Post on 26-Feb-2021
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 1 of 26
Telos Ultra low power IEEE 802.15.4 compliant wireless sensor module Revision A : Humidity, Light, and Temperature sensors with USB
Product Description Telos is an ultra low power wireless module for use in sensor networks, monitoring applications, and rapid application prototyping. Telos leverages industry standards like USB and IEEE 802.15.4 to interoperate seamlessly with other devices. By using industry standards, integrating humidity, temperature, and light sensors, and providing flexible interconnection with peripherals, Telos enables a wide range of mesh network applications. With TinyOS support out-of-the-box, Telos leverages emerging wireless protocols and the open source software movement. Telos is part of a line of modules featuring on-board sensors to increase robustness while decreasing cost and package size.
Key Features • 250kbps 2.4GHz IEEE 802.15.4 Chipcon Wireless Transceiver • Interoperability with other IEEE 802.15.4 devices • 8MHz Texas Instruments MSP430 microcontroller (2k RAM, 60k ROM) • Integrated onboard antenna with 50m range indoors / 125m range outdoors • Integrated Humidity, Temperature, and Light sensors • Ultra low current consumption • Fast wakeup from sleep (<6µs) • Hardware link-layer encryption and authentication • Programming and data collection via USB • 12-pin expansion support and optional SMA antenna connector • TinyOS support : mesh networking and communication implementation
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 2 of 26
Table of Contents Module Description .......................................................................................................................3
Power ....................................................................................................................................4 Typical Operating Conditions ................................................................................................4 Block Diagram.......................................................................................................................5
Schematic .....................................................................................................................................6 Microprocessor .............................................................................................................................8
Description ............................................................................................................................8 Typical Operating Conditions ................................................................................................8 PC Communication ...............................................................................................................8 Programming.........................................................................................................................9 Block Diagram.....................................................................................................................11
Radio...........................................................................................................................................12 Description ..........................................................................................................................12 Typical Operating Conditions ..............................................................................................13 Measured Output Power .....................................................................................................13
Antenna.......................................................................................................................................14 Internal Antenna..................................................................................................................14 Internal Antenna without Battery Pack ................................................................................15 Internal Antenna with Battery Pack .....................................................................................15 Radiation Pattern ................................................................................................................16 SMA Connector...................................................................................................................17
Sensors.......................................................................................................................................18 Humidity/Temperature Sensor ............................................................................................18 Light Sensors ......................................................................................................................19 Expansion Connector..........................................................................................................20 Internal Temperature and Voltage Monitoring.....................................................................21
General Information ....................................................................................................................23 Document History................................................................................................................23 Product Status Definitions...................................................................................................23 Disclaimer ...........................................................................................................................24 Address Information ............................................................................................................25 Headquarters ......................................................................................................................25
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 3 of 26
Module Description The Telos module is a low power “mote” with integrated sensors, radio, antenna, microcontroller, and programming capabilities.
10-pin expansionconnector Humidity
TemperatureSensor(optional) Photosynthetically
Active RadiationSensor(optional)
Total SolarRadiationSensor(optional)
CC2420Radio Buffer isolating
USB frommicrocontroller
USBMicrocontroller
LEDs
USB Transmit LED
USB Receive LED
SMAAntenna
Connector(optional)
InternalAntenna
USB Connector
ResetSwitch
AtmelData Flash
(512kB)
USB Flash(2kb)
STData Flash
(128kB)(optional)
TI MSP430Microcontroller
32kHzCrystal
Figure 1 : Front and Back of the Telos module
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 4 of 26
Power Telos may be powered by two AA batteries. The module was designed to fit the two AA battery form factor. AA cells may be used in the operating range of 2.1 to 3.6V DC, however the voltage must be at least 2.7V when programming the microcontroller’s flash. Telos may also be used with a 2/3A sized battery. The 2/3A battery holder may be soldered to the positive terminal directly under the USB connector and the negative terminal next to the radio. Part BH2/3A-2-ND from Digikey (www.digikey.com) is proven to work with the Telos module. If the Telos module is plugged into the USB port for programming or communication, it will receive power from the host computer. The mote operating voltage when attached to USB is 3V. If Telos will always be attached to a USB port, no battery pack is necessary. The 10-pin expansion connector (described in the Sensors Section on page 18) can provide power to the module. Any of the battery terminal connections may also provide power to the module. At no point should the input voltage exceed 3.6V—doing so may damage the microcontroller, radio, or other components.
