MSP System Software

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msb-server

The msb-server is a program which interfaces with the MSB via the serial port and handles logging of uwar files and transmission of the sensor data over IPC and other shared memory mechanisms. msb-server was written by Dirk Hähnel of Intel Research Seattle.

usage

    Typical Usage

      msb-server -ini msb.ini

      where msb.ini will typically contain: 

      #Desktops should use the USB device
#SERIAL_DEVICE 			/dev/ttyUSB1
#the iMote2 uses ttyS0 only
SERIAL_DEVICE 			/dev/ttyS0
BAUD_RATE			      921600
HARDWARE_FLOW_CONTROL		0
SOFTWARE_FLOW_CONTROL		0
USE_RTC                       1
SCHEDULE_INTERRUPT_COUNT      5120
SCHEDULE_MIC                 8192
SCHEDULE_ACCELEROMETER        5120
SCHEDULE_AMB_LIGHT            2560
SCHEDULE_BAROMETER              71
SCHEDULE_DALS                   30
SCHEDULE_HUMIDITY               10
SCHEDULE_POWER                   0
MIC_GAIN                        64

LOG_FILE			 test.uwar
LOG_START			 1

    Available Commands

      In addition the msb-server also supports the following switch commands: 
      -ipc-publish-data    publish the converted data via IPC
-ipc-publish-raw     publish the raw sensor data via IPC
-ipc-publish-stream  stream serial data via ipc
-shm-publish-stream  stream serial data via shared memory
-ipc-publish-mic     publish microphone packets
-sync-rtc
-show-rtc
-set-rtc
-use-rtc
-log        specify a file to log data to, see -max-size and -max-time for log rotation settings
-log-type   specify the type of data to log:
  uwar      serial data is stored as packets in a uwar file
  stream    serial data is written directly to a file
-max-size   maximum size of the uwar file before rotating the log file (in kilobytes)
-max-time   maximum time between file rotations

msb.ini

    msb.ini specifies which serial port the MSB is attached to, the serial port settings, the schedule, and other miscellaneous options. The schedule is set of sampling rates for each sensor, in number of samples per ten seconds. The microphone sampling rate is the one exception; it's specified in the number of samples per second. Setting a sensor to 0 samples per ten seconds causes the sensor to turn off. Each sensor has its own maximum sampling rate (and some have minimum sampling rates), but due to the tight timing constraints of the MSB, the sampling rate of one sensor can affect many others. To create a schedule that will work on the MSB, use this Excel spreadsheet. The MSB will reject any schedule it cannot meet and return the best schedule it can handle. The available options you can set in msb.ini are:
    Option Description
    SERIAL_DEVICE Specifies the serial port the MSB is attached to. This should be /dev/ttyS0 on the MSP.
    BAUD_RATE The baud rate the MSB communicates at. This should be 921600.
    HARDWARE_FLOW_CONTROL If set to 1, enables hardware flow control. This should be enabled.
    SOFTWARE_FLOW_CONTROL If set to 1, enables software flow control. This should not be set.
    SCHEDULE_INTERRUPT_COUNT The number of timer interrupts per ten seconds on the MSB. This is effectively the upper sampling rate of every sensor except the microphone. This is usually set to maximum allowed value, 5120.
    SCHEDULE_AMB_LIGHT The number of ambient light sensor samples per ten seconds. This is usually set to 1280.
    SCHEDULE_COMPASS The number of compass samples per ten seconds. This should be set to 0 on all modern MSBs.
    SCHEDULE_BAROMETER The number of barometer samples per ten seconds. This is usually set to 71.
    SCHEDULE_DALS The number of dual ambient light sensor samples per ten seconds. This is usually set to 30.
    SCHEDULE_HUMIDITY The number of humidity sensor samples per ten seconds. This is usually set to 10.
    SCHEDULE_POWER The bit field of power-saving options. For a description of what each bit means, see Power Control Bits. Note: Enabling power-saving for a sensor will reduce the maximum sampling rate of that sensor.
    MIC_GAIN The microphone gain. 0 is the least gain, and 255 is the most gain. This is usually set to 128.
    LOG_FILE Specifies the initial log file name used when writing a log. Not used with logger.
    LOG_TYPE Sets the log type. This can either be "uwar" or "stream". Not used with logger.
    LOG_START If set to 1, enables log writing. Not used with logger.
    LOG_MAX_TIME Maximum elapsed time per log file, in seconds. Not used with logger.
    LOG_MAX_TIME Maximum log file size, in kilobytes. Not used with logger.
    EXEC_LOG_FILE Specifies the initial execution log file name when writing an execution log (the output that's sent to the console).
    EXEC_LOG_START If set to 1, writes an execution log. Not normally used, except when debugging.
    USE_IPC If set to 1, enables IPC. By itself, this configures the msb-server to listen for all IPC messages and publish the schedule and calibration. This is usually enabled.
    IPC_PUBLISH_DATA If set to 1, publishes sensor data over IPC. Not normally set.
    IPC_PUBLISH_RAW If set to 1, publishes raw sensor data over IPC. Not normally set.
    IPC_PUBLISH_STREAM If set to 1, publishes the raw serial port data stream over IPC. Not normally set.
    IPC_PUBLISH_MIC If set to 1, publishes microphone samples over IPC. Not normally set.
    SHM_PUBLISH_STREAM If set to 1, publishes the raw serial port data stream over shared memory. This should be set to 1 if using logger.
    USE_RTC If set to 1, enables reading and setting of the MSB's real-time clock. Not normally set.
    CHANGE_SYSTEM_TIME If set to 1, sets the system clock to the MSB's real-time clock. Not normally set.
    PACKET_INTERVAL_IN_MS Time interval between IPC publications. Not normally set, but defaults to 100 internally.
    GPS_ENABLE If set to 1, drives the GPS enable line high (pin 3 of P1).
    ACCEL_RANGE Sets the accelerometer range to either +/-2g or +/-6g. Valid options are 2 or 6. Defaults to 2.

