Tmote_invent

User’s Manual
2
© 2006 Moteiv Corporation
Table of Contents
Tmote Tools Installation............................................................................3
Tmote Invent Applications.......................................................................10
Uninstalling and Upgrading.....................................................................20
Uninstalling Cygwin.........................................................................20
Uninstalling TinyOS.........................................................................20
Upgrading Cygwin...........................................................................21
Upgrading TinyOS...........................................................................21
Tmote Invent Hardware...........................................................................22
Module overview .............................................................................22
Mechanical characteristics..............................................................23
Schematics......................................................................................23
Interface to Tmote Sky....................................................................24
Power Supply ..........................................................................................24
Schematic........................................................................................25
Battery characteristics.....................................................................25
Light sensor.............................................................................................27
Electrical and optical characteristics ...............................................27
Schematic........................................................................................27
Theory of operation.........................................................................28
Accelerometer .........................................................................................29
Schematic........................................................................................29
Electrical and mechanical characteristics .......................................30
Microphone..............................................................................................33
Electrical and acoustic characteristics ............................................33
Schematic........................................................................................34
Speaker...................................................................................................39
Schematic........................................................................................39
Electrical and acoustic characteristics ............................................39
Tmote Invent Software............................................................................43
Sensor Drivers.................................................................................43
Communications..............................................................................45
Useful TinyOS Components............................................................48
Notes.......................................................................................................49
General Information ................................................................................50
Document History............................................................................50
Address Information ........................................................................50
Headquarters...................................................................................50

3
Tmote Tools Installation
NOTE: If you have previously installed TinyOS or Cygwin, either from a
previous Moteiv installer, from another vendor’s installer, or on your own
accord, we recommend you remove all previous TinyOS and Cygwin in-
stallations before proceeding. See page 20 for more information.
Please place the Tmote Tools CD into your computer’s CD-ROM drive.
After a few moments, the Moteiv Tmote Tools Setup Wizard will display:
Please click “Next”.
4
Moteiv’s software is distributed under the Moteiv Public Software Li-
cense. Accept the terms of the license agreement and click “Next”.
Please select the “Typical” installation option.

5
Simply click “Install”.
.
The Moteiv Tmote Tools installer will begin installation and configuration
of your system.
6
First, the Cygwin Setup window will appear and will take a few minutes to
install all of the necessary packages.
After Cygwin Setup is complete, the Java platform is installed. Accept
the Sun Microsystems license agreement and click “Next”.

7
Choose additional Java installation options if desired, and then click
“Next”.
The Java installer will proceed to install and configure Java.
8
Upon completion of the Java installation, click “Finish”.
After Java is complete, the Moteiv Tmote Tools Setup Wizard will install
and configure the tools required to develop and run applications using
the TinyOS open source operating system. Please be patient as all of
the files are installed and server tools are compiled.

9
Following installation of the TinyOS tools, the Moteiv Tmote Tools Setup
Wizard installs and configures Boomerang by Moteiv. This is Moteiv’s
distribution of the TinyOS operating system that includes extended API
support, example applications, and additional development tools.
Congratualations! Installation of Moteiv’s Tmote Tools is complete!
Please proceed to the next section to start building applications with
Moteiv’s Tmote devices.
10
Tmote Invent Applications
Now that Moteiv’s Tmote Tools and the TinyOS development environ-
ment are installed on your system, let’s explore wireless sensor network-
ing with Tmote Invent.
Charging indicator
Reset button
User button
Speaker
Microphone
Light sensor
Headphone jack
LEDs
Strap hook
Remove the Tmote Invent units from the packaging. Turn the units on by
pressing the Reset button, shown in the picture above. Plug one of the
units into your USB port.
If Windows displays the “Found New Hardware Wizard”, select “Install
from a list or specific location (Advanced)” then “Next”. When prompted,
select only “Include this location in the search” then click “Browse”. Se-
lect the “USB Serial Driver” folder from the Tmote Tools CD, click “OK”,
then “Next”. Windows installs the driver files, completing the installation
for Tmote as a “USB Serial Port”.

11
NOTE: To turn on Tmote Invent, press the Reset button. The LEDs will
perform a 3-2-1 countdown indicating that the device is on. To turn off
Tmote Invent, press and hold the User button. While holding the User but-
ton, press and release the Reset button. The LEDs on Tmote Invent with
fade from full brightness to off, indicating the device has powered down.
Now that your Tmote Invent units are on and one is connected to the PC,
run the Moteiv Trawler application. Trawler is installed on your desktop
by the Moteiv Tmote Tools Setup Wizard.
When Trawler starts, it will begin the process of establishing an ad-hoc
mesh network and display the network topology on the screen.
12
Be patient, it may take several minutes for the entire network to come
online and establish stable, reliable routes to the Tmote Invent device
connected to your PC.
Trawler includes a number of features to assist with standard data collec-
tion applications. By clicking on the “Sensor readings” tab, Trawler dis-
plays the temperature values coming from the nodes in the network.
Zoom in to the data by pressing the “Zoom In” and “Zoom Out” buttons.
You can scroll up, down, left, and right using the arrow buttons on the
bottom right of the display. You can also use your mouse to select a
region on the graph—Trawler will zoom in to display the data selected.

13
Now, click on the “links” tab. This display assists with network commis-
sioning—you can determine if the link quality between nodes is ex-
tremely low, you may need to move the node or add additional nodes to
the network that participate in the mesh.
You can log the data readings to a file by clicking on “Log Packets” in the
“Vizualization Controls” sidebar. If you cannot find the “Vizualization
Controls”, minimize Trawler. Sometimes the controls are hidden by the
main Trawler window.
14
Tmote Invent includes a few other applications, pre-installed on the
Tmote Invent devices. To access these applications, first open a cygwin
shell by clicking on the Cygwin icon installed on the Windows Desktop.
First, find out which port Tmote Invent is connected. Simply type
motelist on at Cygwin command prompt.
In this example, Tmote Invent is connected to the PC using COM4, with
serial number M4A663KN. You will need to know which communication
port is assigned to your Tmote Invent unit in order to communicate with
it; use the motelist command after connecting each Tmote Invent to
identify its communications port.
To query the other applications pre-installed on Tmote Invent, run the
Deluge application using the following command at the Cygwin com-
mand line:
Where you must replace COM4 with the communications port returned by
the motelist command in the step above. Deluge returns a descrip-
tion of the images pre-installed on Tmote Invent, as shown on the next
page.
$ motelist
Reference CommPort Description
---------- ---------- ------------------------------
M4A663KN COM4 tmote invent
MOTECOM=serial@COM4:telos java net.tinyos.tools.Deluge -p

