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+<meta name="generator" content="Docutils 0.3.6: http://docutils.sourceforge.net/" />
<title>Towards TinyOS for 8051</title>
<meta name="author" content="Anders Egeskov Petersen, Sidsel Jensen, Martin Leopold" />
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-<div class="document" id="towards-tinyos-for-8051">
<h1 class="title">Towards TinyOS for 8051</h1>
<table class="docinfo" frame="void" rules="none">
<col class="docinfo-name" />
</tr>
</tbody>
</table>
+<div class="document" id="towards-tinyos-for-8051">
<div class="note">
<p class="first admonition-title">Note</p>
<p class="last">This memo is informational. It will hopefully be a basis for
discussions and suggestions for improvements. Distribution of this
memo is unlimited. This memo is in full compliance with TEP 1.</p>
</div>
-<div class="section">
-<h1><a id="abstract" name="abstract">Abstract</a></h1>
+<div class="section" id="abstract">
+<h1><a name="abstract">Abstract</a></h1>
<p>This TEP covers our effort of porting <a class="reference" href="http://www.tinyos.net">TinyOS</a> to the nRF24E1
platform. We ported the basic modules of TinyOS: Timer, UART, ADC and
LEDS.</p>
</div>
-<div class="section">
-<h1><a id="project-outline" name="project-outline">1. Project Outline</a></h1>
+<div class="section" id="project-outline">
+<h1><a name="project-outline">1. Project Outline</a></h1>
<p>The original 8 bit 8051 chip is a member of the <a class="reference" href="http://www.intel.com/design/mcs51">mcs51 family</a> and
was developed in 1980 by Intel. It is still to this date one of the most
widely used microcontrollers. Porting TinyOS to the 8051 System on chip
<p>This work was done under the supervision of Martin Leopold at University
of Copenhagen.</p>
</div>
-<div class="section">
-<h1><a id="project-approach" name="project-approach">2. Project Approach</a></h1>
+<div class="section" id="project-approach">
+<h1><a name="project-approach">2. Project Approach</a></h1>
<p>The approach to the porting project has been pragmatic. The focus has
been on producing working code, so testing and debugging have been key
elements of our work. The process has been to implement new
</dd>
</dl>
</div>
-<div class="section">
-<h1><a id="development-environment-and-tool-chain" name="development-environment-and-tool-chain">3. Development Environment and Tool Chain</a></h1>
+<div class="section" id="development-environment-and-tool-chain">
+<h1><a name="development-environment-and-tool-chain">3. Development Environment and Tool Chain</a></h1>
<p>The following subsections describe the different development tools,
their selection and interconnection.</p>
-<div class="section">
-<h2><a id="selection-of-development-tools-compilers" name="selection-of-development-tools-compilers">3.1 Selection of Development Tools/Compilers</a></h2>
+<div class="section" id="selection-of-development-tools-compilers">
+<h2><a name="selection-of-development-tools-compilers">3.1 Selection of Development Tools/Compilers</a></h2>
<p>A large number of 8051 compilers exist primarily for the DOS and Windows
platforms. We have focused on two popular and regularly updated
compilers: <a class="reference" href="http://www.keil.com">KEIL</a> and the Small Device C Compiler (SDCC).</p>
kit. This gave us a working debug environment - with minimal change to
the already produced code.</p>
</div>
-<div class="section">
-<h2><a id="our-recommendation" name="our-recommendation">3.1.1 Our Recommendation</a></h2>
+<div class="section" id="our-recommendation">
+<h2><a name="our-recommendation">3.1.1 Our Recommendation</a></h2>
<p>In our experience the SDCC compiler and associated tools are not yet
mature enough to support our development. We recommend pursuing other
alternatives such as KEIL or other compiler suites.</p>
the use of open source software and cross-platform development. We hope
SDCC will prove an reliable alternative in the future.</p>
</div>
-<div class="section">
-<h2><a id="tool-chain-overview" name="tool-chain-overview">3.2 Tool Chain Overview</a></h2>
+<div class="section" id="tool-chain-overview">
+<h2><a name="tool-chain-overview">3.2 Tool Chain Overview</a></h2>
<p>The following figure and sections are an overview of the current tool
chain. The tool chain is based on TinyOS 1.x, NesC 1.1.3, avr-gcc 3.4.3,
PERL v. 5.8.6 and SDCC 2.5.4 or KEIL C51 version 7.20.</p>
<pre class="literal-block">
Mangle-
TinyOS script
------> app.c -----> app_mangled.c --------> app.hex ------> nRF24E1
