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Several platforms defined compressions modes values: SICSLOWPAN_CONF_COMPRESSION_IPV6 SICSLOWPAN_CONF_COMPRESSION_HC1 SICSLOWPAN_CONF_COMPRESSION_HC01 instead of using the global SICSLOWPAN_COMPRESSION_LEVEL definitions
599 lines
20 KiB
Plaintext
599 lines
20 KiB
Plaintext
/**
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\addtogroup tutorials
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@{
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*/
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/**
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* \defgroup tutorialraven Running Contiki with uIPv6 and SICSlowpan support on Atmel RAVEN hardware
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* @{
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This tutorial explains how to run Contiki with IPv6 and 6lowpan
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support on Atmel RAVEN hardware.
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\section toc Table of contents
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\ref tutorial-raven-introduction <br>
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\ref hardware <br>
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\ref software <br>
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\ref overview <br>
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\ref installation <br>
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\ref running <br>
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\ref advanced <br>
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\ref issues <br>
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\ref annex <br>
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<HR>
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\section tutorial-raven-introduction Introduction
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This tutorial explains how to run Contiki with IPv6 and 6lowpan
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support on Atmel RAVEN evaluation kit (ATAVRRZRAVEN) hardware. We
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present basic example system architecture and application scenarios,
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as well as instructions to run more advanced demos.
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<HR>
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\section hardware Hardware requirements
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To run the demo, you will need at least
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\li one AVR RAVEN board, which embeds an ATmega1284P and an
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ATmega3290P micro controller (MCU) as well as an AT86RF230
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802.15.4 radio chip.
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\li one RZ USB stick, which embeds an AT90USB1287 MCU and
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an AT86RF230 802.15.4 radio chip.
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\li one PC running Windows to program the chips. For the demo
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itself, a PC running Linux or Windows.
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\li one On-chip programming platform. We recommend Atmel JTAGICE
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mkII.
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\note Links to detailed hardware documentation are in
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\ref annex_hardware
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<HR>
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\section software Software requirements
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To install the demo you need:
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\li Contiki 2.3 or later source code, installed in a directory. In
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the rest of this tutorial we assume the directory is c:/contiki
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\li Cygwin with "make" utility installed.
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\li AVR Studio 4.14 or later
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\li WinAVR20080610 or later
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\li Windows drivers installed for the JTAGICE mkII.
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Instructions to install these tools are in the section \ref annex_software.<br>
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To run the demo, you need:
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\li one PC running Linux with kernel 2.6.24 or later, with support for the
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following kernel modules: IPv6, usbnet, cdc_ether, cdc_acm, rndis_wlan.
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\li OR one PC running Windows with IPv6 support. If you use Windows XP,
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you need Service Pack 3 installed.
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\note
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On windows XP, if ipv6 support is not enabled, enable it by typing
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in a shell:
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\verbatim
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ipv6 install
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\endverbatim
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<HR>
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\section overview Demo Overview
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\subsection overview_architecture Network Architecture
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The network comprises:
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\li a PC acting as an IPv6 router with an 802.15.4 interface
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and an Ethernet interface.
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\li a RAVEN board acting as an IPv6 host.
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In the basic demo, you can:
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\li Ping the RAVEN Board from the router
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\li Ping the router from the RAVEN board, using the RAVEN board
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menu
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\li Browse the web server running on the RAVEN board. The server
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displays the live temperature measured from the board temperature
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sensor
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\image html tutorial-raven-basic.jpg
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<HR>
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\section installation Compiling, installing, configuring
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\subsection installation_compiling Compiling the binaries for RAVEN and RZ USB stick
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The binaries needed are:
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\li c:/contiki/examples/webserver-ipv6/webserver6.elf file for the RAVEN board ATmega1284P
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\li c:/contiki/platform/avr-ravenlcd/ravenlcd_3290.elf file for the RAVEN board ATmega3290P
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\li c:/contiki/examples/ravenusbstick/ravenusbstick.elf file for the RZ USB Stick AT90USB1287
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To compile each of them, type in Cygwin:
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\verbatim
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cd c:/contiki/examples/webserver-ipv6-raven
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make
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\endverbatim
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\verbatim
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cd c:/contiki/platform/avr-ravenlcd
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make
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\endverbatim
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\verbatim
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cd c:/contiki/examples/ravenusbstick
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make
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\endverbatim
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\subsection installation_hw Installing the hardware
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To power the RAVEN, put the EXT/BAT jumper in BAT position.
