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Julián Bermúdez OrtegaFranFin
Julián Bermúdez Ortega
and
FranFin
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Merge 6LoWPAN tutorials (#165)
* Add new 6LoWPAN NuttX tutorial. * Remove old 6LoWPAN tutorials. * Fix 6LoWPAN tutorial links. * Apply suggestions from code review Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com>
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‎.vscode/settings.json‎

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"spellright.documentTypes": [
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"latex",
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"plaintext"
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]
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],
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"editor.formatOnSave": true
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}

‎_data/docs.yml‎

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docs:
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- tutorials/advanced/nuttx/nsh_usb
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- tutorials/advanced/nuttx/nsh_uart
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- tutorials/advanced/nuttx/6lowpan_config
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- tutorials/advanced/nuttx/6lowpan
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- tutorials/advanced/nuttx/debugging
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- tutorials/advanced/nuttx/add_microros_config
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- tutorials/advanced/nuttx/microros_6lowpan_tutorial
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‎_docs/tutorials/advanced/nuttx/6lowpan/index.md‎

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---
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title: 6LoWPAN Guide
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permalink: /docs/tutorials/advanced/nuttx/6lowpan/
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---
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In this guide, we will show how to use micro-ROS over 6LoWPAN communication.
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# What is 6LoWPAN?
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6LoWPAN is an acronym o IPv6 over Low-Power Wireless Personal Area Networks.
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This communication protocol allows wireless communication over IEEE 802.15.4 based networks using IPv6. Some of the main advantages are:
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- Easy to route from radio devices to the Internet, thanks to the usage of the IP packets.
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- Easy to use on UDP and TCP server/clients.
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- A protocol designed for low power and constrained devices, perfect or micro-ROS remote sensors.
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# Needed hardware
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At present, 6LoWPAN is only available for the NuttX RTOS.
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In order to implement the steps highlighted in this guide, you need the following devices:
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- Raspberry Pi.
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- [Olimex-STM32-E407 board](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware).
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- [PmodRF2 Radio](https://store.digilentinc.com/pmod-rf2-ieee-802-15-rf-transceiver/).
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- micro-ROS-bridge-RPI.
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**Important!**
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You can find a guide of how to setup the micro-ROS-bridge_RPI at its [repository](https://github.com/micro-ROS/micro-ROS-bridge_RPI/blob/new_bridge_tools/Readme.md).
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In the micro-ROS-bridge-RPI guide, you can find everything that you need to set-up this device base.
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# Configure the board
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The configuration of the board is divided into two parts: hardware and software set-up.
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## Hardware set-up
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First we are going to connect the PmodRF2 radio.
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| | RPi | Olimex | PmodRF2 |
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| ----- | --- | ------ | ------- |
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| VIN | 1 | D13 | 12 |
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| GND | 20 | GND | 11 |
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| RESET | 17 | - | 8 |
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| INT | 16 | D8 | 7 |
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| SDI | 19 | D12 | 2 |
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| SDO | 21 | D11 | 3 |
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| SCK | 23 | D13 | 4 |
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| CS | 26 | D10 | 1 |
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To ease the set-up process, you can use the [RPi pinout](https://pinout.xyz/#) and [PmodRF2 pinout](https://reference.digilentinc.com/reference/pmod/pmodrf2/start).
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The last step is to connect a mini-USB cable to the OTG2 USB port (this USB port next to the Ethernet port).
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## Software set-up
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To create and flash the firmware, we are going to use the micro-ROS build system.
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You can find the instructions at the micro-ros-build's [README](https://github.com/micro-ROS/micro-ros-build/blob/dashing/micro_ros_setup/README.md).
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For this particular guide, it is necessary yo use the branch `dashing` and the configuration profile `uros_6lowpan`.
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Once you follow all the instructions in the build system and flash the board, everything is ready.
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# How to use it?
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- Turn on the Olimex board and open the NSH console on a terminal.
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- Check if all the applications are ready by typing `?` on the console. It should return the following:
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```bash
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help usage: help [-v] [<cmd>]
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[ cd df help ls mw set true
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? cp echo hexdump mb ps sh uname
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addroute cmp exec ifconfig mkdir pwd sleep umount
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basename dirname exit ifdown mh rm test unset
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break dd false ifup mount rmdir telnetd usleep
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cat delroute free kill mv route time xd
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Builtin Apps:
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ping6 i8sak uros_6lowpan
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```
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- Now turn-on the RPi and execute the micro-ROS-bridge-RPI tool by typing the next command:
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```bash
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./ ~/micro-ROS-HB.sh
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```
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- Once everything is configured, it will return the connection data of the 6LoWPAN network:
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```bash
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lowpan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1280
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inet6 fe80::b482:ca65:743b:b6bd prefixlen 64 scopeid 0x20<link>
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unspec B6-82-CA-65-74-3B-B6-BD-00-00-00-00-00-00-00-00 txqueuelen 1000 (UNSPEC)
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RX packets 0 bytes 0 (0.0 B)
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RX errors 0 dropped 0 overruns 0 frame 0
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TX packets 21 bytes 2242 (2.1 KiB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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1) Add new 6LoWPAN micro-ROS device 3) Create UDP micro-ROS Agent 5) Create Serial micro-ROS Agent server
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2) Create UDP 6LoWPAN micro-ROS Agent 4) Create TCP micro-ROS Agent 6) Quit
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#?
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```
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- The value **inet6** is the IPv6 direction of the RPi over the 6LoWPAN interface. Copy it because is necessary for the subsequent steps.
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- Execute the micro-ROS 6LoWPAN application on the Olimex typing the next command:
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```bash
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uros_6lowpan <Agent_IP> <Agent_Port> <pub/sub>
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```
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where `Agent_IP` is the IPv6 copied previously, `Agent_PORT` is the port selected for the Agent and `pub/sub` controls the application behavior: in case of `pub` it will act as publisher and as in case of `sub`, it will act as a subscriber.
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- Once you execute the app, ti will ask you if you want to configure the 6LoWPAN network.
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- This will return connection data, you should save the `inet_6_addr` and `HWaddr`.
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- Note: if you want to change the ID of the radio, you can do it on the `menuconfig` of NuttX on the example configuration.
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```bash
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nsh> uros_6lowpan fe80::bc81:c3b9:5c14:1ab 8888 pub
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Do you want to configure the 6lowpan network? (Y/N)
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ifdown wpan0...OK
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i8sak: resetting MAC layer
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i8sak: starting PAN
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Introduce your 6LowPan ID (It must between 00 and FF (Hex))
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i8sak: accepting all assoc requests
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i8sak: daemon started
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ifup wpan0...OK
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Connection data
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wpan0 Link encap:6LoWPAN HWaddr 00:be:ad:de:00:de:fa:00 at UP
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inet6 addr: fe80::2be:adde:de:fa00/64
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inet6 DRaddr: ::/64
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RX: Received Fragment Errors
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00000000 00000000 00000000
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IPv6 Dropped
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00000000 00000000
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TX: Queued Sent Errors Timeouts
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00000000 00000000 00000000 00000000
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Total Errors: 00000000
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```
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- After this step, the application on the Olimex board will be blocked waiting for a user input confirming that the Agent on the bridge is ready to receive data.
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- Go back to the bridge, now we are going to add a new 6LoWPAN device. Push `1 + enter`. (Note: this step is only necessary if you are attaching for the first time a new device).
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- First, introduce the IPv6 of the Olimex board (`inet6_addr`).
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- Introduce the hardware address of the Olimex board (HWaddr).
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- Now the device is registered and ready to establish communication.
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- The final step on the bridge is to execute the micro-ROS-Agent, to do so, push `2 + enter` and introduce the port to use.

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