example output

    Typically the msb-server will output something similar to the following. Where the final received stats will continue until the program is terminated or an error occurs. 
    ./msb-server -ini ./msb.ini -ipc-publish-data
# INFO: ********************************
# INFO: ***********   MSB   ************
# INFO: ********************************
# INFO: read ini file ./msb.ini
# INFO: initialize data structures
# INFO: allocate data messages
# INFO: IPC for Mobile Sensing Platform Toolkit (Ver. 1.0.0)
# INFO: set device:
# INFO:    port   = /dev/ttyUSB1
# INFO:    baud   = 921600
# INFO:    params = 8N1
# INFO: send reset command
# INFO: ---------------------
# INFO: send cease command ... done
# INFO: send rtc query command to MSB
# INFO: current msb time = 2065-25-45 45:85:85!
# INFO: change system time to RTC!
# INFO: set system time failed!
# INFO: send calibration query command to MSB
# INFO: ---- calibration ----
# INFO: board nr            = b
# INFO: hardware version nr = 2
# INFO: major soft version  = 1
# INFO: minor soft version  = 1
# INFO: calibration word 1  = 48224
# INFO: calibration word 2  = 47962
# INFO: calibration word 3  = 28705
# INFO: calibration word 4  = 44956
# INFO: calibration val c1  = 24112
# INFO: calibration val c2  = 2140
# INFO: calibration val c3  = 702
# INFO: calibration val c4  = 448
# INFO: calibration val c5  = 749
# INFO: calibration val c6  = 26
# INFO: send schedule query command to MSB
# INFO: --- USER REQUEST  ---
# INFO: ------ schedule -----
# INFO: interrupt count     = 5120
# INFO: mic hz              = 8192
# INFO: accelerometer hz    = 512.0
# INFO: amb light hz        = 256.0
# INFO: barometer hz        = 7.1
# INFO: compass hz          = 0.0
# INFO: dals hz             = 3.0
# INFO: humidity hz         = 1.0
# INFO: power               = 0
# INFO: microphone gain     = 255
# INFO: send schedule query command to MSB
# INFO: --- NEW SETTINGS  ---
# INFO: ------ schedule -----
# INFO: interrupt count     = 5120
# INFO: mic hz              = 8192
# INFO: accelerometer hz    = 512.0
# INFO: amb light hz        = 256.0
# INFO: barometer hz        = 7.1
# INFO: compass hz          = 0.0
# INFO: dals hz             = 3.0
# INFO: humidity hz         = 1.0
# INFO: power               = 0
# INFO: microphone gain     = 255
# INFO: ------ schedule -----
# INFO: interrupt count     = 5120
# INFO: mic hz              = 8192
# INFO: accelerometer hz    = 512.0
# INFO: amb light hz        = 256.0
# INFO: barometer hz        = 7.1
# INFO: compass hz          = 0.0
# INFO: dals hz             = 3.0
# INFO: humidity hz         = 1.0
# INFO: power               = 0
# INFO: microphone gain     = 255
# INFO: -------   log   -------
# INFO: open log-file file test-0002.uwar [test-0002.uwar]
# INFO: write header to log file ... => 967903080
done
# INFO: log-max-size: 4 Mbytes
# INFO: log-max-time: 5.00 minutes 
# INFO: ------- start -------
# INFO: send init command to MSB
# INFO:  2.40 kbits/sec (0 crc of 9 packets)
# INFO: 234.95 kbits/sec (0 crc of 169 packets)
# INFO: 221.89 kbits/sec (0 crc of 321 packets)
# INFO: unknown packet type 0xb4
# INFO: 221.89 kbits/sec (0 crc of 473 packets)
...