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This will enable power on batteries. If you want to power
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the RAVEN externally, check instructions in
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\ref advanced_externalboard.
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The RZ USB Stick needs to be plugged in the PC you will run
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the demo on. If you plan to run the demo on a Windows PC, you
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will need to install drivers once contiki is loaded on the
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stick. Until then, you can exit any driver installation popup.
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\subsection installation_loading Programming the boards
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<b>What you need to do</b><br>
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\li On the RAVEN board, program the binaries on both AVR ATmega.
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\li On the RZ USB Stick, load the binary on the AT90USB1287
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<b>Hardware connections</b><br>
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\li Connect the JTAG connectors to the JTAGICE as described in
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the picture below.
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\image html tutorial-raven-jtag.jpg
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\li Connect the JTAGICE mkII to a Windows PC through USB.
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\li To program (load) each AVR, you will need to connect the
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JTAGICE JTAG connector to the JTAG pins corresponding to the
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AVR you want to program, as shown in the picture below.
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\image html tutorial-raven-connections.jpg
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<b>To load the binary on each AVR in Windows</b><br>
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\li Launch AVR Studio and exit any popup window.
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\li Connect the JTAG pins of the JTAGICE into the JTAG connector of
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the target processor.
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\li In AVR Studio, click on "Tools"->"Program AVR"->"Auto Connect"
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\li Go to the "Main tab"
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\li In the "Programming mode and target settings" list, select JTAG
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\li Select the processor type in the "Device" list and click
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"Read Signature". If the Device signature is read properly,
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it means AVR Studio is properly connected to the AVR.
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\li Go to the "Program" tab
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\li In the "ELF Production file format" section,
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browse to the binary, then click program
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\verbatim
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For webserver6.elf, set the processor to ATmega1284P
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For ravenlcd_3290.elf, set the processor to ATmega3290P
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For ravenusbstick.elf, set the processor to AT90USB1287
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\endverbatim
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Once the RZ USB Stick is programmed, unplug it from the PC.
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Note this programmed the fuses, EEPROM, and FLASH all at once.
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<HR>
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\section running Running the basic demo
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\subsection running_router Setting up the router
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<b>On Linux</b><br>
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Plug the RZ USB Stick in the PC. It should appear as a USB
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network interface (e.g. usb0).
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usb0 should automatically get an IPv6 link local address, i.e.
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fe80::0012:13ff:fe14:1516/64. Check this is the case by typing
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\verbatim
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ifconfig
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\endverbatim
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and checking the addresses of interface usb0
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If it does not, add it manually:
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\verbatim
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ip -6 address add fe80::0012:13ff:fe14:1516/64 scope link dev usb0
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\endverbatim
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Configure the IP addresses on usb0
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\verbatim
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ip -6 address add aaaa::1/64 dev usb0
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\endverbatim
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Install the radvd deamon and configure it so the usb0
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interface advertises the aaaa::/64 prefix as on link
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and usable for address autoconfiguration.
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Radvd configuration (usually in /etc/radvd.conf)
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\verbatim
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interface usb0
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{
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AdvSendAdvert on;
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AdvLinkMTU 1280;
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AdvCurHopLimit 128;
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AdvReachableTime 360000;
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MinRtrAdvInterval 100;
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MaxRtrAdvInterval 150;
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AdvDefaultLifetime 200;
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prefix AAAA::/64
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{
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AdvOnLink on;
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AdvAutonomous on;
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AdvPreferredLifetime 4294967295;
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AdvValidLifetime 4294967295;
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};
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};
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\endverbatim
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\note This values have been carefuly chosen to work on platform using
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a 16bit clock.