+-----> app.c -----> app_mangled.c --------> app.hex ------> nRF24E1
NesC PERL SDCC/KEIL nRFPROG
</pre>
</div>
-<div class="section">
-<h2><a id="description-of-the-tool-chain" name="description-of-the-tool-chain">3.3 Description of the Tool Chain</a></h2>
+<div class="section" id="description-of-the-tool-chain">
+<h2><a name="description-of-the-tool-chain">3.3 Description of the Tool Chain</a></h2>
<p>The compilation of the TinyOS test program outputs two files, a
'main.exe' file and an 'app.c' file. The 'app.c' file contains all the
needed code to run the TinyOS application. However the C code produced
produces a hex file that is transferred to the chip by the nRFPROG
software.</p>
</div>
-<div class="section">
-<h2><a id="description-of-the-mangling-script" name="description-of-the-mangling-script">3.4 Description of the Mangling Script</a></h2>
+<div class="section" id="description-of-the-mangling-script">
+<h2><a name="description-of-the-mangling-script">3.4 Description of the Mangling Script</a></h2>
<p>The mangling script is written in PERL, a commonly used general purpose
scripting language with powerful pattern matching capabilities and
extensive handling of regular expressions. The mangle script handles all
</dl>
<p>or</p>
<dl class="docutils">
-<dt>"./sdccMangleAppC.pl -SDCC -file build/mcs51/app.c ></dt>
+<dt>"./sdccMangleAppC.pl -SDCC -file build/mcs51/app.c > </dt>
<dd>build/mcs51/app_mangled.c"</dd>
</dl>
<p>The 'sdccMangleAppC.pl' script handles a number of needed alterations:</p>
</blockquote>
<p>Each of these alterations will be explained in the sections below.</p>
</div>
-<div class="section">
-<h2><a id="sfr-and-sbit-declarations" name="sfr-and-sbit-declarations">3.4.1 SFR and SBIT Declarations</a></h2>
+<div class="section" id="sfr-and-sbit-declarations">
+<h2><a name="sfr-and-sbit-declarations">3.4.1 SFR and SBIT Declarations</a></h2>
<p>In order to make TinyOS accept the 8051 special function registers (SFR)
and special bit variables (SBIT), we have included them into the TinyOS
8051 platform folder as a 8051.h file.</p>
<p>In order to make TinyOS accept the SFRs we have type defined them in the
NesC code as:</p>
<blockquote>
-typedef int sfr;
+typedef int sfr;
sfr P0 __attribute((x80));</blockquote>
<p>which is altered to</p>
<blockquote>
to SDCC, but it produces code with illegal syntax, so either do not use
it, or alter it to produce code with the right syntax.</p>
</div>
-<div class="section">
-<h2><a id="sdcc-keil-data-types" name="sdcc-keil-data-types">3.4.2 SDCC/KEIL Data Types</a></h2>
+<div class="section" id="sdcc-keil-data-types">
+<h2><a name="sdcc-keil-data-types">3.4.2 SDCC/KEIL Data Types</a></h2>
<p>TinyOS and SDCC/KEIL do not support the same data types, so some
alterations were needed to compile the code with SDCC and KEIL.</p>
<dl class="docutils">
very small hardware memory model, we decided to change the NesC 64 bit
data types to 32 bit. This is done in the mangling script.</p>
</div>
-<div class="section">
-<h2><a id="reserved-keywords-in-sdcc" name="reserved-keywords-in-sdcc">3.4.3 Reserved Keywords in SDCC</a></h2>
+<div class="section" id="reserved-keywords-in-sdcc">
+<h2><a name="reserved-keywords-in-sdcc">3.4.3 Reserved Keywords in SDCC</a></h2>
<p>A number of keywords are reserved in SDCC. Half of them represent a
directive to the compiler, defining which memory segment on the nRF24E1
the specific lines of code refer to. To ensure that the developer does
KEIL it can be changed through selecting it in the options pane for the
target.</p>
</div>
-<div class="section">
-<h2><a id="removal-of-inlining" name="removal-of-inlining">3.4.4 Removal of inlining</a></h2>
+<div class="section" id="removal-of-inlining">
+<h2><a name="removal-of-inlining">3.4.4 Removal of inlining</a></h2>
<p>NesC assumes that GCC is being used for the final compilation. GCC
supports inline functions and can be made to optimize code quite
aggressively, so the code generated by NesC does not need to be very
efficient. Unfortunately SDCC does not support code inlining, so the
inline statements have to be removed, when compiling for SDCC.</p>
<p>Lines with the following format are affected:</p>
-<p>static inline void TOSH_sleep(void );
+<p>static inline void TOSH_sleep(void );
static __inline void TOSH_SET_RED_LED_PIN(void);
__inline void__nesc_enable_interrupt(void);</p>
-<p>Lines with the noinline attribute is substituted with the
+<p>Lines with the noinline attribute is substituted with the
#pragma NO_INLINE.</p>
</div>
-<div class="section">
