RIOT-Lab. How to use RIOT in the IoT-Lab. Oliver "Oleg" Hahm. November 7, 2014 INRIA. O. Hahm (INRIA) RIOT-Lab November 7, / 29

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1 RIOT-Lab How to use RIOT in the IoT-Lab Oliver "Oleg" Hahm INRIA November 7, 2014 O. Hahm (INRIA) RIOT-Lab November 7, / 29

2 Agenda 1 Start the RIOT 2 Using RIOT 3 Writing an Application for RIOT 4 Reading a Sensor 5 Join the RIOT Slides are online available at O. Hahm (INRIA) RIOT-Lab November 7, / 29

3 Start the RIOT Agenda 1 Start the RIOT 2 Using RIOT 3 Writing an Application for RIOT 4 Reading a Sensor 5 Join the RIOT O. Hahm (INRIA) RIOT-Lab November 7, / 29

4 Start the RIOT Prepare your Toolchain Recommended Build Environment For the IoT-Lab nodes we recommend to use gcc-arm-embedded toolchain. It can be found on A quick guide to install the proper toolchain can be found in the RIOT wiki: See also for particular information on RIOT on the IoT-Lab nodes. For the native port you have to install 32bit libraries. See O. Hahm (INRIA) RIOT-Lab November 7, / 29

5 Start the RIOT GitHub Obtain the Code git clone or download the zipped version: For this tutorial please clone also O. Hahm (INRIA) RIOT-Lab November 7, / 29

6 Start the RIOT Understanding RIOT The Architecture O. Hahm (INRIA) RIOT-Lab November 7, / 29

7 Start the RIOT Understanding RIOT The Folder Structure RIOT boards iot-lab_m3 core cpu cortex-m3_common stm32f1 dist doc drivers at86rf231 isl29020 examples hello-world pkg libcoap sys net network_layer sixlowpan tests O. Hahm (INRIA) RIOT-Lab November 7, / 29

8 Start the RIOT Understanding RIOT Best Practice for RIOT programming Dos Use static memory Select the priorities carefully Minimize stack usage with DEVELHELP and CREATE_STACKTEST Use threads Donts Don t use threads Don t use the POSIX wrapper if implementing something from scratch Consult the Wiki: the API documentation: O. Hahm (INRIA) RIOT-Lab November 7, / 29

9 Start the RIOT Understanding RIOT Best Practice for RIOT programming Dos Use static memory Select the priorities carefully Minimize stack usage with DEVELHELP and CREATE_STACKTEST Use threads Increase flexibility, modularity, and robustness by using IPC. Donts Don t use threads Try not to use more than one thread per module. Don t create threads for one-time tasks. Don t use the POSIX wrapper if implementing something from scratch Consult the Wiki: the API documentation: O. Hahm (INRIA) RIOT-Lab November 7, / 29

10 Using RIOT Agenda 1 Start the RIOT 2 Using RIOT 3 Writing an Application for RIOT 4 Reading a Sensor 5 Join the RIOT O. Hahm (INRIA) RIOT-Lab November 7, / 29

11 Using RIOT Working with an Example Compile and run on native Let s prepare a simple, virtual network: [ RIOT ]# cpu / native / tapsetup. sh create 2 creating tapbr0... creating tap0... creating tap1... Now we build and start the first virtual node. [ RIOT ]# cd examples / default / [ default ]# make all term Building application default for native w/ MCU native. " make " -C / home / oleg / git / RIOT / cpu / native... RIOT native board initialized. RIOT native hardware initialization complete. kernel_init (): This is RIOT! ( Version : gace8a - zoidberg ) kernel_init (): jumping into first task Welcome to RIOT! > help help Command Description reboot Reboot the node id Gets or sets the node s id. O. Hahm (INRIA) RIOT-Lab November 7, / 29

12 Using RIOT Working with an Example Setup the second Node Ok, how about a second node? Therefore, we specify the tap interface to use by (re-)using the PORT environment variable. We can use any created tap interface from the previous step. (Default is tap0.) Once the node has started, we configure its radio address. [ default ]# PORT=tap1 make term Welcome to RIOT! > addr 23 [ transceiver ] trying to set address 23 [ transceiver ] got address : 23 We do the same on the first node and configure it to address 42. O. Hahm (INRIA) RIOT-Lab November 7, / 29

13 Using RIOT Working with an Example Connecting the two Nodes It s time to send our first packet (assuming that the first node is still running and configured to address 42.): > txtsnd 42 riotlab [ transceiver ] Sending packet of length 8 to 42: riotlab [ transceiver ] Packet sent : 60 On the first node we should see something like: Got radio packet : Length : 8 Src : 23 Dst : 42 LQI : 0 RSSI : F 74 6C O. Hahm (INRIA) RIOT-Lab November 7, / 29