Typical Operating Conditions MIN NOM MAX UNIT Supply voltage 2.1 3.6 V Supply voltage during flash memory programming 2.7 3.6 V Operating free air temperature -40 85 oC Current Consumption: MCU on, Radio on 20.2 23 mA Current Consumption: MCU on, Radio off 420 1400 µA Current Consumption: MCU asleep 2.4 6 µA
Mechanical Characteristics MIN NOM MAX UNIT Width 1.24 1.27 1.29 in Length 2.55 2.58 2.60 in Height (without battery pack) 0.49 0.50 0.55 in
Caution! ESD sensitive device. Precaution should be used when handling the device in order to prevent permanent damage.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 5 of 26
Block Diagram
TI MSP430 Microcontroller
CC2420 Radio2.4 GHz
IEEE 802.15.4 compliant
PCBAntenna
SMA Coax
4
USB 2.0UART/RS232Functionality
2
6
UART[1]P1.1/P2.2
2
ResetTCK
RX/TX RTS/DTR
2UART[0]
2I2C[0]
4ADC[0-3]
2GPIO
SPI[0] P1[0,3,4]P4[1,5,6]
HumidityTemperature
Sensor
PARSensor
TSRSensor
2-pinIDC header
ADC[4]
ADC[5]
I/O
Power
SPI I/O
10-pin
ID
C h
eader
Atmel Flash512kB (2.7V)
ST Flash128kB (1.8V)
SPI[0]I2C[0]
2 4
Pow
er
Figure 2 : Functional Block Diagram of the Telos Module, its components, and buses
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 6 of 26
Schematic 5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
DVCC
AV
CC
RE
SE
T
AD
C0
AD
C1
AD
C2
TC
K
ADC3
HU
M_
SD
A
DVCC
DVCC
VCCin
VCCin
LED1
RESET
LED2
LED3
DVCC
VCCin
HUM_SDA
HUM_PWR
HUM_SCL
AVCC
I2C
_S
DA
RA
DIO
_S
I
TM
S
TD
I
TD
O
VCCin
DAC0
SV
SO
UT
DV
CC FLASH_PWR
I2C_SDA
I2C_SCL
RADIO_SORADIO_SCLKRADIO_SI
FLASH_PWR FLASH_PWRFLASH_CS
FLASH_CS
FLASH_PWR
HU
M_
SC
L
HU
M_
PW
R
LE
D2
LE
D3
P_DVCC
LED1
ADC4
ADC4
ADC5
ADC5
UA
RT
1R
X
UART1TX
UART1TX
RA
DIO
_S
O
I2C
_S
CL
RA
DIO
_S
CL
K
UART1RX
UART0RX
UA
RT
0T
X
ADC0
ADC1
UART0RX
UART0TX
I2C_SCL
I2C_SDA
ADC3
GIO
0
ADC2
GIO0
GIO1
GIO
1
ADC4 ADC5
RADIO_CS
RADIO_GIO0
RADIO_GIO1
RADIO_SFD
RADIO_RESET
RADIO_VREF_EN
DVCC
P_DVCC
VCCin
RESET
TCK
PKT_INT
UART1TX
RADIO_SCLK
RADIO_SO
RADIO_SI
UART1RX
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
B
1 3Wednesday, April 28, 2004
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
B
1 3Wednesday, April 28, 2004
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
B
1 3Wednesday, April 28, 2004
OPTIONAL
SVSIN
PROG
PROG
SVSOUT
LGA8
2uA Q, 2mA on
OPTIONAL
OPTIONAL
FLASH
MCU
SENSORS
POWER
LEDS
OPTIONAL
R7
470
R7
470
C6
0.1u
C6
0.1u
R10
10k
R10
10k
R16
0 open
R16
0 open
R14
0 open
R14
0 open
R1
100k
R1
100k
1 2
D6
Blue Clear - 404-1028-1-ND
D6
Blue Clear - 404-1028-1-ND
R5
5.1M
R5
5.1M
E12
E23
SCL6
WC7
VC
C8
VS
S4
SDA 5
U4
ST M24M01S
U4
ST M24M01S
R2
470
R2
470
R9
100
R9
100
11 2 2
U6
2pin Header
U6
2pin Header
DVcc1
P6.3/A32
P6.4/A43
P6.5/A54
P6.6/A65
P6.7/A76
Vref+7
XIN8
XOUT/TCLK9
VeREF+10
Vref-/VeREF-11
P1.0/TACLK12
P1.1/TA013
P1.2/TA114
P1.3/TA215
P1.4/SMCLK16
P1.5
/TA
017
P1.6
/TA
118
P1.7
/TA
219
P2.0
/AC
LK
20
P2.1
/TA
INC
LK
21
P2
.2/C
AO
UT
/TA
022
P2
.3/C
A0
/TA
123
P2
.4/C
A1
/TA
224
P2
.5/R
osc
25
P2.6
/AD
C12C
LK
26
P2.7
/TA
027
P3
.0/S
TE
028
P3
.1/S
IMO
029
P3
.2/S
OM
I030
P3.3
/UC
LK
031
P3.4
/UT
XD
032
P3.5/URXD0 33
P3.6/UTXD1 34
P3.7/URXD1 35
P4.0/TB0 36
P4.1/TB1 37
P4.2/TB2 38
P4.3/TB3 39
P4.4/TB4 40
P4.5/TB5 41
P4.5/TB6 42
P4.7/TBCLK 43
P5.0/STE1 44
P5.1/SIMO1 45
P5.2/SOMI1 46
P5.3/UCLK1 47
P5.4/MCLK 48
P5.5
/SM
CLK
49
P5.6
/AC
LK
50
P5
.7/T
Bo
utH
51
XT
2O
UT
52
XT
2IN
53
TD
O/T
DI
54
TD
I55
TM
S56
TC
K57
RS
T/N
MI
58
P6
.0/A
059
P6
.1/A
160
P6
.2/A
261
AV
ss
62
DV
ss
63
AV
cc
64
U0
TI_MSP430_F149
U0
TI_MSP430_F149
C2
0.1u
C2
0.1u
SI1
SCK2
RESET3
CS4 WP 5VCC 6GND 7
SO 8
U5U5
1 2
D4
Red Clear - 404-1017-1-ND
D4
Red Clear - 404-1017-1-NDR6
100k 1% open
R6
100k 1% open
R12
100k 1%
R12
100k 1%
1 2
L2
F Bead 240-1035-1
L2
F Bead 240-1035-1
C5
0.1u
C5
0.1u
C1
0.1u
C1
0.1u1
23 GND
X0
32kHz
GND
X0
32kHz
C310uFC310uF
R8
330
R8
330
1 2
D5
Green Clear - 404-1021-1-ND
D5
Green Clear - 404-1021-1-ND
+ 1
- 2
+ 3
- 4
U1
2/3A & AA Power
U1
2/3A & AA Power
D2
S1087 Photodiode
D2
S1087 Photodiode
11 2 2
33 4 4
55 6 6
77 8 8
99 10 10
U2