-<h2><a id="removal-of-preprocessor-line-numbering" name="removal-of-preprocessor-line-numbering">3.4.5 Removal of Preprocessor Line Numbering</a></h2>
+<div class="section" id="removal-of-preprocessor-line-numbering">
+<h2><a name="removal-of-preprocessor-line-numbering">3.4.5 Removal of Preprocessor Line Numbering</a></h2>
<p>Also NesC produce preprocessor line number meta data, to allow the
compiler to report error messages referring to the original code. We do
not really need them for anything, so we filter them out to minimize the
debug purposes the regular expression in the mangle script which remove
them can be commented out.</p>
</div>
-<div class="section">
-<h2><a id="change-in-identifiers" name="change-in-identifiers">3.4.6 Change $ in Identifiers</a></h2>
+<div class="section" id="change-in-identifiers">
+<h2><a name="change-in-identifiers">3.4.6 Change $ in Identifiers</a></h2>
<p>The SDCC compiler is very strict when it comes to valid symbols in
identifiers. NesC produce GCC-code which inserts $ as a separator
character in identifiers. We mangle the $ to two underscores in order to
enable SDCC/KEIL to compile.</p>
</div>
-<div class="section">
-<h2><a id="interrupt-vectors" name="interrupt-vectors">3.4.7 Interrupt Vectors</a></h2>
+<div class="section" id="interrupt-vectors">
+<h2><a name="interrupt-vectors">3.4.7 Interrupt Vectors</a></h2>
<p>The syntax for declaration of interrupt vectors are different in GCC and
SDCC/KEIL. So we mangle the interrupt declaration:</p>
-<p>From: void __attribute((interrupt)) __vector_5(void)
+<p>From: void __attribute((interrupt)) __vector_5(void)
To: void __vector_5(void) interrupt 5</p>
<p>Additionally KEIL does not understand that the interrupt vector is
defined previous to its use. So we remove the forward declaration of the
vectors in the mangle script, when compiling for KEIL.</p>
</div>
</div>
-<div class="section">
-<h1><a id="tinyos-modifications" name="tinyos-modifications">4. TinyOS Modifications</a></h1>
+<div class="section" id="tinyos-modifications">
+<h1><a name="tinyos-modifications">4. TinyOS Modifications</a></h1>
<p>TinyOS is based on modules with different levels of hardware
abstraction. When porting TinyOS to a new platform, you change the
underlying hardware dependencies in TinyOS, and you have to rebuild the
interrupt handling.</p>
<p>Modified TinyOS modules overview:</p>
<pre class="literal-block">
-+------------------------------------------------------------+
++------------------------------------------------------------+
| TinyOS Application | App
-+------------------------------------------------------------+
++------------------------------------------------------------+
\/ /\ \/ /\ \/ /\ \/ /\ -----
-+----------+ +----------+ +---------+ +--------+
++----------+ +----------+ +---------+ +--------+
| Timer | | UART | | ADC | | LEDs | HAL
+----------+ +----------+ +---------+ +--------+
\/ /\ \/ /\ \/ /\ -----
++----------+ +---------------------+ +---------+
+| HPLClock | | HPLUART | | HPLADC | \/ HPL
+----------+ +---------------------+ +---------+
-| HPLClock | | HPLUART | | HPLADC | \/ HPL
-+----------+ +---------------------+ +---------+
- \/ /\ \/ \/ /\ \/ /\ -----
-+----------+ +--------+ +--------+ +---------+ +--------+
-| Timer2 | | Timer1 | > | Serial | | Sensors | | Port | HW
-+----------+ +--------+ | Port | +---------+ +--------+
+ \/ /\ \/ \/ /\ \/ /\ -----
++----------+ +--------+ +--------+ +---------+ +--------+
+| Timer2 | | Timer1 | > | Serial | | Sensors | | Port | HW
++----------+ +--------+ | Port | +---------+ +--------+
+--------+
</pre>
<p>The following sections describe the changes to the four groups of modules.</p>
-<div class="section">
-<h2><a id="hplclock-and-related-modules" name="hplclock-and-related-modules">4.1 HPLClock and related modules</a></h2>
+<div class="section" id="hplclock-and-related-modules">
+<h2><a name="hplclock-and-related-modules">4.1 HPLClock and related modules</a></h2>
<p>The 8051 chip has three independent timer/counter circuits: Timer0,
Timer1 and Timer2, which can run in various modes. Each timer/counter
consists of a 16-bit register that is accessible to software as three
which would result in a great deal of interrupts and consume processing
power for administrational overhead.</p>
</div>
-<div class="section">
-<h2><a id="timer" name="timer">4.1.1 Timer</a></h2>
+<div class="section" id="timer">
+<h2><a name="timer">4.1.1 Timer</a></h2>
<p>The Timer module (HAL) uses the HPLClock module to handle the hardware
timing. These two modules communicate through the clock interface.
