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  • Slide 1
  • 1 Thomas Watteyne @ EDERC 2010 3. Towards A Standards-Based Stack
  • Slide 2
  • 2 ApplicationOpenADR, XML TransportTCP, UDP routing IETF RPL IETF 6LoWPAN MACIEEE 802.15.4E PHYIEEE 802.15.4-2006 Protocol Stack Thomas Watteyne @ EDERC 2010 IETF IEEE
  • Slide 3
  • 3 Section 3 - Overview 3. Towards A Standards-Based Stack 3.1IEEE 802.15.4E 3.2IETF 6LoWPAN 3.3IETF RPL 3.4OpenWSN 3.5Conclusions Thomas Watteyne @ EDERC 2010
  • Slide 4
  • 4 3.1 IEEE802.15.4E
  • Slide 5
  • 5 15.4-2006, 15.4 PHY, 15.4 MAC, 15.4E? IEEE 802 LAN/MAN Standards Committee standardizes a.o. 802.3 (Ethernet) 802.11 http://www.ieee802.org/ http://www.ieee802.org/ IEEE 802.15 Working Group for WPAN wireless Personal Area Network standardizes a.o. 802.15.1 (Bluetooth), 802.15.4 http://www.ieee802.org/15/ http://www.ieee802.org/15/ IEEE 802.15 WPAN Task Group 4 low data rate solution with multi-month to multi-year battery life, very low complexity operating in an unlicensed, international frequency band sensors, interactive toys, smart badges, remote controls, and home automation, etc. first standard in 2003, updated in 2006 standardizes both PHY and MAC http://www.ieee802.org/15/pub/TG4.html http://www.ieee802.org/15/pub/TG4.html IEEE 802.15 WPAN Task Group 4e define a MAC amendment to the existing standard 802.15.4-2006 enhance and add functionality to the 802.15.4-2006 MAC to better support the industrial markets uses 802.15.4-2006 PHY draft standard on 03/08/2010, integrated in next revision of the 802.15.4 standard (exp. 2011) http://www.ieee802.org/15/pub/TG4e.html http://www.ieee802.org/15/pub/TG4e.html Thomas Watteyne @ EDERC 2010
  • Slide 6
  • 6 IEEE802.15.4 Overview Emphasis of IEEE 802.15.4 is: low-cost, low-speed ubiquitous communication between nearby devices with little to no underlying infrastructure basic framework assumes 10-meter communications area @ 250 kbit/s lower transfer rates of 20, 40 and 100 kbit/s are now considered too to meet embedded constraints, several PHY layers are available Key technology features are: real-time suitability by reservation of guaranteed time slots collision avoidance through CSMA/CA integrated support for secure communications (128-bit AES encryption) power management functions such as link quality and energy detection 16 channels in ISM bands for operation, i.e. 868-868.8 MHz (Europe), 902-928 MHz (North America), 2400-2483.5 MHz (worldwide) star and mesh topologies can theoretically be built support for low-latencies and dynamic device addressing Thomas Watteyne @ EDERC 2010
  • Slide 7
  • 7 IEEE802.15.4 PHY Layer The 2006 revision of the standard defines 4 PHY layers: 868/915 MHz DSSS with binary phase shift keying (BPSK) 868/915 MHz DSSS with offset quadrature phase shift keying (OQPSK) 2450 MHz DSSS with offset quadrature phase shift keying (OQPSK) 868/915 MHz PSSS, i.e. combination of binary keying and amplitude shift keying The 2007 IEEE 802.15.4a version includes 2 PHY layers more: Chirp Spread Spectrum (CSS) @ 2450 MHz ISM Direct Sequence Ultra-wideband (UWB) @ < 1GHz, 3-5GHz, 6-10 GHz Beyond these PHYs at the three bands, there are: IEEE 802.15.4c for 314-316, 430-434 and 779-787MHz bands in China IEEE 802.15.4d for 950-956MHz band in Japan Thomas Watteyne @ EDERC 2010
  • Slide 8
  • 8 IEEE802.15.4 PHY Layer binary phase shift keying (BPSK) quadrature phase shift keying (QPSK) offset quadrature phase shift keying (OQPSK) Thomas Watteyne @ EDERC 2010
  • Slide 9
  • 9 IEEE802.15.4 2.4GHz PHY O-QPSK, 250 kb/s, 62.5 ksymbol/s Direct Sequence Spread Spectrum Max PSDU = 127B Turnaround: TX-RX RX-TX 192us ED over 8 symbol periods DSSS: 4 bits of information = 32 chips (raw data rate of 2Mbps) Thomas Watteyne @ EDERC 2010
  • Slide 10
