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GINA

The OpenWSN project is shifting from the TelosB as its primary platform to GINA, the Guidance and Inertial Navigation Assistant developed through the  WARPwING project in  Prof. Kris Pister's lab. The diagram below presents the GINA ecosystem.

GINA

The Guidance and Inertial Navigation Assistant (GINA) platform is a low-power wireless mote augmented with inertial measurement capabilities.

It features:

#	type	manufacturer	part/datasheet	details	vendor
U4	microcontroller	Texas Instruments	MSP430F2618	16-bit, 16MHz, 116kB flash, 8kB RAM	Digikey
U7	radio	Atmel	AT86RF231	IEEE802.15.4-compliant, 2Mbps-capable	Digikey
U1	3-axis accelerometer (sensitive)	STMicroelectronics	LIS344ALHTR	+/-2 Gs or +/-6 Gs, 1.8 kHz, 660 mV/G, 50 uG/rtHz	Digikey
U8	3-axis accelerometer (large range)	Kionix	KXSD9-1026	+/-8 Gs, 2 kHz	Kionix
U9	3-axis gyroscope	Invensense	ITG3200	2000 degs/s	Component Distributors
U10	3-axis magnetometer	Honeywell	HMC5843	compass	Digikey
U11	temperature sensor	Texas Instruments	TMP20AIDRLT	+/-2.5 C, -55 C to 130 C	Digikey
A1	antenna (chip)	Rainsun	AN3216-245	2.4GHz	Bayview Electronics
J5	antenna (connector)	Molex	73412-0110	microcoaxial	Digikey
J1,J2	expansion headers	Samtec	FTE-106-03-G-DV	12 pin, 2x6, 0.8 mm pitch, brd-brd male hdr	Samtec
D1,D2,D3,D4	user LEDs	Kingbright	different, see  bill of materials	yellow, green, orange, red	see  bill of materials
J3	JTAG port (traces on board)	N.A.	N.A.	connects to the GINA-JTAG-adapter	N.A.
SW1, SW2	reset, auxiliary buttons	Omron	B3U-1000p	momentary switch	Digikey

The orientation of the axes of the inertial sensors are:

It has been:

• designed by the  Kris Pister group at UC Berkeley;
• fabricated by Boardworks (12 mils thick, 4 layers, Pb-free HASL plating);
• assembled by  Digicom Electronics.

All of the information about this open-source board can be found at  http://warpwing.sourceforge.net/, including:

•  bill of materials;
•  layout;
•  schematic.

GINA-basestation

This board is a stripped-down version of the GINA above. It's only a communicating board, i.e. it has no inertial measurement capabilities. Instead, it features a UART-to-USB bridge chip and a mini-B USB connector.

#	type	manufacturer	part/datasheet	details	vendor
U1	microcontroller	Texas Instruments	MSP430F2618	16-bit, 16MHz, 116kB flash, 8kB RAM	Digikey
U4	radio	Atmel	AT86RF231	IEEE802.15.4-compliant, 2Mbps-capable	Digikey
A1	antenna (chip)	Rainsun	AN3216-245	2.4GHz	Bayview Electronics
J3	USB connector	Hirose	UX60A-MB-5ST	Type B, receptacle, female contacts, surface mount, right angle	Digikey
U5	UART-to-USB bridge	Silicon Labs	CP2102	28-pin, slave USB interface, QFN-28	Digikey
J1	JTAG port (traces on board)	N.A.	N.A.	connects to the GINA-JTAG-adapter	N.A.

It has been:

• designed by the  Kris Pister group at UC Berkeley;
• fabricated by Boardworks;
• assembled by  Digicom Electronics.

All of the information about this open-source board can be found at  http://warpwing.sourceforge.net/, including:

•  bill of materials;
•  layout;
•  schematic.

GINA-breakout

This breakout card is used as a practical way of connecting external sensors to the header pins of the GINA platform.

It features:

#	type	manufacturer	part/datasheet	details	vendor
J3	USB connector	Hirose	UX60A-MB-5ST	Type B, receptacle, female contacts, surface mount, right angle	Digikey
J5,J11	expansion headers	Samtec	FTE-106-03-G-DV	12 pin, 2x6, 0.8 mm pitch, brd-brd male hdr	Samtec
U1	UART-to-USB bridge	Silicon Labs	CP2102	28-pin, slave USB interface, QFN-28	Digikey

It has been:

• designed by the  Kris Pister group at UC Berkeley;
• fabricated by Boardworks;
• assembled by  Digicom Electronics.

