Raspberry Pi as a Wireless Sensor Node:

Performances and Constraints

Vladimir Vujović* and Mirjana Maksimović*
* Faculty of Electrical Engineering, East Sarajevo, Bosnia and Herzegovina
[email protected], [email protected]

Abstract - The main building block of Wireless Sensor Currently in the market there are many commercially
Network (WSN) is sensor node consisted of four basic available sensor node platforms. In this work emphasis
elements: the sensor unit, processing unit, communication will be on Raspberry Pi computer making a comparative
and power units. In this paper we propose the Raspberry Pi, study of its performances and constraints with current
cheap, flexible, fully customizable and programmable small
popular wireless sensor nodes presented in [2, 3]. The
computer board and abilities of its usage as WSN node and
SensorWeb node. The Raspberry Pi brings the advantages main goal of this research is to define and present
of a PC to the domain of sensor network, what makes it the advantages and disadvantages of Raspberry Pi and
perfect platform for interfacing with wide variety of abilities of its usage as a sensor node.
external peripherals. Comparative analysis of its key The rest of this paper is organized as follows. The basic
elements and performances with some of current existing information about Raspberry Pi and literature review of
wireless sensor nodes have shown that despite few its usage in sensor networks are presented in Section 2.
disadvantages, the Raspberry Pi remains an inexpensive Raspberry Pi’s performances, constraints and abilities of
computer with its very successfully usage in sensor network its usage as a wireless sensor node and SensorWeb node
domain and diverse range of research applications.
are shown in Section 3. Finally, Section 4 provides
conclusion remarks and outlines directions for future
I. INTRODUCTION work.
A wireless sensor network (WSN) is composed of II. WHAT IS RASPBERRY PI ?
spatially distributed nodes equipped with sensing devices
to monitor and to measure characteristics of the physical Raspberry Pi is a small, powerful, cheap, hackable and
environment at different locations. WSNs are designed education-oriented computer board introduced in 2012
and deployed for different purposes by various (Fig. 2). This credit card-sized computer with many
organizations. WSN based monitoring applications range performances and affordable for 25-35$ is perfect
from simple data gathering, to complex Internet-based platform for interfacing with many devices.
information systems. In other words, the observations
obtained from sensor networks may be helpful in many
software applications like environmental, industrial and
meteorological monitoring, building and home
automation, medicine, urban sensor networks, intelligent
transportation, security, military defense, etc [1].
Sensor nodes, as building blocks of WSN, are
consisted of four basic elements shown in Fig. 1: the
sensor unit, processing unit, communication and power
units.

Figure 2. Raspberry Pi

The Raspberry Pi board contains a processor and

graphics chip, program memory (RAM) and various
Figure 1. Typical sensor node architecture interfaces and connectors for external devices (Fig. 2).
Some of these devices are essential, others are optional
Sensor nodes are the small, low power single board
but all Raspberry Pi models have the same CPU named
computers with a radio for wireless communication.
BCM2835 which is cheap, powerful, and it does not
Number and types of sensors depends on the applications.
consume a lot of power [4]. Raspberry Pi operates in the
Sensor nodes collect and transfer data using four stages:
same way as a standard PC, requiring a keyboard for
collecting the data, processing the data, packaging the
command entry, a display unit and a power supply. SD
data and communicating the data [2].

