Xubuntu 10.04, SVN T2.1, Step by step

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1) OS Install.

Install the OS, Ubuntu (Xubuntu uses less resources) on the box. Recommended is Xubuntu 8.04 (LTS). A simple install is fine and will take less time. Current ISO install images can be found at 8.04 ISO.


When the install is complete, boot the system, and use Synaptic or other package manager to make sure the following packages are installed: 

     subversion
     cvs
     build-essentials
     stow
     automake
     autoconf
     autobook
     libtool


2) TinyOS 2.x tree checkout

Check out the current TinyOS 2.x tree. We use the head of the T2 development tree which is a little dangerous so pay attention to what comes in with an update. <t2_base> refers to the root of the T2 tree. For example: /home/joe/t2_base 


  a) cd <t2_base>
  b) mkdir <t2_cur> (one suggestion is to use t2_<date_stamp> and then ln -s t2_<date_stamp> t2_cur)
  c) cd t2_cur
  d) cvs -z3 -d:pserver:anonymous@tinyos.cvs.sourceforge.net:/cvsroot/tinyos co -P tinyos-2.x


This will pull the current T2 CVS source tree starting at /home/joe/t2_cur/tinyos-2.x.


3) Install TinyOS toolset (msp430, avr)

We want the tinyos toolset for the msp430 (telosb) and the avr (micaz, mica2). Debian packages are available from Stanford.

Modify the repository list using Applications->System->Software_Sources to include: 

  	  http://tinyos.stanford.edu/tinyos/dists/ubuntu/ hardy main


Install the following packages: 

          avr-binutils-tinyos
          avrdude-tinyos
          avr-gcc-tinyos
          avr-libc-tinyos
          avr-tinyos
          avr-tinyos-base
          deputy-tinyos
          msp430-binutils-tinyos
          msp430-gcc-tinyos
          msp430-libc-tinyos
          msp430-tinyos
          msp430-tinyos-base
          nesc
          tinyos
          tinyos-2.1
          tinyos-base
          tinyos-required
          tinyos-tools
          tinyos-optional (but doesn't work) (for gdb and msp430-jtag)


4) Modify PATH and LD_LIBRARY_PATH

Make sure your PATH and LD_LIBRARY_PATH include /opt/msp430 and /usr/msp430 as appropriate. 

  M1="/opt/msp430"
  M2="/usr/msp430"
  export PATH="$PATH:$M1/bin:$M2/bin"
  export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$M1/lib:$M2/lib:/usr/local/lib"


5) Set up build environment settings

The following environment variables must be set to build. 

   TOSROOT
   TOSDIR
   MAKERULES
   CLASSPATH
   TOSMAKE_PATH

   for example:  note: <t2_base> := ~/t2_base
 
 	#!/bin/sh
 
 	MOTECOM="serial@/dev/ttyS0:telosb"
 
 	TOSROOT=~/t2_base/t2_cur/tinyos-2.x
 	TOSDIR=$TOSROOT/tos
 
 	MAMMARK_DIR="/home/joe/t2_base/t2_mm3"
 	TOSMAKE_PATH="$TOSMAKE_PATH $MAMMARK_DIR/support/make"
 
 	M1="/opt/msp430"
 	M2="/usr/msp430"
 	PATH="$PATH:$M1/bin:$M2/bin"
 	LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$M1/lib:$M2/lib:/usr/local/lib"
 
 	MAN_PATH="$MAN_PATH:$M1/man:$M2/man"
 
 	MAKERULES=$TOSROOT/support/make/Makerules
 	CLASSPATH=.:$TOSROOT/support/sdk/java/tinyos.jar
 
 	PYTHONPATH=$TOSROOT/support/sdk/python:$PYTHONPATH
 	PYTHONPATH=$M1/lib:$M1/bin:$M2/lib:$M2/bin:$PYTHONPATH
 	PYTHONPATH=$M1/lib/python2.3/site-packages:$PYTHONPATH
 	PYTHONPATH=$M2/lib/python2.3/site-packages:$PYTHONPATH
 
 	#LIBMSPGCC_PATH=$M1/lib:$M2/lib
 
 	export MAKERULES TOSDIR TOSROOT CLASSPATH PYTHONPATH LD_LIBRARY_PATH
 	export LIBMSPGCC MOTECOM MAMMARK_DIR TOSMAKE_PATH


6) TI USB Jtag driver fix

[Needs Work], Where to grab the driver code from.