msb-test

msb-test is a program that lets you exercise the various functions of the MSB, including reporting sensor data. IPC publishing must be enabled on the msb-server for msb-test to work. msb-test was written by Dirk Hähnel of Intel Research Seattle.

usage

    Typical Usage

      msb-test -show

    Available Commands

      msb-test supports the following switch commands: 
      -led <color> <on/off>       set led with color 'blue, green, or red' to value 'on' or 'off'
-triled <color> <on/off>    set led in the tricolor LED with color 'blue, green, or red' to value 'on' or 'off'
-lightshow                  start LED test
-reset                      reset MSB
-show-power                 show power messages
-show                       show sensor readings
-state <state>              sets state, which can be 'cease', 'start', 'query-led', 'query-schedule', 'query-calib', or 'reconnect'
-schedule-info              print current schedule information
-calibration-info           print current calibration information
-shm                        print SHM stream bytes
-stream                     print IPC stream data rate

lsb-server

The lsb-server is a program which interfaces with the LSB via the serial port and handles transmission of the sensor data over IPC and other shared memory mechanisms. Unlike msb-server, it cannot write UWAR files directly.

usage

    Typical Usage

      lsb-server -ini lsb.ini

      where lsb.ini will typically contain: 

      SERIAL_DEVICE                   /dev/ttyS2
BAUD_RATE                       921600
HARDWARE_FLOW_CONTROL           0
SCHEDULE_INTERRUPT_COUNT        5120
SCHEDULE_GYRO                   640
SCHEDULE_MAGNETOMETER          	320
IPC_PUBLISH_STREAM              0
SHM_PUBLISH_STREAM              1

    Available Commands

      In addition the lsb-server also supports the following switch commands: 
      -sync-rtc   Set the system time with the RTC on the LSB (LSB RTC --> System Time)
-show-rtc   Retrieve the RTC time from the LSB
-set-to-rtc Set the LSB RTC with the time specified in the following format: year-month-day hour:min:seconds (e.g. 2007-1-1 2:32:01)
-use-rtc