However, the standard TinyOS clock interface is designed for an MCU with
for the reduced prescaler options, we decided to widen the clock
interface from 8 to 16 bit. We are using the factor 1/4 for the
prescaler.</p>
-<p>The interface change has affected the following methods:
-result_t setRate(uint16_t interval, char scale)
-void setInterval(uint16_t value)
-void setNextInterval(uint16_t value)
+<p>The interface change has affected the following methods:
+result_t setRate(uint16_t interval, char scale)
+void setInterval(uint16_t value)
+void setNextInterval(uint16_t value)
uint16_t getInterval()
result_t setIntervalAndScale(uint16_t interval, uint8_t scale)
-uint16_t readCounter()
+uint16_t readCounter()
void setCounter(uint16_t n)</p>
<dl class="docutils">
-<dt>See:</dt>
-<dd>Clock.h
-Clock.nc
-HPLClock.nc
-TimerM.nc
-TimerC.nc
+<dt>See: </dt>
+<dd>Clock.h
+Clock.nc
+HPLClock.nc
+TimerM.nc
+TimerC.nc
8051.h</dd>
</dl>
</div>
-<div class="section">
-<h2><a id="hpluart" name="hpluart">4.2 HPLUART</a></h2>
+<div class="section" id="hpluart">
+<h2><a name="hpluart">4.2 HPLUART</a></h2>
<p>The UART is depending on a timer to generate a baud rate for the serial
port. The architecture only allows two of the three timers (Timer1 or
Timer2), to act as such. Since Timer2 is already used by the clock
sent. The HPLUART interrupt handler was also modified to take the
multiple byte data into account.</p>
<dl class="docutils">
-<dt>See:</dt>
-<dd>8051.h
-HPLUART.nc
-HPLUARTC.nc
+<dt>See: </dt>
+<dd>8051.h
+HPLUART.nc
+HPLUARTC.nc
HPLUARTM.nc</dd>
</dl>
</div>
-<div class="section">
-<h2><a id="hpladc" name="hpladc">4.3 HPLADC</a></h2>
+<div class="section" id="hpladc">
+<h2><a name="hpladc">4.3 HPLADC</a></h2>
<p>The TinyOS standard ADC interface was developed for the AVR which
includes hardware functionality for repetitive sampling at a given
interval. Implementing this functionality on the 8051, which does not
not to implement repetitive sampling, therefore the setSampleRate method
currently has no use.</p>
<dl class="docutils">
-<dt>See:</dt>
-<dd>8051.h
-ADCM.nc
-HPLADCC.nc
+<dt>See: </dt>
+<dd>8051.h
+ADCM.nc
+HPLADCC.nc
HPLADCM.nc</dd>
</dl>
</div>
-<div class="section">
-<h2><a id="leds" name="leds">4.4 LEDS</a></h2>
+<div class="section" id="leds">
+<h2><a name="leds">4.4 LEDS</a></h2>
<p>TinyOS features three standard LEDs (Red, Green and Yellow), but the
nRF24E1 evaluation board is not equipped with programmable LEDs so we
used the general purpose ports (GPIO).</p>
<p>To visualize the status of the GPIO, including the three standard LEDs,
we built a LED expansion board.</p>
<dl class="docutils">
-<dt>The three LEDs are currently wired to:</dt>
-<dd>Red -> P1.0
+<dt>The three LEDs are currently wired to: </dt>
+<dd>Red -> P1.0
Green -> P1.1
Yellow -> P0.7.</dd>
-<dt>See:</dt>
-<dd>8051.h
-hardware.h
-mcs51hardware.h
+<dt>See: </dt>
+<dd>8051.h
+hardware.h
+mcs51hardware.h
LedsC.nc</dd>
</dl>
</div>
-<div class="section">
-<h2><a id="interrupts" name="interrupts">4.5 Interrupts</a></h2>
+<div class="section" id="interrupts">
+<h2><a name="interrupts">4.5 Interrupts</a></h2>
<p>In TinyOS interrupts are not implemented as a single module, they are
mainly facilitated in atomic blocks and in the init, start and stop
methods of the various HPL modules. The init, start and stop methods
This is used to avoid preempting code execution in critical blocks.</p>
</div>
</div>
-<div class="section">
-<h1><a id="conclusion" name="conclusion">5. Conclusion</a></h1>
+<div class="section" id="conclusion">
+<h1><a name="conclusion">5. Conclusion</a></h1>
<p>The project have reached a plateau of development in porting TinyOS to