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Restart the radvd daemon. Example command:
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\verbatim
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/etc/init.d/radvd restart
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\endverbatim
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If you get a message that radvd won't start as forwarding isn't enabled,
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you can run this as root:
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\verbatim
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echo 1 > /proc/sys/net/ipv6/conf/all/forwarding
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\endverbatim
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<b>On Windows</b><br>
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Plug the RZ USB Stick in the PC. A "new hardware installation"
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window should pop up. If it does not, go to "Control Panel"->
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"Add Hardware". Choose "Install the driver manually", then
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select the search path C:\\contiki\\cpu\\avr\\dev\\usb\\INF. Finish
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the installation.
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You now need to get the "interface index" of the USB Stick
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interface (noted [interface index] in the following) and the
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Ethernet interface (noted [ethernet interface index] in the
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following).
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In a DOS or Cygwin shell, type
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\verbatim
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ipv6 if
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\endverbatim
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As an example, the output might look something like this:
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\verbatim
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...
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Interface 7: Ethernet
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...
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link-layer address: 02-12-13-14-15-16
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preferred link-local fe80::12:13ff:fe14:1516, life infinite
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...
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Interface 4: Ethernet: Local Area Connection
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...
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link-layer address: 00-1e-37-16-5d-83
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preferred link-local fe80::21e:37ff:fe16:5d83, life infinite
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...
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...
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\endverbatim
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Note the link-layer address associated with interface 7 is the USB Stick. Hence
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[interface index] is 7, [ethernet interface index] is 4 and [ethernet
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link-local address] is fe80::21e:37ff:fe16:5d83.
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Then you need to
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\li Set the USB Stick interface as an advertising interface
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\li Configure a global IP address on the USB Stick interface
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\li Add a default route through the Ethernet interface
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\li Set the aaaa::/64 prefix as "on link" and published on the USB Stick
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interface.
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To do so, type:
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\code
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ipv6 ifc [interface index] advertises forwards
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ipv6 adu [interface index]/aaaa::1
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ipv6 rtu ::/0 [ethernet interface index]/[ethernet link-local address] publish
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ipv6 rtu aaaa::/64 [interface index] publish
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\endcode
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\subsection running_raven Booting the RAVEN boards
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Reboot the RAVEN board.
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The PC sends router advertisements and the RAVEN Board configures
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an IPv6 global address based on them. The PC global addresses
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were set above. Communication is ready.
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\subsection running_ping1 Pinging the RAVEN board from the router
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On Windows (Cygwin shell) or Linux, type
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\verbatim
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ping6 -n 5 aaaa::11:22ff:fe33:4455
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\endverbatim
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or
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\verbatim
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ping6 -s aaaa::1 aaaa::11:22ff:fe33:4455
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\endverbatim
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The router is sending 5 echo requests to the RAVEN board. The RAVEN board
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answers with 5 echo replies.
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\subsection running_ping2 Pinging the router from the RAVEN board
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To send a ping from the RAVEN to the router you need to use the
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RAVEN's joystick and LCD screen. Initially, the LCD screen should
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print CONTIKI - 6LOWPAN in a loop. You can navigate the LCD menu by
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using the small joystick just below its lower right corner. To 'ping'
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push the joystick twice to the right. The RAVEN board sends 4 echo
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requests to the router, which answers by 4 echo replies.<br>
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For more information about the LCD menu, please see \ref lcdraven.
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\subsection running_browse Browsing the RAVEN board web server
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In a Web browser, point to http://[aaaa::0011:22ff:fe33:4455].