lsb.ini

    lsb.ini specifies which serial port the LSB is attached to, the serial port settings, the schedule, and other miscellaneous options. The schedule is set of sampling rates for each sensor, in number of samples per ten seconds. Setting a sensor to 0 samples per ten seconds causes the sensor to turn off. Each sensor has its own maximum sampling rate. The LSB will reject any schedule it cannot meet and return the best schedule it can handle. The available options you can set in msb.ini are:
    Option Description
    SERIAL_DEVICE Specifies the serial port the LSB is attached to. This should be /dev/ttyS2 on the MSP.
    BAUD_RATE The baud rate the LSB communicates at. This should be 921600.
    HARDWARE_FLOW_CONTROL If set to 1, enables hardware flow control. This should be not be enabled, as there is no hardware support for it.
    SOFTWARE_FLOW_CONTROL If set to 1, enables software flow control. This should not be set.
    UART1_BAUD_RATE Sets the baud rate of the pass-through UART on the LSB. Used only when another serial device is attached to the LSB, such as a GPS module.
    UART1_CFGDATA_FILENAME When set, lsb-server reads this file and sends the contents to the pass-through UART on the LSB. Used only when another serial device is attached to the LSB, such as a GPS module. Commonly this is used to send initialization commands to a GPS module or other serial device.
    SCHEDULE_INTERRUPT_COUNT The number of timer interrupts per ten seconds on the LSB. This is effectively the upper sampling rate of every sensor. This is usually set to maximum allowed value, 5120.
    SCHEDULE_GYRO The number of gyroscope samples per ten seconds. This is usually set to 640.
    SCHEDULE_MAGNETOMETER The number of magnetometer samples per ten seconds. This is usually set to 320.
    SCHEDULE_POWER The bit field of power-saving options. This is reserved for future use, and should not be set.
    IPC_PUBLISH_STREAM If set to 1, publishes sensor data over IPC. Despite the name, this is not actually a byte stream, but individual sensor messages. Not normally set.
    SHM_PUBLISH_STREAM If set to 1, publishes the sensor data stream over shared memory. The format of the data is identical to the LSB protocol. This should be set to 1 if using logger.
    SHM_PUBLISH_STREAM_SIRF_GPS If set to 1, publishes the data sent to the pass-through UART over shared memory. This should be set to 1 if using logger and have another serial device connected to the LSB.
    PACKET_INTERVAL_IN_MS Time interval between IPC publications. This should be set to 100 or smaller if using IPC.
    GPS_ENABLE If set to 1, drives the GPS enable line high (pin 6 of P2).
    USB_ENABLE If set to 1, enables +5v on the USB port.

lsb-test

lsb-test is a program that lets you exercise the various functions of the MSB, including reporting sensor data. IPC publishing must be enabled on the lsb-server for lsb-test to work. lsb-test was written by Dirk Hähnel of Intel Research Seattle.

usage

    Typical Usage

      lsb-test -show-gyro -show-magnetometer -show-power

    Available Commands

      lsb-test supports the following switch commands: 
      -led <color> <on/off>       set led with color 'blue, green, or red' to value 'on' or 'off'
-lightshow                  start LED test
-reset                      reset LSB
-show-power                 show power messages
-show-gyro                  show gyro readings
-show-magnetometer          show magnetometer readings
-show-stream                show data stream statistics
-show-uart                  show pass-through UART bytes received
-state <state>              sets state, which can be 'cease', 'start', 'query-led', 'query-schedule', 'query-calib', or 'reconnect'

cam-server

cam-server is a program that captures an image using an OV9650 CMOS camera attached to the LSB. Images are captured once a second and compressed using JPEG, using a quality setting of 80 (using the IJG's algorithm to modify the quantization tables, adjustable in the source), and then sent over shared memory to logger and/or cam-net-stream application.

/dev/camera must exist and point to the ov9650 driver for cam-server to work. To create /dev/camera, insmod ov9650.ko, cat /proc/devices to see which major device number it was assigned, and mknod /dev/camera c <major number> 0.

The time the image is captured is stored as a suggested file name in a comment in the JPEG data stream. The file name is <number of milliseconds since the UNIX epoch>.jpg.

usage

    Command line format

      cam-server
      cam-server has no options.

gps-server

The gps-server is a program which interfaces with a GPS unit via the serial port, optionally sends some initialization data to the GPS unit, and publishes the GPS data stream over shared memory. This program is designed to replace lsb-server when only a GPS unit is used instead of an LSB. This program produces no output.

usage

    Command line format

      gps-server <gps serial port> <baud rate> [initialization data file]

    Typical Usage

      gps-server /dev/ttyS0 38400 enableDGPS.bin

gps-debug

The gps-debug is a program monitors the GPS data stream, prints out verbose status information about the GPS unit, and sets the tri-color LED on the MSB to indicate the GPS status. This program only works with SiRF GPS modules using the binary protocol. The debugging output is useful only if you have some knowledge of the SiRF binary protocol and how GPS works.

usage

    Command line format

      gps-debug
      gps-debug has no options.

