Share is good. if youhave any question, feel free to ask me: pdeng -a- pgrad dot unimelb dot edu dot au.

1. Introduction to SPOT
Programming the Real-world
Peng Deng
pdeng@students.csse.unimelb.edu.au
∑ SUM Lab
CSSE University of Melbourne

2. Agenda
• Introduction
– Sensor Architecture
– WSN Characteristics
– WSN Applications
• SPOT
– What is SPOT
– Microsoft vs. Sun
• Sun SPOT
– Applications
– Hardware features and code samples
• Conclusion
• Q&A and Demos
• Reference
2

3. Introduction: Sensor Networks
• WSN (Wireless Sensor Network) is a wireless network consisting of
spatially distributed autonomous devices using sensors to cooperatively
monitor physical or environmental conditions. [1]
3

4. Architecture of Sensor [2]
Limited
Memory
Limited
Lifetime
Sensing Processing Communication
Element Element
1 kbps – 1 Mbps,
3 – 100 m, Lossy
Transmission
S MEMORY
P S R
E
O U A A
N
W P D D
S
E P C MICRO I
O
R L PROCESSOR O
R
Y
S
Require ALGORITHMS
Supervision Slow
Processing REAL TIME OS
4

5. Characteristics of WSN [1]
• Small-scale sensor nodes
• Limited power they can harvest
or store
• Harsh environmental
conditions
• Node failures
• Mobility of nodes
• Dynamic network topology
• Communication failures
• Heterogeneity of nodes
• Large scale of deployment
• Unattended operation
5

6. Application Domain [2]
• Environmental monitoring
• Security
• Defence
• Bioinformatics and health
• Transportation management
• Chemical detection and
emergency response
Pictures from [3] 6

7. Learn more about WSN…
• 433-654 Sensor Networks and Applications
• The subject is provided every semester 1
• Lecturer is Dr Egemen Tanin
7

8. SPOT
• What is SPOT?
Microsoft Version Smart Personal Objects Technology
Sun Version Small Programmable Object Technology
– According to my understanding, SPOT is a
technology that pushes popular desktop
application frameworks and programming
languages to embedded systems.
8

9. SPOT Cake
Applications
Microsoft .Net Micro Framework
Sun Java Squawk Virtual Machine
OS
Freescale TI ARM Different hardware
…
chips chips chips platforms
Advantages: Disadvantages:
1. Much more portable 1. Less flexibility
code 2. More resource needed
2. Easier to learn • Memory
3. Free to use • CPU
• Battery
4. Rapid develop
5. Safer 3. Slower execution speed
9

10. .Net Micro Framework [4]
10

11. .Net Micro Framework [4]
Version 2.0 BETA First release
Open source Open to partners only http://msdn2.microsoft.com/en-us/embedded/bb404168.aspx
Language C#
IDE Visual Studio 2005 Express Edition is not available
Bootable Yes Work with or without OS
User interface WPF Without XAML
For Windows Sidebar
Real-time
Real- No
Emulation Yes Not known for sensor environment
Executable file Metadata Metadata Processor reduces size of assemblies
Platform ARM7 and ARM9
Minimum RAM 300KB
Minimum Flash 1MB
Communication USB or Serial
Security Signed application Public- private key pair
XTEA Symmetric key
RSA
11

12. Squawk Virtual Machine [5]
A Java Virtual Machine written in Java!
Extended from J2ME
12

13. Squawk Virtual Machine [6] [7]
Version Codename: Orange, Purple Second release (CLDC 1.1-compatible)
Open source Source code available in SDK Open source in future
Language Java
IDE NetBeans 5.0 Companion with NetBeans module
Free
Bootable Yes Work with or without OS
User interface No
Real-time
Real- No
Emulation No
Executable file Optimized bytecode Support process migration
.suit 35% - 45% size of equivalent J2ME class files
Multiple applications run concurrently
Platform ARM7 and ARM9
Minimum RAM 80KB
Minimum Flash 380KB
Communication USB or Serial
Security Signed application, RSA
13

14. Sun SPOT [7] [8]
Framework Sun Java Squawk VM
Programming Language Java
IDE NetBeans 5.0
Platform Sun SPOT
Battery capacity 720 mAh lithium-ion battery
Deep sleep 32 uA
CPU 180 MHz 32 bit ARM920T
Memory 512K RAM/4M Flash
Radio 2.4 GHz IEEE 802.15.4 radio
with integrated antenna
Embedded sensors • 3-axis accelerometer
• Temperature sensor
• Light sensor
• LEDs
• Analog inputs
• Switches
• General purpose I/O
14