14 Using RIOT Working with an Example Using the same example on the real hardware Running the same example on a real node is very similar. We use the environment variable BOARD to specify the target platform and maybe PORT for the serial port. [ default ]# BOARD=iot - lab_m3 make all flash term Building application default for iot - lab_m3 w/ MCU stm32f1. " make " -C / home / oleg / git / RIOT / cpu / stm32f1... wrote bytes from file RIOT / examples / default / bin /iot - lab_m3 / default. hex in s ( KiB /s)... shutdown command invoked RIOT / dist / tools / pyterm / pyterm -p / dev / ttyusb2 -b INFO # Connect to serial port / dev / ttyusb2 Welcome to pyterm! Type / exit to exit. help INFO # > help INFO # INFO # Command Description INFO # INFO # reboot Reboot the node INFO # id Gets or sets the node s id. O. Hahm (INRIA) RIOT-Lab November 7, / 29

15 Using RIOT Working with an Example...and on the Testbed Call just BOARD=iot-lab_M3 make all to build the binary (elf and hex are built). Flash the nodes like usual (using the IoT-Lab web interface). If you want use it somewhat more comfortable than using netcat, you can use the same tool which is used for a locally connected node: pyterm. You can find it in dist/tools/pyterm. For example, run pyterm -ts m3-7:20000 on grenoble.iot-lab.info. O. Hahm (INRIA) RIOT-Lab November 7, / 29

16 Using RIOT Using a Custom Application The Shell in a Nutshell For this step we will use sixlowapp application from You can configure RIOT to provide you with some default system shell commands. All available shell commands and some online help are shown by calling help: > help help Command Description nc RIOT netcat - arbitrary UDP connections and listens ping Send an ICMPv6 echo request to another node reboot Reboot the node id Gets or sets the node s id. ps Prints information about running threads. addr Gets or sets the address for the transceiver eui64 Gets or sets the EUI -64 for the transceiver chan Gets or sets the channel for the transceiver txtsnd Sends a text message to a given node via the transceiver pan Gets or sets the pan id for the transceiver monitor Enables or disables address checking for the transceiver ifconfig Configures a network interface The selection of commands depends on the configuration of your application (and may vary a little bit for different platforms). O. Hahm (INRIA) RIOT-Lab November 7, / 29

17 Using RIOT Using a Custom Application Let s communicate The sixlowapp application provides you with two custom (application defined) shell commands: 1 ping: The famous ICMP diagnosis tool. 2 nc: A very basic variation of netcat for arbitrary UDP connections. After we flashed two nodes, we ll have to find out their IPv6 addresses using ifconfig: > ifconfig INFO # INFO # Iface 0 HWaddr : 0xa86c Channel : 11 PAN ID: 0x0001 INFO # EUI -64: 4d -5e-fd -8e -47-3c -5f -80 INFO # Source address mode : short INFO # Transceivers : INFO # * at86rf231 INFO # inet6 addr : fe80 :: ff: fe00 : a86c /128 scope : local INFO # inet6 addr : ff02 ::1: ff00 : a86c /128 scope : local [ multicast ] INFO # inet6 addr : ff02 ::1/128 scope : local [ multicast ] INFO # Now we can try to ping the other node: > ping fe80 :: ff: fe00 : f01e INFO # ping fe80 :: ff: fe00 : f01e INFO # Echo reply from fe80 :: ff: fe00 : f01e received, rtt : s O. Hahm (INRIA) RIOT-Lab November 7, / 29

18 Using RIOT Using a Custom Application Virtualize your Network If you run this example in native, you can also monitor the traffic with Wireshark. The dissector can be found in dist/tools/wireshark_dissector. There s a python framework to setup arbitrary topologies using defined loss-rates: O. Hahm (INRIA) RIOT-Lab November 7, / 29

19 Writing an Application for RIOT Agenda 1 Start the RIOT 2 Using RIOT 3 Writing an Application for RIOT 4 Reading a Sensor 5 Join the RIOT O. Hahm (INRIA) RIOT-Lab November 7, / 29

20 Writing an Application for RIOT Setting up the Application The Makefile To create your own RIOT example, you need only two files: 1 A C (or C++) file with a main function 2 A Makefile You can find a template for a Makefile in dist/makefile. # Giving your application a name APPLICATION = riotlab1 # Choosing a default platform BOARD?= native # Specifying the RIOT folder RIOTBASE?= $( CURDIR ) /../../ RIOT # Some helpful compiler flags CFLAGS += - DSCHEDSTATISTICS - DDEVELHELP # Quieten the building process QUIET?= 1 # Modules to include : USEMODULE += posix USEMODULE += vtimer # Let RIOT s build system take care of the rest include $( RIOTBASE )/ Makefile. include O. Hahm (INRIA) RIOT-Lab November 7, / 29