10pin Header
U2
10pin Header
C4
0.1u
C4
0.1u
D3
S1087 Photodiode
D3
S1087 PhotodiodeR11
100k 1%
R11
100k 1%
SCLK 3VCC4
GND1 SDA 2
HUMIDITY/TEMP SENSOR
U3
SHT11
HUMIDITY/TEMP SENSOR
U3
SHT11
1 2
SW2
EVQ-P2K02Q
SW2
EVQ-P2K02Q
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
CC24K_AVDD
CC24K_DVDD3
CC24K_AVDD
CC24K_DVDD
CC
24
K_
AV
DD
CC
24
K_
DV
DD
3
CC
24
K_
AV
DD
CC24K_DVDD
CC24K_DVDD
CC24K_DVDD3
CC
24
K_
DV
DD
CC
24
K_
AV
DD
CC24K_DVDD3
CC24K_DVDDCC24K_AVDD
CC24K_DVDD3
CC24K_DVDD3
RADIO_RESET
RADIO_SFD
DVCC
RADIO_GIO0
PKT_INT
RADIO_SO
RADIO_SCLK
RADIO_SI
RADIO_CS
RADIO_GIO1
RADIO_VREF_EN
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
B
2 3Tuesday, April 13, 2004
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
B
2 3Tuesday, April 13, 2004
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
B
2 3Tuesday, April 13, 2004
CC2420 802.15.4 Wireless Radio
at 2.4GHz
isolation
use 50 ohm traces 1 2
L81
7.5n 5%
L81
7.5n 5%
1 2
L3
F Bead 240-1035-1
L3
F Bead 240-1035-1
C381
22p 5% np0
C381
22p 5% np0
X1
16MHZ - 16pf
X1
16MHZ - 16pf
C84
10n
C84
10n
1 2 3
A1CC2420_PCB_ANTA1CC2420_PCB_ANT
C7
0.1u
C7
0.1u
1
2
L61
7.5n 5%
L61
7.5n 5%
C86
68p
C86
68p
12
3
C73
5.6p +/-0.25p np0
C73
5.6p +/-0.25p np0
R476
10k
R476
10k
R472
1m
R472
1m
C82
68p
C82
68p
1
2
L62
5.6n 5%
L62
5.6n 5%
C87
0.1u
C87
0.1u C8
0.1u
C8
0.1u
C83
68p
C83
68p
R473
1m
R473
1m
C64
10uF LowESR < 5ohm
C64
10uF LowESR < 5ohm
C81
0.5p +/-0.25p np0
C81
0.5p +/-0.25p np0
VCO_GAURD1
AVDD_VCO2
AVDD_PRE3
AVDD_RF14
GND5
RF_P6
TXRX_SWITCH7
RF_N8
GND9
AVDD_SW10
NC11
NC12
NC
13
AV
DD
_R
F2
14
AV
DD
_IF
215
NC
16
AV
DD
_A
DC
17
DV
DD
_A
DC
18
DG
ND
_G
UA
RD
19
DG
UA
RD
20
RE
SE
Tn
21
DG
ND
22
DS
UB
_P
AD
S23
DS
UB
_C
OR
E24
DVDD3.3 25
DVDD1.8 26
SFD 27
CCA 28
FIFOP 29
FIFO 30
CSn 31
SCLK 32
SI 33
SO 34
DVDD_RAM 35
NC 36
AV
DD
_X
OS
C1
637
XO
SC
16_Q
238
XO
SC
16_Q
139
NC
40
VR
EG
_E
N41
VR
EG
_O
UT
42
VR
EG
_IN
43
AV
DD
_IF
144
R_
BIA
S45
AT
ES
T2
46
AT
ES
T1
47
AV
DD
_C
HP
48
GND_EX49
U10
CC2420
U10
CC2420
C85
0.1u
C85
0.1u
R474
10k
R474
10k
RF
1G
ND
2G
ND
3G
ND
4G
ND
5
A2
SMA
A2
SMA
C61
0.5p +/-0.25p np0
C61
0.5p +/-0.25p np0
R475
0
R475
0
C391
22p 5% np0
C391
22p 5% np0
R451
43k 1%
R451
43k 1%
C71
5.6p 10% x5r
C71
5.6p 10% x5r
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 7 of 26
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
U_VCC
U_VCC
U_VCCU_AVCC
U_VCC3.3
USB+
USB-
EECSEESKEEDATA
U_VCC
U_VCCEECS
EESK
EEDATA
VCCin
RTS
DTR
P_DVCC
U_VCCU_VCC3.3
P_DVCC
P_DVCC
P_DVCC
P_DVCC
P_DVCC
DV
CC
TCK
RESET
preTEST
preRESET
UART1RX
UART1TX
TXD
RXD
RXDTXD
U_V
CC
3.3
RTS
DTR
U_V
CC
3.3
preRESET
DTRn
RTSnRTSn
preTEST
VCCinP_DVCC
DVCC
TCK
RESET
UART1RX
UART1TX
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
A
3 3Friday, April 23, 2004
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
A
3 3Friday, April 23, 2004
Title
Size Document Number Rev
Date: Sheet of
(c) Copyright 2004: UC Berkeley 1
Telos
A
3 3Friday, April 23, 2004
OPTIONAL
Used for Reading Serial / ProgrammingConnects and Powered via USB
C23
0.1u
C23
0.1u
R29
100k
R29
100k
1OE1
1A2 1Y 3
2OE4
2A5 2Y 6
3OE10
3A9 3Y 8
4OE13
4A12 4Y 11
Vcc
14
Gnd
7
U29
SN74HC126
U29
SN74HC126
R23
27
R23
27
GN
D1
Vin 2Vout3
U25
TC55RP33
U25
TC55RP33
C2510uC2510u
1 2
L20
F Bead 240-1035-1
L20
F Bead 240-1035-1
4 4
3 3
2 2
1 1
U22
USB A
U22
USB A
R32
1m
R32
1m
1 2
D22
LLSD103A
D22
LLSD103A
12
D21
Red Clear - 404-1017-1-ND
D21
Red Clear - 404-1017-1-ND
R26
100
R26
100
12
D20
Green Clear - 404-1021-1-ND
D20
Green Clear - 404-1021-1-ND
C24
0.1u
C24
0.1u
C21
33n
C21
33n
R25
100
R25
100
3V3OUT6
USBDM8
USBDP7
RSTOUT#5
RESET#4
XTIN27
XTOUT28
EECS32
EESK1
EEDATA2
TEST31
AG
ND
29
GN
D9
GN
D1
7
SLEEP# 10PWREN# 15PWRCTL 14
RXLED# 11TXLED# 12TXDEN 16
RI# 18DCD# 19DSR# 20DTR# 21CTS# 22RTS# 23RXD 24TXD 25V
CC
IO1
3
VC
C2
6
VC
C3
AV
CC
30
U20
FT232BM
U20
FT232BM
C22
0.1u
C22
0.1u
R22
27
R22
27
C20
0.1u
C20
0.1u
R20
470
R20
470
CK1
D2 Q 3
GN
D4
Q 5
CLR6
PR7 VC
C8U26
TC7W74
U26
TC7W74
1A1
GN
D2
2A3 2Y 4
VC
C5
1Y 6
U24
SN74LVC2G04
U24
SN74LVC2G04
CS1
