7-loT Physical Devices &Endpoints

This Chapter covers

" Basic building blocks of an IoT Device
" Exemplary Device: Raspberry Pi
" Raspberry Pi interfaces
Programming Raspberry Pi with Python
Other loT devices
178 loT Physical Devices &Endpoints

7.1 What is an loT Device

As deseribedearlier, a"Thing" in Internet of Things (loT) can be any object that has aunigipe
icdentitier and which cansend/receive data (including user data) over a network (e.g. sman
phone, smart TV, computer, refrigerator, car, etc. ). loT devices are connected to the Intermet
and send informationabout themselves or about their surroundings (e.g. information sensed
by the connected sensors) over a network (to other devices or servers/storage) or allow
cluation upon the physical entities/environment around them remotely. Some examples of
loT devices are listed below:
" Ahome automation device that allows remotely monitoring the status of appliances
and controlling the appliances.
" An industrial machine which sends information abouts its operation and health
monitoring data to a server.
A car which sends information about its location to a cloud-based service.
" Awireless-enabled wearable device that measures data about a person such as the
number of steps walked and sends the data to a cloud-based service.

7.1.1 Basic building blocks of an loT Device

An loT device can consist of a number of modules based on functional
attributes, such as:
Sensing: Sensors can be either on-board the IoT device or attached to the device. IoT
device can collect various types of information from the on-board or attached sensors
such as temperature, humidity, light intensity, etc. The sensed information can be
communicated either to other devices or cloud-based servers/storage.
" Actuation: loT devices can have various types of
actuators attached that allow taking
actions upon the physical entities in the vicinity of the device. For example, a relay
switch connected to an IoT device can turn an appliance on/off based on the
commands
sentto the device.
"
Communication: Communication modules are responsible for sending collected data
to other devices or cloud-based servers/storage and receiving data
from other devices
and commands from remote applications.
Analysis & Processing: Analysis and processing modules are responsible for makin
sense of the collected data.
The representative loT device used for the examples in this book is the
widely
single-board mini computer called Raspberry Pi (explained in later sections). The useuseuol
Raspberry Pi is intentional since these devices are widely accessible, inexpensive, au
available from multiple vendors. Furthermore, extensive information is available on the
programming and use both on the Internet and in other textbooks. The principles we teachin

Bahga & Madisetti, © 201)

7.2 Exemplary Device: Raspberry Pi 179

this book are just as applicable to other (including proprietary) loT endpoints, in addition to
Raspberry Pi. Before we look at the specifics of Raspberry Pi, let us first look at the building
blocks ofageneric single-board computer (SBC) based loT device.
Figure 7.1 shows a generic block diagram of a single-board computer (SBC) based
IoT device that includes CPU, GPU, RAM, storage and various types of interfaces and
peripherals.

Connectivity Processor Graphics Audio/Video

USB Host GPU HDMI
CPU

RJ45/Ethernet 3.5mm audio

RCA video

Interfaces Storage lnterfaces Memory Interfaces

UART SD NAND/NOR
SPI MMC DDR1/DDR2/DDR3
12C SDIO

CAN

Figure 7.1: Block diagram of an loT Device

7.2 Exemplary Device: Raspberry Pi

Raspberry Pi [104] is a low-cost mini-computer with the physical size of a credit card.
Raspberry Pi runs various flavors of Linux and can perform almost all tasks that a normal
desktop computer can do. In addition to this, Raspberry Pi also allows interfacing sensors
and actuators through the generalpurpose lIOpins. Since Raspberry Pi runs Linux operating
System, it supports Python "out of the box".