The TI USB JTAG pod is used for debugging MSP430 based motes such as the TelosB. If you aren't using the pod you don't need to fix the driver.

Initial Ubuntu 8.04 has a version of the ti_usb_3410_5052 driver (used to talk to the MSP430 jtag pod) that is slightly modified from the standard linux kernel available at kernel.org. The standard kernel's version of the ti serial driver works so we will just reinstall that. 

 a) Expand t2_mm3/Added_Bits/mspfet_driver.zip.  (This will create the directory
    mspfet_driver).
 b) mspfet_driver/readme.txt has more information.  Read them.  It is good.
 c) make
 d) temporarily install the new driver.

     /build/buildd/linux-2.6.24/drivers/usb/serial/usb-serial.c: USB Serial support registered for TI USB 3410 1 port adapter
     /build/buildd/linux-2.6.24/drivers/usb/serial/usb-serial.c: USB Serial support registered for TI USB 5052 2 port adapter
     usbcore: registered new interface driver ti_usb_3410_5052
     /home/joe/Desktop/mspfet_driver/ti_usb_3410_5052.c: TI USB 3410/5052 Serial Driver v0.9
     usb 1-2: new full speed USB device using ohci_hcd and address 2
     usb 1-2: configuration #1 chosen from 1 choice
     ti_usb_3410_5052 1-2:1.0: TI USB 3410 1 port adapter converter detected
     usb 1-2: reset full speed USB device using ohci_hcd and address 2
     usb 1-2: device firmware changed
     ti_usb_3410_5052: probe of 1-2:1.0 failed with error -5
     usb 1-2: USB disconnect, address 2
     usb 1-2: new full speed USB device using ohci_hcd and address 3
     usb 1-2: configuration #1 chosen from 2 choices
     ti_usb_3410_5052 1-2:1.0: TI USB 3410 1 port adapter converter detected
     ti_usb_3410_5052: probe of 1-2:1.0 failed with error -5
     ti_usb_3410_5052 1-2:2.0: TI USB 3410 1 port adapter converter detected
     usb 1-2: TI USB 3410 1 port adapter converter now attached to ttyUSB0

 e) run "lsusb" which should look something like the following:
 
        m-tag (19): lsusb
        Bus 003 Device 001: ID 0000:0000
        Bus 002 Device 001: ID 0000:0000
        Bus 001 Device 005: ID 0451:f430 Texas Instruments, Inc. MSP-FET430UIF JTAG Tool
        Bus 001 Device 001: ID 0000:0000
        m-tag (20):



 f) Make our new version of the ti serial driver permanent.
    1st make a back up of the originally installed driver
    (/lib/modules/<kernel version>/kernel/drivers/usb/serial/ti_usb_3410_5052.ko)
 
    ie:
     modprobe -r ti_usb_3410_5052
     cd /lib/modules/2.6.24-19-generic/kernel/drivers/usb/serial
     cp ti_usb_3410_5052.ko ti_usb_3410_5052.ko_old
     cp <t2_base>/t2_mm3/Added_Bits/mspfet_driver/ti_usb_3410_5052.ko .
     modprobe ti_usb_3410_5052

NOTE: It is possible for the correct driver to get replaced if the system is updated. This occurs when any kernel packages are updated. When this occurs the permanent copy must be done again.


7) USB Jtag, /dev/ttyUSBn config 2, permissions fix

[Needs work], Where to grab the driver from

We also want to install a udev rule that will correctly enable configuration 2 of the jtag pod (this makes it work). We also modify the permission rule so that group user can access the jtag pod. Files exist in the msp430fet_driver directory. 

  a) Install the 40-ti-usb-3410-5052.rules into /etc/udev/rules.d.
 
     cp 40-ti-usb-3410-5052.rules /etc/udev/rules.d
     mkdir -p /etc/udev/scripts
     cp msp430_init /etc/udev/scripts
 
  b) make the following change in /etc/udev/rules.d/40-permissions.rules
 
  change:
 
      SUBSYSTEM=="tty",                        GROUP="dialout"
 
  to:
 
      SUBSYSTEM=="tty",                        GROUP="users", MODE="0660"
 
 
  Make sure that any users that will be using the device are in group "users".