SK2
DIN3
DOUT4 GND 5
NC 6
NC 7
VCC 8
U23
93C46
U23
93C46
R27
2.2k
R27
2.2k
R24
1.5k
R24
1.5k
1
23 GND
X3
6M resonator
GND
X3
6M resonator
R28
10k
R28
10k
Figure 3 : Schematics for the Telos module (Rev A)
Schematic modifications:
• P4.3 on the TI MSP430 is tied to DVcc through a board rework. P4.3 should never be set as output and low, otherwise a short is created in the circuit.
• On the Atmel flash (part U5), pins 5 and 6 are connected together through a board rework.
• ADC3 is not physically connected to U2.10. Instead, GIO0 is connected to R14 and R14 is connected directly to U2.10.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 8 of 26
Microprocessor Description The low power operation of the Telos module is due to the ultra low power Texas Instruments MSP430 microcontroller. This 16-bit RISC processor features extremely low active and sleep current consumption that permits Telos to run for years on a single pair of AA batteries. The MSP430 has an internal digitally controlled oscillator (DCO) that may operate up to 8MHz. The DCO may be turned on from sleep mode in 6µs, however 292ns is typical at room temperature. When the DCO is off, the MSP430 operates off an eternal 32768Hz watch crystal. Although the DCO frequency changes with voltage and temperature, it may be calibrated by using the 32kHz oscillator. In addition to the DCO, the MSP430 has 8 external ADC ports and 8 internal ports. The internal ports may be used to read the internal thermistor or monitor the battery voltage. A variety of peripherals are available including SPI, UART, digital I/O ports, Watchdog timer, and Timers with capture and compare functionality. The features of the MSP430 F149 are presented in detail in the Texas Instruments MSP430x1xx Family User’s Guide available at http://ti.com/msp430.
Typical Operating Conditions MIN NOM MAX UNIT Supply voltage during program execution 1.8 3.6 V Supply voltage during flash memory programming 2.7 3.6 V Operating free air temperature -40 85 oC Low frequency crystal frequency 32.768 kHz Active current at Vcc = 3V, 4MHz 420 560 µA Sleep current in LPM3 Vcc = 3V, 32.768kHz active 1.6 1.9 µA Wake up from LPM3 (low power mode) 6 µs
PC Communication Telos uses a USB controller from FTDI to communicate with the host computer. In order to communicate with the mote, the FTDI drivers must be installed on the host. FTDI provides drivers for Windows, Linux, BSD, Macintosh, and Windows CE. These drivers are included on the Moteiv CD shipped with your order. Windows users will need the Virtual Com Port (VCP) drivers. They may also be downloaded from FTDI’s website at: http://www.ftdichip.com/ After installing the driver, Telos appears as a COM port in Windows’ device manager (or as a device in /dev in Linux, OSX, and BSD). Multiple Telos motes may be connected to a single computer’s USB ports at the same time. Each mote will receive a different COM port identifier. In the example below, one Telos is connected and assigned COM6 “USB Serial Port”. An application may read from Telos by opening the COM port assigned to the Telos mote. Telos communicates with the host PC through USART1 on the TI MSP430.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 9 of 26
Figure 4 : Device Manager showing Telos installed as COM6
The motelist command line utility lists all of the Telos motes currently connected to a computer. This utility optionally lists previously connected motes that the system has cached. Invoke motelist with the -h option for more information. > motelist Reference CommPort Description ---------- ---------- ---------------------------------------- M4BR4Z37 COM6 Telos (Rev A 2004-04-27)
NOTE: Since Telos uses the USB interface for both programming and communication, spurious signals on the RTS or DTR lines of the COM port may cause the mote to reset. To prevent accidentally resetting the module, ensure that your communications application does not send RTS or DTR signals when opening and closing COM ports.