Internet of Things -AHands-On Approach

180 loT Physical Devices &Endpoints

7.3 About the Board

Figure 7. shows the Raspbery Pi board with the various components/peripherals labeled.
" Processor &RAMl: Raspbemy Pi is based on an ARM processor. The latest version of
Raspbery Pi (Model B. Revision 2) comes with 700 MHz Low Power ARMI176JZ-F
prvessor and 512 MBSDRAM.
" USB Ports : Raspbery Pi comes with two USB 2.0 ports. The USB ports on
Raspbery
Pican provide a current upto l00mA. For connecting devices that draw current more
than 100mA,an extermal USB powered hub is required.
" Ethernet Ports : Raspberry Pi comes with a standard RJ45
Ethernet port. You can
connect an Ethernet cable or a USB Wii adapter to provide Internet connectivity.
" HDMI Output : The HDMl port on Raspberry Pi
provides both video and audio
output. You can connect the Raspberry Pi to a monitor using an HDMl cable. For
monitors that have a DVI port but no HDMI port. you can use an HDMI to DVI
adapter/cable.
" Composite Video Output: Raspberry Picomes with a composite video output with
an RCA jack that supports both PAL and NTSCvideo
used to connect old televisions that have an RCA
output. The RCA jack can be
input
Audio Output : Raspberry Pi has a 3.5mm audio outputonly. jack. This audio jack is used
for providing audio output to old televisions along with the
audioquality from this jack is inferior to the HDMI RCA jack for video. The
" GPIO Pins: Raspberry Pi comes output.
with a number of general purpose
Figure 7.3 shows the Raspbery Pi GPIO headers. inputouput pins.
There are four types
Raspberry Pi - true GPIO pins, 12C interface pins, SPl interface pins and of pins on
Tx pins. serial Rx and
" Display Serial Interface (DSI) :The DSI interface can be
panel to Raspberry Pi. used to connect an LCD
Camera Serial Interface (CSI):The CSI
module to Raspberry Pi. interface can be used to connect a camert
" Status LEDs: Raspberry Pi has
five status LEDs. Table 7.1 lists
LEDs and their functions. Raspberry Pi status
"SD Card Slot:
Raspberry Pidoes not have a built in operating system and
You can plug-in an SD card loaded
withaLinux image to the SD card slot. storaye
provides instructions on setting up New Out-of-the-Box Appendix-A
Raspberry Pi. You willrequire atleast an 8GB SD card for Software (NOOBS) on
. Power Input : Raspberry Pi has a setting up NOOBS.
micro-USB connector for power input.
Bahga &Madisetti, O 201
7.4 Linuxon Raspberry Pi 181

Status LED Function

ACT SD card access
PWR 3.3V Power is present
FDX Full duplex LAN connected
LNK Link/Network activity
100 100 Mbit LAN connected

Table 7.1: Raspberry PiStatus LEDS

RCA Video
Audio Jack
GPIO Headers
Status LEDS

12111
DSIConnector
Display

USB 2.0
SD Card
Slot

Ethernet
Micro USB
Power nUn
CSI Connector
HDMI
Camera

Figure 7.2: Raspberry Pi board

7.4 Linux on Raspberry Pi

Raspberry Pi supports various flavors of Linux including:
Raspbian Raspbian Linux is aDebian Wheezy portoptimized for Raspberry Pi. This
is the recommended Linux for Raspberry Pi. Appendix-1 provides instructions on
setting up Raspbian on Raspberry Pi. devices.
Arch: Arch is an Arch Linux port for AMD
" Pidora: Pidora Linux is a Fedora Linux optimized for Raspberry Pi.
" RaspBMC :RaspBMC is an XBMC media-center distribution for Raspberry Pi.
" OpenELEC: 0penELEC is a fast and user-friendly XBMC media-center distribution.
" RISC OS: RISC OS is a very fast and compact operating system.

Internet of Things -A Hands-On Approach

 loT Physical Devices &Endpoints
182

3V3

GPIO 2 (12C SDA)

GPIO 3 (12C SDL) GROUND

GPIO 4
GPIO 14 (UART TXD)

GROUND GPIO 15 (UART RxD)

GPIO 17 GPIO 18

GPIO 27 GROUND

GPIO 22 GPIO 23

3V3 GPIO 24

GPIO 10 (SPIO MOS) Ground

GPIO 9(SPIOMISO) GPIO 25

GPIO 11 (SPIO SCLK) GPIO 8 (SPIO CEO N)

O GROUND GPIO 7 (SPIO CE1 N)

