This is how to make our iris mote with MTS400 sensor board work with FreeBSD. Although it’s difficult to make the full feature of TinyOS toolkit (especially Java based tools on the host side) because of several limitations of the toolkit, it’s still possible to develop everything on the motes and host PC(s) with FreeBSD.
\nBefore getting started, the user must be join dialer group to “dialer” group to control \/dev\/cua*.
\n[ Step 1: ports setup ]
\nSince iris motes have Atmel’s AVR processors, we need avr cross compiler to make them work. I’ve installed following softwares from FreeBSD ports collection.
\n– devel\/avr-gcc
\n– devel\/avr-libc (without documentation)
\n– devel\/avr-gdb
\n– devel\/avarice
\n– devel\/avrdude (needs “cp \/usr\/local\/etc\/avrdude.conf \/etc\/avrdude\/” after installation)
\n[ Step 2: NesCC installation ]
\nTo compile programs run on motes, we need NesC compiler (that calls avr-gcc for iris motes). However, NesC has a small incompatibility with the latest avr-gcc comes with FreeBSD ports. Simply edit src\/unparse.c and comment out line 812 and 813. Without this patch, avr-gcc will experience an “internal compiler error”, then terminates abruptly.
\nnesc-1.3.2\/src\/unparse.c
\n811: \/* gcc wants the attributes here *\/
\n812: \/\/ prt_type_elements(CAST(type_element, d->attributes),
\n813: \/\/ flag_gccize ? 0 : psd_no_target_attributes);
\nThen just:
\n% .\/configure –prefix=${HOME}\/work\/xbow\/tools
\n% gmake
\n% gmake install
\nthis will install nescc in ~\/work\/xbow\/tools.
\n[ Step 3: Build TinyOS environment ]
\nSince I couldn’t build latest trunk (revision at r5194) for iris motes and TinyOS-2.1.1.3 doesn’t have mts400 driver, I’ve checked out trunk at revision r5166 and it builds.
\n% cd ~\/work\/xbow\/
\n% svn checkout http:\/\/tinyos-main.googlecode.com\/svn\/trunk tinyos-5166 -r 5166
\n% ln -s tinyos-5166 tinyos
\n% set path = ( \/usr\/local\/diablo-jdk1.6.0\/bin ~\/work\/xbow\/tools\/bin $path )
\n% setenv TOSROOT ~\/work\/xbow\/tinyos\/
\n% setenv TOSDIR ~\/work\/xbow\/tinyos\/tos
\n% setenv CLASSPATH ~\/work\/xbow\/tinyos\/support\/sdk\/java\/tinyos.jar:.
\n% setenv MAKERULES ~\/work\/xbow\/tinyos\/support\/make\/Makerules
\nNext, we need some patches to build TinyOS on FreeBSD before building the tools:
\n% cd tinyos\/tools
\n% vi configure (change #!\/bin\/sh on the first line to #!\/usr\/local\/bin\/bash. That’s because FreeBSD’s Bourne shell can’t run the script…)
\n% vi misc\/tos-locate-jre (replace “readlink -q” by “readlink”. The command doesn’t require -q option.)
\n% .\/configure –prefix=${HOME}\/work\/xbow\/tools
\n% gmake && gmake install
\nThis will install uisp and many other programs in ~\/work\/xbow\/tools\/bin. Unfortunately I still can’t run Java based tools, I can use C based SDKs.
\n[ Step 4: Program the Mote NOW! ]
\nThe first one is the “Blink” application. Assume that the programmer appears on \/dev\/cuaU0 (and the mote interface on \/dev\/cuaU1).
\n% cd ~\/work\/xbow\/tinyos\/apps\/Blink
\n% gmake iris
\n% gmake iris reinstall mib520,\/dev\/cuaU0
\nThe LEDs will blink!
\nNext thing is test with radio… The client ID must be specified at gmake reinstall.
\nCompile for client:
\n% cd ~\/work\/xbow\/tinyos\/apps\/tutorials\/BlinkToRadio
\n% gmake iris
\nInstall for client 0x1234:
\n% gmake iris reinstall,0x1234 mib520,\/dev\/cuaU0
\nInstall for client 0xabcd:
\n% gmake iris reinstall,0xabcd mib520,\/dev\/cuaU0
\nSet up the basestation:
\n% cd ~\/work\/xbow\/tinyos\/apps\/tutorials\/Basestation
\n% gmake iris
\n% gmake iris reinstall mib520,\/dev\/cuaU0
\nCompile C based serial forwarder:
\n% cd ~\/work\/xbow\/tinyos\/support\/sdk\/c\/sf
\n% sh bootstrap && .\/configure && gmake
\n% .\/seriallisten \/dev\/cuaaU1 57600
\nThe packets are displayed by serial forwarer:
\n00 ff ff ab cd 04 00 06 ab cd 00 01
\n00 ff ff ab cd 04 00 06 ab cd 00 02
\n00 ff ff ab cd 04 00 06 ab cd 00 03
\n00 ff ff ab cd 04 00 06 ab cd 00 04
\n00 ff ff ab cd 04 00 06 ab cd 00 05
\n00 ff ff 12 34 04 00 06 12 34 00 01
\n00 ff ff ab cd 04 00 06 ab cd 00 06
\n00 ff ff 12 34 04 00 06 12 34 00 02
\n00 ff ff ab cd 04 00 06 ab cd 00 07
\n00 ff ff 12 34 04 00 06 12 34 00 03
\n00 ff ff ab cd 04 00 06 ab cd 00 08
\nOK, cool.<\/p>\n","protected":false},"excerpt":{"rendered":"