15
Pinging node ...
Connected to Deluge node.
Getting data for image [6] ------------------------------------
--------------
Currently Executing:
Prog Name: Delta
Compiled On: Mon Feb 27 16:05:46 PST 2006
User Hash: 0xcd45b685
Stored Image 0 - (Golden Image)
Prog Name: Delta
Platform: tmoteinvent
User ID: sentry
Hostname: TestBox2
Num Pages: 33/33
Stored Image 1
Prog Name: DeltaLowpower
User ID: sentry
Hostname: TestBox2
Num Pages: 37/37
Stored Image 2
Prog Name: Ditto
User ID: sentry
Hostname: TestBox2
Num Pages: 36/36
Stored Image 3
Prog Name: Oscilloscope
User ID: sentry
Hostname: TestBox2
Num Pages: 24/24
Stored Image 4
Prog Name: N/A
Compiled On: N/A
Platform: N/A
User ID: N/A
Hostname: N/A
User Hash: N/A
Num Pages: N/A
Stored Image 5
Prog Name: N/A
Compiled On: N/A
Platform: N/A
User ID: N/A
Hostname: N/A
User Hash: N/A
Num Pages: N/A
--------------------------------------------------
DONE
16
Tmote Invent is pre-installed with four applications before leaving the
factory. Here is a description of each application:
Application Description
Delta Standard mesh networking application visualized using
Moteiv Trawler.
/opt/moteiv/apps/Delta
DeltaLowpower The same as above, except that DeltaLowpower runs at
a 5% duty cycle instead of 100%, significantly reducing
power consumption.
/opt/moteiv/apps/Delta
Ditto Application that records 1 second of sound from the
user, disseminates it to all nodes in the network, and
any Tmote Invent unit can play back the recording.
/opt/moteiv/apps/invent/Ditto
Oscilloscope Application that samples all of the sensors on Tmote
Invent and broadcasts the readings that are displayed
by a PC.
/opt/moteiv/apps/Oscilloscope
All of your nodes are currently running Delta, but with a simple command
from the PC, they can switch to running Ditto. To switch your nodes from
running Delta to Ditto, run the follow program (as one line of text) on the
Cygwin command line:
MOTECOM=serial@COM4:telos
java net.tinyos.tools.Deluge –r –in=2
This instructs the network to reboot to image number 2.
After the nodes reboot, double click the user button on any Tmote Invent
device. The mote begins a 3-2-1 countdown by flashing the red LED.
When the LED turns on, Tmote Invent is recording sound using the built-
in microphone. After recording, Tmote Invent disseminates the recording
to all neighboring nodes. During dissemination, the blue LED flashes.
Once the blue LED stops flashing, press the user button on any Tmote
Invent. The sound is played back through the Tmote Invent speaker.
Repeat the process as many times as you want with any number of
motes; they will continue to disseminate the recordings and play back the
most recent sound sample.

17
After running Ditto, reboot the Tmote Invent network to the Oscilloscope
application. Oscilloscope samples all of Tmote Invent’s sensors and
sends them over the radio for the PC to display.
To reboot to Oscilloscope, issue the following command in Cygwin:
MOTECOM=serial@COM4:telos
java net.tinyos.tools.Deluge –r –in=3
After rebooting the nodes to Oscilloscope, compile an application and
install it on the mote. In Cygwin, change to the
/opt/moteiv/apps/TOSBase directory. To compile an application for
Tmote Invent, issue the following command:
Upon successful compilation, your Cygwin window should display the
following output, ending with:
compiled TOSBase to build/tmoteinvent/main.exe.
Now install TOSBase to the node connected to the PC with the following
command:
make tmoteinvent
$ make tmoteinvent
mkdir -p build/tmoteinvent
compiling TOSBase to a tmoteinvent binary
[verbose output omitted]
C:/cygwin/opt/moteiv/tos/lib/CC2420Radio/RadioCRCPack
et.nc:49:2: warning: #warning Using old communication
interfaces; recommend switch to SP
C:/cygwin/opt/moteiv/tos/lib/CC2420Radio/TranslateBar
eSendMsgC.nc:29:2: warning:
#warning Using old communication interfaces; recom-
mend switch to SP
compiled TOSBase to build/tmoteinvent/main.exe
15422 bytes in ROM
3919 bytes in RAM
msp430-objcopy --output-target=ihex
build/tmoteinvent/main.exe
build/tmoteinvent/main.ihex
writing TOS image
make tmoteinvent reinstall,1
18
where “1” is the network address assigned to the node at installation.
TOSBase is a simple base station application that forwards all messages
from the radio over the USB port to the PC. This mote will be used to
read the oscilloscope messages sent by other nodes.
To view the Oscilloscope readings from the other Tmote Invent units,
start the Oscilloscope java application. Use motelist if necessary to de-
termine the communications port assigned to the Tmote Invent unit run-
ning TOSBase.
When the Oscilloscope application executes (as shown on the next
page), it displays the data readings from each of the connected motes.
The data channels are assigned as follows, and all of the values dis-
played are raw ADC units. To convert to engineering units, see the
README.TmoteInvent document in apps/Oscilloscope.
Channel 0: Photo
Channel 1: Accelerometer X-Axis
Channel 2: Accelerometer Y-Axis
Channel 4: InternalTemperature
Channel 5: InternalVoltage
After successfully compiling TOSBase and installing it on a node, you
can reset all of your Tmote Invent devices back to their original factory
image. The factory image, stored in Deluge image slot 0, can only be
changed when Tmote Invent is connected directly to the PC.
To return to the factory image, press and release the reset button three
times in rapid succession. The node will blink all LEDs three times to
acknowledge your command, then the LEDs will flash as the factory im-
age is reloaded into program flash. Finally, Tmote Invent will count down
in the same manner as when the node is first turned on, and it will begin
running the Delta application. To view readings from Delta, return to
page 10 and run the Trawler application.
MOTECOM=serial@COM4:tmote
java com.moteiv.oscope.oscilloscope

19
20
Uninstalling and Upgrading
If you have previously installed TinyOS or Cygwin, either from a previous
Moteiv installer, from another vendor’s installer, or on your own accord,
we recommend you remove all previous TinyOS and Cygwin installa-
tions before proceeding.
Uninstalling Cygwin
Cygwin provides no method for convenient uninstall. The following steps
are usually sufficient to remove Cygwin from your system:
• Close all Cygwin applications and services
• Delete or rename the following keys in the registry by invoking
RegEdit or RegEdt32
o HKEY_CURRENT_USERSoftwareCygnus Solutions
o HKEY_LOCAL_MACHINESOFTWARECygnus Solutions
• Delete or rename your Cygwin install directory, which defaults to
c:cygwin
Uninstalling TinyOS
If you installed TinyOS with an installation utility, just run its associated
uninstaller.
If not, you must manually uninstall any “tinyos”, “nesc”, and “msp430”
RPM’s. Discover which RPM’s are installed by starting a Cygwin shell
and running the command “rpm -qa”. Remove packages with the com-
mand “rpm --erase --nodeps [package1] [package2] […]”.
Here is a sample list of RPM’s that may be installed, though the particu-
lar packages and versions installed on your computer may differ:
tinyos-tools-1.2.1-3
msp430tools-binutils-2.16-20050607
make-3.80tinyos-1
msp430tools-python-tools-1.0-1
tinyos-javacomm-1.0.0-1
tinyos-moteiv-2.0.1-1
nesc-1.2.4-1
msp430tools-base-0.1-20050607
msp430tools-gcc-3.2.3-20050607