Figure 7.3: Raspberry Pi GPIOheaders

IDLE 3 Pthen Garnes

Detiar Serachi
Peferes

Figure 7.4: Rasbian Linux desktop

Bahga &Madisetti, 2013

7.4 LinuX on Raspberry Pi 183

hon Berves

1
Pafere e

Ss

oCR

Mlor

DLE

Figure 7.5: File explorer on Raspberry Pi

pitraherrypi

pieraspberrypi - $ oet ete/*release*

PREITY_NANE=Ra spbian GNU/Linux 7 (wheey)"
NANE= Ra spbian GNU/L inux
VERSION ID=7
NERSION=7 (wheey) *
De raspblan

NSTcotOReia 31
NONE_URL="http://.ra spbian.org/
sUPPORT_URL=*http://.respbian.org/RaspbianForums"
BUG REPORT_URLhttp:/Iw. raspbian.org /Raspb ian Bugs*
PRETTYy NANE=Deb ian 0SNAME 7 (hee2y }e
NANE= Deb ian 0SNAME
VERSION_ID
heey*
JANSI_COLORI 31®
HNE URL=*http:l/w.debian,org/*
sUPPORT URL=http://w.debian ,org/support /
BUC REPORT_URL=httg//ugs.debian .org7*

ey

Figure 7.6: Console on Raspberry Pi

Internet of Things -AHands-On Approach

7.4 Linux on Raspberry Pi 185

or disable SSH server and change boot behavior. It is recommended to expand the root
file-systemso that you can use the entire space on the SD card.
Though Raspberry Pi comeswith an HDMIoutput, it is more convenient to access the
device with a VNC connection or SSH. This does away with the need for a separate display
for Raspbery Pi and you can use Raspberry Pi from your desktop or laptop computer.
Appendix-A provides instructions on setting up VNC server on Raspberry Pi and the
instructions to connect to Raspberry Pi with SSH. Table 7.2 lists the frequently used
commands on Raspberry Pi.
Command Function Example
cd Change directory cd home/pi
cat Show file contents cat file.txt

List files andfolders Is /home/pi

locate Search for a file locate file.txt

Isusb List USB devices lsusb

Pvd
Print name of present working pwd
directory
mkdir Make directory mkdir /home/pi/new
mv sourceFile.txt destinationFile.txt
mv Move (rename) file
Remove file rm file.txt
sudo reboot
reboot Reboot device
sudo shutdown -h now
shutdown Shutdown device
grep Print lines matching apattern grep -r "pi" home/
df Report file system disk space df -Th
usage
ifconfig Configure a network interface ifconfig
Print network connections, netstat -lntp
netstat
routing tables, interface statistics
tar Extract/create archive tar -xzf foo.tar.gZ
Non-interactive network wget http:/lexample.com/file.tar.gz
wget
downloader

Table 7.2: Raspberry Pifrequently used commands

Internet of Things - AHands-On Approach

186 loT Physical Devices &Endpoints

7.5 Raspberry PiInterfaces

Raspberry Pi has serial, SPl and 12C interfaces for data transfer as shown in Figure 7.3
7.5.1 Serial
The serial interface on Raspberry Pi has receive (Rx) and transmit (Tx) pins for communicatice
with serial peripherals.

7.5.2 SPI
Serial Peripheral Interface (SPI) is a synchronous serial data protocol used for communicating
with one or more peripheral devices. In an SPI connection, there is one master device and
one or more peripheral devices. There are five pins on Raspberry Pi for SPI interface:
" MISO (Master In Slave Out): Master line for sending data to the peripherals.
" MOSI (Master Out Slave In):Slave line for sending data to the master.
" SCK (Serial Clock) : Clock generated by master to synchronize data transmission
" CE0(Chip Enable 0) : To enable or disable devices.
" CE0(Chip Enable 1): To enable or disable devices.

7.5.3 I2C
The I2C interface pins on Raspberry Piallow you to connect hardware modules. I2C interface
allows synchronous data transfer with just two pins - SDA (data line) and SCL (clock line).