LED colors

Color Status
Blinking Red No recent communication with the GPS unit.
Red Communication OK, but no GPS lock
Cyan 2D GPS Lock
Green 3D GPS lock
Blue Dead-reckoning

Example output

    Measured Tracking Data:
	GPS Week:	416
	ToW:	428330.00 s
	Chans:	12
	SVid:	8
		Azimuth:	99.0
		Elev.:	69.0
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK EPH-AVAIL 

	SVid:	28
		Azimuth:	276.0
		Elev.:	80.5
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK EPH-AVAIL 

	SVid:	25
		Azimuth:	118.5
		Elev.:	22.0
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK EPH-AVAIL 

	SVid:	27
		Azimuth:	115.5
		Elev.:	44.5
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK EPH-AVAIL 

	SVid:	11
		Azimuth:	99.0
		Elev.:	17.5
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK 

	SVid:	17
		Azimuth:	183.0
		Elev.:	29.5
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK EPH-AVAIL 

	SVid:	19
		Azimuth:	43.5
		Elev.:	21.0
		Flags:	ACQ-OK ICPV BITSYNC SUBSYNC PULLIN CODELOCK 

	SVid:	0
		Azimuth:	0.0
		Elev.:	0.0
		Flags:	

	SVid:	29
		Azimuth:	289.5
		Elev.:	47.5
		Flags:	ACQ-OK BITSYNC SUBSYNC CODELOCK 

	SVid:	0
		Azimuth:	0.0
		Elev.:	0.0
		Flags:	

	SVid:	0
		Azimuth:	0.0
		Elev.:	0.0
		Flags:	

	SVid:	0
		Azimuth:	0.0
		Elev.:	0.0
		Flags:	

Measured Navigation Data:
	X:	-2300370 m
	Y:	-3638057 m
	Z:	4691023 m
	X vel.:	8191.375
	Y vel.:	0.000
	Z vel.:	8191.625
	Flags:	ALTMODE0 GPS-ONLY-NAV VALIDATED ALTHOLD 
	Pos. Mode:	>3-SV solution (Kalman filter)
	HDOP:	4.4
	GPS Week:	416
	ToW:	428339.00 s
	SVs:	5

Clock Status
	GPS Week:	1440
	ToW:	428339.00 s
	SVs:	5
	Drift:	93940 Hz
	Bias:	4747521 ns
	Est. Time:	428338999 ms

cam-net-stream

cam-net-stream is a program that sends a stream of JPEG images captured by cam-server over any available TCP/IP connection with sufficient bandwidth, such as WiFi, Bluetooth, or USB. cam-net-stream listens for an incoming connection on a TCP port you specify, and begins sending JPEG images once connected. Only one connection may exist at a time.

Before each JPEG image, the image length is sent as a four-byte, little-endian integer. Thus, the data stream looks like:

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 -- Length + 3 Byte n Byte n + 1 Byte n + 2 Byte n + 3 Byte n + 4 -- Byte n + 3 + Length
Length JPEG Data Length JPEG DATA

usage

    Command line format

      cam-net-stream <port>

audio-stream

audio-stream is a program that sends a stream of audio samples captured by msb-server over any available TCP/IP connection with sufficient bandwidth, such as WiFi, Bluetooth, or USB. audio-stream listens for an incoming connection on a TCP port you specify, and begins sending samples once connected. Only one connection may exist at a time.

