X-Git-Url: https://oss.titaniummirror.com/gitweb/?a=blobdiff_plain;f=doc%2Ftxt%2Ftep109.txt;h=3945ffc6d427dd9ca644d9f0f6ae5f0f80295496;hb=e9bfab607e051bae6afb47b44892ce37541d1b44;hp=f655bc2abc300b1c621638331c6ef24515ec4c79;hpb=1ba974b83d19fc41bf80acd52726f36f7f1df297;p=tinyos-2.x.git diff --git a/doc/txt/tep109.txt b/doc/txt/tep109.txt index f655bc2a..3945ffc6 100644 --- a/doc/txt/tep109.txt +++ b/doc/txt/tep109.txt @@ -1,18 +1,13 @@ -============================ -Sensor Boards -============================ +========================= +Sensors and Sensor Boards +========================= :TEP: 109 :Group: Core Working Group :Type: Documentary -:Status: Draft +:Status: Final :TinyOS-Version: 2.x -:Author: David Gay, Phil Levis, Wei Hong, and Joe Polastre - -:Draft-Created: 19-Apr-2005 -:Draft-Version: $Revision$ -:Draft-Modified: $Date$ -:Draft-Discuss: TinyOS Developer List +:Author: David Gay, Philip Levis, Wei Hong, Joe Polastre, and Gilman Tolle .. Note:: @@ -24,250 +19,333 @@ Sensor Boards Abstract ==================================================================== -This memo documents how sensor boards are organized in TinyOS, and the -general principles followed by the components that provide access to -its sensors. +This memo documents how sensor drivers are organized in TinyOS and how +sets of sensor drivers are combined into sensor boards and sensor +platforms, along with general principles followed by the components +that provide access to sensors. -1. Introduction +1. Principles ==================================================================== -This document defines the default organization of a sensor board in -TinyOS. There likely will be sensor boards that cannot conform -to this specification, but following as closely to its spirit as possible -will simplify generic applications that use a range of sensor boards. - -This document assumes that sensors return uninterpreted 16-bit values, and, -optionally uninterpreted, arbitrary-size calibration data. Conversion of -sensor values to something with actual physical meaning is beyond the -scope of this document. - -2. Directory Organization +This section describes the basic organization principles for sensor +drivers in TinyOS. + +For background, a sensor can be attached to the microcontroller on a +TinyOS platform through a few different types of connections: + + * Included within the microcontroller itself + * Connected to general-purpose IO pins for level/edge detection + * Connected to an ADC in the microcontroller for voltage sampling + * Connected to general-purpose IO pins for digital communication + * Connected through a standard digital bus protocol (1-Wire, I2C, SPI) + +Physically, these connections can also be decoupled by attaching the +sensors to a `sensor board`, which can be removed from the TinyOS +platform, and could attach to multiple different TinyOS platforms. + +The capabilities of a physical sensor are made available to a TinyOS +application through a `sensor driver`. + +According to the HAA [TEP2]_, TinyOS devices SHOULD provide both +simple hardware-independent interfaces for common-case use (HIL) and +rich hardware-dependent interfaces for special-case use (HAL). Sensor +drivers SHOULD follow this spirit as well. + +TinyOS 2.x represents each sensor as an individual component. This +allows the compilation process to minimize the amount of code +included. A sensor board containing multiple sensors SHOULD be +represented as a collection of components, one for each sensor, +contained within a sensor board directory. + +Sensors, being physical devices that can be shared, can benefit from +virtualization and arbitration. This document describes a design +pattern for sensor virtualization that SHOULD be followed by sensor +drivers. + +The same physical sensor can be attached to multiple different TinyOS +platforms, through platform-dependent interconnections. The common +logic of sensor driver SHOULD be factored into chip-dependent, +platform-independent components, and those components SHOULD be bound +to the hardware resources on a platform by platform-dependent +components, and to the hardware resources on a sensor board by +sensorboard-dependent components. + +A physical sensor has a general class and a specific set of +performance characteristics, captured by the make and model of the +sensor itself. The naming of the sensor driver components SHOULD +reflect the specifc name of the sensor, and MAY provide a component +with a generic name for application authors who only care about the +general class of the sensor. + +This document requires that sensor components specify the range (in +bits) of values returned by sensor drivers, but takes no position on +the meaning of these values. They MAY be raw uninterpreted values or +they MAY have some physical meaning. If a driver returns uninterpreted +values, the driver MAY provide additional interfaces that would allow +higher-level clients to obtain information (e.g. calibration +coefficients) needed to properly interpret the value. + +2. Sensor HIL Components ==================================================================== -- A sensor board MUST have a unique name, composed of letters, numbers - and underscores. Case is significant, but two sensor boards MUST - differ in more than case. This is necessary to support platforms where - filename case differences are not significant. We