  • 10 IEEE802.15.4 MAC Layer Some key attributes: CSMA/CA channel access manages access to the physical channel and network beaconing controls frame validation, guarantees time slots, handles node associations offers hook points for secure services In more details: networks which are not using beaconing mechanisms utilize an un-slotted variation which is based on the listening of the medium, leveraged by a random exponential backoff algorithm (acknowledgments do not adhere to this discipline) confirmation messages may be optional under certain circumstances, in which case a success assumption is made; timeout-based retransmission can be performed a number of times due to the maximization of battery life, the protocols tend to favor methods implementing periodic checks for pending messages, the intensity of which depends on application needs Thomas Watteyne @ EDERC 2010
  • Slide 11
  • 11 IEEE802.15.4 MAC Layer There are two general channel access methods: Non-Beacon Network: simple, traditional multiple access system used in simple peer networks standard CSMA conflict resolution positive acknowledgement for successfully received packets Beacon-Enabled Network can be used in beacon-request mode without superframes superframe structure - network coordinator transmits beacons at predetermined intervals dedicated bandwidth and low latency low power consumption mode for coordinator Thomas Watteyne @ EDERC 2010
  • Slide 12
  • 12 IEEE802.15.4 MAC Layer Super-Frame Structure for Beacon-Enabled Mode: Thomas Watteyne @ EDERC 2010
  • Slide 13
  • 13 IEEE802.15.4 Packet Format Thomas Watteyne @ EDERC 2010 4B of data (all 0s) 0x7A 0-127 synchronization headerphysical header MAC header 16-bit CRC beacon, ACK, DATA, command
  • Slide 14
  • 14 IEEE802.15.4 Device Classes Full function device (FFD) any topology network coordinator capable talks to any other device Reduced function device (RFD) limited to star topology cannot become a network coordinator talks only to a network coordinator very simple implementation Thomas Watteyne @ EDERC 2010
  • Slide 15
  • 15 Full function device Reduced function device Communications flow Master/Slave PAN Coordinator IEEE802.15.4 Star Topology Thomas Watteyne @ EDERC 2010
  • Slide 16
  • 16 Full function deviceCommunications flow Point to point Cluster tree IEEE802.15.4 P2P Topology Thomas Watteyne @ EDERC 2010
  • Slide 17
  • 17 Full function device Reduced function device Communications flow Clustered stars - for example, cluster nodes exist between rooms of a hotel and each room has a star network for control. IEEE802.15.4 Combined Topology Thomas Watteyne @ EDERC 2010
  • Slide 18
  • 18 IEEE802.15.4 Scenario First node makes sure it is alone, scans for a good frequency and transmits beacons. New node scans (active or passive) and hears beacon. Sends an association request (indirect response). Tracks beacon periodically. Upstream data transmitted in CAP using CSMA/CA. If downstream data, coordinator set pending data field. Device can ask to (dis)allocate a GTS to the coordinator. GTS slots are announced in beacon, CSMA is not used in GTS slot. Secondary coordinators to create a generalized star topology. Thomas Watteyne @ EDERC 2010
  • Slide 19
  • 19 IEEE802.15.4 - Problems Powered Routers router nodes have their radio on all the time if battery-powered: 2400mAh AA pack @ 81mA (CC2420) -> 29h of lifetime assumption: mains powered Single channel operation WiFi-like: one channel for the whole network suffers from external interference (WiFi, Bluetooth) suffers from persistent multipath fading (especially indoors) Topologies works great in star topologies e.g. multiple switches connected to a single lamp extended star topologies are hard to manage Thomas Watteyne @ EDERC 2010
  • Slide 20
  • 20 A B C D IEEE802.14.4E - TSCH Time Synchronized Channel Hopping cut time into slots have nodes follow a common schedule Thomas Watteyne @ EDERC 2010
  • Slide 21
  • 21 IEEE802.14.4E - TSCH The channel offset is translated to frequency using a translation function This insures that successive packets sent over a same link are sent over all frequencies iff the superframe length and number if frequencies are mutually prime frequency = (absolute slot number + channel offset)%16 superframeASNchannel offsetfrequency 1819 21813 328112 43816 Thomas Watteyne @ EDERC 2010