The audio data format is identical to the sample format in the MSB protocol.

usage

    Command line format

      audio-stream <port>

logger

The logger is a program which integrates MSB, LSB, GPS, and Camera data into a single UWAR stream. It must be used if you're collecting data in the UWAR format with anything but the MSB.

usage

    Typical Usage

      logger -ini logger.ini

      where msb.ini will typically contain: 

      LOG_FILE          /mnt/mmc/msp-data/log.uwar
LOG_TYPE          uwar
#
LOG_SIRF_GPS      1
LOG_LSB           1
LOG_MSB2          1
LOG_CAMERA        1
#
LOG_MIC           1
#
USE_SHM_MSB       1
USE_SHM_LSB       1
USE_SHM_SIRF_GPS  1
USE_IPC           0
#
LOG_MAX_SIZE_KB   15000

    Available Commands

      In addition the msb-server also supports the following switch commands: 
      -ini   specifies the configuration file to use

logger.ini

    logger.ini specifies which sensor streams to log, what type of log to create, how big each log file should be, and other miscellaneous options. The available options you can set in logger.ini are:
    Option Description
    LOG_FILE Specifies the initial log file name used when writing a log. Defaults to "msp-log-%d-%t".
    LOG_TYPE Sets the log type. This can either be "uwar" or "stream". Defaults to uwar.
    LOG_ON_START If set to 1, enables log writing on startup. Defaults to 1.
    LOG_MAX_TIME Maximum elapsed time per log file, in seconds. Defaults to 3600.
    LOG_MAX_SIZE Maximum log file size, in kilobytes. Defaults to 20 MB.
    USE_IPC If set to 1, enables listening for IPC messages. Must be enabled if LOG_POWER, USE_POWER, USE_LEDS is enabled.
    LOG_MSB2 If set to 1, logs MSB2 sensor data, excluding the microphone. If set, USE_SHM_MSB must also be set.
    LOG_MIC If set to 1, logs micrphone data. If set, USE_SHM_MSB must also be set.
    LOG_LSB If set to 1, logs LSB sensor data. If set, USE_SHM_LSB must also be set.
    LOG_SIRF_GPS If set to 1, logs the GPS byte stream. If set, USE_SHM_GPS must also be set.
    LOG_CAMERA If set to 1, logs the camera image stream.
    LOG_POWER If set to 1, logs battery and system voltage levels, plus the charging status. If set, USE_IPC must also be set.
    USE_SHM_MSB If set to 1, the MSB shared memory data stream is parsed. Must be set if LOG_MSB2 or LOG_MIC is set.
    USE_SHM_LSB If set to 1, the LSB shared memory data stream is parsed. If set, LOG_LSB must be set.
    USE_LED If set to 1, updates the MSB's LEDs to reflect the logging status. If set, USE_IPC must also be set.
    USE_POWER If set to 1, logs data only when the unit is not charging. Do not use with two batteries.

central

central is the server for the IPC (Inter Process Communications) package developed by Reid Simmons. IPC provides a simple means of communicating between applications on the same computer and other machines via TCP/IP. Central is used by the msb-server and several other applications to share information. More information about IPC can be found at the projects homepage.

usage

    Typical Usage

      Spawn central and send it to the background 
      central -u &

      Note, that only 1 copy of central can be run at one time. If you want to run multiple central's (see the -p argument below) or access central running on another machine you will need to export the CENTRALHOST variable: <bash># If you want to use another port export CENTRALHOST=localhost:1234

      1. If you want to connect to another machine

      export CENTRALHOST=othermachine </bash>

    Available Commands

      Various debugging/logging capabilities are also available if necessary. Remember to have a process cat the .log file that central creates. 
      The following are central commands:
 help: print this message
 display: display the active and pending messages
 status: display the known modules and their status
 memory: display total memory usage
 close <module>: close a connection to a module
 unlock <resource>: unlock a locked resource

The following command line options can also be used as commands:
-v: display server version information
-l<option>: logging onto terminal. Options are:
   m (message traffic)
   s (status of IPC)
   t (time messages are received by central)
   d (data associated with messages)
   i (ignore logging certain internal messages)
   h (handle time summary of incoming messages)
   r (log the reference ID as well as the message name)
   p (log the reference ID of the message’s parent)
   x (no logging)

-l (no options) is equivalent to -lmstdh; the default is –lmsi

-L<option>: logging into file.
  Options are the same as above, with the addition of
   F (don’t flush file after each line)
   n (don’t prompt user for comments)
  The default is –Lx

-f<filename>: filename to use for logging; If not specified, name is automatically generated.