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Then click on 'Sensor Readings'. If no temperature is displayed it
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means that you need to start the temperature update %process on the
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RAVEN. To do so you must use the RAVEN's LCD menu and
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joystick. Starting from the CONTIKI - 6LOWPAN display navigate to TEMP
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and then to SEND. You can pick either ONCE or AUTO, but in any
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case you always need to reload the webpage to see the latest temperature
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reading. <br>
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For more information about the LCD menu, please see \ref lcdraven.
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<HR>
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\section advanced Advanced use
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\subsection advanced_externalboard Using an external board for power and Debug
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To power the RAVEN boards externally and enable debug output
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on RS232, you can use the stk500 board together with the raven.
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Power:
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\li Set the 'EXT/BAT' jumper on the RAVEN board to EXT
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\li Attach pin 2 on the bottom strip to GND of your STK500
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\li Attach pin 1 on the bottom strip to VTG of your STK500
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\li Power the STK500
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Debug Connection
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\li Attach pin 4 of the leftmost I/O header to pin 'TXD' on your STK500
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\li Connect the STK500's "RS232SPARE" port to a RS232 port on a PC
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\li Connect a terminal program (e.g. hyper terminal on Windows,
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minicom on Linux) to the RS232 port on the PC at 57600 Baud,
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with parity 8N1, no flow control
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\li The raven board will output debug messages to the terminal
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\note To enable specific debugging messages, edit the source
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file you are interested in (e.g. core/net/uip-nd6-io.c for
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Neighbor Discovery messages debug) and set the macro DEBUG to 1.
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Then recompile the code, load the new binary on the board and
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restart the RAVEN.
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The following image shows this connection, with the red and black
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being VCC and GND. The green wire is debug out:
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\image html raven_detail.jpg
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\note The output to the RS232 converts will only be about
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3V, but they are expecting a signal swinging up to VTG, or by
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default 5V. You may have to set VTG to 3.3V and power the Raven
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from another source, making sure the GNDs of both the STK500
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and your external source are connected together.
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\subsection advanced_details Understanding the setup
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There is no widely available 802.15.4 and 6lowpan stack for PCs.
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As a temporary solution and to be able to connect IPv6 hosts
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such as RAVEN boards to IP networks, we implemented a "bridge"
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function on the RZ USB Stick. The RZ USB stick bridges 802.15.4
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packets to Ethernet (The Ethernet interface is emulated on the
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USB port).
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As Ethernet frames and addresses are very different
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from 802.15.4 ones, a few adjustements are needed on addresses
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and some neighbor discovery packets. As a consequence, 802.15.4
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MAC addresses configured on both the RAVEN boards and the RZ USB
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stick must have the format:<br>
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\verbatim
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x2:xx:xx:ff:fe:xx:xx:xx
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\endverbatim
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where x can take any hexadecimal value.
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Read the section below to change the MAC address on one device.
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\subsection advanced_eeprom Change a device MAC address
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You can change the MAC address of a RAVEN board or the RZ USB
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Stick by setting the 8 first bytes of the EEPROM, following
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the convention above. You can do this three ways.
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The first is to set EEPROM bytes directly in an AVR Studio project, in
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Debug mode
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\li compile the binary file for RAVEN, as explained in \ref installation
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\li Connect the JTAG pins of the JTAGICE into the JTAG connector of
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the target processor.
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\li IN AVR Studio, go to File->open, select the binary just created
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\li The Debug mode should start
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\li Click on View->memory
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\li select EEPROM in the menu, then just type in the first 8 bytes
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the target MAC address
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The second is to reprogram the whole EEPROM individually from the
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Flash and Fuses.
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\li Connect the JTAG pins of the JTAGICE into the JTAG connector of
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the target processor.
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\li In AVR Studio, click on "Tools"->"Program AVR"->"Auto Connect"
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\li Go to the "Program" tab
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\li In the "EEPROM" section, click on "Read" and save the EEPROM
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content in a file (in hex format)
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\li Edit this file with a text editor, change the value of the
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first 8 bytes, save
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\li In the "EEPROM" section, check the path to the "Input Hex file"
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is the one to the file you just modified and click on "Program".