Programming The Telos module is programmed through the onboard USB connector. A modified version of the MSP430 Bootstrap Loader, msp430-bsl, programs the microcontroller’s flash. Telos has a unique hardware circuit that prevents the mote from spuriously resetting. This hardware circuit makes it necessary to have a special sequence sent to the module in order to program it. By invoking msp430-bsl, verify you have the patched BSL by looking for the “telos” keyword. > msp430-bsl MSP430 Bootstrap Loader Version: 1.39-telos-3 Use -h for help
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 10 of 26
To communicate with Telos, the MSP430 Bootstrap Loader requires a set of options to provide the proper signals to the microcontroller to initiate programming. For convenience, the options have been folded into a single Telos flag: --telos The Telos flag (--telos) simply expands the following options, which are functionally equivalent to using --telos: --invert-test --invert-reset --swap-reset-test --telos-latch To program a Telos module on COM3 (or /dev/ttyUSB2 in Linux) with an application image named app.ihex, invoke the MSP430 Bootstrap loader with the following options. > msp430-bsl --telos -c 2 -r -e -I -p app.ihex MSP430 Bootstrap Loader Version: 1.39-telos-1 Mass Erase... Transmit default password ... Invoking BSL... Transmit default password ... Current bootstrap loader version: 1.10 (Device ID: f149) Adjust SP. Load PC with 0x0C22 ... Transmit default password ... Patch for flash programming required! Load and verify patch ... Program ... 8374 bytes programmed. Reset device ... If you are using TinyOS, it has support for programming Telos. After compiling your application, you may install it with the following command > make telos install.x bsl,n Where x is the 16-bit address assigned to the mote and n is the COM port that Telos is currently using. Note that not including “bsl” or “bsl,n” will program automatically using the bsl to the first Telos mote found on the USB bus. For more information about the options in the MSP430 Bootstrap loader, invoke msp430-bsl with the -h option to display the help information.
NOTE: msp430-bsl starts counting from 0, but COM ports in Windows start counting at 1. If Telos is connected to COM3 in Windows, you must program it using “-c 2” or “bsl,2” when invoking msp430-bsl. In Linux, Telos will appear as /dev/ttyUSB2 and may be programmed using “-c 2” or “bsl,2”.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 11 of 26
Block Diagram
Oscillator
SystemClock
32kHz
ACLK
SMCLK
CPU16 bit16 reg
multiply
Flash
RAM
12-bit ADC8 Channels<10µs Conv
16-bit bus
I/O Port 3/416 I/Os
I/O Port 1/216 I/Os
Interrupts
I/O Port 5/68 I/Os
MCLK
WatchdogTimer
15/16 bit
Timer A3 CC reg
ComparatorA
Timer B7 CC reg
USART0UART
SPI
USART1UART
SPI
CC2420 RadioInterrupts & SPI
PCUART via USB
Figure 5 : Block diagram of the TI MSP430 microcontroller and its connection to other peripherals
in the Telos module
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 12 of 26
Radio Description Telos features the Chipcon CC2420 radio for wireless communications. The CC2420 is an IEEE 802.15.4 compliant radio providing the PHY and some MAC functions. With sensitivity exceeding the IEEE 802.15.4 specification and low power operation, the CC2420 provides reliable wireless communication. The CC2420 is highly configurable for many applications with the default radio settings providing IEEE 802.15.4 compliance. Features and usage of the CC2420 is available in Chipcon’s datasheet at http://www.chipcon.com The CC2420 is controlled by the TI MSP430 microcontroller through the SPI port and a series of digital I/O lines and interrupts (see the Schematics on page 6 for more information). The radio may be shut off by the microcontroller for low power duty cycled operation. The CC2420 has programmable output power. Common CC2420 register values and their corresponding current consumption and output power are shown in Figure 6.
PA_LEVEL TXCTRL register Output Power [dBm] Current Consumption [mA] 31 0xA0FF 0 17.4 27 0xA0FB -1 16.5 23 0xA0F7 -3 15.2 19 0xA0F3 -5 13.9 15 0xA0EF -7 12.5 11 0xA0EB -10 11.2 7 0xA0E7 -15 9.9 3 0xA0E3 -25 8.5
Figure 6 : Output power configuration for the CC2420 The CC2420 provides a digital received signal strength indicator (RSSI) that may be read any time. Additionally, on each packet reception, the CC2420 samples the first eight chips, calculates the error rate, and produces a link quality indication (LQI) value with each received packet. A mapping from RSSI to the RF level in dBm is shown in Figure 7.
