• Computer 1: Has 2 motes connected. We’ll program one mote as the beacon and the other as a receiver.
• Computer 2: Has 1 mote (receiver).
• Computer 3: Has 1 mote (receiver).

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Common Preparations (Run on Each Computer)

1. Connect the motes to the computer.

   Run:

   motelist

   to see the list of connected motes and note their device names (for example: /dev/ttyUSB0, /dev/ttyUSB1, etc.).

2. Set permissions on the serial devices (if needed):

   For each device you plan to use, run:

   sudo chmod 777 /dev/ttyUSB0

   (Replace /dev/ttyUSB0 with the appropriate device file for that computer.)

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On Computer 1 (2 Motes Connected: 1 Beacon, 1 Receiver)

A. Program the Beacon Mote

1. Change into the beacon project directory:

   (Assuming you’ve created a folder called RBSBeacon with the following files: RBS.h, RBSBeaconAppC.nc, RBSBeaconC.nc, and a Makefile.)

   cd /path/to/RBSBeacon

2. Compile the beacon application for the TelosB platform:

   make telosb

3. Install (flash) the beacon application to the mote on, say, /dev/ttyUSB0:

   make telosb install,ttyUSB0

   Note: If you have more than one mote connected, verify the device name with motelist.

B. Program the Receiver Mote

1. Change into the receiver project directory:

   (Assuming you have a folder called RBSReceiver with the files: RBS.h, RBSReceiverAppC.nc, RBSReceiverC.nc, and a Makefile.)

   cd /path/to/RBSReceiver

2. Compile the receiver application for TelosB:

   make telosb

3. Install the receiver application to the other mote on, for example, /dev/ttyUSB1:

   make telosb install,ttyUSB1

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On Computer 2 (1 Mote Connected – Receiver Only)

1. Change into the receiver project directory:

   cd /path/to/RBSReceiver

2. Compile the receiver application:

   make telosb

3. Install the receiver application to the mote (typically on /dev/ttyUSB0 on this computer):

   make telosb install,ttyUSB0

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On Computer 3 (1 Mote Connected – Receiver Only)

1. Change into the receiver project directory:

   cd /path/to/RBSReceiver

2. Compile the receiver application:

   make telosb

3. Install the receiver application to the mote (again, likely /dev/ttyUSB0 on this computer):

   make telosb install,ttyUSB0

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After Programming – Monitoring and Testing

1. Use a Serial Debug Tool:

   Open a serial monitor (for example, moseria) on the receiver motes’ ports to see debug output.

   The receiver application uses the dbg() function (via the dbg.h interface) to print the calculated offset. You should see output similar to:

   RBSReceiver: Offset: 15 ms
   

   which indicates the difference between the local time and the beacon’s broadcast time.

2. Verify Synchronization:

   When the beacon mote’s timer fires (every 1 second in our example), it broadcasts its current time. Each receiver then reads its own clock and calculates the offset. Adjust your setup if you want to see different timing behavior.

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Notes

• The build system automatically creates a build/telosb folder (with files like main.exe, main.ihex, and tos_image.xml) when you run the make command. You do not need to create these manually.