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imuguruza merged 2 commits into from
Jun 4, 2019
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Adding 6lowpan tutorial to the webpage #45

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2395753
Adding 6lowpan tutorial to the webpage
Jun 3, 2019
4941103
Make minor fixes and styling
imuguruza Jun 4, 2019
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1 change: 1 addition & 0 deletions _data/docs.yml
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Expand Up @@ -16,6 +16,7 @@
- tutorials/advanced/nuttx_getting_started
- tutorials/advanced/debugging-gdb-openocd
- tutorials/advanced/debugging-vscode
- tutorials/advanced/6lowpan_nuttx_rpi

- title: Concepts
docs:
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43 changes: 24 additions & 19 deletions _docs/tutorials/advanced/6lowpan_nuttx_rpi/index.md
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@@ -1,4 +1,8 @@
# How to set 6lowpan communication between Raspbian and Nuttx.
---
title: 6LOWPAN communications between NuttX and a Raspberry Pi
permalink: /docs/tutorials/advanced/6lowpan_nuttx_rpi/
---


This guide will show how to set-up a Raspberry Pi 3 (RPI) running Raspbian and an Olimex STM32 E407 board running NuttX to have 6lowpan communication between them.

Expand All @@ -9,7 +13,7 @@ This guide will show how to set-up a Raspberry Pi 3 (RPI) running Raspbian and a
- Olimex-STM32-E407 board.
- Two PMODRF2 module which are base on the MRF24J40 module.
- PC with Ubuntu (It works fine with Ubuntu 16.04)

- NuttX source code, you can find a Docker file with all the tools [here](https://github.com/micro-ROS/docker/tree/master/Embedded/NuttX/development/stm32-e407).
## How to set-up 6lowpan RPI?

First, we need to connect the PMODRF2 module to the RPI, so we need to set the next connections:
Expand All @@ -26,16 +30,16 @@ First, we need to connect the PMODRF2 module to the RPI, so we need to set the n
| CS | 26 | 1 |

In the next links you can see the pinout of each board:
[- Raspberry Pi 3 pinout.](https://i.pinimg.com/originals/84/46/ec/8446eca5728ebbfa85882e8e16af8507.png)
[- PMODRF2 pionut.](https://reference.digilentinc.com/reference/pmod/pmodrf2/start)
- [Raspberry Pi 3 pinout.](https://i.pinimg.com/originals/84/46/ec/8446eca5728ebbfa85882e8e16af8507.png)
- [PMODRF2 pionut.](https://reference.digilentinc.com/reference/pmod/pmodrf2/start)

Once you've set all the wires, power-on the RPI and download the next repository inside the RPI.
https://github.com/micro-ROS/micro-ROS-bridge_RPI
Once you've set all the wires, power-on the RPI and download the next repository inside the RPI:
- https://github.com/micro-ROS/micro-ROS-bridge_RPI

Execute the next command:
```sudo ./micro-ROS-bridge_RPI/RPI_6lowpan/script.sh```

If everything goes fine, at the end of the script, the board should restart. After the start-up, type the next command to see if the configuration and the connection are fine:
If everything goes fine, at the end of the script, the board should restart. After the start-up, type the next command to see if the configuration and the connections are fine:
```dmesg | grep mrf24j40```

And if everything is fine, it should return the next:
Expand All @@ -56,9 +60,9 @@ The last point is to set-up the network.
Now the RPI is ready to send and receive messages from a NuttX board or another RPI.


## How to set-up 6lowpan NuttX?
## How to set-up 6lowpan in NuttX?

First, we need to do the connections between the Olimex board and the PMODRF2 module.
First, we need to do the connections between the [Olimex board](/docs/hardware_support) and the PMODRF2 module.