Figure 7 : Received Signal Strength Indicator mapping to RF Power [dBm]
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 13 of 26
Typical Operating Conditions MIN NOM MAX UNIT Supply voltage during radio operation (Vreg on) 2.1 3.6 V Operating free air temperature -40 85 oC RF frequency range 2400 2483.5 MHz Transmit bit rate 250 250 kbps Nominal output power -3 0 dBm Programmable output power range 40 dBm Receiver sensitivity -90 -94 dBm Current consumption: Radio transmitting at 0 dBm 17.4 mA Current consumption: Radio receiving 19.7 mA Current consumption: Radio on, Oscillator on 365 µΑ Current consumption: Idle mode, Oscillator off 20 µΑ Current consumption: Power Down mode, Vreg off 1 µΑ Voltage regulator current draw 13 20 29 µΑ
Measured Output Power The RF output power of the Telos module from the CC2420 radio is shown in Figure 8. For this test, the Telos module is transmitting at 2.405GHz (IEEE 802.15.4 channel 11) using the O-QPSK modulation with DSSS. The CC2420 programmed output power is set to 0 dBm. The measured output power of the entire modulated spectrum is 1.67 dBm.
2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410-60
-50
-40
-30
-20
-10
0
Frequency (MHz)
Pow
er (
dBm
)
Ref Lvl
0 dBm
RBW 100 kHz
VBW 100 kHz
SWT 5 msUnit dBm
Center 2.405 GHz Span 10 MHz
Figure 8 : Measured RF output power over the modulated spectrum from the Telos module
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 14 of 26
Antenna Telos has two antenna options—and internal antenna built into the module and an external SMA connector for connecting to external antennas. By default, Telos is shipped with the internal antenna enabled. If an application requires an external antenna or a different directional pattern than the internal antenna, an SMA connector may be installed and an antenna may be connected directly to Telos’ SMA female connector. In order to switch between the internal antenna and the SMA connector, the capacitor at C73 must be moved from the two left pads to the two right pads connecting the radio to the SMA connector. This process may be completed quickly with a heat gun and tweezers by sliding the capacitor over to the adjacent pad once the solder begins to melt.
Figure 9 : Moving C73 to select between the internal antenna and the SMA connector
Internal Antenna Telos’ internal antenna is an Inverted-F microstrip design protruding from the end of the board away from the battery pack. The Inverted-F antenna is a wire monopole where the top section is folded down to be parallel with the ground plane. Although not a perfect omnidirectional pattern, the antenna may attain 50-meter range indoors and upwards of 125-meter range outdoors. Measurements of the internal antenna’s performance with and without a battery pack are show in Figure 10 and Figure 11. Approximate radiation patterns for the Inverted-F antenna as provided by Chipcon AS are shown in Figure 12 and Figure 13.
To InternalAntenna
To SMAConnector
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 15 of 26
Internal Antenna without Battery Pack 2004/05/27 Thr 5:35:28
CH1 S11MKR 1: 2.5GHz
3:2.400 000GHz 22.551 16.105 1.068nH2:2.450 000GHz 50.490 20.549 1.334nH1:2.500 000GHz 56.303 -7.865 8.093pF
1
2
3
CENTER 2.45GHz [ 10.00 dBm] SPAN 300MHz
-7.865
SMITH(R+jX) FS 1.000
56.303
Cor
2004/05/27 Thr 5:35:47
CH1 S11MKR 1: 2.5GHz
3:2.400 000GHz -7.547 dB2:2.450 000GHz -13.616 dB1:2.500 000GHz -20.298 dB
1
2
3
CENTER 2.45GHz [ 10.00 dBm] SPAN 300MHz
LOG MAG REF 0.000 dB 5.000 dB/
-20.298 dB
Cor
Figure 10 : S11 measurements for the internal inverted-F antenna when no battery pack is present
Internal Antenna with Battery Pack 2004/05/27 Thr 5:25:43
CH1 S11MKR 1: 2.5GHz
3:2.400 000GHz 35.227 29.003 1.923nH2:2.450 000GHz 81.917 23.453 1.523nH1:2.500 000GHz 63.479 -39.529 1.610pF
1
2
3
CENTER 2.45GHz [ 10.00 dBm] SPAN 300MHz
-39.127
SMITH(R+jX) FS 1.000
63.293
Cor
2004/05/27 Thr 5:26:11
CH1 S11MKR 1: 2.5GHz
3:2.400 000GHz -8.623 dB2:2.450 000GHz -10.898 dB1:2.500 000GHz -9.334 dB
1
2
3
CENTER 2.45GHz [ 10.00 dBm] SPAN 300MHz
LOG MAG REF 0.000 dB 5.000 dB/
-9.334 dB
Cor
Figure 11 : S11 measurements for the internal inverted-F antenna with battery pack underneath
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 16 of 26
Radiation Pattern
Figure 12 : Radiated pattern of the Inverted-F antenna with horizontal mounting (from Chipcon AS)
Figure 13 : Radiated pattern of the Inverted-F antenna with vertical mounting (from Chipcon AS)
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 17 of 26
SMA Connector The SMA connector is a surface mount female coax connector for attaching an external antenna. The default Telos configuration does not include the surface mount SMA connector. The connector may be purchased separately from Allied Electronics (http://www.alliedelec.com). The manufacturer’s part number is 142-0711-201 from Johnson Components. The performance of the SMA connector is independent of the presence of the battery pack. The S11 network analyzer measurements for the SMA connector performance are shown in Figure 14.