21
msp430tools-libc-20050308cvs-20050608
mspgcc-win32tinyos-20041204-2
tinyos-1.1.15Dec2005cvs-1
Upgrading Cygwin
Moteiv only supports the version of Cygwin installed by Moteiv Tmote
Tools. However, any version of Cygwin installed or updated since De-
cember 2004 should be compatible, although Moteiv does not support
user-installed Cygwin installations. The following Cygwin packages are
installed by the Moteiv Tmote Tools CD, and are the minimum required
to install TinyOS and its related tools:
Upgrading TinyOS
Moteiv Tmote Tools installs new versions of the compilers and tools used
by TinyOS. You may be able to directly upgrade an existing TinyOS
installation using the Moteiv Tmote Tools CD, although you will be on
your own if something does not work.
ash autoconf autoconf-devel autoconf-stable automake auto-
make-devel automake-stable
base-files base-passwd bash binutils bison bzip2
crypt ctags cvs cygipc cygrunsrv cygutils cygwin
diffutils
editrights emacs expat
file fileutils findutils flex
gawk gcc gcc-core gcc-g++ gcc-mingw gcc-mingw-core gcc-
mingw-g++ gdb gdbm gettext gperf grep groff gzip
less libbz2_1 libcharset1 libdb4.2 libgdbm libgdbm-devel
libgdbm3 libgdbm4 libgettextpo0 libiconv libiconv2 libintl1
libintl2 libintl3 libncurses5 libncurses6 libncurses7
libncurses8 libpcre libpcre0 libpopt0 libreadline4 libread-
line5 libreadline6 login
m4 make man mingw-runtime minires mktemp more
nano ncurses
openssh openssl
patch patchutils perl perl_manpages postgresql python
rcs readline rpm rpm-build rpm-doc rxvt
sed sh-utils
tar tcltk tcsh termcap terminfo texinfo textutils time
unzip
vim
w32api wget which
zip zlib
22
Tmote Invent Hardware
Tmote Invent builds on the Tmote Sky platform by adding a number of
sensors used in common applications of WSN: the device can sense
light, temperature, acceleration, and sound. Tmote Invent is equipped
with a full dynamic range speaker that allows for reproduction of voice-
quality sounds. The device integrates a high capacity lithium ion battery
that can be recharged via USB. Tmote Invent also supports a number of
interactions with a user via a programmable user button and status
LEDs.
Module overview
Charging indicator
Reset button
User button
Speaker
Microphone
Light sensor
Headphone jack
LEDs
Strap hook
Figure 1 : Tmote Invent components

23
Mechanical characteristics
All dimensions are in inches.
Schematics
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24
Interface to Tmote Sky
Tmote Invent uses Moteiv’s popular Tmote Sky module for communica-
tion and computation. Tmote Invent relies extensively on I2C bus for
control of different sensor subcircuits. Three types of control are pro-
vided:
• I2C-activated GPIO lines – they are used throughout Tmote Invent
for power and shutdown of different subcircuits
• I2C-controlled potentiometers – these are used for control of various
aspects of the analog signal chain, such as adjusting amplifier char-
acteristics and signal thresholds
• I2C LED controller is used to actuate the LEDs visible from outside
the package.
Tmote Invent uses 4 analog channels of the Tmote Sky connector for
sensor data: two of these channels are dedicated to the accelerometer,
one to the photo sensor, and one to the microphone. Two interrupt lines
are used for analog event detection on the microphone and the acceler-
ometer; two additional lines are used to bring the interrupts to the user
accessible buttons. Finally, the speaker is driven by a single DAC signal.
For more information on Tmote Sky, please visit Moteiv’s website at
http://www.moteiv.com.
Power Supply
Tmote invent is equipped with a lithium ion battery that is recharged
when the device is plugged into a USB port. The battery provides a rela-
tively flat discharge profile, 750 mAh capacity and 500 charge cycles.
When the device is connected to a USB port, an indicator light on the left
side of Tmote Invent indicates the charging status: red indicates charg-
ing, green indicates a fully charged. A full charge cycle takes about 10
hours.

25
Schematic
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Battery characteristics
Parameter Value Units Notes
Voltage range 3.0-4.2 V
Average voltage 3.7 V
Nominal capacity 750 mAh C/5 discharge, 25 °C
Max. discharge rate 750 mA continuous
Weight 16.5 g
Self discharge <10 %/month
Operating temperature -20 to 60 °C
Storage temperature -20 to 60 °C
Cycle life >500 150mA discharge to
80% initial capacity
26
Figure 2: Rechargeable battery characteristics.
Tmote Invent is equipped with a lithium ion rechargeable battery. Figure
2 shows the various characteristics of the battery, which is rated to hold
80% of its initial capacity for over 500 cycles. The voltage ranges be-
tween 3.0 and 4.2V: the voltage region from 85% of remaining capacity
to about 95% of remaining capacity is relatively flat as the voltage falls
from 3.9V to 3.6V. The battery voltage may have a significant impact on
the sensor performance, the user may need to consider whether the im-
pact of this 10% variation is significant. The battery voltage will also
change based on temperature, and the change is greater at small re-
maining capacities. When the device is plugged into the USB, the battery
is charged at a rate of 80 mA; the charge conditioning is controlled via a
dedicated battery charger chip, the MAX 1555. When Tmote Invent is
powered via USB, the supply voltage to Tmote Invent is 3V. When the
device is unplugged from the USB, occasionally the voltage transients
may lead to a brown-out reset of the device.