7.6 Programming Raspberry Piwith Python

In this section you will learn how to get started with developing Python
programs on
RaspberTy Pi. Raspberry Pi runs Linux and supports Python out of the box. Therefore., you
can run any Python program that runs on a normnal computer. However, it is the genera
purpose input/outputcapability provided by the GPIO pins on Raspberry Pi that makes it
useful device for Internet of Things. You can interface a wide variety of sensor and
actuators
with Raspberry Piusing the GPIO pins and the SPI, I2C and serial interfaces. Input from the
sensors connected to Raspberry Pi can be processed and various actions can be taken, ro
instance, sending data to a server, sending an email, triggering a relay switch.
7.6.1 Controlling LED with Raspberry Pi
Let us start with a basic example of controlling an LED from Raspberry Pi. Figure 7.9shows
the schematic diagram of connecting an LED to Raspberry Pi. Box 7.1 shows how to Tu

Bahga & Madisetti, ©201)

Z6 Programming Raspberry Pi with Python 187

he LED on/off from command line. In this example the LED is connected to GPIO pin 18.
You can connect the LED to any other GPIO pin as well.
Box 7.2 shows a Python program for blinking an LED Connected to Raspberry Pi every
second. The program uses the RPi. GPIO module to control the GPIO on Raspberry Pi. In
this program we set pin 18direction tooutput and then write TruelFalse alternatively after a
delay of one second.

JOROd DSI (DISPLAY) s GND

4

GND

27GND
Model
(R2) B
A,GND

GND
GPIO

ETHERNET

OK
PUR
USB 2x FDX
RLNK
L0M

Figure 7.9: Controlling LED with Raspberry Pi

Box 7.1: Switching LED on/off from Raspberry Pi console

Secho 18 >
/sys/class/gpio/export
Scd /sys/class/gpio/gpiol8
#Set pin 18 direction to out
^echo out > direct ion
#Turn LED On
Secho 1 > value

Internet of Things -A Hands-On Approach

188 loT Physical Devices &Endpoints

#Turn LED Off

^echo 0> value

Box 7.2: Python program for blinking LED

import RPi.GPIO as GPIO
import time

GPIO.setmode (GPIO.BCM)
GPIO.setup (18, GPIO.OUT )
while True:
GPIO.output (18, True)
time.sleep (1)
GPIO.output (18, False)
time.sleep (1)

7.6.2 Interfacing an LED and Switch with

Now let us look at a more detailed example
Raspberry Pi
control the LED. involving an LED and a switch that is used to
Figure 7.10 shows the schematicdiagram of
Pi. Box 7.3 shows a Python program for connecting an LED and switch to Raspberry
the LED is connected to GPIOpin 18 andcontrolling an LED with a switch. In this example
switch is connected to pin 25. In the infinite while
loop the value of pin 25 is checked and the
state of LED is toggled if the switch is
This example shows how to get input from pressed
GPIO
action. The action in this example istoggling the pins and process input and take some
the
state of
example, in which the action is an email alert. Box 7.4 an LED. Let us look at another
an email on switch press. Note that shows aPython program for senáng
the structure of this program is
Box 7.3. This program uses the Python similar to the program
connected to Raspberry Pi is pressed. SMTP library for sending an enmail when the switch
Box 7.3: Python program for
controlling an LED with a switch
from tine import sleep
import RPi.GPIO as GPIO

GPIO.setmode (GPIO. BCM)

Bahga &Madisetti. 01)

76 Programming Raspberry Piwith Python 189

#Switch Pin
GPIO. Setup (25, GPIo.IN)

#LED Pin
GPIO.Ssetup (18, GPIO.OUT)

state=false

def toggleLED (pin) :

state = not state
GPIO.output (pin, state)

while True:
try:
if (GPIO. input (25) == True):
toggleLED (pin)
sleep (.01)
except KeyboardInterrupt:
exit ()

DSI (DISPLAY) sGND

GND
17 18
a7 GND
|2223
Model
/R2) B 3V3 24
OSYGND
NOSI25

GNDC
GPIO

Video-0ut

(V83UY) IS)