All of the information about this open-source board can be found at  http://warpwing.sourceforge.net/, including:

•  bill of materials;
•  layout;
•  schematic.

GINA-JTAG-adapter

This adapter card is used to reprogram the firmware on either the GINA or the basestation board. This adapter interfaces between the board and a TI JTAG debug adapter for the MSP430  MSP-FET430UIF.

It features:

#	type	manufacturer	part/datasheet	details	vendor
J2	JTAG connector	3M	2514-6002RB	14 pin, 2x7, 100 mil pitch, ribbon cable hdr, end shroud	Digikey
J1	GINA connector	FCI	SFW6R-2STE1LF	6 pin, 1x6, 1 mm pitch female, top contact flex, right angle	Digikey

It has been:

• designed by the  Kris Pister group at UC Berkeley;
• fabricated by Boardworks;
• assembled by  Digicom Electronics.

All of the information about this open-source board can be found at  http://warpwing.sourceforge.net/.

Battery

We use a lithium-polymer 3.7V 130mAh battery. It weighs 3.6 g and can be charged using the battery charger. It is manufactured by  Tenergy as part#  39014. It can purchased from  BSD Micro RC or Amazon.

Battery Charger

It charges a battery in approx. 10 minutes, and can charge two batteries simultaneously. It can be purchased from  All Battery or Amazon.

USB Cable

This is a Standard A male to Mini B male, 1m-long USB cable, used to connect a GINA-basestation mote to a computer. It can be purchased from  Digikey.

Programmer

The TI JTAG Debug Probe for the MSP430  MSP-FET430UIF is needed to reprogram the firmware on the GINA? and GINA-Basestation? boards, through the GINA JTAG Adapter Card.

• Make sure IAR is installed.
• Plug in the  MSP-FET430UIF into a USB port.
• In most cases, the programmer will be recognized and drivers will be installed automatically.
• If not, when Windows asks for a driver, point it to C:\Program Files\IAR Systems\Embedded Workbench x.x\430\drivers\TIUSBFET\WinXP, or as appropriate for your version of Microsoft Windows.
• If Microsoft Windows does not prompt for a driver, navigate down to the Device Manager and install it manually. Follow the screenshots below (click to enlarge). You may need to do this twice, once as a USB device and once as a serial device.

• Use the GINA JTAG Adapter Card? to reprogram the GINA? and GINA-Basestation? boards.

Breakout Daughtercard

You can use the breakout daughtercard to connect wires to the expansion headers of the GINA? board.

This diagram shows, once connected, what the breakout board holes correspond to. The adjacent vertical rows along the left and right edges of the board are simply connected together for convenience, when you add your own wires.

Test Pads

There are 11 test pads on the GINA2.2 board. You can solder wires and use an oscilloscope to debug these signals which are internal to the board (i.e. are not brought up to the daughtercard expansion headers).

• Use TP1 to ground your oscilloscope.
• Use TP7 and TP8 to eavesdrop on the I2C bus connecting the MSP430 to the gyroscope, 8G accelerometer and the magnetometer compass.
• Use TP9, TP10 and TP11 to eavesdrop on the SPI bus connecting the MSP430 to the radio.

TP1	GND thru hole
TP2	Magnetometer DRDY
TP3	Magnetometer SVDD
TP4	Magnetometer OFFP
TP5	Magnetometer SETN
TP6	Magnetometer OFFN
TP7	B1_I2C_SCL (I2C)
TP8	B1_I2C_SDA (I2C)
TP9	A0_RF_SOMI (SPI)
TP10	A0_RF_SIMO (SPI)
TP11	A0_RF_SCLK (SPI)

Ordering Boards

 Digicom is the company which assembled the GINA2.2c boards designed by the  Pister group. To order completely assembled GINA2.2c boards from them, follow these  instructions prepared by Dr. Paul Samuel from Daedalus Flight Systems.

Specifically, the following elements are described.

• If needed, how to modify the Assembly Bill of Materials (BOM) for the GINA2.2c to reflect any components that should not be assembled;
• If needed, how to modify the Purchasing BOM for the GINA2.2c to reflect any components that should not be purchased by Digicom (either because they are not assembled, or because they are provided by you);
• Which files to send to Digicom;
• What information to include in the quote request.