MIPRO 2014/CTS 1247

 Flash memory card normally used in digital cameras is III. THE RASPBERRY PI’S PERFORMANCES AND
configured in such a way to ‘look like’ a hard drive to CONSTRAINTS
Raspberry Pi’s processor. The unit is powered via the The Raspberry Pi performances will be compared with
micro USB connector. Internet connectivity may be via following wireless sensor nodes [2, 3]:
an Ethernet/LAN cable or via an USB dongle (WiFi
connectivity) [5, 6]. • MicaZ – is based on the Atmel ATmega128L which is
a low-power microcontroller and runs MoteWorks
from its internal flash memory. The MICAz
(MPR2400) IEEE 802.15.4 radio offers both high
speed (250 kbps) and hardware security (AES-128).
• TelosB - bundles all the essentials for lab studies into
a single platform including: USB programming
capability, an IEEE 802.15.4 radio with integrated
antenna, a low-power MCU with extended memory
and an optional sensor suite. This platform delivers
low power consumption allowing for long battery life
as well as fast wakeup from sleep state.
• Iris – is used for enabling low power WSN. Iris
provides users a wide variety of custom sensing
applications providing up to three times improved
radio range and twice the program memory over
Figure 3. Raspberry Pi components [13] previous generations of MICA Motes.
• Cricket - is a location aware version of the popular
Like any other computer, the Raspberry Pi also uses an MICA2 low-power Processor/Radio module. The
operating system and the “stock” OS is a flavor of Linux Cricket Mote includes all of the standard MICA2
called Raspbian. Linux, as a free and open source hardware and an ultrasound transmitter and receiver.
program, is a great match for Raspberry Pi. On one hand,
it keeps the price of the platform low, and on the other, it • Lotus - is based on the NXP LPC1758, 32-bit ARM
makes it more hackable. There are also a few non-Linux Cortex-M3 based microcontroller. A single processor
OS options available [5]. The additional hardware and board can be configured to run sensor
software requirements can be achieved by already application/processing and the network/radio
existing hardware modules and open source software. communications stack simultaneously. Lotus, as all
One of the great things about the Raspberry Pi is that previously mentioned sensor node platforms, has the
it has a wide range of usage. Numerous recipes of data rate of 250 kb/s.
Raspberry Pi usage with sensors, displays and motors is A. Size & Cost
given in [7]. In the workshop [8] a Raspberry Pi is used to The physical size and cost of each individual sensor
read sensors (inputs), store their vales in a database for node has a significant and direct impact on the ease and
historical trending and turn relays (outputs) on and off cost of deployment. Physical size impacts the ease of
when a sensor value goes outside of a certain range. In network deployment because smaller nodes can be placed
other words, a system that turn on a light if the door is in more locations and used in more scenarios. One of the
open or motion is detected in an area is built. In [9] is main goals of every network is to collect data from as
stated that wireless sensors and a Raspberry Pi open up a many locations as possible without exceeding fixed
world of possibilities. Author of [10] also state that budget. A reduction in per-node cost will result in the
sensor networks are just one example of how these small, ability to purchase more nodes, to deploy a collection
powerful, and inexpensive components can be used. On network with higher density, and to collect more data
the example of XBee–ZigBee Mesh network author [17]. The comparison of size, weight and cost of basic
shows how to with a moderate skill build own sensor models of Raspberry Pi and above mentioned wireless
network. The possibility to use Raspberry Pi board as sensor nodes is given in Table I (the smaller values are
a ZigBee home automation server, which can be set up to better).
support a range of tasks, including remote controlled air
conditioning and lighting, and checking whether doors TABLE I. THE COMPARISON OF SIZE, WEIGHT AND COST
are open or closed is presented in [11]. Works [7, 12-16]
propose combining the Raspberry Pi with the power of Size Weight Cost per node
Name
(mm) (g) US$
the open source Arduino platform, and present numerous
Raspberry Pi 85.6*53.98*17 45 25-35
home automation and sensor networks projects.
MicaZ 58*32*7 18 99
The performances and constraints of Raspberry Pi will
TelosB 65*31*6 23 99
be described in rest of the paper.
Iris 58*32*7 18 115
Cricket 58*32*7 18 225
Lotus 76*34*7 18 300