8) Install gdb and msp430-jtag from temporary location

[Needs work] where to stash the packages. 

  *** These need to be put into a hardy debian package, they will be ***
  *** included in the tinyos-optional (msp430 flavor)                ***

  a) cd <t2_base>.  (remember to be enabled, sudo)
  b) cd t2_mm3/Added_Bits/tools
  c) make install

  This should install into /opt/msp430/bin gdb.430 (the msp430-gdb debugger),
  msp430-jtag and some other tools.  Appropriate libraries are installed into
  /opt/msp430/lib.


9) Build SerialForwarder and libmote library. 

   Build the serial forwarder and associated library (also includes direct serial access)

     cd $TOSROOT/support/sdk/c/sf
     ./bootstrap
     ./configure --prefix=/opt/stow/sf_c
     make

     sudo -s
     make install

     ("sudo make install" for some reason doesn't pick up the value of $TOSROOT properly so
     the make install doesn't work write unless you are root first)

     This will install bin/{sf, sflisten, sfsend, seriallisten, serialsend}, include/{message.h,
     serialsource.h, sfsource.h}, and lib/libmote.a.  These will be installed into /opt/stow/sf_c.



  Install into /opt/{bin,include,lib} using stow.

     cd /opt/stow
     stow sf_c


10) Using the serialforwarder/seriallistener 

   a) make sure that tinyos.jar has been built.  It should live in $TOSROOT/support/sdk/java/tinyos.jar
   b) to rebuild:
 
      cd $TOSROOT/support/sdk/java/
      make tinyos.jar
 
   c) Install TOSComm JNI support if needed.  Did java bitch about not finding TOSComm JNI support?
 
      assuming tinyos-tools is installed run:
 
      tos-install-jni
 
   d) To watch raw bytes coming from the serial port
 
      Make sure CLASSPATH includes $TOSROOT/support/sdk/java/tinyos.jar, ie:
 
          CLASSPATH=.:/home/joe/t2_base/t2_cur/tinyos-2.x/support/sdk/java/tinyos.jar

execute: 

      java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB0:telosb


And you should see packets that look something like this: (depends on what the mote is sending) 

           00 FF FF 00 00 12 00 21 00 12 07 09 00 0C 9E 23 00 0C 9E 30 F6 2C FF D7 FF FF
           00 FF FF 00 00 12 00 21 00 12 07 05 00 0C 9E 24 00 0C 9E 3F E5 AF B1 6F 9E D4
           00 FF FF 00 00 0E 00 21 00 0E 07 06 00 0C 9E 33 00 0C 9E 46 78 80
           00 FF FF 00 00 0E 00 21 00 0E 07 07 00 0C 9E 33 00 0C 9E 52 FF FF
           00 FF FF 00 00 10 00 21 00 10 07 08 00 0C 9E 33 00 0C 9E 61 FF FF FF FF
 
           00 FF FF 00 00 10 00 21 00 10 07 08 00 0C 9E 33 00 0C 9E 61 FF FF FF FF
           ^  ^     ^     ^  ^  ^  ^     ^  ^  | -- sensor 8 data
           |  |     |     |  |  |  |     |  |- sensor id
           |  |     |     |  |  |  |     |- sensor data type
           |  |     |     |  |  |  |-- length of data block
           |  |     |     |  |  |-- AM type MM3_DATA
           |  |     |     |  |-- AM group
           |  |     |     |-- serial length
           |  |     |-- src addr           
           |  |-- dest addr
           |-- dispatch byte - 0 says AM

If you define MOTECOM you won't need to specify the -comm parameter. ie: 

      MOTECOM=serial@/dev/ttyUSB0:telosb
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