2004/05/27 Thr 5:29:21
CH1 S11MKR 1: 2.5GHz
3:2.400 000GHz 34.422 40.445 2.682nH2:2.450 000GHz 88.310 46.692 3.033nH1:2.500 000GHz 94.913 -27.954 2.277pF
1
2
3
CENTER 2.45GHz [ 10.00 dBm] SPAN 300MHz
-27.969
SMITH(R+jX) FS 1.000
94.938
Cor
2004/05/27 Thr 5:28:59
CH1 S11MKR 1: 2.5GHz
3:2.400 000GHz -6.827 dB2:2.450 000GHz -7.835 dB1:2.500 000GHz -9.088 dB
1
23
CENTER 2.45GHz [ 10.00 dBm] SPAN 300MHz
LOG MAG REF 0.000 dB 5.000 dB/
-9.088 dB
Cor
Figure 14 : S11 measurements of the SMA connector (minimal variance with/without battery pack)
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 18 of 26
Sensors Humidity/Temperature Sensor The optional humidity/temperature sensor is manufactured by Sensirion AG. The SHT11 and SHT15 models may be directly mounted on the Telos module in the U3 component position. The SHT11/SHT15 sensors are calibrated and produce a digital output. The calibration coefficients are stored in the sensor’s onboard EEPROM. The difference between the SHT11 and SHT15 model is that the SHT15 produces higher accuracy readings as shown in Figure 16. The sensor is produced using a CMOS process and is coupled with a 14-bit A/D converter. The low power relative humidity sensor is small in size and may be used for a variety of environmental monitoring applications. More information can be found in the SHT1x datasheet available at http://www.sensirion.com
Parameter MIN TYP MAX UnitsHumidity Resolution 0.5 0.03 0.03 %RH 8 12 12 Bit Repeatability ±0.1 %RH Range 0 100 %RH Temperature Resolution 0.04 0.01 0.01 oC 0.07 0.02 0.02 oF 12 14 14 bit Repeatability ±0.1 oC ±0.2 oF Range -40 123.8 oC -40 254.9 oF
Figure 15 : Sensirion relative humidity and temperature performance specifications
%RH
Relative Humidity absolute accuracy
± 0
± 1
± 2
± 3
± 4
± 5
0 30 402010 8050 10070 9060
%RH
SHT15
SHT11
Temperature accuracy
0 °C
±1 °C
±2 °C
-40°C 0°C 40°C 80°C 120°C
±3 °C
0 °F
±1.8 °F
±3.6 °F
±5.4 °F
-40°F 32°F 104°F 176°F 248°F
SHT11
SHT15
Figure 16 : Accuracy of Sensirion relative humidity and temperature sensors (courtesy Sensirion)
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 19 of 26
Light Sensors A variety of light sensors may be used with Telos. Telos (rev A) has connections for two photodiodes. Moteiv currently uses photodiodes from Hamamatsu Corporation (http://www.hamamatsu.com) If your mote is populated with light photodiodes, the default diodes are the S1087 for sensing photosynthetically active radiation and the S1087-01 for sensing the entire visible spectrum including infrared. The S1337 high precision photodiode may be substituted for the S1087-01. Although these photodiodes from Hamamatsu have been tested with Telos, any photodiode with similar physical dimensions may be used with Telos.
0
0.1
0.2
0.3
0.4
0.7
200 400 600 800 1000
WAVELENGTH (nm)
PH
OT
O S
EN
SIT
IVIT
Y (
A/W
)
(Typ. Ta=25oûC)
0.5
0.6
S1087
S1087-01
QE=100 %
0.1
0190 400 600 800 1000
0.3
0.2
(Typ. Ta =25oC)
0.4
0.5
0.6
0.7
S1337-BQS1337-BQ
PH
OT
O S
EN
SIT
IVIT
Y (
A/W
)
WAVELENGTH (nm) Figure 17 : Photo Sensitivity of the Light sensors on Telos (from Hamamatsu)
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 20 of 26
Expansion Connector Telos has two expansion connectors and a pair of onboard jumpers that may configured so that additional devices (analog sensors, LCD displays, and digital peripherals) may be controlled by the Telos module. On the opposite side of the board from the USB connector is a 10-pin IDC header at position U2. This is the primary connector and provides digital and analog input and output lines. Peripherals may be connected to the 10-pin connector using an IDC header, an IDC ribbon cable, or by designing a printed circuit board that solders directly on to the IDC header providing a robust connection to the module.
Figure 18 : Functionality of the 10-pin expansion connector (U2).
Alternative pin uses are shown in gray.
21Analog Input 4 (ADC4) Analog Input 5 (ADC5)
Figure 19 : Functionality of the 2-pin expansion connector (U6).
The analog voltage port is intended for use as output and should not be used to power the mote. AVcc is conditioned with an RC-filter and a pi-filter to remove noise in the sourced signal. As a result of the filters, there is a 470 ohm current limiting resistor. Currents larger than 10mA should not be sourced through this connector. If larger currents are required, replace R2 (located on the bottom of the module) with a 0 ohm resistor or an appropriately calculated value to source the required current. If the UART is not used, the UART pins on the microcontroller may be used as general purpose digital I/O pins instead.
NOTE: The I2C pins are shared with the radio’s data input pin and the radio clock. Care must be taken by application developers to multiplex operations on the I2C bus and the radio.