27
Light sensor
Tmote Invent incorporates a high dynamic range light sensor that pro-
vides usable signal in both indoor and outdoor conditions. The spectral
response is close to that of a human eye, and varies little across light
sources with constant illuminance but variable color temperature. The
light sensor may be used for light level measurements, lighting control,
as well as for user input.
Electrical and optical characteristics
Spectral response range 320-820 Nm
Peak sensitivity 560 Nm
Photocurrent 0.3 mA 100 lx illumination, 2856K
Resolution 8.2*10
-6
lx
Power dissipation 75 mW Max, 5V, bright sunlight
Operating temperature -30 to +85 °C
Storage temperature -45 to +85 °C
Schematic
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28
Theory of operation
The photo-sensing IC integrates two active areas on the chip. One area
responds to the visible and near infrared segment of the spectrum and is
used for signal detection. The second area only responds to infrared
light, and is used for output signal correction. The difference between
these two signals is equal to almost exactly the spectrum visible to a
human eye. That difference is amplified by an internal current amplifier;
the resulting signal is comparable to those from phototransistors. The
output current is run through an I2C-controlled variable resistor. By
changing the value of that resistor, the user can adjust the load on the
circuit and adjust the voltage output that is measured by the system.
The resistor has 256 equally spaced settings that take on values from 0
to 10KOhms. To obtain the photo current in mA from the ADC reading
and the tap of the potentiometer, the following formula should be used:
tap
l
P
ADCI
⋅
⋅=
160
5.1
where the ADC is the number obtained from the onboard analog to digi-
tal converter (a number between 0 and 4095), and Ptap is the tap setting
of the variable resistor (a number between 0 and 255). When the ADC
count is low, user software should increase the tap of the variable resis-
tor, thereby increasing the gain on the output.

29
Accelerometer
Tmote Invent’s accelerometer senses 2-axis acceleration in the plane of
the device. The accelerometer provides measurements in the range of
±5g with a bandwidth of 50Hz. In addition to the simple sampling with an
analog-to-digital converter, the circuit provides an adjustable threshold
detector on the X-axis, which allows the mote to detect vibration events
with the microcontroller running in low power mode. The accelerometer
is suitable for vibration measurements, orientation detection, gesture
recognition and a variety of other motion- and tilt-detection systems.
Schematic
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RWP_LECCA
ccV
X_leccA
Y_leccA
TS_LECCA
tnI_leccA
nO_leccA
NDHS_TOP
LCS_C2I
ADS_C2I
retemoitnetopgnittesdlohserhT
F2x0=1111010:sserddaC2I
retemoreleccAretlifylppusrewoP
tiucricnoitcetednoitarbiV
03C
u1.0
03C
u1.0
3
2
48
1
+
-
A13U
2043VLT
+
-
A13U
2043VLT
1O 41
1A 1
1W 2
1B 3
NDHS5
LCS6
ADS7
0DA8
1DA9
ccV4
dnG 01
2O 21
ssV 11
29U
m1-1425DA
29U
m1-1425DA
23C
u1.0
23C
u1.0
33R
M1
33R
M1
03R
M1
03R
M1
43C
u74
43C
u74
5
6
7
+
-
B13U
2043VLT
+
-
B13U
2043VLT
13C
u1.0
13C
u1.0
33C
u1.0
33C
u1.0
13R
M1
13R
M1
43R
k01
43R
k01
83R
28
83R
28
TS2
MOC3
MOC5
MOC6
MOC7
tuoX 21
tuoY 01
sV 41
sV 51
03U
023LXDA
03U
023LXDA
23R
M1
23R
M1
30
Electrical and mechanical characteristics
Range ±5 g
Sensitivity 156-192 mV/g Vcc=3V
Sensitivity change 0.01 %/°C with temperature
Resolution 3.91 mg Vcc=3V,Vref=2.5V
0g voltage bias ±0.2 V From Vcc/2, Vcc=3V
0g voltage change ±0.6 mg/°C with temperature
Noise density 250 μg/√Hz RMS, @25 °C
Frequency response 0-50 Hz -3dB cutoff
Turn-on time 20 ms
Power dissipation 490 μA
Operating temperature -20-70 °C
Storage temperature -65-150 °C
Theory of operation
The accelerometer subcircuit is built around ADXL 320 from Analog De-
vices. The accelerometer has a measurement range of ±5g and it has
been configured to sense acceleration frequencies from 0 to 50 Hz. The
output signals are analog voltages proportional to the acceleration. The
system measures static acceleration forces, which allows it to be used as
a tilt sensor. In addition to the typical sampling, the circuit may be soft-
ware-programmed to provide a wakeup interrupt to the microcontroller
whenever the acceleration exceeds a programmed level.
The accelerometer part contains a polysilicon surface micromachined
sensor and signal conditioning circuitry. Polysilicon springs suspend the
sensing structure over the surface of the wafer and provide the resis-
tance against the acceleration forces. Deflection of the structure is
measured using a differential capacitor that consists of independent fixed
plates and plates attached to the moving mass. The fixed plates are
driven by 180° out-of-phase square waves. Acceleration deflects the
beam and unbalances the differential capacitor, resulting in an output
square wave whose amplitude is proportional to acceleration. Phase-
sensitive demodulation techniques are then used to rectify the signal and
determine the direction of the acceleration.
In Tmote Invent, the accelerometer has been configured for a nominal
bandwidth of 50Hz. Because of process variations of an internal resistor,
the actual bandwidth may vary by ± 15%. In order to avoid aliasing, it is
recommended that the accelerometer be sampled at a rate of at least
115 Hz. The ADXL320 noise has the characteristics of white Gaussian