15. Crossbow Imote2 [9] [10]
Framework Microsoft .Net
Micro Framework
Programming Language C#
IDE Visual Studio 2005
Platform Imote2
Battery capacity N/A
Deep sleep 390 uA
CPU PXA271 XScale® Processor
at 13–416MHz
Memory 256kB SRAM,
32MB FLASH, 32MB SDRAM
Radio Integrated 802.15.4 Radio
Embedded sensors Daughter board:
IIB2400 – Imote2 Interface
ITS400 sensor board
• 3-Axis Accelerometer
• Temperature, Humidity,
• and Light Sensors
• Analog Input
15

16. Sun SPOT
16

17. Sun SPOT Applications [7]
17

18. Sun SPOT Hardware [7] [11]
2.4 GHz IEEE
802.15.4 Radio
Antenna
Module
180 MHz 32 bit
512K RAM
ARM920T core 4M Flash
USB interface
with
Daughter board mini-B connector
connector
Power Switch 18

19. Sun SPOT Hardware [7] [11]
8 3-colors LEDs Push Buttons
Light Sensor 3-D
Accelerometer
Analog in 4-5 Temperature
sensor and
A/D Converter
Digital I/O 0-3 Analog in 0-3
Push Buttons Digital I/O 4 quot;Highquot; current output 0-3
Replicated here
19

20. Time Issues [19] [14]
• Timer and Counter
– Chip: AT91 Timer/Counter * 2 on ARM920T @ Processor Board
– 6 Timer Counter Channel = 4 available + 2 system use
– 2 modes: Capture & Waveform
– Functions: frequency measurement, event counting, interval measurement, pulse generation,
delay timing and pulse width modulation.
– Interface defined at com.sun.spot.peripheral.TimerCounterBits.java
• Time Synchronization
– Affect security if the time difference is more than 3 minutes
– 3 minutes off after 104 days
– Synchronize time when connect SPOT to Host using USB
20

21. Time issues: Example 1
• Measuring a Time Interval
import com.sun.spot.peripheral.*;
import com.sun.spot.util.*;
public class TimerCounterSample implements TimerCounterBits {
public double measureInterval() {
IAT91_TC timer = Spot.getInstance().getAT91_TC(0); // Get a Timer Counter
timer.configure(TC_CAPT | TC_CLKS_MCK32); // Use fast clock speed
timer.enableAndReset(); // Start counting
... interval to measure ...
int cntr = timer.counter(); // Get number of elapsed clock ticks
timer.disable(); // Turn off the counter
double interval = cntr * 0.5342; // Convert to time in microseconds
return interval;
}
}
21

22. Time issues: Example 2
• Perform a Periodic Task
import com.sun.spot.peripheral.*;
import com.sun.spot.util.*;
public void periodicTask() {
IAT91_TC timer = Spot.getInstance().getAT91_TC(0); // Get a Timer Counter
int cnt = (int)(25000 / 0.5342); // number of clock counts for 25 msecs
timer.configure(TC_CAPT | TC_CPCTRG | TC_CLKS_MCK32); // enable RC compare
timer.setRegC(cnt);
timer.enableAndReset();
while (true) { // Start periodic task loop
timer.enableIrq(TC_CPCS); // Enable RC Compare interrupt
timer.waitForIrq(); // Wait for interrupt
timer.status(); // Clear interrupt pending flag
doTask(); // Method will be called every 25 msecs
}
}
22

23. Memory
• Spansion S71PL032J40
• 512K RAM
– Garbage Collector in VM
– 0x20000000 to 0x20080000
• 4M Flash
– 0x10000000 to 0x10400000
Start Address Size Use Remarks
0x10010000 256Kb Squawk VM executable Large compare to TinyOS
0x10140000 384Kb Application slot 1 Your application is deployed here.
Error throws if application too big.
0x101A0000 384Kb Application slot 2
0x10200000 ≈ 2Mb Available for data storage
23

24. Memory: Access to Flash
• Record Management System
1. RecordStore rms = RecordStore.openRecordStore(quot;TESTquot;, true);
2. byte[] inputData = new byte[]{12,13,14,15,16};
3. int recordId = rms.addRecord(inputData, 0, inputData.length);
4. byte[] outputData = rms.getRecord(recordId);
5. rms.closeRecordStore();
• IFlashMemoryDevice (low level)
1. /* use stream to read and write is safer. */
2. IFlashMemoryDevice mem = Spot.getInstance().getFlashMemoryDevice();
3. IFlashMemoryDevice mem = Spot.getInstance().getFlashMemoryDevice();
4. int startSector = mem.getFirstAvailableSector();
5. DataOutputStream dos = new DataOutputStream(mem.getOutputStream(startSector, 2));
6. dos.writeUTF(quot;hello therequot;);
7. dos.flush();
8. DataInputStream dis = new DataInputStream(mem.getInputStream(startSector, 2));
9. String s = dis.readUTF();
24