2
43
65
87
109
1Analog VCC (AVcc)
Analog Input 0 (ADC0)
Analog Input 1 (ADC1)
Analog Input 2 (ADC2)Exclusive Digital I/O 1 (GIO1)
Analog Ground (Gnd)
UART Receive (UART0RX)
UART Transmit (UART0TX)
I2C Clock (I2C_SCL) Shared Digital I/O 2 (GIO2)I2C Data (I2C_SDA) Shared Digital I/O 3 (GIO3)
Exclusive Digital I/O 0 (GIO0)
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 21 of 26
If expansion pin 10 (ADC3) is used for digital I/O instead of analog inputs, R14 must be populated with a 0 ohm resistor to enable the pin for digital I/O (GIO0) on the microcontroller. R16 must be populated with a 0 ohm resistor to enable GIO1. R14 and R16 are located on the bottom side of Telos directly next to the microcontroller.
The second expansion connector labeled U6 is located directly next to the photodiodes. This connector may only be used if the photodiodes are not installed; otherwise the ADC readings will be unpredictable and tied to the photodiode output. U6 simply exports two additional ADC channels for applications required the full ADC functionality of the Telos module.
Internal Temperature and Voltage Monitoring The MSP430 microcontroller has internal temperature and voltage sensors that may be used through the microcontroller’s ADC interface. The voltage port (input 11) on the 12-bit ADC monitors the output from a voltage divider. For Telos motes with serial numbers prior to M4BR6CR6 (serial numbers can be found by running the motelist utility while Telos is connected), there is an external 470 ohm resistor on the input to AVcc. As a result, the voltage port is not an exact voltage divider. The error on the input readings for motes prior to M4BR6CR6 is +/- 8 ADC counts. The schematic and formula to calculate the voltage are shown below. For Telos Rev A motes with serial numbers after M4BR6CR6, there is no 470 ohm resistor prior to AVcc input and ADC port 11 reads exactly 1/2 DVcc.
ADC11
DVcc
R2470
R
R
Voltage monitoring for Telos motes prior to serial number M4BR6CR6.
ADC11
DVcc
R
R
Voltage monitoring for Telos motes including and subsequent to serial number M4BR6CR6.
NOTE: When R14/R16 is populated (GIO0/GIO1 enabled), ADC3/ADC2 will not provide reliable readings if an application reverts to using the ADC input instead of the digital I/O port input on the microcontroller. R14/R16 should be removed when using ADC3/ADC2 for analog input.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 22 of 26
Converting the ADC units to a voltage reading can be done with the following formulas: For motes with serial numbers prior to M4BR6CR6:
Ω≈
++××=
1175RR
470RRV4096
ADCCountsDVcc ref
For motes with serial numbers including and subsequent to M4BR6CR6:
RR2V
4096ADCCountsDVcc ref ××=
The temperature input is internal ADC port 10. It consists of an uncalibrated diode. When using the temperature sensor, the sample period must be greater than 30 µs. The temperature sensor offset error can be large, and may need to be calibrated for most applications. The typical response of the temperature sensor is shown in Figure 20.
Cels ius
Volts
0 50 100
1.000
0.800
0.900
1.100
1.200
1.300
–50
0.700
VTEMP=0.00355(TEMPC)+0.986
Figure 20 : Typical response of the internal temperature sensor. Results vary and the sensor
should be calibrated for most applications. Response curve from Texas Instruments.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 23 of 26
General Information Document History Revision Date Notes 1.0 2004/05/31 Initial Release 1.01 2004/06/16 Included information about calculating voltages from the internal ADC
voltage port and temperature from the internal temperature port on the MSP430 microcontroller. Fix: Schematic modifications from product assembly rework. Fix: S1337-BQ may be substituted for the S1087-01.
1.02 2004/07/14 Error: ADC3 is not connected to U2.10 as the schematic depicts Updated Address and Phone information
1.03 2004/08/14 Added mechanical characteristics
Product Status Definitions Data Sheet Identification Product Status Definition Advance Information Planned or under
development This data sheet contains the design specifications for product development. Specifications may change in any manner without notice.
Preliminary Engineering samples or first production
This data sheet contains preliminary data, and supplementary data will be published at a later date. Moteiv reserves the right to make changes at any time without notice in order to improve design and supply the best possible product.
No Identification Noted Full production This data sheet contains the final specifications. Moteiv reserves the right to make changes at any time without notice in order to improve design and supply the best possible product.
Obsolete Not in production This data sheet contains specifications on a product that has been discontinued by Moteiv. The data sheet is printed for reference information only. Moteiv no longer supports this product.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 24 of 26
Disclaimer Moteiv Corporation believes the information contained herein is correct and accurate at the time of this printing. However, Moteiv Corporation reserves the right to make changes to this product without notice. Moteiv Corporation does not assume any responsibility for the use of the described product; neither does it convey any license under its patent rights, or the rights of others. This product is not designed for use in life support devices or any other system where malfunction can reasonably be expected to result in significant personal injury to the user. This product is not designed for critical systems where failure of the product to perform affects safety or effectiveness. Moteiv Corporation customers using or selling products for use in such applications do so at their own risk and agree to fully indemnify Moteiv Corporation for any damages resulting from improper use or sale. As far as possible, major changes of product specifications and functionality, will be stated in product specific errata notes published at the Moteiv website. The latest updates are available from the Moteiv website at www.moteiv.com or by contacting Moteiv directly.
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 25 of 26
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Headquarters Moteiv Corporation 7224 View Ave El Cerrito, CA 94530
Telos
Rev A (Low Power Wireless Sensor Module)
Moteiv Corporation Telos (Rev A) : Datasheet (8/14/2004) Page 26 of 26
© 2004 Moteiv Corporation