Xubuntu 10.04, SVN T2.1, Step by step

1) OS Install.

Install the OS, Ubuntu (Xubuntu uses less resources) on the box. Recommended is Xubuntu 10.04 (LTS). A simple install is fine and will take less time. Current ISO install images can be found at 10.04 ISO.

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

 autobook  autoconf  automake  build-essentials
 libc6-dev  libtool  openssh-client  openssh-server 
 subversion  stow
 
 git-core git-doc gitk gitmagic

 sudo -s
 apt-get install autobook autoconf automake build-essentials
 apt-get install libc6-dev libtool openssh-client openssh-server 
 apt-get install subversion stow
 apt-get install git-core git-doc gitk gitmagic

2) 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 lucid main      <- if using Stanford

or

 echo "deb http://tinyos.stanford.edu/tinyos/dists/ubuntu lucid main" >> /etc/sources.list

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

 sudo -s
 apt-get update
 apt-get install avr-binutils-tinyos  avrdude-tinyos  avr-gcc-tinyos  avr-libc-tinyos
 apt-get install avr-tinyos  avr-tinyos-base  deputy-tinyos  msp430-binutils-tinyos
 apt-get install msp430-gcc-tinyos  msp430-libc-tinyos  msp430-tinyos  msp430-tinyos-base
 apt-get install nesc  tinyos  tinyos-2.1  tinyos-base  tinyos-required  tinyos-tools

3) TinyOS 2.x tree checkout

Check out the current TinyOS 2.x tree. We use the head of the T2 development tree hosted at Google Code. This is a bit 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 or /home/joe/w (for working).

  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) svn checkout http://tinyos-main.googlecode.com/svn/trunk/ tinyos-2.x

This will pull the current SVN T2 source tree into /home/joe/t2_cur/tinyos-2.x.

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
 
 	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) mspdebug for debugging with TI JTAG debugging probe (msp430 only)

mspdebug is an open source program that interfaces to the TI UIF JTAG pod for debugging msp430 cpus. It has a user interface as well as a remote gdb debugging server.

mspdebug is available as a Ubuntu package for natty (11.04) and later releases. And can be downloaded and built for 10.04 from its git repository mspdebug.git.sourceforge.net/gitroot/mspdebug/mspdebug

The following additional packages are needed:

   libusb libusb-dev libreadline-dev libreadline6-dev

 sudo apt-get install libusb libusb-dev libreadline-dev libreadline6-dev
 cd ~/mm
 mkdir Others
 cd Others
 git clone git://mspdebug.git.sourceforge.net/gitroot/mspdebug/mspdebug
 cd mspdebug
 make
 sudo make install

mspdebug is installed into /usr/local. This path must be included in your $PATH variable.

7) 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

8) 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