-p<port>: connect to central server on this port number.
-c: Use direct (not via central) connections when possible
-I<msgName>: Ignore logging this message (can occur multiple times).
-I<filename>: File with names of messages to ignore logging
-s: silent running; don’t print anything to terminal.
-u: don’t run the user (tty) interface.
-r: try resending non-completed messages when modules crash and then reconnect.

    example output

      central typically does not output anything to the console unless an error occurs.

proccontrol

proccontrol is a program which launches and monitors all of the other processes involved in the MSP data collection. proccontrol can be controlled via IPC to start and stop processes. Additionally, it can listen for heartbeat messages over IPC to detect hung processes, and publish a list of process states.

usage

    Typical Usage

      proccontrol process.ini

      where process.ini will typically contain: 

      msb-server  msb    1 0  /msp/msb-server -ini /msp/msb.ini
#lsb-server lsb    1 0  /msp/lsb-server.loop
#gps-server gps    1 0  /msp/gps-server /dev/ttyS2 38400 /msp/enableDGPS.bin
logger      logger 1 0  /msp/logger -ini /msp/logger.ini
#gps-debug  gps    1 0  /msp/gps-debug > /dev/null
#cam-server camera 1 0  /msp/cam-server.loop

      The file name is optional. If left unspecified, it will default to process.ini.

    process.ini

      process.ini specifies which processes to run and monitor. Each line of process.ini specifies a process, except for comments, which begin with #. The format of each line is: 
      <process name> <process group> <startup state> <heartbeat flag> <command line>

      If the startup state is 1, the process will be started as soon as proccontrol does. Otherwise, the proccontrol will wait to start it until instructed to via IPC. If the heartbeat flag is non-zero, proccontrol will listen for heartbeat IPC messages from the process, and restart the process if a heartbeat hasn't been sent for two seconds.

sb-update

sb-update is a program which allows you to reflash, verify, and query the version of sensor board firmware. It works with either the MSB or LSB (provided that the bootloader is installed on them). sb-update accepts Intel HEX format firmware files. Note: The reflash and verify commands switch the sensor board to its bootloader mode. To switch back to regular operation, you must either power-cycle the board or issue the get-version command.

If you'd like to understand how sb-update works behind the scenes, see the bootloader protocol details.

usage

    Typical Usage

      sb-update /dev/ttyS0 get-version
sb-update /dev/ttyS0 reflash firmware.hex
sb-update /dev/ttyS0 verify firmware.hex

    Available Commands

      get-version               queries the firmware for its version
reflash <firmware.hex>    reflashes the firmware on the sensor board with the specified hex file
verify <firmware.hex>     verifies that the firmware on the sensor board matches the specified hex file

example output

    Typically the msb-server will output something similar to the following. Where the final recieved stats will continue until the program is terminated or an error occurs. 
    [root@imote2 /root]#./sb-update /dev/ttyS0 get-version
Resetting firmware. OK!
Querying sensor board for version... Failed.
Trying to boot from bootloader...
Querying sensor board for version... OK!
Hardware version = 3, Firmware version = 1.6

[root@imote2 /root]#./sb-update /dev/ttyS0 reflash MSBv1.hex
Switching to bootloader... OK!
MSB/LSB Bootloader 0.71
Copyright 2006 University of Washington
........................................................
........................................................
........................................................
................................. OK

[root@imote2 /root]#./sb-update /dev/ttyS0 verify MSBv1.hex
Switching to bootloader... OK!
MSB/LSB Bootloader 0.71
Copyright 2006 University of Washington
........................................................
........................................................
........................................................
................................. OK

buttonwatchdog

buttonwatchdog is a program that monitors the MSB/LSB's soft on/off button, and gracefully shuts down the system when pressed. Two versions are available: one for the MSB, and one for the LSB. Use the version for the sensor board that provides power to the system.

NOTE: The sensor boards are missing a pull-up resistor, which can cause buttonwatchdog to prematurely (or completely) shut down the logger. If you want to use buttonwatchdog with the MSB, attach a pull-up resistor to T10. With the LSB, attach a pull-up resistor to T1 (NOT TP1).

usage

    Typical Usage

      buttonwatchdog

      buttonwatchdog has no parameters or options.

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