31
noise, which contributes equally at all frequencies and is described in
terms of μg/√Hz. At the configured bandwidth, the RMS noise is 2.25
mg. Peak-to-peak noise can only be estimated by statistical methods,
the table below shows the estimates for the probabilities of a peak-to-
peak noise given the RMS values. For a single measurement, the peak-
to-peak noise estimate is 13.5 mg.
Peak-to-peak value % time that noise exceeds that value
2x RMS 32
4x RMS 4.6
6x RMS 0.27
8x RMS 0.006
The accelerometer performance varies little with temperature. Across -
20 —70 °C the sensor shows less than 1% change in sensitivity. The
temperature change of the 0g offset is linear, and with two-point calibra-
tion, can be compensated to within 3mg.
The accelerometer has a built-in self test feature. When the ACCEL_ST
signal is set to Vcc, an electrostatic force is exerted on the beam. The
resulting movement of the beam allows the user to assert whether the
accelerometer is functional. The typical change in the output signal is
315 mg or 0.55 V. In common usage this signal should be set to 0V (de-
fault).
The vibration detection circuit allows the user to generate an interrupt
whenever the acceleration exceeds the programmed levels. The X-axis
of accelerometer is AC-coupled into a pair of comparators: one compara-
tor detects the swings into the upper acceleration bound; the other de-
tects the swings into the lower acceleration bound. The spacing of the
lower and upper bands is set via an I2C-controlled potentiometer with
256 taps. The acceleration bounds vthresh(in V) and athresh are related to
the potentiometer tap setting via:
⎟⎟
⎠
⎞
⎜⎜
⎝
⎛
+
−
⋅
±=
⎟⎟
⎠
⎞
⎜⎜
⎝
⎛
+
−⋅±=
)512(
512
1
2
)512(
512
1
2
tapa
V
a
tap
V
v
ysensitivit
cc
thresh
cc
thresh
32
Assuming the nominal sensitivity of 174mV/g and voltage supply at 3V,
the acceleration thresholds athresh in g can be obtained via the following
formula:
⎟⎟
⎠
⎞
⎜⎜
⎝
⎛
+
−⋅±=
)512(
512
16.8
tap
athresh
The accelerometer characteristics depend on supply voltage. The lith-
ium ion battery of Tmote Invent provides a voltage between 3 and 4.2V;
when the unit is connected to a USB port, it is powered with a 3V supply.
The individual characteristics are affected as follows:
• Output is ratiometric, so output sensitivity varies proportionally to
supply voltage. At the typical battery voltage of 3.6V the typical
sensitivity is 209 mV/g
• Moteiv recommends reading the accelerometer readings using the
supply voltage (Vcc) as the reference voltage for the analog-to-
digital converter. When Vcc is used as the reference, 0g is centered
around 2048 ADC units, and 1g of acceleration is equal to 245 ADC
units regardless of supply voltage.
• 0g bias is ratiometric, nominally Vcc/2.
• The output noise is absolute in V; as the supply voltage and sensi-
tivity increase, the noise density decrease.
• Self-test response in mg is proportional to the square of the supply
voltage. When the resulting increase in sensitivity is factored in with
supply voltage, the self-test response in volts is proportional to the
cube of the supply voltage.
• Supply current increases roughly linearly with the supply voltage.

33
Microphone
Tmote Invent microphone circuit allows for omnidirectional acquisition of
sounds in the range of 20-10000Hz. The amplification circuit of the mi-
crophone provides variable compression ratio that allows for large-scale
amplification of low-volume signals while preventing clipping of the high
volume inputs. Variable noise gating prevents the amplification of back-
ground noise. Taken together, these characteristics provide powerful
processing of voice-band signals. The circuit also features a program-
mable wakeup that can be set to provide a system interrupt when input
signals exceed desired volume. The microphone may be used for voice
and sound input, as well as noise detection. Taken together with Tmote
Invent’s speaker system, it forms a basis for two-way voice communica-
tion, environmental characterization, and acoustic ranging.
Electrical and acoustic characteristics
Microphone
Sensitivity -35±4 dB 0dB=1V/pa, 1kHz
Frequency response 20-20000 Hz Final step in the signal
chain is 10kHz 2nd
order
LPF.
Audio path
Voltage noise density 20 nV√Hz 10:1 compression
Noise -70 dBV 20kHz BW, Vin=GND
THD+noise 0.2 % Vin=100mV RMS
Control section
VCA dynamic gain 40 dB
VCA fixed gain 18 dB
Compression ratio, min 1 :1
Compression ratio, max 10 :1
Rotation point 63 mV RMS
Noise gate range -40 to -55 dBV
Power, timing, temperature range
Turn-on time 200 ms
Shutdown time 1 ms Shutdown via power-
down; shutdown via sig-
nal takes 1s
Power consumption 2.3 mA
Operating temperature -40-85 °C
Storage temperature
34
Schematic
LCS_C2I
ADS_C2I
nO_ciM
NDHS_TOP
nO_rekaepS
NDHS_TOP
gRV cRV
VRg
VRc
tuO_ciM
REWOP_CIM
REWOP_CIMREWOP_CIM
tuO_ciM
tnI_ciM
ADS_C2I
LCS_C2I
REWOP_CIM REWOP_CIM REWOP_CIM REWOP_CIM
REWOP_CIM REWOP_CIM
ccV
ccV
ccV
NDHS_TOP
nO_rekaepS
NDHS_TOP
LCS_C2I
ADS_C2I
tuO_ciM
nO_ciM
tnI_ciM
LCS_C2I
ADS_C2I
nO_ciM
retliFssaPwoL
4-e01=u1.*K1=sm1.0=esir_T
1-e01=u1.*M1=sm001=llaf_T
puekaWcitsuocAenohporciM
gninoitidnoClangiSgolanAenohporciM
lortnocniaG
C2x0=0011010sserddaC2I
lortnocnoisserpmoC
D2x0=1011010:sserddaC2I
D2x0=1011010:sserddaC2I
C2x0=0011010:sserddaC2I
1 2
02D
54K01MDS
02D
54K01MDS
22C
u01
22C
u01
2O 31
2B 41
2W 51
2A 61
DDV5
DNG11
SSV21
B09U
k01-2425DA
B09U
k01-2425DA
1
3
4
52
-
+
06U
139VML
-
+
06U
139VML
82C
u1.0
82C
u1.0
32C
u01
32C
u01
51R
M1
51R
M1
72C
u01
72C
u01
62R
k311
62R
k311
82R
%5k001
82R
%5k001
06R
m1
06R
m1
GND2OUT1
0M
B16-MW
0M
6-MW
52C
p001
52C
p001
2O 31
2B 41
2W 51
2A 61
DDV5
DNG11
SSV21
B19U
m1-2425DA
B19U
m1-2425DA
42C
u01
42C
u01
02C
%01u1.0
02C
%01u1.0
12C
%01p0001
12C
%01p0001
61R
M1
61R
M1
5
3
1
2
4
+V
-V
+
-
12U
5127CML
+V
-V
+
-
12U
5127CML
1O 1
1A 2
1W 3
1B 4
NDHS6
LCS7
ADS8
0DA9
1DA01
A09U
k01-2425DA
A09U
k01-2425DA
1O 1
1A 2
1W 3
1B 4
NDHS6
LCS7
ADS8
0DA9
1DA01
A19U
m1-2425DA
A19U
m1-2425DA
22R
%5k01
22R
%5k01
91C
u1.0
91C
u1.0
02R
0
02R
0
52R
k311
52R
k311
72R
%5k001
72R
%5k001
NI5 TUO 9
Vdd10
BUFout4
VCAin2
nwodtuhS3
DNG1
Cavg6
Rg7
Rc8
02U
7612MSS
02U
7612MSS
12R
%5k2.2
12R
%5k2.2
81R
0
81R
0
62C
p002
62C
p002
Figure 3: Microphone subcircuit schematic