ETHERNET

ROK
PWR
uSB 2x FDX
LNK
L0M

Figure 7.10: Interfacing LED and switch with Raspberry Pi

Internet of Things - AHands-On Approach

190 loT Physical Devices &Endpoints

press
Box 7.4: Python program for sending an email on switch
import smtplib
from t ime import sleep
import RPi.GPIO as GPIO
from sys import exit

from_email = <my-email>
receipient s_list = ('<receipient-email>']
cc_list = )
subject = Hello
message = ' Switch pressed on Raspberry Pi!
username <Gmail-username>
passwOrd = <password> !
Server = smtp. gmail.com:587'

GPIO. setmode (GPIO.BCM)

GPIO. setup (25, GPIO. IN)

def sendemail (from_addr, to_addr_list, cc_addr_list,

subject, message,
login, password,
smtpserver):

header = 'From: %s \n' from_addr

header t= " To: $s \n' %','join (to_addr_list)
header t= Cc: $s \n' % ','join(cc_addr_list)
header t= 'Subject: %s \n \n % subject
message = header + message

server = smtplib. SMTP (smtpserver)

server.starttls ()
server.login (login, passwOrd)
problems = server. sendmail (from_addr, to_addr_list, message)
server.quit ()

while True:
try:
if (GPIO. input (25) == True):
sendemail (from_email, receipients_list,
cc_list, subject, message,
username, password, server)
sleep(.01)

Bahga &Madisetti, © 2013

7.6 Programming Raspberry Piwith Python 191

except KeyboardInterrupt :
exit ()

7.6.3 Interfacing a Light Sensor (LDR) with Raspberry Pl

So far you have learned howto interface LED and switch with Raspberry Pi. Now let us
look at an example of interfacing aLight Dependent Resistor (LDR) with Raspberry Pi and
tuning an LEDon/offbased on the light-level sensed.
Figure 7.11shows the schematic diagram of connectingan LDR to Raspberry Pi. Connect
one side of LDR to 3.3V and other side to a luF capacitor and also to aGPIO pin (pin 18 in
this example). An LED isconnected to pin 18 which is controlled based on the light-level
sensed.
Box 7.5 shows the Python program for the LDR example. The readLDR() function
returns a countwhich is proportional to the light level. In this function the LDR pin is set
to output and low andthen to input. At this point thecapacitor startscharging through the
resistor (and a counter is started) until the input pin reads high (this happens when capacitor
voltage becomes greater than 1.4V).The counter is stoppedwhen the input reads high. The
final count is proportional to the light level as greater the amount of light, smaller is the LDR
resistance and greater is the time taken to charge the capacitor.

Box 7.5: Python program for switching LEDLight based on reading LDR reading
import RPi.GPIO as GPIO
import time

GPIO. setmode (GPIO.BCM)

ldr_threshold 1000
LDR PIN = 18
LIGHT PIN = 25

def readLDR (PIN) :

reading=0
GPIO.setup (LIGHT_PIN, GPIO.OUT)
GPIO.output (PIN, False)
time.sleep (0.1)
GPIO.setup (PIN, GPIO. IN)
while (GPIO.input (PIN) ==False):
reading=reading+1
return reading

Internet ofThings - A Hands-On Approach

192 loT Physical Devices &

def switchonLight (P IN) :

Endpoints
GP IO.setup (PIN, GPIO.OUT)
GPIO. output (PIN, True)

def swit choffLight (PIN) :

GPIO.setup (P IN, GPIO.OUT)
GPIO.output (P IN, False)

while True:
ldr_reading = readLDR (LDR_PIN)
if ldr_reading < ldr_threshold:
switchOnLight (LIGHT_PIN)
else:
switchoffLight (LIGHT_PIN)
time.sleep (1)

1 1
5V
DSI (DISPLAY)
GND

GND

127GND

avaTe

GNDC
GPIO

vWUY) IS)

ETHERNET

OK
PUR
USA 2 FDX
LNK
LOM

Figure 7.11: Interfacing LDR with Raspberry Pi

Bahga &Madiseti,
 7.7Other loT Devices 193

7.7 Other loT Devices

Let us look at single-board mini-computers which are
alternatives to Raspberry Pi. Table
provides a comparison of some single-board mini--Computersthat can be used for loT. 7.5