- `Board D13` -> `MRF24J40 SCLK`
- `Board D12` -> `MRF24J40 MISO`
Expand All @@ -68,7 +72,7 @@ First, we need to do the connections between the Olimex board and the PMODRF2 mo

Once the wiring is finished, we need to compile and upload the firmware. Type the next commands:

o to the main folder of NuttX and type the command to configure the board:
Go to the main folder of NuttX and type the command to configure the board:
`./scripts/configure.sh olimex-stm32-e407 mrf24j40-6lowpan`

Compile:
Expand Down Expand Up @@ -115,9 +119,10 @@ Builtin Apps:
udp_6lowpan ping6 i8sak
```

We're going to configure the network. Execute udp_6lowpan.
We're going to configure the network. Execute `udp_6lowpan`.
The program will ask you if you want to configure the network. Type **Y** to start the configuration process.
**Important note:** If you don't configure the network, the connection won't be possible with other boards.**

**Important note: If you don't configure the network, the connection won't be possible with other boards.**

Then will ask you if you want to set this board as a coordinator or as a node.
The difference between a coordinator and a node is that the first one can work as a router, coordinating the network traffic of up to 8 nodes.
Expand Down Expand Up @@ -156,7 +161,7 @@ Available commands

```

** At this point the network is ready to work!**
**At this point the network is ready to work!**

Finally type ``quit`` two times to close the app and come back to the main menu.

Expand Down Expand Up @@ -227,7 +232,7 @@ As you can see there is two IP in this network interface. But you need to rememb
`fe80::9c6e:87a5:eb60:84d0``

Go to the place where lives the repo that you downloaded previously. Go to ``micro-ROS-bridge_RPI/RPI_6lowpan/Examples/6lowpan_recv``
Finally, execute recv_demo telling to open the 61616 port. Type this command: ``./recv_demo 61616``
Finally, execute `recv_demo` telling to open the `61616` port. Type this command: ``./recv_demo 61616``

At this point, the RPI is ready to receive incoming packages.

Expand Down Expand Up @@ -278,23 +283,23 @@ The Linux 6lowpan utility needs to have a ping response before sending a data pa
If this does not work, do as follow:

Check if the Nuttx address is part within the Linux/Raspbian neighborhood table.
If it is, remove it:
If it is saved there, remove it:
```bash
$ ip neigh # a bunch of address shall appear including yours (if you send a
message already)
fe80::2be:adde:de:fa00 dev lowpan0 FAILED
$ sudo ip neigh delete fe80::2be:adde:de:fa00 dev lowpan0 # Remove it.
```

Then once delete add the Nuttx device it permanently (until reboot):
Then, once deleted, add the Nuttx device it permanently (until reboot):

```bash
$ sudo ip neigh add fe80::2be:adde:de:fa00 dev lowpan0 00:be:ad:de:00:de:fa:00 # Add it with the
corret Hardware address.
```

### NuttX part:
First we need the ip of the board, so type ``ifconfig`` in the main menu. This should return somenthing like this:
First, we need the ip of the board, so type ``ifconfig`` in the main menu. This should return somenthing like this:
```bash
wpan0 Link encap:6LoWPAN HWaddr 00:be:ad:de:00:de:fa:00 at UP
inet6 addr: fe80::2be:adde:de:fa00/64
Expand Down Expand Up @@ -322,7 +327,7 @@ Sent 0000 0000 0000 0000

For us is important to remember the **inet6_addr** which is: ``fe80::2be:adde:de:fa00``

Execute ``udp_6lowpan`` app, type ``N`` to the configuration request and finally type read, to start the receiving mode.
Execute ``udp_6lowpan`` app, type ``N`` to the configuration request and finally type `read`, to start the receiving mode.
Type the port that you want to open, for example, the 61616. And it should look like this mean is waiting for the incoming message.

```bash
Expand All @@ -336,7 +341,7 @@ Listening on 61616 for input packets

### Raspbian Part:

Go to the places that lives the previous download repo. Then go to this folder: ``/micro-ROS-bridge_RPI/RPI_6lowpan/Examples/66lowpan_send``
Go to the places that lives the previous download repo. Then go to this folder: ``/micro-ROS-bridge_RPI/RPI_6lowpan/Examples/6lowpan_send``

And execute with root privileges the next app: ``send_demo``.
These demos have two arguments: The first is the port to open in the destination and the second is the destination IP. An example of this specific demo could be:
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1 change: 1 addition & 0 deletions _docs/tutorials/advanced/index.md
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Expand Up @@ -8,3 +8,4 @@ The aim of this section os to give a deeper insight of the different layers micr
TOC

* [Getting started with Nuttx](/docs/tutorials/advanced/nuttx_getting_started/)
* [Nuttx/Raspberry Pi 6lowpan Communications tutorial](/docs/tutorials/advanced/6lowpan_nuttx_rpi/)