35
Theory of operation
The circuit is built around an omnidirectional electret microphone WM-
61B made by Panasonic. The output signal from the microphone is
processed by an Analog Devices SSM2167 preamplifier with variable
compression ratio and noise gating. The amplified signal is filtered
through a 2nd
order Butterworth low pass filter with a cutoff frequency of
10 kHz, and passed to both an analog-to-digital converter and to the
acoustic wakeup circuit. The acoustic wakeup circuit features a pro-
grammable envelope detector and a settable threshold.
+20
+10
0
–10
–20
–30
20 50 100 200 500 1000 2000 5000 10000 20000
Frequency(Hz)
)Bd(esnopseRevitaleR
Figure 4: Spectral response of the microphone
The conditioning of the microphone signal is done by the Analog Devices
SSM2167 chip. At the core of the IC is a voltage-controlled amplifier that
provides a gain that is dynamically adjusted by a control loop to maintain
a set compression characteristic. The compression ratio is set by a sin-
gle resistor and can be varied from 1:1 to over 10:1 relative to the fixed
rotation point. Signals above the rotation point are limited to prevent
overload and to eliminate popping. A downward expander (noise gate)
prevents amplification of background noise or hum. The typical transfer
characteristics for the SSM2167 are shown in Figure 5.
36
INPUT – dB
Bd–TUPTUO
LIMITING
REGION
LIMITING
THRESHOLD
(ROTATION POINT)
COMPRESSION
REGION
1
r
1
1
DOWNWARD
EXPANSION
THRESHOLD
(NOISE GATE)
DOWNWARD
EXPANSION
REGION
VDE VRP
VCA GAIN
Figure 5: Transfer characteristics for SSM2167.
In Figure 5, the output level in dB is plotted against the input level in dB.
The dashed line denotes the transfer characteristics of a unity gain am-
plifier. For input signals at VRP, the circuit provides a fixed gain of 18 dB.
For input signals in the range between VRP and VDE, an r dB decrease in
the input signal will produce a 1 dB decrease in output. This region is
defined as “compression region” and compression ratio of r:1. The com-
pression ratio may be varied via a potentiometer setting between 1:1 (no
compression, fixed 18 dB gain) and 10:1. Input signals above VRP are
compressed with a fixed compression ratio of about 10:1 and this region
is called the limiting region. Note that VRP is fixed at -24dB and varying
the compression ratio has no effect on the compression in the limiting
region. Input signals at levels lower than VDE are downward expanded: a
1 dB decrease in the input signal will produce a 3 dB decrease in the
output. As a result, the system gain is small at low input levels even
though it may be quite large in the range just above VDE. VDE may be set
in the range of -40 -- -55 dBV via setting of a potentiometer. When VDE
is set to -55 dBV, the maximum gain at VDE is 46 dB and is obtained at
10:1 compression ratio.

37
In Tmote Invent the compression ratio is controlled via an I2C-controlled
potentiometer. The compression will not affect the gain at the VRP, but
will have a great effect on amplification of low signals. Figure 6 shows
the effects of different compression ratios on the amplification.
INPUT – dB
Bd–TUPTUO
VDE VRP
15:1
5:1
2:1
1:1
1
1
VCA GAIN
INPUT – dBV
0
80
80 70
VBd–TUPTUO
60 50 40 30 20 10
10
40
50
60
70
20
30
TA = 25 C
V+ = 3V
RL = 100k
ROTATION POINT = 63mV rms
NOISE GATE SETTING = 1.4mV rms
COMPRESSION RATIO 1:1
Figure 6: Effects of varying the compression ratio (schematic view
and measurement).
For ratios above 1.2:1, the compression ratio r:1 is related to the potenti-
ometer tap setting Ptap via:
2.1
256
50
+
⋅
=
tapP
r
The noise gate threshold VDE is set via an I2C controlled potentiometer.
The threshold may be set between -40 and -55 dBV. Figure 7 illustrates
the effect of different settings of noise gate threshold. The threshold set-
ting is inversely proportional to the resistance RWB of the I2C-controlled
potentiometer: at a tap setting of 0 the threshold is set to approximately
10 mV RMS, and at tap setting of 128 (5 kΩ) the threshold is set at ap-
proximately 1mV. It is not recommended to use potentiometer settings
above 128; at those settings the noise floor is over-amplified beyond the
device’s limits causing problems. Table 2 summarizes the most com-
monly used settings.
38
VCA GAIN
INPUT – dB
Bd–TUPTUO
VDE1
VRP
VDE3
VDE2
1
1
r:1
RGATE –
100
10
1
0 3,500500
smrVm–ETAGESION
1,000 1,500 2,5002,000 3,000
TA = 25 C
V+ = 3V
RLOAD = 100k
ROTATION POINT = 63mV rms
Figure 7: Effects of varying the noise gate (downward expansion)
threshold (left). The relationship between RGATE and the noise gate
setting (right).
Compression ratio Value of RWB Pot setting Max. gain
1:1 <5 0 18
2:1 15 4 33.5
3:1 35 9 38.5
5:1 75 19 40
10:0 175 45 46
Table 1: Commonly used compression ratio settings and corre-
sponding potentiometer settings, maximum gain is attained at the
lowest VDE setting of -55 dBV.
Noise gate Value of RGATE Pot setting
-40 0 0
-48 1 26
-54 2 51
-55 5 128
Table 2: Common settings of noise gate threshold