will use SBOARD to - denote the sensor board name in the rest of this document. - -- Each sensor board MUST have its own directory named SBOARD; default TinyOS - sensor boards are placed in tinyos-2.x/tos/sensorboards, but - sensor board directories can be placed anywhere as long as the nesC compiler - receives a `-I` directive pointing to the sensor board's directory. - -- Each sensor board directory MUST contain a `.sensor` file. This file - is a perl script which contains any additional compiler settings needed for - this sensor board (this file will be empty in many cases). - -- If the sensor board wishes to define any C types or constants, it SHOULD - place these in a file named SBOARD.h in the sensor board's directory. - -- The sensor board directory SHOULD contain sensor board components - for accessing each sensor on the sensor board. The conventions for these - components are detailed in Section 3. - -- A sensor board MAY include additional components providing alternative or - higher-level interfaces to the sensors (e.g., for TinyDB). These components - are beyond the scope of this document. - -- Finally, the sensor board MAY contain any number of components, - interfaces, C files, etc for internal use. To avoid name collisions, all - externally visible names (interface types, components, C constants and - types) used for internal purposes SHOULD be prefixed with SBOARD. All such - components should end in P. - -A simple example: the basic sensor board is named `basicsb`, it's directory -is `tinyos-2.x/tos/sensorboards/basicsb`. It has no `basicsb.h` file and -its `.sensor` file is empty. It has two components, `PhotoC` and `TempC` -representing its light and temperature sensors. - - - -3. Sensor Board Components +A sensor HIL component MUST provide: + +- One or more SID interfaces [TEP114]_, for reading data. + +A sensor HIL component MAY provide: + +- One or more SID interfaces [TEP114]_, for reading or + writing calibration coefficients or control registers. + +A sensor device driver SHOULD be a generic component that virtualizes +access to the sensor. A sensor device driver can provide such +virtualization for itself by defining a nesC generic client +component. When a client component is being used, a call to a +top-level SID interface SHOULD be delayed when the device is busy, +rather than failing. Using one of the system arbiters can make the +implementation of this requirement easier to accomplish. + +For example:: + + generic configuration SensirionSht11C() { + provides interface Read as Temperature; + provides interface ReadStream as TemperatureStream; + provides interface DeviceMetadata as TemperatureDeviceMetadata; + + provides interface Read as Humidity; + provides interface ReadStream as HumidityStream; + provides interface DeviceMetadata as HumidityDeviceMetadata; + } + implementation { + // connect to the ADC HIL, GPIO HAL, or sensor's HAL + } + +When a HIL component is being used, the sensor MUST initialize itself, +either by including the `MainC` component and wiring to the +`SoftwareInit` interface, or by allowing a lower-level component (like +an ADC) to initialize itself. + +In addition, the HIL sensor driver MUST start the physical sensor +automatically. For sensors without a constant power draw, the sensor +MAY be started once at boot time by wiring to the `MainC.Boot` +interface. Sensors that draw appreciable power MUST be started in +response to a call to one of the top-level SID interfaces, and stopped +some time after that call completes. Using one of the power-management +components described in [TEP115]_ can make this implementation easier. + +Generally, simple types are made up of octets. However, sensor values +often have levels of precision besides a multiple of 8. To account for +such cases, each device MUST specify the precision of each one of its +interfaces by providing the DeviceMetadata interface:: + + interface DeviceMetadata { + command uint8_t getSignificantBits(); + } + +The name of the instance of DeviceMetadata MUST clearly indicate which +interface it corresponds to. + +The getSignificantBits() call MUST return the number of significant +bits in the reading. For example, a sensor reading taken from a 12-bit +ADC would typically return the value 12 (it might return less if, e.g., +physical constraints limit the maximum A/D result to 10-bits). + +Sensor driver components SHOULD be named according to the make and +model of the sensing device being presented. Using specific names +gives the developer the option to bind to a particular sensor, which +provides compile-time detection of missing sensors. However, wrapper +components using "common" names MAY also be provided by the driver +author, to support application developers who are only concerned with +the particular type of the sensor and not its make, model, or detailed +performance characteristics. + +A "common" naming layer atop a HIL might look like this:: + + generic configuration TemperatureC() { + provides interface Read; + provides interface ReadStream; + provides interface DeviceMetadata; + } + implementation { + components new SensirionSht11C(); + Read = SensirionSht11C.Temperature; + ReadStream = SensirionSht11C.TemperatureStream; + DeviceMetadata = SensirionSht11C.TemperatureDeviceMetadata; + } + + generic configuration HumidityC() { + provides interface Read; + provides interface ReadStream; + provides