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nesC Programming
KETI / Ubiquitous Computing CenterJeonghoon Kangbudge@keti.re.kr
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SN Overview
Sensor Network:
Bridge between the internet and the physical world
IEEE 802.15.4 (TinyOS, IPv6, ZigBee, SP100, etc)
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Network Embedded System C
Application(NesC)
Application(.c)
Application(.exe)
TinyOS KernelTinyOS Libs
NesCComplier
CComplier
App.c Main.exe
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TinyOS / nesC
2-Level Structure Command (Bottom direction)
Non-time critical Long running operations Cannot preempt & can be preempted Background computation
Events (Top direction) Time critical Small running operations Cannot be preempted Able to interrupt running Tasks
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Preemption Pre-emption as used with respect to operating systems means the
ability of the operating system to preempt or stop a currently scheduled task in favour of a higher priority task. The scheduling may be one of, but not limited to, process or I/O scheduling etc.
Non-preemptability arises, for instance, when handling an interrupt. In this case, scheduling is avoided until the interrupt is handled. Making a scheduler preemptible has the advantage of better system responsiveness and scalability.
The schedulers used in most modern operating systems, such as various flavours of Unix, can preempt user processes. This is called preemptive multitasking, and is in contrast to cooperative multitasking wherein a process "gives away" its time by utilizing kernel resources or by specifically calling a kernel routine to allow other processes time to run. Some operating systems' schedulers (including Linux as of the 2.6 series) have the ability to preempt a process while it is processing a system call as well (a preemptible kernel).
Linux, Unix, *BSD, Mac OS X, and Windows NT are all examples of operating systems that utilize preemptive multitasking; Netware, Windows for Workgroups, and Macintosh System 9 are all examples of cooperative multitasking operating systems.
From www.wikipedia.org
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TinyOS Kernel
HardWare& Kernel
Initialization
Application Initialization
Run All Tasks(in the Task Queue)
Run To Completion
Sleep Mode(Low Power) Wait for Interrupt
Infinite Loop
Task QueueEmpty
?
TinyOS Kernel Scheduler
Task 8
Task 7
Task 2
Task 1
Task 4
Task 3
Task 6
Task 5
ADC
Timer
UART
Wireless
Task Queue
InterruptVectors
SLEEP Run Task
Task exists
EventHandler
ISR
Interruptoccurs
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nesC Overview
[nes-si:] Network Embedded System C Language Supports TinyOS Make applications for Network Embedded
system No dynamic memory allocation Extension of C programming language
Efficient code for micro-controllers Able to interact with old C code Many C Programmer C is little helpful for safe code & structuring
applications
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nesC Application
Components + Interface *.nc Component:
Module Configuration
Static No dynamic memory No function pointers
Programming ( ATmega128L ) In flash memory(128K, 40K, 60K) In SRAM(4K) In EEPROM(4K)
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nesC Structure
Component-1.nc(Wiring)
App….nc
Main.nc
(Wiring)
Interface-1.nc
Interface-1.nc
Interface-2.nc
Interface-2.nc
Interface-1.nc
Component-2M.nc(Code)
Component-3M.nc(Code)
Module oooM.nc Code file
Configuration ooo.nc/oooC.nc Wiring of components
Define wiring of Modules Interfaces
ooo.nc Contains only definition Commands/Events
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File type
Components Configuration Module
Interface
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Configuration (ex. Blink.nc)
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Basic Concept
Component Configuration Module
Provides Uses
Interface Command Event
Task Post
Keep in mind (Interface file defines Command / Event) Command is implemented on Providing Component Event is implemented on Using Component
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Basic Concept: Configuration
Syntax File name:
Top-level configuration: ooo.nc (in each application)
General configuration: oooC.nc
Wire only 2 components together at a time Using with ‘’ and ‘=’
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Configuration
Ex. Top-level configuration
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Configuration (ex. Blink.nc)
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Basic Concept: Module
Syntax Name
File: oooM.nc Interface.command(or event)
Command Implement in all the ‘provides’ interfaces Prefixed with ‘call’
Event Implement in all the ‘uses’ interfaces Prefixed with ‘signal’
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Module
Ex. Module Interface Command Event
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Module (ex. BlinkM.nc)
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Module (ex. BlinkM.nc)
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Module (ex. BlinkM.nc)
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Basic Concept: Interface
File name: ooo.nc Bi-directional
Provider & User No actual code or wiring Declare commands and events Provider Module:
Implement all commands User Module:
call command & Implement all events Parameterized Interfaces
Ex.
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Interface (ex. Timer.nc)
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Interface (ex. StdControl.nc)
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Interface
Ex.
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Configuration
Ex. General configuration
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Wiring Syntax
Ex. End-point1End-point2 End-point1End-point2 End-point1=End-point2
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Task
Ex. Task can be posted in command, event and
task task void taskname() {………} Post taskname();
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Sample nesC Application (Kmote0)
전원 On 부팅 Led On
Basic Application
Component Main.nc, LedsC.nc Test.nc, TestM.nc
Interface StdControl.nc, Leds.nc
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Top Configuration
Main
TestM
LedsC
StdControl
Leds
Test
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Configuration (Test.nc)
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Configuration (Main.nc)
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Module (MainM.nc)
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Module (TestM.nc)
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Module (LedsC.nc)
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Module (LedsC.nc)
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Module (LedsC.nc)
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Module (LedsC.nc)
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Module (LedsC.nc)
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Interface (Leds.nc)
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Interface (Leds.nc)
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Interface (Leds.nc)
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Compile Environment
cd /opt/tinyos-1.x/apps/Blink make telosb make telosb install(or reinstall) Make telosb reinstall.1 bsl,/dev/ttyUSB0
1 : node ID bsl : fusing method
Important Environment Variables (so tough for newbie) nesC make
TOSDIR TOSROOT MAKERULES PATH
Java CLASSPATH
Check env | grep TOS
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VMPlayer on Windows XP, Vista
Easy set-up all the Development Environment for TinyOS-1.x / TinyOS-2.x All set previously on Windows Check for the VM image file : www.tinyosmall.co.kr
http://www.tinyosmall.co.kr/shop/shopdetail.html?brandcode=016002000001&search=&sort=brandname
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References
The nesC Language: A Holistic Approach to
Networked Embedded Systems
nesC 1.1 Language Reference Manual
http://nescc.sourceforge.net
TinyOS Programming Manual
http://www.tinyos.net/tinyos-2.x/doc/pdf/
tinyos-programming.pdf
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