  • Slide 22
  • 22 IEEE802.14.4e - TSCH AB Thomas Watteyne @ EDERC 2010
  • Slide 23
  • 23 Thomas Watteyne @ EDERC 2010
  • Slide 24
  • 24 Thomas Watteyne @ EDERC 2010
  • Slide 25
  • SETTING_ CHANNEL STARTINGSTARTEDTXDATARXACKSTOPPED Startup_time+Guard_time_large TsTxOffset Watchdog_TXDATA TsRxAckDelay TsAckWaitTime SETTING_ CHANNEL STARTING STAR TED RXDATATXACKSTOPPED Startup_time TsRxOffset TsPacketWaitTime TsTxAckDelay Watchdog_TXACK Watchdog_TXACK+Guard_time_small 124561011 1 2789 1011 WAIT_TXACK STOPPING WAIT_RX ACK STOPPING Guard_time_largeGuard_time_small Stopping_time SLOT_TIME >TsRxOffset+TsPacketWaitTime+TsTxAckDelay+Watchdog_TXACK+Stopping_time
  • Slide 26
  • 26 IEEE802.15.4e Synchronization clocks drift (1 0ppm typical) Periodic realignment (within a clock tick) t Thomas Watteyne @ EDERC 2010
  • Slide 27
  • 27 Improved Reliability Thomas Watteyne @ EDERC 2010
  • Slide 28
  • 28 Improved Connectivity Thomas Watteyne @ EDERC 2010
  • Slide 29
  • 29 Improved Throughput Thomas Watteyne @ EDERC 2010
  • Slide 30
  • 30 Improved Energy Consumption 2ms maximum de- synchronization 20ppm relative drift Resynchronization every 100 seconds (10ms slots) 0.010% idle duty cycle 25mA when mote is active 2400mAh batteries (AA batteries) lifetime of 109 years (>> shelf-life) Thomas Watteyne @ EDERC 2010
  • Slide 31
  • 31 Improved Throughput Thomas Watteyne @ EDERC 2010
  • Slide 32
  • 32 visible light sensor IR light sensor humidity sensor antenna CC2420 radio MSP430 microcontroller 1234 IEEE 802.15.4e - TSCH TelosB mote TinyOS operating system 30ms time slots 19kB ROM / 3kB RAM 10kbps over 14 hops Thomas Watteyne @ EDERC 2010
  • Slide 33
  • 33 Thomas Watteyne @ EDERC 2010
  • Slide 34
  • 34 Thomas Watteyne @ EDERC 2010 3.2 IETF 6LoWPAN
  • Slide 35
  • 35 IPv4 vs. IPv6 Internet Protocol v4 (IPv4): IPv4 (RFC 791) originates from 1981 upper layer protocols responsible for end-to-end reliability works over almost any layer 2 network and with many routing protocols addressing is being pushed to extremes by Internet growth Internet Protocol v6 (IPv6): IPv6 (RFC 2460) is the next generation of the Internet Protocol complete redesign on IP addressing: hierarchical 128-bit address with decoupled host identifier; stateless auto-configuration; etc simple routing and address management majority of traffic not yet IPv6 but most PC operating systems already have IPv6, governments are starting to require IPv6, most routers already have IPv6 support IPv6 transition is coming slowly but quietly Thomas Watteyne @ EDERC 2010
  • Slide 36
  • 36 IPv4...... versus IPv6 addressing: IPv4 vs. IPv6 Thomas Watteyne @ EDERC 2010
  • Slide 37
  • 37 IPv4 vs. IPv6 Monday, September 26, 2011 Thomas Watteyne @ EDERC 2010
  • Slide 38
  • 38 IP headers IPv4 header [RFC791], 1981 IPv6 header [RFC791], 1998 Thomas Watteyne @ EDERC 2010
  • Slide 39
  • 39 IETF 6LoWPAN - Overview Key properties: IP for very low power embedded devices IETF Standard for IPv6 over IEEE 802.15.4: RFC4944, to be obsolete by IPHC 80% compression of headers IPv6 40-byte header -> 2 bytes (best case) UDP 8-byte header -> 4 bytes end-to-end Internet integration fragmentation (1260 byte IPv6 frame -> 127 byte 802.15.4 frames) Thomas Watteyne @ EDERC 2010
  • Slide 40
  • 40 Header Compaction Not compacted Well-known value Value inferred from IEEE802.15.4 header RFC4944 Thomas Watteyne @ EDERC 2010
  • Slide 41
  • 41 Internet Integration Thomas Watteyne @ EDERC 2010
  • Slide 42
  • 42 Thomas Watteyne @ EDERC 2010 3.3 IETF RPL
  • Slide 43
  • 43 IETF ROLL - Overview Routing Over Low-Power and Lossy Networks (ROLL): IETF information discussion started in 2008 Finalizing RPL: IPv6 Routing Protocol for Low power and Lossy Networks website: http://tools.ietf.org/wg/roll list: http://www.ietf.org/mail-archive/web/roll/current/threads.html Since WSNs are application specific, 4 scenarios are dealt with: building applications:draft-ietf-roll-building-routing-reqs home applications: draft-ietf-roll-home-routing-reqs industrial applications:RFC 5673 urban applications: RFC 5548 Thomas Watteyne @ EDERC 2010