interface DeviceMetadata; + } + implementation { + components new SensirionSht11C(); + Read = SensirionSht11C.Humidity; + ReadStream = SensirionSht11C.HumidityStream; + DeviceMetadata = SensirionSht11C.HumidityDeviceMetadata; + } + +3. Sensor HAL Components ==================================================================== -We have not yet selected any naming conventions for sensor board -components. Please select reasonable names\ldots - -A sensor board component MUST provide: - -- An `Init` interface. +Sensors with a richer interface than would be supported by the SID +interfaces MAY provide a HAL component in addition to a HIL +component. -- A `StdControl` or `SplitControl` interface for power management. +A sensor HAL component MUST provide: -- A non-empty set of `AcquireData` interfaces for sampling. +- A SID-based interface or a specific hardware-dependent interface + with commands for sampling and controlling the sensor device. -A sensor board component MAY provide: +A sensor HAL component MAY need to provide: -- Some `CalibrationData` interfaces for obtaining calibration data. - A calibration interface for a sensor accessed via interface X should - be called XCalibration. +- A `StdControl` or `SplitControl` interface for manual power + management by the user, following the conventions described in + [TEP115]_. -- Some `AcquireDataNow` and `AcquireDataBuffered` interfaces, for high-speed - or low-latency data acquisition. +- A `Resource` interface for requesting access to the device and + possibly performing automated power management, following + the conventions described in [TEP108]_ and [TEP115]_. -- Any other appropriate interface. +- Any other interfaces needed to control the device, e.g., to + read or write calibration coefficients. -The `CalibrationData` interface is shown below, while `AcquireData`, -`AcquireDataNow` and `AcquireDataBuffered` are in TEP 101. The -`AcquireData` interface returns uinterpreted 16-bit data. This might -represent an A/D conversion result, a counter, etc. The optional -calibration interface returns uninterpreted, arbitrary-size data. +For example:: -A sensor board component SHOULD be as lightweight as possible - it should -just provide basic access to the physical sensors and SHOULD NOT attempt to do -calibration, signal processing, etc. If such functionality is desired, it -SHOULD be provided in separate components. + configuration SensirionSht11DeviceC { + provides interface Resource[ uint8_t client ]; + provides interface SensirionSht11[ uint8_t client ]; + } + implementation { + // connect to the sensor's platform-dependent HPL here + } -| ``interface CalibrationData {`` -| ``/* Collect uninterpreted calibration data from a sensor */`` -| -| ``/** Request calibration data`` -| ``* @return SUCCESS if request accepted, FAIL if it is refused`` -| ``* data error will be signaled if SUCCESS is returned`` -| ``*/`` -| ``command result_t get();`` -| -| ``/** Returns calibration data`` -| ``* @param x Pointer to (uinterpreted) calibration data. This data`` -| ``* must not be modified.`` -| ``* @param len Length of calibration data`` -| ``* @return Ignored.`` -| ``*/`` -| ``event result_t data(const void *x, uint8_t len);`` -| ``}`` - -Some common setups for sensor board components are: - -- A single `AcquireData` interface. This is probably the most common case, - where a single component corresponds to a single physical sensor, e.g., for - light, temperature, pressure and there is no expectation of high sample - rates. - -- Multiple `AcquireData` interfaces. Some sensors might be strongly - related, e.g., the axes of an accelerometer. A single component could then - provide a sensor interface for each axis. For instance, a 2-axis - accelerometer which can be sampled at high speed, and which has some - calibration data might be declared with: - -| ``configuration Accelerometer2D {`` -| ``provides {`` -| ``interface StdControl`` -| ``interface AcquireData as AccelX;`` -| ``interface AcquireDataNow as AccelXSingle;`` -| ``interface AcquireDataBuffered as AccelXMultiple;`` -| ``interface CalibrationData as AccelXCalibration;`` -| -| ``interface AcquireData as AccelY;`` -| ``interface AcquireDataNow as AccelYSingle;`` -| ``interface AcquireDataBuffered as AccelYMultiple;`` -| ``interface CalibrationData as AccelYCalibration;`` -| ``}`` -| ``}`` - -- A parameterised `AcquireData` interface. If a sensor board has multiple - similar sensors, it may make sense to provide a single component to access - all of these, using a parameterised `AcquireData` interface. For instance, - a general purpose sensor board with multiple A/D channels might provide an - `AcquireData` interface parameterised by the A/D channel id. - -- In all of these examples, if high-speed sampling makes sensor for the - sensor (e.g., a microphone), and the sensor is connected in a way that - supports high-frequency and/or low-latency access (e.g., via an - on-microcontroller A/D converter), the component should offer - `AcquireDataNow` and `AcquireDataBuffered` interfaces. - -Sensor board components MUST respect the following conventions -on the use of the `Init`, `StdControl`, and `SplitControl` -interfaces. These are given assuming `StdControl` is used, but the -behaviour with `SplitControl` is identical except that `start` and `stop` -are not considered complete until the `startDone` and `stopDone` events