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The third is to modify the default value in the code:
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\li Edit the file contiki-raven-main.c in the directory
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platform\\avr-raven. You will see the MAC address set in a line like:
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\code
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/* Put default MAC address in EEPROM */
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uint8_t mac_address[8] EEMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
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\endcode
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\li Change this value, recompile and reprogram the elf on the board.
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\subsection advanced_fuses Setting the fuses manually
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In case you need to reset the fuses on one AVR, do the following:
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\li In AVR Studio, click on "Tools"->"Program AVR"->"Auto Connect"
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\li Go to the "Fuses" tab
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\li In the lower part of the window, set the EXTENDED,
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HIGH, LOW fuses to the following values
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\verbatim
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0xFF, 0x99, 0xE2 for the ATmega1284P on the RAVEN board
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0xFF, 0x99, 0xE2 for the ATmega3290P on the RAVEN board
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0xFB, 0x99, 0xDE for the AT90USB1287 on the USB Stick
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\endverbatim
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\li In the same tab, Click on "Program"
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\subsection advanced_capture Observing packets with Atmel Wireless Services or Wireshark
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To view packets being sent over the air, you can use Atmel AVR
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Wireless Services in Sniffer Mode, with the RZ USB Stick. You need
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the software preinstalled on the RZ USB Stick to do this. Packets
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are sent on channel 24. Links to detailed information about
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AVR Wireless Services is provided with the RZ USB Stick.
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See the \ref usbstick documentation for more details about using Wireshark.
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\subsection adavanced_linux Programming Flash, Fuses, EEPROM from a Linux machine
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One can use avrdude to load the binaries in Linux.
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\subsection advanced_hc06 Using HC06 Header Compression Scheme
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IETF Internet Draft draft-hui-6lowpan-hc-06 defines a stateful
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header compression mechanism (called HC06) which will soon
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deprecate the stateless header compression mechanism (called
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HC1) defined in RFC4944. HC06 is much more powerfull and flexible,
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in particular it allows compression of some multicast addresses
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and of all global unicast addresses.
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Contiki is compiled by default with HC1 support. To use HC06
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instead, edit platform/xxx/contiki-conf.h (replace xxx with avr-raven,
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then avr-ravenusb.)
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and replace the line<BR>
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\code
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#define SICSLOWPAN_CONF_COMPRESSION SICSLOWPAN_COMPRESSION_HC1
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\endcode
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with
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\code
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#define SICSLOWPAN_CONF_COMPRESSION SICSLOWPAN_COMPRESSION_HC06
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\endcode
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|
Recompile and load Contiki for both the RAVEN ATmega1284P and RZ USB
|
|
Stick.
|
|
|
|
If you capture packets being sent over the air (on the 802.15.4
|
|
network), you will see that much more packets are compressed than
|
|
when HC1 is used. Overall, packets sent are much smaller.
|
|
|
|
\subsection advanced_network Building a more complete network
|
|
You can integrate the RAVEN boards and RZ USB stick to a more
|
|
complete IPv6 network by connecting the PC which you plug the RZ
|
|
USB Stick in to any IPv6 network with correct routing configured.
|
|
|
|
This way, you will be able to reach the RAVEN boards (to read
|
|
sensor data for example) from anywhere within this IPv6 network,
|
|
or even any IPv4 network if v4 to v6 translation mechanisms are
|
|
used between both networks.
|
|
|
|
You can also have several RAVEN boards in your setup. If you do so,
|
|
be sure to configure different MAC addresses on each board.