the 8051 platform, on which future development can be based. The basic
modules (Timer, UART, ADC and LEDS) have been implemented making 8051
<p>The result of our work will be uploaded to the TinyOS 8051 Working Group
website.</p>
</div>
-<div class="section">
-<h1><a id="future-work" name="future-work">6. Future Work</a></h1>
+<div class="section" id="future-work">
+<h1><a name="future-work">6. Future Work</a></h1>
<p>The work presented in this TEP is short of being a complete porting of
TinyOS to the 8051 platform. Two obvious future tasks are implementing a
Radio module involving the SPI interface and Power Management for duty
should target TinyOS 2.0. This might be a challenge with the timer
interface being so different from TinyOS 1.x.</p>
</div>
-<div class="section">
-<h1><a id="authors" name="authors">7. Authors</a></h1>
+<div class="section" id="authors">
+<h1><a name="authors">7. Authors</a></h1>
<div class="line-block">
-<div class="line">Anders Egeskov Petersen</div>
-<div class="line">University of Copenhagen, Dept. of Computer Science</div>
-<div class="line">Universitetsparken 1</div>
-<div class="line">DK-2100 K¯benhavn ÿ</div>
-<div class="line">Denmark</div>
+<div class="line">Anders Egeskov Petersen </div>
+<div class="line">University of Copenhagen, Dept. of Computer Science </div>
+<div class="line">Universitetsparken 1 </div>
+<div class="line">DK-2100 København Ø </div>
+<div class="line">Denmark </div>
<div class="line"><br /></div>
-<div class="line">Sidsel Jensen</div>
-<div class="line">University of Copenhagen, Dept. of Computer Science</div>
-<div class="line">Universitetsparken 1</div>
-<div class="line">DK-2100 K¯benhavn ÿ</div>
-<div class="line">Denmark</div>
+<div class="line">Sidsel Jensen </div>
+<div class="line">University of Copenhagen, Dept. of Computer Science </div>
+<div class="line">Universitetsparken 1 </div>
+<div class="line">DK-2100 København Ø </div>
+<div class="line">Denmark </div>
<div class="line"><br /></div>
<div class="line">email - <a class="reference" href="mailto:purps@diku.dk">purps@diku.dk</a></div>
<div class="line"><br /></div>
<div class="line">Martin Leoold</div>
-<div class="line">University of Copenhagen, Dept. of Computer Science</div>
-<div class="line">Universitetsparken 1</div>
-<div class="line">DK-2100 K¯benhavn ÿ</div>
-<div class="line">Denmark</div>
+<div class="line">University of Copenhagen, Dept. of Computer Science </div>
+<div class="line">Universitetsparken 1 </div>
+<div class="line">DK-2100 København Ø</div>
+<div class="line">Denmark </div>
<div class="line"><br /></div>
<div class="line">Phone +45 3532 1464</div>
<div class="line"><br /></div>
<div class="line">email - <a class="reference" href="mailto:leopold@diku.dk">leopold@diku.dk</a></div>
</div>
</div>
-<div class="section">
-<h1><a id="citations" name="citations">8. Citations</a></h1>
+<div class="section" id="citations">
+<h1><a name="citations">8. Citations</a></h1>
<table class="docutils citation" frame="void" id="nsc" rules="none">
<colgroup><col class="label" /><col /></colgroup>
<tbody valign="top">
<table class="docutils citation" frame="void" id="peh" rules="none">
<colgroup><col class="label" /><col /></colgroup>
<tbody valign="top">
-<tr><td class="label"><a name="peh">[PEH]</a></td><td>Martin Leopold. "Power Estimation using the Hogthrob Prototype Platform" <em>M.Sc.
+<tr><td class="label"><a name="peh">[PEH]</a></td><td>Martin Leopold. "Power Estimation using the Hogthrob Prototype Platform" <em>M.Sc.
Thesis, DIKU, Copenhagen University, Denmark, December 2004</em> .</td></tr>
</tbody>
</table>
projects / tinyos-2.x.git / blobdiff