are -signaled. The conventions are: - -1) `Init.init`: must be called at mote boot time. - -2) `StdControl.start`: ensure the sensor corresponding to this component is - ready for use. For instance, this should power-up the sensor if - necessary. The application can call `getData` once `StdControl.start` - completes. - - If a sensor takes a while to power-up, the sensor board implementer can - either use a `SplitControl` interface and signal `startDone` - when the sensor is ready for use, or delay `dataReady` events - until the sensor is ready. The former choice is preferable. - -3) `StdControl.stop`: put the sensor in a low-power mode. - `StdControl.start` must be called before any further readings - are taken. The behaviour of calls to `StdControl.stop` during - sampling (i.e., when an `dataReady` event is going to be - signaled) is undefined. - -`.sensor` File +4. Sensor Component Organization and Compiler Interaction Guidelines ==================================================================== -This file is a perl script which gets executed as part of the `ncc` -nesC compiler frontend. It can add or modify any compile-time options -necessary for a particular sensor board. It MAY modify the following perl -variables, and MUST NOT modify any others: - -- @new_args: This is the array of arguments which will be - passed to nescc. For instance, you might add an include directive - to @new_args with push @new_args, `-Isomedir` - -- @commonboards: This can be set to a list of sensor board names which - should be added to the include path list. These sensor boards must be - in tinyos-2.x/tos/sensorboards. - -Example: mts3x0 -==================================================================== - -The mica sensor board (mts300/mts310) has five sensors (and one actuator, -the sounder) -- the accelerometer and magnetometer are only present on -the mts310: - -+------------------------------------------------------------------+ - -| Name | Component | Sensor Interfaces | Other Interfaces | - -+===============+===========+===================+==================+ - -| Accelerometer | AccelC | AccelX | | - -| | | AccelY | | - -| Magnetometer | MagC | MagX | MagSetting | - -| | | MagY | | - -| Microphone | MicC | MicADC | Mic | - -| | | | MicInterrupt | - -| Light | PhotoC | PhotoADC | | - -| Temperature | TempC | TempADC | | - -+------------------------------------------------------------------+ - -Each physical sensor is represented by a separate component. Specific -sensors that have more than one axis of measurement (AccelC and MagC) -provide more than one `AcquireData` interface on a single component. Some -sensors, such as the magnetometer and microphone, have additional -functionality provided through sensor-specific interfaces. - -Although light and temperature are represented by separate components, in -reality they share a single microcontroller pin. The two components PhotoC -and TempC sit on top of the PhotoTempP component, which controls access to -the shared pin, and orchestrates which sensor is currently connected to -it. From a programmer's perspective, they appear as individual sensors, -even though their underlying implementation is a bit more complex. - -The board's mts3x0.h file contains private configuration data -(pin usage, ADC ports, etc). - -The mica sensor board has an empty .sensor file. - -6. Author's Address +Sensors are associated either with a particular sensor board or with a +particular platform. Both sensors and sensor boards MUST have unique +names. Case is significant, but two sensor (or sensor board) names +MUST differ in more than case. This is necessary to support platforms +where filename case differences are not significant. + +Each sensor board MUST have its own directory whose name is the sensor +board's unique name (referred to as in the rest of this +section). Default TinyOS 2.x sensor boards are placed in +``tos/sensorboards/``, but sensor board directories can be +placed anywhere as long as the nesC compiler receives a ``-I`` directive +pointing to the sensor board's directory. Each sensor board directory +MUST contain a ``.sensor`` file (described below). If the +sensor board wishes to define any C types or constants, it SHOULD +place these in a file named ``.h`` in the sensor board's +directory. + +A sensor board MAY contain components that override the default TinyOS +*demo sensors*. This allows the sensor board to easily be used with +TinyOS sample applications that use the demo sensors. If a sensor +board wishes to override the default demo sensor: + +* It MUST provide a generic component named ``DemoSensorC`` with the + following signature:: + + provides interface Read; + provides interface DeviceMetadata; + +* It MAY provide a generic component named ``DemoSensorNowC`` with the + following signature:: + + provides interface ReadNow; + provides interface DeviceMetadata; + + This component SHOULD sample the same sensor as ``DemoSensorC``. + +* It MAY provide a generic component named ``DemoSensorStreamC`` with the + following signature:: + + provides interface ReadStream; + provides interface DeviceMetadata; + + This component SHOULD sample the same sensor as ``DemoSensorC``. + +These components MUST be an alias for one of the sensor board's usual +sensors, though they change the precision of the sensor if necessary. +For instance, if ``DemoSensorC`` is an alias for a 