21 Writing an Application for RIOT Setting up the Application The main() Function The only mandatory thing in your application is a main function with this prototype: int main(void) Standard C libraries can be used and parts of POSIX are ble through a wrapper within RIOT. # include <stdio.h> # include <unistd.h> # define WAIT_USEC (1000 * 1000) int main ( void ) { puts (" Hello!"); usleep ( WAIT_USEC ); puts (" Good night!"); } return 0; O. Hahm (INRIA) RIOT-Lab November 7, / 29

22 Writing an Application for RIOT Setting up the Application Doing it the RIOT way Instead of POSIX functions is usually advisable (and more efficient) to just use the native RIOT functions: # include <stdio.h> # include " vtimer.h" int main ( void ) { puts (" Let s throw a brick!"); vtimer_usleep ( SEC_IN_USEC ); puts (" System terminated "); } return 0; O. Hahm (INRIA) RIOT-Lab November 7, / 29

23 Writing an Application for RIOT Some helpful Features Starting the Shell # include " posix_io.h" # include " shell.h" # include " shell_commands.h" # include " board_uart0.h"... const shell_command_t shell_commands [] = { {" ping ", " Send an ICMPv6 echo request to another node ", sixlowapp_send_ping }, { NULL, NULL, NULL } };... /* Open the UART0 for the shell */ posix_open ( uart0_handler_pid, 0); /* initialize the shell */ shell_t shell ; shell_init (& shell, shell_commands, UART0_BUFSIZE, uart0_readc, uart0_putc ); /* start the shell loop */ shell_run (& shell ); O. Hahm (INRIA) RIOT-Lab November 7, / 29

24 Writing an Application for RIOT Some helpful Features...and 6LoWPAN kernel_pid_t monitor_pid = thread_create ( monitor_stack_buffer, sizeof ( monitor_stack_buffer ), PRIORITY_MAIN - 2, CREATE_STACKTEST, sixlowapp_monitor, NULL, " monitor "); ipv6_register_packet_handler ( monitor_pid );... while (1) { msg_receive (& m); if (m. type == IPV6_PACKET_RECEIVED ) { ipv6_buf = ( ipv6_hdr_t *) m. content. ptr ; if ( ipv6_buf -> nextheader == IPV6_PROTO_NUM_ICMPV6 ) { icmpv6_hdr_t * icmpv6_buf = ( icmpv6_hdr_t *) &(( uint8_t *) ipv6_buf )[( IPV6_HDR_LEN )]; if ( icmpv6_buf ->type == ICMPV6_TYPE_ECHO_REPLY ) { if ( _waiting_for_pong ) { msg_t m; m. type = ICMP_ECHO_REPLY_RCVD ; _waiting_for_pong = 0; msg_send (&m, _waiter_pid, false ); } } } } } O. Hahm (INRIA) RIOT-Lab November 7, / 29

25 Writing an Application for RIOT Up to the Transport Layer Starting a UDP Server sock = socket_base_socket ( PF_INET6, SOCK_DGRAM, IPPROTO_UDP ); memset (&sa, 0, sizeof (sa)); sa. sin6_family = AF_INET ; sa. sin6_port = HTONS ( sixlowapp_netcat_listen_port ); if ( -1 == socket_base_bind ( sock, &sa, sizeof ( sa))) { printf (" Error bind failed!\ n"); socket_base_close ( sock ); sixlowapp_netcat_listen_port = 0; continue ; } printf (" Listening for incoming UDP connection at port %" PRIu16 "\n", sixlowapp_netcat_listen_port ); int32_t recsize = socket_base_recvfrom ( sock, ( void *) buffer_main, UDP_BUFFER_SIZE, 0, &sa, & fromlen ); if ( recsize < 0) { printf (" ERROR : recsize < 0!\ n"); } printf (" UDP packet received, payload : %s\n", buffer_main ); socket_base_close ( sock ); O. Hahm (INRIA) RIOT-Lab November 7, / 29

26 Reading a Sensor Agenda 1 Start the RIOT 2 Using RIOT 3 Writing an Application for RIOT 4 Reading a Sensor 5 Join the RIOT O. Hahm (INRIA) RIOT-Lab November 7, / 29

27 Reading a Sensor Get your Hands dirty Now it s up to you Your task is now to extend the sixlowapp example. Check the documentation for the sensor API, e.g. for the light sensor: driver isl29020.html Initialize all four sensors in the beginning of the application. Extend the netcat command to send optionally measured sensor data. Print the measurements on the receiving side. O. Hahm (INRIA) RIOT-Lab November 7, / 29

28 Join the RIOT Agenda 1 Start the RIOT 2 Using RIOT 3 Writing an Application for RIOT 4 Reading a Sensor 5 Join the RIOT O. Hahm (INRIA) RIOT-Lab November 7, / 29

29 Join the RIOT Getting Support Where to get help Mailing Lists IRC on irc.freenode.org, #riot-os Regular video conferencing meetings O. Hahm (INRIA) RIOT-Lab November 7, / 29

30 The Last Slide Q&A Thank you! Any questions? O. Hahm (INRIA) RIOT-Lab November 7, / 29