25. Radio
• ChipCon CC2420
• PAN (802.15.4)
– ISM band 2.4GHz
– Zigbee is not implemented yet, but you can built it by yourself
• Address
– IEEE extended MAC Address
– 64 bit, like 0014.4F01.0000.026A
• Ports
– 0~255
– 0~31 are reserved for system use
25

26. Radio
• Radio Stream
– Stream-based
– Reliable (acknowledgement)
– Buffered
– P2P
• Radiogram
– Datagram-based
– No guarantees about delivery or ordering
– Broadcast supported
– C/S
– Stream like but limit in size
26

27. Radio Stream
• Radio Stream
1. RadiostreamConnection conn = (RadiostreamConnection)
Connector.open(quot;radio://0014.4F01.0000.0006:100quot;);
2. DataInputStream dis = conn.openDataInputStream();
3. DataOutputStream dos = conn.openDataOutputStream();
4. try {
5. dos.writeUTF(quot;Hello up therequot;);
6. dos.flush(); // send over the air
7. System.out.println (quot;Answer was: quot; + dis.readUTF());
8. } catch (NoRouteException e) {
9. System.out.println (quot;No route to 0014.4F01.0000.0006quot;);
10. } finally {
11. dis.close();
12. dos.close();
13. conn.close();
14. }
27

28. Radiogram
• Client
1. RadiogramConnection conn =
RadiogramConnection)Connector.open(quot;radiogram://0014.4F01.0000.0006:100quot;);
2. Datagram dg = conn.newDatagram(conn.getMaximumLength());
3. try {
4. dg.writeUTF(quot;Hello up therequot;);
5. conn.send(dg);
6. conn.receive(dg);
7. System.out.println (quot;Received: quot; + dg.readUTF());
8. } catch (NoRouteException e) {
9. System.out.println (quot;No route to 0014.4F01.0000.0006quot;);
10. } finally {
11. conn.close();
12. }
28

29. Radiogram
• Server
1. RadiogramConnection conn = (RadiogramConnection) Connector.open(quot;radiogram://:100quot;);
2. Datagram dg = conn.newDatagram(conn.getMaximumLength());
3. Datagram dgreply = conn.newDatagram(conn.getMaximumLength());
4. try {
5. conn.receive(dg);
6. String question = dg.readUTF();
7. dgreply.reset(); // reset stream pointer
8. dgreply.setAddress(dg); // copy reply address from input
9. if (question.equals(quot;Hello up therequot;)) {
10. dgreply.writeUTF(quot;Hello down therequot;);
11. } else {
12. dgreply.writeUTF(quot;What???quot;);
13. }
14. conn.send(dgreply);
15. } catch (NoRouteException e) { System.out.println (quot;No route to quot; +
dgreply.getAddress()); } finally {
16. conn.close(); 29
17. }

30. Radiogram
• Broadcast
– Transmitted over two hops by default
– Not reliable
– Drop duplicated message
1. DatagramConnection conn =
DatagramConnection)Connector.open(quot;radiogram://broadcast:<portnum>quot;);
2. ((RadiogramConnection)conn).setMaxBroadcastHops(3);
30

31. Sensors
• 2G/6G 3-axis accelerometer
• Temperature sensor
• Light sensor
• 8 tri-color LEDs
• 2 momentary switches
• 6 analog inputs
• 5 general purpose I/O pins and 4 high
current output pins
31

32. 3-axis Accelerometer
Wii Remote Controller [17] Sun SPOT [18]
Chip Analog Devices ADXL330 ST Microsystems LIS3L02AQ
Price USD $8.97 USD $10.82
Range & Sensitivity +/- 3 G (300 mv/g) +/- 2G (600 mv/g)
+/- 6G (200 mV/g)
Power consumption 300 uA @ ~3V 850 uA @ 3.3 V
Sleep mode support
Acceleration Noise Density 50 µg / Hz 250~300 µg / Hz
Purpose Carefully tuned to optimize performance General purpose.
in determining hand and arm motion Depends on developers’ implementation
32