20-bit sensor that +provides a ``Read`` interface, ``DemoSensorC`` would still +provide ``Read`` and would include code to reduce the +precision of the aliased sensor. + + +4.1 Compiler Interaction +------------------------ + +When the ``ncc`` nesC compiler frontend is passed a ``-board=X`` option, +it executes the ``.sensor`` file found in the sensor board directory +``X``. This file is a perl script which can add or modify any +compile-time options necessary for the sensor board. It MAY modify the +following perl variables, and MUST NOT modify any others: + +- ``@includes``: This array contains the TinyOS search path, i.e., the + directories which will be passed to nescc (the TinyOS-agnostic nesC + compiler) as ``-I`` arguments. You MUST add to ``@includes`` any + directories needed to compile this sensor board's components. For + instance, if your sensor boards depends on support code found in + ``tos/chips/sht11``, you would add ``"%T/chips/sht11"`` to ``@includes``. + +- ``@new_args``: This is the array of arguments which will be passed to + nescc. You MUST add any arguments other than ``-I`` that are necessary + to compile your sensor board components to ``@new_args``. + +If a sensor is associated with a platform `P` rather than a sensor +board, then that platform MUST ensure that, when compiling for +platform `P`, all directories needed to compile that sensor's +component are added to the TinyOS search path (see [TEP131]_ for +information on how to set up a TinyOS platform). + +4.2 Sensor Components +--------------------- + +A particular sensor is typically supported by many components, +including the HIL and HAL components from Sections 2 and 3, A/D +conversion components (for analog sensors), digital bus components +(e.g., SPI, for digital sensors), system services (timers, resource +and power management, ...), glue components (to connect sensors, +sensor boards and platforms), etc. These components can be divided +into three classes: sensorboard-dependent, platform-dependent and +platform-independent. The sensorboard and platform MUST ensure +(Section 4.1) that all these components can be found at compile-time. + +Because the same physical sensor can be used on many platforms or +sensor boards, and attached in many different ways, to maximize code +reuse the organization of sensor drivers SHOULD reflect the +distinction between sensor and sensor interconnect. The sensor +components SHOULD be platform-independent, while the sensor +interconnect components are typically sensorboard or +platform-dependent. However, some sensors (e.g. analong sensors) will +not have a sufficiently large amount of platform-independent logic to +justify creating platform-independent components. + +The following guidelines specify how to organize sensor and sensor +interconnect components within TinyOS's directory hierarchy. These +guidelines are only relevant to components that are part of the core +source tree. The string ```` SHOULD reflect the make and model +of the sensor device. + +- Platform-independent sensor components that exist as part of a + larger chip, like a MCU internal voltage sensor, SHOULD be placed in + a subdirectory of the chip's directory + ``tos//sensors/``. + +- Other platform-independent sensor components SHOULD be placed + in ``tos/chips/``. + +- Sensorboard-dependent sensor and sensor interconnect components + SHOULD be placed either in the ```` directory or in a + ``/chips/`` directory. + +- Platform-dependent sensor and sensor interconnect components SHOULD + be placed in ``tos//chips/``. + +5. Authors' Addresses ==================================================================== | David Gay @@ -280,8 +358,9 @@ The mica sensor board has an empty .sensor file. | email - david.e.gay@intel.com | | Wei Hong -| Arched Rock -| Berkeley, CA 94704 +| Arch Rock +| 657 Mission St. Suite 600 +| San Francisco, CA 94105 | | email - wei.hong@gmail.com | @@ -301,5 +380,557 @@ The mica sensor board has an empty .sensor file. | Berkeley, CA 94720 | | email - polastre@cs.berkeley.edu +| +| Gilman Tolle +| Arch Rock +| 657 Mission St. Suite 600 +| San Francisco, CA 94105 +| +| email - gtolle@archrock.com + +6. Citations +==================================================================== +.. [TEP2] TEP 2: Hardware Abstraction Architecture +.. [TEP108] TEP 108: Resource Arbitration +.. [TEP114] TEP 114: SIDs: Source and Sink Indepedent Drivers +.. [TEP115] TEP 115: Power Management of Non-Virtualized Devices +.. [TEP131] TEP 131: Creating a New Platform for TinyOS 2.x + +Appendix A: Sensor Driver Examples +==================================================================== +1. Analog ADC-Connected Sensor +------------------------------ + +The Analog sensor requires two components + +* a component to present the sensor itself (HamamatsuS1087ParC) + +* a component to select the appropriate hardware resources, such as + ADC port 4, reference voltage 1.5V, and a slow sample and hold time + (HamamatsuS1087ParP). + +The AdcReadClientC component and underlying machinery handles all of +the arbitration and access to the ADC. + +:: + + tos/platforms/telosa/chips/s1087/HamamatsuS1087ParC.nc + + // HIL for the HamamatsuS1087 analog photodiode sensor + generic configuration HamamatsuS1087ParC() { + provides interface Read; + provides interface ReadStream; + provides interface DeviceMetadata; + } + implementation { + // Create