a l l LcdData0 . s e t ( ) ;e l s e c a l l LcdData0 . c l r ( ) ;

i f ( va l & LCD DATA1)c a l l LcdData1 . s e t ( ) ;

e l s e c a l l LcdData1 . c l r ( ) ;


e l s e c a l l LcdData2 . c l r ( ) ;


e l s e c a l l LcdData3 . c l r ( ) ;}


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

LCD results

An interface useful for debugging and interacting with a user


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Asynchronous communication

RS232: two-way communication protocol.TinyOS model.

packets are embedded for network routing (' IP header onethernet)incompatible with a GPS receiver (NMEA sentences do notcomply with this encapsulation)

use of raw RS232 communication


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

RS232 communication

Raw RS232 interfaceThe public interface.The configuration.

#inc lude " h a r d w a r e . h "con f i gu r a t i on Plat formSer ia lC {

prov ides i n t e r f a c e StdControl ;prov ides i n t e r f a c e UartStream ;prov ides i n t e r f a c e UartByte ;

}implementation {

components new Msp430Uart1C ( ) as UartC , p r o j e t S e r i a lP ;UartStream = UartC . UartStream ;UartByte = UartC . UartByte ;StdControl = p ro j e t S e r i a lP . Control ;p r o j e t S e r i a lP . Msp430UartConfigure <− UartC . Msp430UartConfigure ;p r o j e t S e r i a lP . Resource −> UartC . Resource ;p r o j e t S e r i a lP . ResourceRequested −> UartC . ResourceRequested ;components LedsC ;p r o j e t S e r i a lP . Leds −> LedsC ;

}


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

RS232 communication

Raw RS232 interfaceThe public interface.The configuration.

msp430 uar t un ion con f i g t msp430 uar t p ro j con f i g = { {ubr : UBR 32KHZ 4800 ,umctl : UMCTL 32KHZ 4800 ,s s e l : 0x01 ,pena : 0 ,pev : 0 ,spb : 0 ,c l en : 1 ,l i s t e n : 1 ,mm: 0 ,ckpl : 0 ,urxse : 0 ,u rxe i e : 1 ,urxwie : 0 ,urxe : 0 ,utxe : 1} } ;


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Example of an OEM GPS receiver

Continuous position information receptionUses ASCII sentences (NMEA) = termination characterdefines the end of the sentenceAsynchronous communication (RS232, 4800 bauds)Bandwidth: 144 B/s

$GPRMC,101236 .000 ,A,4821 .6999 ,N,00446 .5093 ,W,0 .94 ,167 .02 ,281208 , ,∗11$GPGGA,101237 .000 ,4821 .6991 ,N,00446 .5093 ,W, 1 , 0 5 , 8 . 2 , 5 . 1 ,M, 5 2 . 5 ,M→

↪→ , ,0000∗40$GPRMC,101237 .000 ,A,4821 .6991 ,N,00446 .5093 ,W,0 .81 ,167 .67 ,281208 , ,∗1F$GPGGA,101238 .000 ,4821 .6987 ,N,00446 .5092 ,W, 1 , 0 5 , 8 . 2 , 5 . 4 ,M, 5 2 . 5 ,M→

↪→ , ,0000∗4C


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Synchronous communication

SPI: asymetric master-slave protocol.N + 2 signals to communicate with N slaves : MOSI (MasterOut Slave In), MISO (Master In Slave Out) and N ChipSelect signalshigh bandwidth (shared clock)hardware implementation on most microcontrolers.


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Use of the SPI bus

Implementation of a module managing a Secure Digital card (SD)for non volatile mass storage.

communication

USB

SD

LCD

MSP430JTAG

programmation

SPI compatibleLarge storage capacity.Default buffer size 512 bytes, might be reduced during config.Lack of native drivers for TinyOS-2.xBlocking model selected


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Filesystems

Objectives:Efficient data saving.Direct data retrieval.Acquired data are structured

TinyOS modelWhich filesystem ?

simple and hence small memory footprint/power consumptioncross-platform.designed for older personnal computers.still in use.


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Presentation of FAT

Access through theMaster Boot Record(MBR)PartitionClustersFile Allocation TableImplemented asmultiple modulesBandwidth: 1.6 kB/s


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Presentation of FAT


1

2

5

FAT

2

8

8 FF

...

7

513

FF513

00

00

00...

00

00

00

00

00

00

Fich_1

Fich_2


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Presentation of FAT



OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Example: periodic acquisition and data storagein a file

/∗ D clenchement du timer ∗/event void Timer0 . f i r e d ( ) {

c a l l f a tCont ro l . s t a r t ( ) ;}/∗ Fat f i n i de s ’ i n i t ∗/event void fa tCont ro l . startDone ( e r r o r t e r r o r ){

i f ( e r r o r == SUCCESS) c a l l f i l eC on t r o l . s t a r t ( ) ;}/∗ F i l e f i n i t son i n i t ∗/event void f i l eC on t r o l . startDone ( e r r o r t e r r o r ) {

i f ( e r r o r == SUCCESS)c a l l ReadStream . pos tBuf f e r ( tampon+5, ( u in t16 t )NBLINES) ;

}/∗ La l e c t u r e e s t f i n i e ∗/event void ReadStream . bufferDone ( e r r o r t r e su l t ,

u i n t 8 t ∗ buf , u in t16 t count ) {i f ( r e s u l t == SUCCESS)

c a l l f i l e . wr i t e ( tampon , count+5) ; // Ecr i tu r ec a l l f a tCont ro l . stop ( ) ; // Tout t e i n d r e

}event void fa tCont ro l . stopDone ( e r r o r t e r r o r ){

i f ( e r r o r == SUCCESS)c a l l f i l eC on t r o l . stop ( ) ;

}

MSP430

wakeup wakeup

instrument

open file

init SD

acquisition

RS232 sentences data

storage file/SD

close deep

sleep

timer


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Results

Development of an application using the drivers for :Data acquisition and storage on an SD card on the embeddeddeviceData transfer to computer using SD card readerUse of the data to generate a graph

Trackcharacteristics

68004sentencesDuration11 hoursFile size:4.7 MB


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Conclusion

Working environment close to the one familiar for developmentunder an OS

easy port of a C program thanks to nesCtransparent port from one platform to anothereasier code maintenance, focus on the innovative workour contribution: a driver for data storage (result of analog todigital conversion, RS232) on a FAT formatted SD card (SPIbus)

The driver has been validated on a Crossbow Telos2 board,further developments include testing on a MicaZ platform(AVR processor)


OS forMSP430

G. Goavec-Merou &

al

Objectives


Platform

Commu-nication

Filesystem

Results

Conclusion

Questions

Further readings: http://jmfriedt.free.fr/tinyOS.pdf [inFrench]


http://jmfriedt.free.fr/tinyOS.pdf

an operating system for the msp430 microcontroler ...2009.rmll.info/img/pdf/tinyos_rmll2009.pdfan...

Documents