33. 3-axis Accelerometer
1. import com.sun.spot.sensorboard.EDemoBoard;
2. import com.sun.spot.sensorboard.peripheral.IAccelerometer3D;
3. private IAccelerometer3D accel = EDemoBoard.getInstance().getAccelerometer();
4. int tiltX = (int)Math.toDegrees(accel.getTiltX()); // returns [-90, +90]
5. double GForceX = accel.getAccelX();
33

34. Temperature sensor
• Analog Devices ADT7411
• -40℃ to +125 ℃
• Accuracy±0.5 ℃
• Actually, it is reading the temperature of this chip
• Warmer when you connect to USB
• Connect a external thermistor to A/D to get more
accurate reading
34

35. Temperature sensor
1. import com.sun.spot.sensorboard.EDemoBoard;
2. import com.sun.spot.sensorboard.io.ITemperatureInput;
3. private ITemperatureInput tempSensor = EDemoBoard.getInstance().getADCTemperature();
4. double tempF = tempSensor.getFahrenheit(); // The value converted to Farenheight
5. double tempC = tempSensor.getCelsius(); // The value converted to Celcius
• The API will change to getADCTemperature().
()
35

36. Light sensor
• Toshiba TPS851
• Peak sensitivity wavelength is 600nm
• Too sensitive, flickering
• Take off “sun roof” to get more accurate
reading
36

37. Light sensor
1. import com.sun.spot.sensorboard.EDemoBoard;
2. import com.sun.spot.sensorboard.peripheral.ILightSensor;
3. private ILightSensor lightSensor = EDemoBoard.getInstance().getLightSensor();
4. int lightLevel = lightSensor.getValue();
37

38. 8 tri-color LEDs
1. /* i is the index of each LED, from 0 to 7. */
2. import com.sun.spot.sensorboard.EDemoBoard;
3. import com.sun.spot.sensorboard.peripheral.ITriColorLED;
4. import com.sun.spot.sensorboard.peripheral.LEDColor;
5. private ITriColorLED [] leds = EDemoBoard.getInstance().getLEDs();
6. leds[i].setOff(); // turn off LED
7. leds[i].setRGB(int red, int green, int blue ); // set color
8. leds[i].setColor(LEDColor.MAGENTA);
9. leds[i].setOn(); // turn on LED
38

39. 2 Momentary Switches
1. import com.sun.spot.sensorboard.EDemoBoard;
2. import com.sun.spot.sensorboard.peripheral.ISwitch;
3. private ISwitch sw1;
4. sw1 = EDemoBoard.getInstance().getSwitches()[0];
5. startSW1WatchThread();
6. public void startSW1WatchThread(){ In next major update, the switch API
7. Runnable r = new Runnable(){
8. public void run(){
will change to buttonListener like.
9. while(true){
10. sw1.waitForChange();
11. if(sw1.isClosed()){
12. System.out.println(quot;Switch 1 closed.quot;);
13. } else {
14. System.out.println(quot;Switch 1 opened.quot;);
15. }
16. }
17. }
18. };
19. (new Thread(r)).start();
20. }
39

40. Networking [11]
• Using basestation
802.15.4 radio
Sun SPOT Sun SPOT
Host USB
(“base station mode”) (“target”)
Over the Air deploy
• Mesh routing
– Act as a mesh router, forwarding packets to other SPOTs
– Enabled when you start radio connection
• Trace route
– Act as a trace route server
– Participate in route tracing request
• Logging
– Diagnostic use
– Display all network route discovery and route management activity
• You can implement algorithms by your hand
40

41. Battery [12]
• The most important property in WSN!
– Radio communication is very hungry
– Multi-hop communication is desired
• 3.7V 720 mAh lithium-ion battery
Sun SPOT State Battery life estimate
Deep sleep 909 days
Shallow sleep, no radio 23 hours
Shallow sleep, radio on 15 hours
CPU busy, no radio 8.5 hours
CPU busy, radio on 7 hours
Shallow sleep, 8 LEDs on, no radio 3 hours
41

42. Battery [20]
1. IPowerController ipc = Spot.getInstance().getPowerController();
2. ipc.getVbatt(); // The reply is in millivolts and is nominally inthe range 2700- 4700
3. ipc.getIdischarge(); // current being drawn from the battery in mA
4. ipc.getIcharge(); // charging current in mA
5. ipc.getIMax(); // maximum current drawn from the battery since last time this was called
• One solution to short battery:
– Attach SUN SPOT to a USB charger on the wall, tradeoff is
mobility.
42