a new A/D client and connect it to the Hamamatsu S1087 A/D + // parameters + components new AdcReadClientC(); + Read = AdcReadClientC; + + components new AdcReadStreamClientC(); + ReadStream = AdcReadStreamClientC; + + components HamamatsuS1087ParP; + DeviceMetadata = HamamatsuS1087ParP; + AdcReadClientC.AdcConfigure -> HamamatsuS1087ParP; + AdcReadStreamClientC.AdcConfigure -> HamamatsuS1087ParP; + } + +:: + + tos/platforms/telosa/chips/s1087/HamamatsuS1087ParP.nc + + #include "Msp430Adc12.h" + + // A/D parameters for the Hamamatsu - see the MSP430 A/D converter manual, + // Hamamatsu specification, Telos hardware schematic and TinyOS MSP430 + // A/D converter component specifications for the explanation of these + // parameters + module HamamatsuS1087ParP { + provides interface AdcConfigure; + provides interface DeviceMetadata; + } + implementation { + msp430adc12_channel_config_t config = { + inch: INPUT_CHANNEL_A4, + sref: REFERENCE_VREFplus_AVss, + ref2_5v: REFVOLT_LEVEL_1_5, + adc12ssel: SHT_SOURCE_ACLK, + adc12div: SHT_CLOCK_DIV_1, + sht: SAMPLE_HOLD_4_CYCLES, + sampcon_ssel: SAMPCON_SOURCE_SMCLK, + sampcon_id: SAMPCON_CLOCK_DIV_1 + }; + + async command const msp430adc12_channel_config_t* AdcConfigure.getConfiguration() { + return &config; + } + + command uint8_t DeviceMetadata.getSignificantBits() { return 12; } + } + +2. Binary Pin-Connected Sensor +------------------------------ + +The Binary sensor gets a bit more complex, because it has three +components: + +* one to present the sensor (UserButtonC) + +* one to execute the driver logic (UserButtonLogicP) + +* one to select the appropriate hardware resources, such as MSP430 + Port 27 (HplUserButtonC). + +Note that the presentation of this sensor is not arbitrated because +none of the operations are split-phase. + +:: + + tos/platforms/telosa/UserButtonC.nc + + // HIL for the user button sensor on Telos-family motes + configuration UserButtonC { + provides interface Get; // Get button status + provides interface Notify; // Get button-press notifications + provides interface DeviceMetadata; + } + implementation { + + // Simply connect the button logic to the button HPL + components UserButtonLogicP; + Get = UserButtonLogicP; + Notify = UserButtonLogicP; + DeviceMetadata = UserButtonLogicP; + + components HplUserButtonC; + UserButtonLogicP.GpioInterrupt -> HplUserButtonC.GpioInterrupt; + UserButtonLogicP.GeneralIO -> HplUserButtonC.GeneralIO; + } + +:: + + tos/platforms/telosa/UserButtonLogicP.nc + + // Transform the low-level (GeneralIO and GpioInterrupt) interface to the + // button to high-level SID interfaces + module UserButtonLogicP { + provides interface Get; + provides interface Notify; + provides interface DeviceMetadata; + + uses interface GeneralIO; + uses interface GpioInterrupt; + } + implementation { + norace bool m_pinHigh; + + task void sendEvent(); + + command bool Get.get() { return call GeneralIO.get(); } + + command error_t Notify.enable() { + call GeneralIO.makeInput(); + + // If the pin is high, we need to trigger on falling edge interrupt, and + // vice-versa + if ( call GeneralIO.get() ) { + m_pinHigh = TRUE; + return call GpioInterrupt.enableFallingEdge(); + } else { + m_pinHigh = FALSE; + return call GpioInterrupt.enableRisingEdge(); + } + } + + command error_t Notify.disable() { + return call GpioInterrupt.disable(); + } + + // Button changed, signal user (in a task) and update interrupt detection + async event void GpioInterrupt.fired() { + call GpioInterrupt.disable(); + + m_pinHigh = !m_pinHigh; + + post sendEvent(); + } + + task void sendEvent() { + bool pinHigh; + pinHigh = m_pinHigh; + + signal Notify.notify( pinHigh ); + + if ( pinHigh ) { + call GpioInterrupt.enableFallingEdge(); + } else { + call GpioInterrupt.enableRisingEdge(); + } + } + + command uint8_t DeviceMetadata.getSignificantBits() { return 1; } + } + +:: + + tos/platforms/telosa/HplUserButtonC.nc + + // HPL for the user button sensor on Telos-family motes - just provides + // access to the I/O and interrupt control for the pin to which the + // button is connected + configuration HplUserButtonC { + provides interface GeneralIO; + provides interface GpioInterrupt; + } + implementation { + + components HplMsp430GeneralIOC as GeneralIOC; + + components new Msp430GpioC() as UserButtonC; + UserButtonC -> GeneralIOC.Port27; + GeneralIO = UserButtonC; + + components HplMsp430InterruptC as InterruptC; + + components new Msp430InterruptC() as InterruptUserButtonC; + InterruptUserButtonC.HplInterrupt -> InterruptC.Port27; + GpioInterrupt = InterruptUserButtonC.Interrupt; + } + +3. Digital Bus-Connected Sensor +------------------------------- + +The Digital sensor is the most complex out of the set, and includes +six components: + +* one to present the sensor (SensirionSht11C) + +* one to request arbitrated access and to transform the sensor HAL + into the sensor HIL (SensirionSht11P) + +* one to present the sensor HAL (HalSensirionSht11C) + +* one to perform the driver logic needed to support the HAL, which + twiddles pins according to a sensor-specific protocol + (SensirionSht11LogicP). + +* one to select the appropriate hardware resources, such as the clock, + data, and power pins, and to provide an arbiter for the sensor + (HplSensirionSht11C). + +* one to perform the power control logic needed to support the power + manager associated with the arbiter (HplSensirionSht11P). + +This bus-connected sensor is overly complex because it does not rely +on a shared framework of bus manipulation components. A sensor built +on top of the I2C or SPI bus would likely require fewer components. + +:: + + tos/platforms/telosa/chips/sht11/SensirionSht11C.nc + + // HIL interface to Sensirion SHT11 temperature and humidity sensor + generic configuration SensirionSht11C() { + provides interface Read as Temperature; + provides interface DeviceMetadata as TemperatureDeviceMetadata; + provides interface Read as Humidity; + provides interface DeviceMetadata as HumidityDeviceMetadata; + } + implementation { + // Instantiate the module providing the HIL interfaces + components new SensirionSht11ReaderP(); + + Temperature = SensirionSht11ReaderP.Temperature; + TemperatureDeviceMetadata = SensirionSht11ReaderP.TemperatureDeviceMetadata; + Humidity = SensirionSht11ReaderP.Humidity; + HumidityDeviceMetadata = SensirionSht11ReaderP.HumidityDeviceMetadata; + + // And connect it to the HAL component for the Sensirion SHT11 + components HalSensirionSht11C; + + enum { TEMP_KEY = unique("Sht11.Resource") }; + enum { HUM_KEY = unique("Sht11.Resource") }; + + SensirionSht11ReaderP.TempResource -> HalSensirionSht11C.Resource[ TEMP_KEY ]; + SensirionSht11ReaderP.Sht11Temp -> HalSensirionSht11C.SensirionSht11[ TEMP_KEY ]; + SensirionSht11ReaderP.HumResource -> HalSensirionSht11C.Resource[ HUM_KEY ]; + SensirionSht11ReaderP.Sht11Hum -> HalSensirionSht11C.SensirionSht11[ HUM_KEY ]; + } + +:: + + tos/chips/sht11/SensirionSht11ReaderP.nc + + // Convert Sensirion SHT11 HAL to HIL interfaces for a single + // client, performing automatic resource arbitration + generic module SensirionSht11ReaderP() { + provides interface Read as Temperature; + provides interface DeviceMetadata as TemperatureDeviceMetadata; + provides interface Read as Humidity; + provides interface DeviceMetadata as HumidityDeviceMetadata; + + // Using separate resource interfaces for temperature and humidity allows + // temperature and humidity measurements to be requested simultaneously + // (if a single Resource interface was used, a request for temperature would + // prevent any humidity requests until the temperature measurement was complete) + uses interface Resource as TempResource; + uses interface Resource as HumResource; + uses interface SensirionSht11 as Sht11Temp; + uses interface SensirionSht11 as Sht11Hum; + } + implementation { + command error_t Temperature.read() { + // Start by requesting access to the SHT11 + return call TempResource.request(); + } + + event void TempResource.granted() { + error_t result; + // If the HAL measurement fails, release the SHT11 and signal failure + if ((result = call Sht11Temp.measureTemperature()) != SUCCESS) { + call TempResource.release(); + signal Temperature.readDone( result, 0 ); + } + } + + event void Sht11Temp.measureTemperatureDone( error_t result, uint16_t val ) { + // Release the SHT11 and signal the result + call TempResource.release(); + signal Temperature.readDone( result, val ); + } + + command uint8_t TemperatureDeviceMetadata.getSignificantBits() { return 14; } + + command error_t Humidity.read() { + // Start by requesting access to the SHT11 + return call HumResource.request(); + } + + event void HumResource.granted() { + error_t result; + // If the HAL measurement fails, release the SHT11 and signal failure + if ((result = call Sht11Hum.measureHumidity()) != SUCCESS) { + call HumResource.release(); + signal Humidity.readDone( result, 0 ); + } + } + + event void Sht11Hum.measureHumidityDone( error_t result, uint16_t val ) { + // Release the SHT11 and signal the result + call HumResource.release(); + signal Humidity.readDone( result, val ); + } + + command uint8_t HumidityDeviceMetadata.getSignificantBits() { return 12; } + + // Dummy handlers for unused portions of the HAL interface + event void Sht11Temp.resetDone( error_t result ) { } + event void Sht11Temp.measureHumidityDone( error_t result, uint16_t val ) { } + event void Sht11Temp.readStatusRegDone( error_t result, uint8_t val ) { } + event void Sht11Temp.writeStatusRegDone( error_t result ) { } + + event void Sht11Hum.resetDone( error_t result ) { } + event void Sht11Hum.measureTemperatureDone( error_t result, uint16_t val ) { } + event void Sht11Hum.readStatusRegDone( error_t result, uint8_t val ) { } + event void Sht11Hum.writeStatusRegDone( error_t result ) { } + + // We need default handlers as a client may wire to only the Temperature + // sensor or only the Humidity sensor + default event void Temperature.readDone( error_t result, uint16_t val ) { } + default event void Humidity.readDone( error_t result, uint16_t val ) { } + } + +:: + + tos/platforms/telosa/chips/sht11/HalSensirionSht11C.nc + + // HAL interface to Sensirion SHT11 temperature and humidity sensor + configuration HalSensirionSht11C { + // The SHT11 HAL uses resource arbitration to allow the sensor to shared + // between multiple clients and for automatic power management (the SHT11 + // is switched off when no clients are waiting to use it) + provides interface Resource[ uint8_t client ]; + provides interface SensirionSht11[ uint8_t client ]; + } + implementation { + // The HAL implementation logic + components new SensirionSht11LogicP(); + SensirionSht11 = SensirionSht11LogicP; + + // And it's wiring to the SHT11 HPL - the actual resource management is + // provided at the HPL layer + components HplSensirionSht11C; + Resource = HplSensirionSht11C.Resource; + SensirionSht11LogicP.DATA -> HplSensirionSht11C.DATA; + SensirionSht11LogicP.CLOCK -> HplSensirionSht11C.SCK; + SensirionSht11LogicP.InterruptDATA -> HplSensirionSht11C.InterruptDATA; + + components new TimerMilliC(); + SensirionSht11LogicP.Timer -> TimerMilliC; + + components LedsC; + SensirionSht11LogicP.Leds -> LedsC; + } + +:: + + tos/chips/sht11/SensirionSht11LogicP.nc + + generic module SensirionSht11LogicP() { + provides interface SensirionSht11[ uint8_t client ]; + + uses interface GeneralIO as DATA; + uses interface GeneralIO as CLOCK; + uses interface GpioInterrupt as InterruptDATA; + + uses interface Timer; + + uses interface Leds; + } + implementation { + + ... bus protocol details omitted for brevity ... + + } + +:: + + tos/platforms/telosa/chips/sht11/HplSensirionSht11C.nc + + // Low-level, platform-specific glue-code to access the SHT11 sensor found + // on telos-family motes - here the HPL just provides resource management + // and access to the SHT11 data, clock and interrupt pins + configuration HplSensirionSht11C { + provides interface Resource[ uint8_t id ]; + provides interface GeneralIO as DATA; + provides interface GeneralIO as SCK; + provides interface GpioInterrupt as InterruptDATA; + } + implementation { + // Pins used to access the SHT11 + components HplMsp430GeneralIOC; + + components new Msp430GpioC() as DATAM; + DATAM -> HplMsp430GeneralIOC.Port15; + DATA = DATAM; + + components new Msp430GpioC() as SCKM; + SCKM -> HplMsp430GeneralIOC.Port16; + SCK = SCKM; + + components new Msp430GpioC() as PWRM; + PWRM -> HplMsp430GeneralIOC.Port17; + + // HPL logic for switching the SHT11 on and off + components HplSensirionSht11P; + HplSensirionSht11P.PWR -> PWRM; + HplSensirionSht11P.DATA -> DATAM; + HplSensirionSht11P.SCK -> SCKM; + + components new TimerMilliC(); + HplSensirionSht11P.Timer -> TimerMilliC; + + components HplMsp430InterruptC; + components new Msp430InterruptC() as InterruptDATAC; + InterruptDATAC.HplInterrupt -> HplMsp430InterruptC.Port15; + InterruptDATA = InterruptDATAC.Interrupt; + + // The arbiter and power manager for the SHT11 + components new FcfsArbiterC( "Sht11.Resource" ) as Arbiter; + Resource = Arbiter; + + components new SplitControlPowerManagerC(); + SplitControlPowerManagerC.SplitControl -> HplSensirionSht11P; + SplitControlPowerManagerC.ArbiterInit -> Arbiter.Init; + SplitControlPowerManagerC.ArbiterInfo -> Arbiter.ArbiterInfo; + SplitControlPowerManagerC.ResourceDefaultOwner -> Arbiter.ResourceDefaultOwner; + } + +:: + + tos/platforms/telosa/chips/sht11/HplSensirionSht11P.nc + + // Switch the SHT11 on and off, and handle the 11ms warmup delay + module HplSensirionSht11P { + // The SplitControl interface powers the SHT11 on or off (it's automatically + // called by the SHT11 power manager, see HplSensirionSht11C) + // We use a SplitControl interface as we need to wait 11ms for the sensor to + // warm up + provides interface SplitControl; + uses interface Timer; + uses interface GeneralIO as PWR; + uses interface GeneralIO as DATA; + uses interface GeneralIO as SCK; + } + implementation { + task void stopTask(); + + command error_t SplitControl.start() { + // Power SHT11 on and wait for 11ms + call PWR.makeOutput(); + call PWR.set(); + call Timer.startOneShot( 11 ); + return SUCCESS; + } + + event void Timer.fired() { + signal SplitControl.startDone( SUCCESS ); + } + + command error_t SplitControl.stop() { + // Power the SHT11 off + call SCK.makeInput(); + call SCK.clr(); + call DATA.makeInput(); + call DATA.clr(); + call PWR.clr(); + post stopTask(); + return SUCCESS; + } + + task void stopTask() { + signal SplitControl.stopDone( SUCCESS ); + } + } + +4. MDA100 Sensor Board Directory Organization +--------------------------------------------- + +Here we show the organization of the sensor board directory for the +mica-family Xbow MDA100CA and MDA100CB sensor boards, which have +temperature and light sensors. It is found in +``tos/sensorboards/mda100``:: + + ./tos/sensorboards/mda100: + .sensor # Compiler configuration + ArbitratedPhotoDeviceP.nc # Light sensor support component + ArbitratedTempDeviceP.nc # Temperature sensor support component + DemoSensorC.nc # Override TinyOS's default sensor + PhotoC.nc # Light sensor HIL + PhotoImplP.nc # Light sensor support component + PhotoTempConfigC.nc # Shared support component + PhotoTempConfigP.nc # Shared support component + SharedAnalogDeviceC.nc # Shared support component + SharedAnalogDeviceP.nc # Shared support component + TempC.nc # Temperature Sensor HIL + ca/TempImplP.nc # Temperature sensor support component + # (MDA100CA board) + cb/TempImplP.nc # Temperature sensor support component + # (MDA100CB board) + mda100.h # Header file for mda100 + +This sensor board provides only a HIL (PhotoC and TempC components), and overrides the +TinyOS demo sensor (DemoSensorC). The demo sensor is an alias for PhotoC. + +The two forms of the mda100 differ only by the wiring of the +temperature sensor. The user has to specify which form of the sensor +board is in use by providing a ``-I%T/sensorboards/mda100/ca`` or +``-I%T/sensorboards/mda100/cb`` compiler option. + +This sensor board relies on a platform-provided ``MicaBusC`` component +that specifies how the mica-family sensor board bus is connected to +the microcontroller.