无线传感器网络时间同步实现源代码

/* * Copyright (c) 2005, Vanderbilt University * All rights reserved. * * Permission to use, copy, modify, and distribute this software and its * documentation for instruction and non-commercial research only, without * fee, and without written agreement is hereby granted, provided that the * this copyright notice including the following two paragraphs and the * author's name appear in all copies of this software. * * IN NO EVENT SHALL VANDERBILT UNIVERSITY BE LIABLE TO ANY PARTY FOR * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF VANDERBILT * UNIVERSITY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * VANDERBILT UNIVERSITY SPECIFICALLY DISCLAIMS ANY WARRANTIES, * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY * AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS * ON AN "AS IS" BASIS, AND VANDERBILT UNIVERSITY HAS NO OBLIGATION TO * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. * * @author Brano Kusy, kusy@isis.vanderbilt.edu * @modified 11/21/05 */ to play around with our java application, e.g. to see replay of the localization of a large scale experiment, see contrib/vu/tools/java/isis/nest/localization/rips/compilationInstructions.txt 1. COMPILE THE MOTE CODE: ================================= 1. install the newest tinyos-1.x at least version 1.1.14, we will refer to the directory of this installation as $(CVS_TINYOS) 2. grab a copy of the contrib/vu/tinyos-1.x tree from to a directory, different from $(CVS_TINYOS) we will refer to this directory as $(ISIS_TINYOS) 3. go to $(CVS_TINYOS)/tools/make/Makelocal (if it does not exist, create a blank file) and add there the following lines TINYOS_NP := BNP VUTOS := /cygdrive/$(ISIS_TINYOS)/tos 4. go to $(ISIS_TINYOS)/apps/RipsOneHop directory and type 'make mica2' to compile the tinyos code We control RIPS from java: Java applications required for rips measurement: ------------------------------------------------ 1. %T/../tools/java/net/tinyos/mcenter/MessageCenter framework 2. %T/../tools/java/net/tinyos/mcenter/RemoteControl app 3. %T/../tools/java/net/tinyos/mcenter/BigMSGDisplay app Measurement steps ----------------- 1. upload RipsOneHopC application to 4 mica2/xsm motes with 4 different IDs: A,B,C,D upload 1 mote with TOSBase and connect it to a PC 2. send out StartMeasurementCommand remote control message (defined below in RemContrl section) with parameters (1,B,0) to the mote A, we call A a 'master', B an 'assistant', and all the other motes are 'slaves' 3. StartMeasurementControl starts the following sequence: 3a. calibration of A and B motes (A sends a synchronization msg (am=82) and slaves reply with calibration msg (am=83) after a while) 3b. if A is sucessfully calibrated to B, then mote A starts an interference measurement: - A sends sync msg (am=82) - C and D measure their absolute phases offsetC_i/offsetD_i at 22 predefined carrier frequencies f_i (for the exact carrier frequencies look at array channels[] below) - C and D report a data buffer with 22 RipsPacket packets (defined in RipsPhaseOffset.h) using BigMSGDisplay 3b' if calibration fails, interference measurement ends without further message traffic 4. you can parse the buffers reported in step 3b. and compute the phase offsets gamma_i = offsetC_i - offsetD_i for each carrier freuency f_i, i=1..22 (see bigMsg-parsing.xls for raw buffer parsing) 5. if interferometric range Dabcd = Dad-Dac+Dbc-Dbd and lambda_i=speed_light/f_i then Dabcd (mod lambda_i) = gamma_i How to use RemoteControl ------------------------ RemoteControl application needs to be started in MessageCenter framework. The RemoteControl app has the following control elements: - we are interested only in Parameter tab (there are 2 other tabs available: 'Int','Start/Stop') - 'appId' field demuxes remote commands for different applications (sth like AM-type in TOS_Msg) - 'target' field specifies node-id of the node who will receive remote command - 'Parameter Data' specify the parameters separated with spaces, 1 byte param is given as a number (i.e. 0-255), 2 byte params are given by number followed by 'w' (i.e. 0w-65535w) - messages will be propagated multihop from the base station connected to java through Serial Connector Define the following remote control messages: 1. StartMeasurementCommand - starts the Rips measurement 'target' is set to a master node 'appId' = 0x12 'Parameter Data' = { uint8_t seqNum uint16_t assistID } example: i want mote 123 to be master, mote 234 to be asisstant 'Parameter Data' = 1 234w, 'target' = 123 2. DataCollectionParamsCommand - changes parameters of Rips online 'target' - typically 0xFFFF which means all motes 'appId' - 0x11 'Parameter Data' = { uint8_t masterPwr; //specify TX power of the master's radio uint8_t assistPwr; //specify TX power of the assistants's radio uint8_t algorithmType; //specify at what carrier freqs will slaves measure absolute phases, //use 52 for hopping through frequencies (see below), //use 53(default) for prespecified freqs int16_t interferenceFreq; //what interference frequency will be used uint8_t tsNumHops; //up to how many hops time-sync message propagates int8_t channelA; //at which freq we do the calibration int8_t channelB; int16 initialTuning; //calibration param int8 tuningOffset; //calibration param uint8 numTuneHops; //calibration param uint8 numVees; //calibration param uint8 numChanHops; //if 52 is used as algorithmType, then the absolute phases are measured int8 initialChannel; //at initialChannel(ICH), then at channel ICH plus channelOffset(CHO), int8 channelOffset; //numChanHops(numCH) times -> so all channels at which abs.phase is //meaured are ICH,ICH+CHO,ICH+2*CHO,...,ICH+(numCH-1)*CHO } example: 'target' = 0xffff 'Parameter Data' = inside: 1 1 53 350w 3 40 -40 -65w 5 26 2 21 -55 2 outside: 128 128 53 350w 3 40 -40 -65w 5 26 2 21 -55 2 slaves measure absolute offsets at predefined channels (see array channel[] below) example for 'frequency hopping': 'target' = 0xffff 'Parameter Data' = inside: 1 1 52 350w 3 40 -40 -65w 5 26 2 54 -55 2 outside: 128 128 52 350w 3 40 -40 -65w 5 26 2 54 -55 2 slaves measure absolute offsets at 55 channels: -55,-53,-51,...,53 Important settings ================== channel 0 corresponds to 430.1MHz channel sepparation is .536 MHz channels[] array (defined in RipsDataStoreM.nc): -61,60,-54,41,40,31,23,17,15,3,2,-61,60,-54,-42,-33,-25,-19,-17,-5,-2,-1 corresponds to [in MHz] 397.98 461.70 401.67 451.70 451.17 446.43 442.22 439.06 438.00 431.69 431.16 397.98 461.70 401.67 407.99 412.73 416.94 420.10 421.15 427.47 429.05 429.58 these are the carrier frequencies where phase offsets are measured using default settings