39
Speaker
Tmote Invent is equipped with a full dynamic range speaker, providing on
demand sound output. The sound may either be output to a speaker or
to user-supplied headphones. The speaker provides nearly 1W output
at a wide frequency response. It can be used to produce voice output
and a wide variety of frequency tones. The speaker, with user software,
may be used in acoustic ranging applications.
Schematic
0CAD_rekaepS
Vcc
OR_KPS
SPK_LO
OL_KPS
nO_rekaepS
ccV
ccV
0CAD_rekaepS
nO_rekaepS
d'qerdaplamrehT
od,3320APTrednu
dnuorgottcennocton
tfarchctiwS
RTNHB4TMSAR53
5R
k001
5R
k001
4R
k1
4R
k1
1C
u1
1C
u1
1
2
0S
rekaepSmho8
0S
rekaepSmho8
3R
k001
3R
k001
5C
u051
5C
u
1R
k02
1R
k02
6C
u051
6C
u
3C
u1
3C
u1
2C
u1
2C
u1
4C
u1
4C
u1
2R
k02
2R
k02
5
1
3
4
2
2S
2/enohpdaeh/kcaj
2S
2/enohpdaeh/kcaj
ddV3
PAC_TLIF1
niR5
niL9
NWODTUHS2
DNG 8
OR 6
NM/TS 7
OL 01
Bypass4
3U
3320APT
3U
3320APT
Electrical and acoustic characteristics
Speaker
Impedance 8 Ω
Frequency range 400 to 20,000 Hz
Resonant frequency 620 Hz
Sensitivity 80 dB +/-3dB
Nominal power output .75
Maximal power output 1.1
Power Amplifier
Current consumption 3.3 mA Max 5mA
Shutdown current 1 μA
Output power at 3.6V 650 mW 8Ω speaker
Output power at 3.6V 40 mW 32Ω headphones
Maximum bandwidth 20 kHz
Total distortion 0.3% THD+N 200Hz to 20kHz
Lowest frequency 133 Hz 8 W speaker
Lowest frequency 33 Hz 32 W headphones
40
Theory of operation
The speaker subsystem on Tmote Invent is designed to output sound,
either to an integrated 1W speaker or to a standard 1/8” headphone jack.
Tmote Invent’s speaker can be driven at levels of 650 mW across a
broad frequency range. User-supplied headphones may be used to re-
produce an even broader spectrum of sound. Tmote Invent uses a sin-
gle DAC channel to drive both channels of the audio power amplifier.
The configuration is optimized for minimal resource usage when driving
the speaker. When operating with headphones, identical sound output
will be heard in left and right channels. The amplifier exhibits very low
distortion, both across power output levels and across frequency, as
shown in Figure 9.
The input stage of the power amplifier is decoupled from the DAC chan-
nel by a high pass filter with a corner frequency of 8Hz. For outputs with
impedances of over 64Ω that filter becomes the limiting stage in the fre-
quency response. The input signal is then amplified by a factor of 3.125
when the output is directed to the headphones and by a factor of 6.25
when the output is directed to the speaker. In order to avoid clipping and
allow a bit of headroom, the input signal needs to be 1/6 of the full scale
when driving the speaker and 1/3 of the full scale when driving the head-
phones. The table below shows the mean of the signal and the maxi-
mum amplitude that can be reproduced without clipping.
Signal characteristics
8 bit DAC
Signal characteristics
12 bit DAC
Speaker 128±20 2048±328
Headphone 128±41 2048±655
The power stage consists of two Class-AB audio power amplifiers. In
headphone mode, each amplifier drives a separate audio channel.
When driving the speaker, the two amplifiers operate in a bridge-tied
load (BTL) configuration: one power amplifier is directly connected to the
load; the output of the other power amplifier is inverted and used to drive
the other end of the load. As a result, the system is capable of delivering
output levels that are 6 dB louder than those produced by a single ended
configuration.
The amplifier may be put into a shutdown mode by setting the
SPEAKER_ON signal to low. In shutdown mode, the power amplifier typi-
cally draws less than 1 μA. When turned on, and driven with no signal,

41
the power amplifier draws about 3.3 mA. Both the maximum power out-
put and the current drawn by the amplifier depend on battery voltage,
Figure 8 details that dependency. When actively amplifying the signal,
the system shares the inefficiencies of all Class-AB amplifiers. The am-
plifier efficiency η is related to the power delivered to the speaker PL by
the formula
CC
LL
V
RP
4
2π
η =
Tmote Invent’s speaker presents a load RL of 8Ω. The power is related to
the peak voltage by
L
Peak
L
R
V
P
2
2
=
The amplifier efficiency is proportional to the peak voltage. The energy
not converted to sound is dissipated as heat. At its peak, with the peak
voltage of 2.3V, the power amplifier dissipates 0.33W as heat; tempera-
ture sensitive applications may need to account for the resulting
changes.
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.0 3.5 4.0 4.5 5.0 5.5
RL = 8
THD+N = 1%
f = 1 kHz
Mode = Mono
AV = 8 dB
–rewoPtuptuO–W
OUTPUT POWER
vs
SUPPLY VOLTAGE
PO
VDD – Supply Voltage – V
Figure 8 : Output Power and Supply Current as a function of Supply
Voltage
0
1
2
3
4
5
6
2.5 3.0 3.5 4.0 4.5 5.0 5.5
–tnerruCylppuS–Am
SUPPLY CURRENT
vs
SUPPLY VOLTAGE
IDD
VDD – Supply Voltage – V
TA = 25 °C
Bypass = VDD/2 VDC
VDD From Low-to-High Level
Mode = Stereo
RL = Open
42
AV = 8 dB
20 100 1k
N+DHT–esioNsulPnoitrotsiDcinomraHlatoT–%
f – Frequency – Hz
TOTAL HARMONIC DISTORTION PLUS NOISE
vs
FREQUENCY
1
10k 20k
0.1
0.01
0.001
VDD = 3 V
PO = 250 mW
RL = 8
Mode = Mono
Figure 9 : Total Harmonic Distortion plus Noise as affected by fre-
quency and output power
0.01 0.1
10
1
1
0.1
0.01
TOTAL HARMONIC DISTORTION PLUS NOISE
vs
OUTPUT POWER
PO – Output Power – W
N+DHT–esioNsulPnoitrotsiDcinomraHlatoT–%
20 kHz
20 Hz
1 kHz
15 kHz
VDD = 3 V
RL = 8
Mode = Mono
AV = 2.5 dB

43
Tmote Invent Software
Tmote Invent includes Moteiv’s TinyOS software providing a complete
system for building wireless sensing applications. TinyOS consists of
drivers (called “components”) that provide useful interfaces for accessing
the functionality of Tmote Invent. Below, the components and corre-
sponding interfaces for sensing and communication are shown; for more
in-depth descriptions of these components and interfaces, please view
Moteiv’s API documentation by opening index.html document inside
of /opt/moteiv/docs/nesdoc
Sensor Drivers
The sensors on Tmote Invent each include a corresponding TinyOS
driver. Please refer back to each sensor’s theory of operation for docu-
mentation that describes how to interpret values from the sensors, set
potentiometer values, and enable interrupts.
Accelerometer
TinyOS Driver: AccelDriverC
Location: /opt/moteiv/tos/sensorboards/invent/
Interface Function
SplitControl Turn on/off sensor
ADC as AccelX Read X-axis value
ADC as AccelY Read Y-axis value
Potentiometer as AccelInterruptSettings Set Interrupt Threshold
SensorInterrupt as AccelInterrupt Handle Accelerometer Interrupt
Light Sensor
TinyOS Driver: PhotoDriverC
Location: /opt/moteiv/tos/sensorboards/invent
Interface Function
ADC as Photo Read Photo value
Potentiometer Set Photo sensor gain
44
Microphone Sensor
TinyOS Driver: MicDriverC
Interface Function
ADC as Mic Read single Microphone value
Microphone Read large Microphone buffers
Potentiometer as Vrc Set preamp compression ratio
Potentiometer as Vrg Set preamp noise gate threshold
Potentiometer as MicInterruptDrain Set RC drain time on interrupt
Potentiometer as MicInterruptThreshold Set amplitude for interrupt
SensorInterrupt as MicInterrupt Handle Microphone Interrupt
Speaker
TinyOS Driver: SpeakerDriverC
Interface Function
Speaker Output buffer to speaker
PowerControl Turn power on/off to speaker
PowerKeepAlive Adjust speaker shutdown policy
Temperature Sensor
TinyOS Driver: InternalTempC
Location: /opt/moteiv/tos/platform/msp430/adc
Interface Function
StdControl Turn on/off sensor
ADC as InternalTempADC Read temperature value
ADCSingle Advanced ADC read interface
ADCMultiple Advanced ADC read interface
Voltage Sensor
TinyOS Driver: VoltageC
Location: /opt/moteiv/tinyos-1.x/tos/system
Interface Function
StdControl Turn on/off sensor
ADC as Voltage Read voltage value (in mV)