43. SDK and develop steps
1. Install JDK, Neteans, Sun
SPOT SDK and drivers
2. Create Sun SPOT project or
Sun SPOT Host project
3. Compose your application
4. Connect, compile and deploy
application to SPOT
5. Working!
Get more information on http://www.sunspotworld.com/
43

44. Conclusion
• Suitable:
– Rapid prototype development
– Experiment
– Education
• Not ready to commercial solution
– Lacks support
– Constraints
• Future development
– Open source
– Get support from sensor providers like J2ME supported by
mobile phone Companies
– …
44

45. Q&A

46. Demos
Pictures from [15] [16] 46

47. Appreciate
• Dr. Lars Kulik
(http://www.csse.unimelb.edu.au/~lars/)
• Dr. Egemen Tanin (http://www.csse.unimelb.edu.au/~egemen/)
• All members in SUM Research Lab (http://www.sumlab.net/)
47

48. Reference
1. Wireless sensor network. (2007, July 25). In Wikipedia, The Free Encyclopedia. Retrieved 08:10, July 28, 2007, from
http://en.wikipedia.org/w/index.php?title=Wireless_sensor_network&oldid=146970785
2. Digest from Egemen’s slides in 433-654, http://www.cs.mu.oz.au/654/, et_week1a.ppt
3. David E. Culler and Hans Mulder (2004, June). Smart Sensor to Network the World. Scientific American, 85-91.
4. Microsoft .NET Micro Framework White Paper. Retrieved 08:30, July 28, 2007, from http://download.microsoft.com/download/a/9/c/a9cb2192-
8429-474a-aa56-534fffb5f0f1/.net%20micro%20framework%20white%20paper.doc
5. SquawkVM, Retrieved 08:40, July 28, 2007, from http://research.sun.com/projects/squawk/figures/SquawkVM.jpg
6. Squawk homepage, Retrieved 08:50, July 28, 2007, from http://research.sun.com/projects/squawk/
7. projectsunspot, Retrieved 08:55, July 28, 2007, from http://www.flickr.com/photos/projectsunspot/
8. Project Sun SPOT Product, Retrieved 09:00, July 28, 2007, from http://www.sunspotworld.com/products/
9. WSN .Imote2 Builder, Retrived 09:10, July 28,2007, from http://www.xbow.com/Products/Product_images/Wireless_images/Imote2_Kit.jpg
10. IPR2400 Datasheet, Retrived 09:13, July 28, 2007, from http://www.xbow.com/Products/Product_pdf_files/Wireless_pdf/Imote2_Datasheet.pdf
11. Sun SPOT SDK Version Orange, Developers’ Guide
12. Sun SPOT SDK Version Orange, Owners Manual
13. Sun SPOT SDK Version Orange, CodeSamples
14. Synchronizing time between spot and host, Retrieved 12:00, July 28, 2007, from
http://www.sunspotworld.com/forums/viewtopic.php?t=557&start=0&postdays=0&postorder=asc&highlight=
15. Balance.org, shotsbig_01.jpg, Retrieved 13:09, July 30, 2007 from http://www.ballance.org/ImagesX/shots/shotsbig_01.jpg
16. Robert Kooima, screen-5.jpg, Retrieved 13:11, July 30, 2007 from http://offload2.icculus.org/neverball/screen-5.jpg
17. ADXL330 Small, Low Power, 3-Axis ±3g iMEMS® Accelerometer, Analog Device Inc. Retrived 10:28, 8 Aguuest, 2007, from
http://www.analog.com/en/prod/0,2877,ADXL330,00.html
18. LIS3L02AQ3 DataSheet, ST Microsystems Inc. Retrived 10:30, 8 Aguuest, 2007, from
http://www.st.com/stonline/products/literature/ds/11020/lis3l02aq3.pdf
19. Using the AT91 Timer/Counter, Ron Goldman, Sun Labs, Retrived 21:52, 8 March, 2008 from
https://www.sunspotworld.com/docs/AppNotes/TimerCounterAppNote.pdf
20. black.jpg, http://www.trekstor.de/, Retrieved 22:18, 8 March, 2008 from http://www.trekstor.de/dyn_files/products/usb-
charger_em/detail/black.jpg
48

49. Thank you
Peng Deng
MEDC Student
SUM Research Lab
CSSE University of Melbourne
pdeng@students.csse.unimelb.edu.au
49

50. Revision History
8 Aug 2007 Initial Version
8 March 2008 Added: Timer and Counter
Modified: Battery
50