N
012/121

A10

H-1

Figure 7.12: pcDuino

U3
SSTM-5
94V.0

A4335x
et
C.
LINK-PP
HOMI

Figure 7.13: Beaglebone Black

7.7.1 pcDuino
pcDuino
1 GHz . [105] is an Arduino-pin compatible single board mini-computer that comes with a
ARM Cortex-A8
processor. pcDuino is a high performance and cost effective device
nernet of Things - A
Hands-On Approach
 loT Physical Devices &
194 Endpoints

Figure 7.14: Cubieboard

that runs PC like OS such as Ubuntu and Android ICS. Like, Raspberry Pi, it has an
HDMI
video/audio interface. pcDuino supports various programming languages including C. Ct+
(with GNUtool chain). Java (with standard Android SDK) and Python.

7.7.2 BeagleBone Black

BeagleBone Black[ 106] is similar to Raspberry Pi, but a more powerful device. It
with a 1GHz ARM Cortex-A8 processor and comes
supports both Linux and
systems. Like Raspbery Pi, it has HDMIvideo/audio interface, USB Android operaiis
and Ethernet ports
7.7.3 Cubieboard

Cubieboard [107] is powered by a dual core ARM Cortex A7

of inputvoutput interfaces including USB, HDMI, processor and has a repin
extended interface. Cubieboard also IR, serial, Ethernet, SATA, and a 96
and Android operating systems. provides SATA support. The board can run bothLinux

Bahga &Madisetti, @01)

7.7 Other loT Devices
195

Summary
o this chapter you learned about
Raspberry Pi which is a low-cost mini-computer. Raspberry
Pi supports various flavors of Linux
operating
evstem is Raspbian Linux. RaspberTy Pihas ansystem. The official recommended operating
ARM processor, 512MB RAM, two USB
norts, HDMI, RCA and audio outputs, Ethernet port, SD card slot
and DSI and CSI interfaces.
Raspberry Pi has serial, SPl and 12C interfaces for data transfer.
Python. You learned how to develop Pythonprograms that run on Raspberry Pi supports
how to interface LED, Switch and LDR with Raspberry Pi. You learned
Raspberry Pi.

Review Questions
1. How is Raspberry Pidifferent from a desktop
2. What is the use of GPIO pins?
computer?
3. What is the use of SPI and I2C interfaces on Raspberry Pi?
196 loT Physical Devices &Endpoints

BeagleBone
Raspherry Pi pcDuino Black Cubieboard
700 MHz ARM AM335x 1GHz Dual core 1GHZ
1GHZ
CPU ARMI176JZ-F ARM Cortex-A8 ARM Cortex-A7
Cortex A8
Processor
Dual Core
VideoCore IV PowerVR Dual core ARM
GPU Mali 400 SGX530 Mali 400 MP2
Multimedia
Co-Processor
512MB IGB 512MB 1GB
Memory
2GB Flash 2GB on-board
4GB NAND Flash
Storage (ATmega328) flash storage
10/100M 10/100M 10/100M 10/100M Ethernet
Networking Ethernet Ethernet Ethernet
2 USB, SD, 2 USB, MicroSD
4+1 USB. slot, SATA, IR
Input/Output MMC, SDIO
MicroSD slot
card slot sensor

96 extend
interface.
pin
69 pin GPIO,
SPI, I2C, 4 including I2C.
Serial, ADC,
GPIO, SPI, I2C, serial, CAN, SPI, RGB/LVDS.
Interfaces
serial
PWM, GPIO, FM-IN.
I2C, SPI GPMC, AIN, CSI/TS.
ADC, CVBS, VGA.
MMC, XDMA
SPDIF-OUT, R-TP
Rasbian, Pidora,
Ubuntu, Angstrom Linux, Android, Officia
OS RISC OS, Arch Android
Linux distribution
Android, Ubuntu
Linux
HDMI,
Video Composite HDMI HDMI HDMI
RCA (PAL and
NTSC)
3.5mm jack, HDMI
Audio HDMI HDMI
HDMI
5VDCI700mA 5VDCI2A
Power 5V/2A 5VDC/460mA

Table 7.3: Comparison of single board mini-computers

2015
©.
Bahga & Madisetti,