45
Communications
Moteiv’s communication system includes three main components: a Mul-
tihop mesh networking protocol, a network duty cycling protocol, and the
recently proposed “Sensornet Protocol” (SP) abstraction for sending and
receiving messages. All of these protocols are used in Moteiv’s mesh
networking application, Delta. The source code for Delta is located in
/opt/moteiv/apps/Delta.
Multihop Networking
Moteiv’s on-demand ad-hoc networking utilizes spatial and temporal re-
dundancy to reliability deliver messages across a network to their desti-
nation. To use the Multihop library in an application, first include Multi-
hop in your configuration:
Then wire your application to the appropriate message handlers for your
message type. For example, in your configuration:
Where APP_ID is a unique 8-bit identifier for your service or application
defined in a header file. Please see the documentation for details of us-
ing the Send interface in Moteiv’s API documentation available at
/opt/moteiv/docs/nesdoc
Messages are submitted to the Multihop service and queued until there
is an opportunity to route the message towards the destination. After a
message is successfully sent, an event (Send.sendDone()) is fired to
your service notifying you that it is now safe to use the message buffer
for other purposes.
components Multihop;
AppM.Send -> MultiHop.Send[APP_ID];
AppM.Receive -> MultiHop.Receive[APP_ID];
46
Low Power Operation
Moteiv’s software includes a synchronization protocol for low power wire-
less network. The network duty cycling approaches uses SP (described
below) for establishing and maintaining a schedule whereby the entire
network wakes up together and then returns to sleep.
Including Moteiv’s network duty cycling is as simple as adding a single
parameter to the compilation command. Simply add the lowpower
keyword after the compilation platform. For example:
Try the low power networking by using Delta, the mesh networking data
collection application, with the lowpower option:
Be aware that bandwidth is very limited in low power mode (each node is
only awake for a few milliseconds every two seconds). The initial syn-
chronization of the network may require up to 15 minutes to stabilize, but
will reliably report data after the initial setup phase. Please be patient!
Information about Moteiv’s network duty cycling is included in the API
documentation for the NetSyncC and NetWakeC components. The
source is at /opt/moteiv/tos/lib/netsync; however we strongly
recommend that only the most advanced users consider modifying this
code. Please note that Moteiv does not support any modifications to our
source.
make tmoteinvent lowpower
cd /opt/moteiv/apps/Delta
make tmoteinvent lowpower

47
Sensornet Protocol (SP)
SP is a unifying link abstraction for running network protocols over a va-
riety of link layer and physical layer technologies without changing net-
work protocol implementation. SP is implemented by the SPC compo-
nent.
SPC and its interfaces are described in detail in the following publication:
A Unifying Link Abstraction for Wireless Sensor Networks
In Proceedings of the Third ACM Conference on Embedded Networked
Sensor Systems (SenSys), November 2-4, 2005.
http://www.polastre.com/papers/sensys05-sp.pdf
Messages are transmitted using the SPSend interface and message fu-
tures are handled through the SPSendNext interface. To send a mes-
sage on a particular AM type, such as AM type 5, wire your network pro-
tocol to SPSend[5]. The SP message pool will hold on to a message
and its corresponding packets until it may be sent over the channel.
Fields of each SP message (sp_message_t) should never be directly
accessed. Instead, they can be set using the parameters of the SPSend
interface. Reading parameters should be done through the SPMessage
interface.
Reception is on a per packet basis (not a per message basis like
SPSend). Packets are immediately dispatched to higher layer services
based on AM type. SPReceive provides information about each packet,
including a token that identifies which interface a message originated.
The SP Neighbor Table is accessed through the SPNeighbor interface.
Users must wire to the SP Neighbor Table with the parameter
unique("SPNeighbor"). Each service has its own identity for control-
ling the insertions, removals, and changes of entries in the SP Neighbor
Table. See the SPNeighbor interface in the API documentation for more
information.
Various utilities as part of SP's processing are available in the SPUtil
interface. These utilities include link estimation functions and link post-
arbitration time stamps.
48
Useful TinyOS Components
There are many useful libraries including with Moteiv’s distribution of
TinyOS. Below, many of these components and their functions are
listed. For additional resources, please check Moteiv’s support website
at http://www.moteiv.com/support.php. It is frequently updated with tips,
techniques, and troubleshooting articles.
TinyOS Distribution Organization under the /opt/moteiv directory:
Directory Description
apps Moteiv applications
apps/invent Tmote Invent-specific applications
doc/nesdoc API documentation in HTML format
tos/lib TinyOS libraries (SP, Multihop, etc)
tos/platform/tmote Tmote-specific platform components
tos/sensorboards/invent Tmote Invent driver components
tools/java Moteiv mote-interface java tools
tinyos-1.x TinyOS components used by Moteiv
Useful TinyOS components:
TinyOS Component Function
BitVectorC Methods to manipulate vectors of bits
LedsC Turn on or off the LEDs
MainControlC Start a component on boot with MainControlC
ObjectPoolC Create and manage a pool of generic objects
TimerMilliC Create a new millisecond system timer
UartDetectC Detect if a PC is active & connected
UartPresenceC Detect the presence of PC’s USB port
UserButtonC Enable input from User Button
UserButtonAdvancedC Advanced functionality from User Button
The documentation for all of these components is available within the
/opt/moteiv/doc/nesdoc directory.
In addition to TinyOS components, there are a few useful C libraries
available in /opt/moteiv/tos/lib/util/:
C Library Function
circularQueue.h A generic circular queue object
fft_i8.h 8-bit integer FFT routines

49
Notes
50
General Information
Document History
Revision Date Notes
1.0 2006/02/27 Initial Release
Address Information
Web site: http://www.moteiv.com
E-mail: info@moteiv.com
Technical Support Web site: http://www.moteiv.com/support.php
Technical Support E-mail: support@moteiv.com
Phone Number: +1.415.692.0960
Fax Number: +1.415.358.4872
Headquarters
Moteiv Corporation
55 Hawthorne St, Suite 550
San Francisco, CA 94105

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