|
|
|
|
|
|
|
|
<HR>
|
|
\subsection issues Known issues
|
|
<b>RZ USB Stick Link local address not created on Linux</b><br>
|
|
|
|
When plugging the RZ USB Stick in a Linux PC, it should
|
|
automatically configure a link local address
|
|
(fe80::0012:13ff:fe14:1516/64 with default MAC address). On some Linux
|
|
distributions, it seems to fail. To check this, in a terminal,
|
|
type
|
|
\verbatim
|
|
ifconfig
|
|
\endverbatim
|
|
If the interface usb0 does not have an IPv6 address starting
|
|
with fe80::, add it manually by typing:
|
|
\verbatim
|
|
ip -6 address add fe80::0012:13ff:fe14:1516/64 scope link dev usb0
|
|
\endverbatim
|
|
|
|
<b>make version issues</b><br>
|
|
You need to use the "make" executable from WinAVR. There
|
|
are compilation issues with GNU make coming with Cygwin.
|
|
|
|
<HR>
|
|
\section annex Annex
|
|
|
|
\subsection annex_contikiDocs Annex - Additional Documentation
|
|
|
|
\li USB Stick Platform: \ref usbstick
|
|
\li User interface on Raven:\ref lcdraven
|
|
\li Wireless libraries for Atmel Radio: \ref wireless
|
|
\li MAC for Atmel Radio: \ref macdoc
|
|
\li IPv6 Implementation: \ref uip6
|
|
\li 6lowpan Implementation: \ref sicslowpan
|
|
|
|
\subsection annex_hardware Annex - Atmel products detailed documentation
|
|
<b>RAVEN evaluation and starter kits</b><br>
|
|
\li ATAVRRZRAVEN evaluation kit:
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=4291
|
|
\li AVR RAVEN board:
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=4395
|
|
\li RZ USB Stick:
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=4396
|
|
|
|
<b>RAVEN AVRs and Wireless transceivers</b><br>
|
|
\li ATmega 1284P MegaAVR:
|
|
http://www.atmel.com/dyn/products/product_card.asp?part_id=4331
|
|
\li ATmega 3290P LCD AVR:
|
|
http://www.atmel.com/dyn/products/product_card.asp?part_id=4059
|
|
\li AT90USB1287 USB AVR:
|
|
http://www.atmel.com/dyn/products/product_card.asp?part_id=3875
|
|
\li AT86RF230 802.15.4 Transceiver:
|
|
http://www.atmel.com/dyn/products/product_card.asp?part_id=3941
|
|
|
|
<b>Additional hardware</b><br>
|
|
\li ATSTK500 evaluation kit
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2735
|
|
\li ATEVK1100 evaluation kit
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=4114
|
|
\li AVR JTAGICE mkII debugging platform
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=3353
|
|
|
|
<b>Buying the hardware (part number ATAVRRZRAVEN and ATJTAGICE2)</b><br>
|
|
\li For the U.S. you can use http://www.atmel.com/contacts/distributor_check.asp
|
|
\li Digikey http://www.digikey.com/
|
|
\li Spoerle http://www.spoerle.com/en/products
|
|
\li Lawicel http://www.lawicel-shop.se
|
|
|
|
|
|
\subsection annex_software Software setup details
|
|
<b>Contiki</b><br>
|
|
Download Contiki code from http://www.sics.se/contiki and
|
|
extract the source code. We assume the directory you extract
|
|
to is c:/contiki.
|
|
|
|
<b>Cygwin</b><br>
|
|
\li Download Cygwin from http://www.cygwin.com
|
|
\li Launch the setup executable
|
|
\li Follow the instructions until you reach the Window "Cygwin
|
|
Setup - Select Packages"
|
|
\li In this window, expand the "Devel" item and
|
|
|
|
<b>AVR Studio</b><br>
|
|
Download and install AVR Studio from
|
|
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725
|
|
|
|
<b>WinAVR</b><br>
|
|
WinAVR which contains a number of AVR tools
|
|
such as the avr-gcc compiler.
|
|
|
|
Download and install WinAVR latest version from
|
|
http://winavr.sourceforge.net/
|
|
|
|
<b>JTAGICE mkII Drivers</b><br>
|
|
Plug the JTAGICE mkII in a USB port of a windows PC. Follow the
|
|
indications to install the Windows drivers automatically.
|
|
|
|
|
|
*/
|
|
/** @} */
|
|
/** @} */
|