  • Slide 44
  • 44 IETF ROLL RPL Adopted as a working document by IETF ROLL on August 3, 2009 Close integration with IPv6/6LoWPAN DAG Information Option (DIO) Destination Advertisement Option (DAO) Core operation: build a Directed Acyclic Graph (DAG) onto the connectivity graph of the network, directed toward a DAG root each node has at least one DAG parent; nodes send inward traffic to their DAG parent nodes announce their presence to the DAG root using Destination Advertisement Source routing is used for outward traffic Thomas Watteyne @ EDERC 2010
  • Slide 45
  • 45 Constraint Based Routing finding the shortest path according to some metrics satisfying a set of constraints Objective Code Point (OCP) included in DIO: The set of metrics used within the DAG e.g. Expected Transmission Count (ETX) The objective functions used to determine the least cost constrained paths in order to optimize the DAG e.g. minimize ETX The function used to compute DAG Depth e.g. DAG Depth is equivalent to ETX The functions used to construct derived metrics for propagation within a DIO e.g. additive IETF ROLL RPL Thomas Watteyne @ EDERC 2010
  • Slide 46
  • 46 IETF ROLL RPL Thomas Watteyne @ EDERC 2010 wsn.eecs.erkeley.edu
  • Slide 47
  • 47 IETF ROLL RPL Thomas Watteyne @ EDERC 2010 wsn.eecs.erkeley.edu
  • Slide 48
  • 48 IETF ROLL RPL Thomas Watteyne @ EDERC 2010
  • Slide 49
  • 49 Thomas Watteyne @ EDERC 2010 3.4 OpenWSN
  • Slide 50
  • 50 Charter The OpenWSN project serves as a repository for open-source implementations of protocol stacks based on Internet of Things standards, using a variety of hardware and software platforms. openwsn.berkeley.edu Thomas Watteyne @ EDERC 2010
  • Slide 51
  • 51 Open Source http://openwsn.berkeley.edu/ Source code repository: Subversion with public check out Documentation: wiki Project management: Timeline & Roadmap Bug reporting: ticketing system Thomas Watteyne @ EDERC 2010
  • Slide 52
  • 52 Hardware/Software Platforms Hardware: TelosB (2004) MSP430f1611 (16-bit, 8MHz, 10kB RAM, 48kB ROM) CC2420 Jennic JN5140 (2009) 32-bit, 32MHz, 128kB RAM, 128kB ROM 15.4 radio with RF ToF engine Atmel RAVEN Stick (2009) AT90USB1287 (8-bit, 16MHz, 8kB RAM, 128kB ROM), AT86RF230 GINA 2.0 (2009) Software: TinyOS Contiki FreeRTOS uC-OS II/III no-OS Thomas Watteyne @ EDERC 2010
  • Slide 53
  • 53 //Slot Durations enum { Startup_time = 114, //32kHz ticks = 3.479ms Guard_time_large = 33, //32kHz ticks = 1.007ms Guard_time_small = 16, //32kHz ticks = 0.488ms Watchdog_TXDATA = 393, //32kHz ticks = 11.993ms Watchdog_TXACK = 213, //32kHz ticks = 6.500ms Stopping_time = 17, //32kHz ticks = 0.519ms TsRxOffset = Startup_time, TsTxOffset = Startup_time+Guard_time_large, TsPacketWaitTime = Watchdog_TXDATA+Guard_time_large TsRxAckDelay = 1, //go in reception mode immediately TsTxAckDelay = TsRxAckDelay+Guard_time_small, TsAckWaitTime = Watchdog_TXACK+Guard_time_small //SLOT_TIME >= TsRxOffset+TsPacketWaitTime+TsTxAckDelay+Watchdog_TXACK+Stopping_time SLOT_TIME = 983, //ticks = 29.999ms }; Slot Organization Thomas Watteyne @ EDERC 2010
  • Slide 54
  • 54 Full Debugging Environment Thomas Watteyne @ EDERC 2010
  • Slide 55
  • 55 Memory Usage ROM RAM 48kB 30788 B RPL 802.15.4E 21960 B OS 8828 B 10kB 2920B 1352 B 1568 B Thomas Watteyne @ EDERC 2010
  • Slide 56
  • 56 Next Step OpenADR server sensor.network.com data collection actuation Thomas Watteyne @ EDERC 2010
  • Slide 57
  • 57 Thomas Watteyne @ EDERC 2010 3.5 Conclusions
  • Slide 58
  • 58 Conclusions Lifting barriers to adoption Robust wireless communication through channel hopping A fully standards-based solution Internet integration provides ease of use Aggressive duty cycling provides

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