1248 MIPRO 2014/CTS

 The values presented in Table I show that Raspberry Pi’s process has asked for. This mode is known as Wait
advantage against other systems lies in its smallest per for Interrupt, or WFI.
unit price. • The shutdown mode - there is no power.
B. Power and Memory • The dormant mode - the core is powered down and all
caches are left powered on.
To meet the multiyear application requirements
individual sensor nodes must be incredibly low-power. The two approaches of powering Raspberry Pi with
The average power consumption of WSN nodes should batteries are discussed in [7]. The both approaches use
be measured in micro amps. Ultra-low-power operation the small capacity batteries which power Raspberry Pi
can only be achieved by combining both low-power model B and ensure Raspberry Pi working time of
hardware components and low duty-cycle operation approximately 2 hours (depends of attached peripherals).
techniques. Also, algorithms and protocols must be Depending on power modes and active modules, power
developed to reduce radio activity whenever possible. consumption can vary from 700 mA to 1 A. The
This can be achieved by using localized computation to Raspberry Pi’s biggest limitation regarding the power
reduce the streams of data being generated by sensors and supply is that no external device should draw more than
through application specific protocols. One of the 100 mA from any of its USB ports [4].
solutions is to combine together events from multiple It is important to note there’s no hard drive on the
sensor nodes by a local group of nodes and then transmit Raspberry Pi; everything is stored on a Secure Digital
a single result across the sensor network [17]. (SD) Card. Although large SD cards holding 32 GB, 64
The CPU is the main component of the Raspberry Pi, GB or more are available, they are often prohibitively
responsible for carrying out the instructions of a expensive, but the minimum required size of SD card is 2
computer program via mathematical and logical GB depending on the distribution demands of the
operations. The processor of Raspberry Pi is a 32 bit, 700 operating system. If possible, it is necessary to use the SD
MHz System on a Chip (SoC), which is built on the card class 10. This storage can be expanded by using
ARM11 architecture and can be overclocked for more devices that provide an additional hard drive upon using
power. ARM chips come in a variety of architectures the USB ports. Known as USB Mass Storage (UMS)
with different cores configured to provide different devices, these can be physical hard drives, solid-state
capabilities at different price points. This means that the drives (SSDs) or even portable pocket-sized flash drives
vast majority of the system’s components – its central and [18] (Table II).
graphics processing units, audio and communications TABLE II. THE COMPARISON OF CPU AND MEMORY *
hardware along with 256 – 512 MB memory chip, are
built onto single component. The ARM-based BCM2835 External
Name Processor RAM
memory
is the reason why the Raspberry Pi is able to operate on
Raspberry Pi ARM BCM2835 256-512 M 2-64 G
just the 5V 1A power supply provided by the onboard
MicaZ ATMEGA128 4K 128 K
micro USB port. The Raspberry Pi for operating requires
TelosB TI MSP430 10 K 48 K
up to 700mA [18]. The unit of Raspberry Pi can be
Iris ATMEGA1281 8K 128 K
powered using a range of power sources (assuming they
Cricket ATMEL128L 4K 512 K
are able to provide enough current ~700mA) like [6]:
Lotus ARM NXP LPC1758 64 K 512 K
• Computer USB Port or powered USB hub (will
*(The higher value is better)
depend on power output),
• Special wall warts with USB ports, It is also important to note that the Raspberry Pi Model A
has 256MB of RAM while the Model B has 512MB.
• Mobile Phone Backup Battery (will depend on power
Compared to other considered systems Raspberry Pi has
output),
the largest amount of memory (Table II) what generally
• Alkaline batteries (six rechargeable AA batteries and leads to improved overall systems’ performances.
a voltage regulator [7] or high capacity rechargeable
batteries depending of Raspberry Pi power needs), C. Flexibility
• Solar cells system (for outdoor usage). For a wide range of usage scenarios WSN architecture
must be flexible and adaptive. Each application scenario
The Raspberry Pi has four distinct power modes [19]: demands a slightly different mix of lifetime, sample rate,
• The run mode - the CPU and all functionality of the response time and in-network processing. Additionally,
ARM11 core are available and powered up. for cost reasons each device will have only the hardware
• The standby mode - the main core clocks are shut and software it actually needs for considered application.
down (the parts of the CPU that process instructions The architecture must make it easy to assemble just the
are no longer running) although the power circuits on right set of software and hardware components. Thus,
the core are still active. In this mode the core can be these devices require an unusual degree of hardware and
quickly woken up by a process generating a special software modularity while simultaneously maintaining
call to the CPU called an interrupt. This interrupt will efficiency [17].
stop any current processing and do what the calling One of the great things about the Raspberry Pi is that it
is very flexible and there’s no single way to use it. For

MIPRO 2014/CTS 1249

 example, it can be used for: general purpose computing, I2C protocol) and P6 header with two pins – their
learning to program or integrate it with electronics short circuiting provides soft reset of BCM2835.
projects [5]. The following core components enable the
wide range of its usage [20]:
• Two USB 2.0 ports allows connecting peripherals and
storage devices while one micro USB serve for
powering device.
• The 3.5mm analog audio jack allows connecting
headphones and speakers to the Raspberry Pi what is
especially useful for audio and media player based
projects.
• Composite RCA port for attaching the yellow video
cable from TV allows using TV as a monitor.
• The High Definition Multi-media Interface (HDMI)
port allows the Raspberry Pi to be hooked up to high-
definition televisions and monitors that support the
technology. It is also used for streaming video and
audio from the web to TV.
• Support for DSI (Display Serial Interface) - Raspberry
Pi can be expanded with display.
• Support for CSI (Camera Serial Interface) - Raspberry Figure 4. Raspberry Pi Model B Rev2 – GPIO connectors [20]
Pi can be expanded using camera.
Analysis of the Raspberry Pi has shown that it, as
• The GPIO (general purpose input and output) pins on
above mentioned wireless sensor nodes, has expansion
the Raspberry Pi are the main way of connecting with
connector which supports Analog Inputs, Digital I/O, I2C,
other electronic boards. It consists of 26 pins arranged
SPI and UART what make easy their connection to a
in two rows containing 13 pins each. The left row
wide variety of external peripherals.
contains the even-numbered pins, and the right row
contains the odd-numbered pins (Fig. 4). The GPIO D. Communication
pins on the Raspberry Pi are the main way of
A key evaluation metric for any WSN is its
connecting with other electronic boards. In other
communication rate, power consumption, and range. In
words, the GPIO pins can accept input and output
order to create an interconnected network, nodes can not
commands and thus can be programmed on the
be placed too far apart. Most application scenarios
Raspberry Pi. It is important to note that there is a
according to desired sensing have natural node densities.
certain difference between GPIO pins schedule among
If the radio communications range demands a higher
model A and model B of the Raspberry Pi. GPIO pins
node density, additional nodes must be added to the
can be accessed for controlling hardware such as
system in to increase node density to a tolerable level.
LEDs, motors, and relays, which are all examples of
The communication rate also has a significant impact on
outputs. As for inputs, Raspberry Pi can read the
node performance. Higher communication rates mean
status of buttons, switches, and dials, or it can read
less transmissions time and lower network power
sensors like temperature, light, motion, or proximity
consumption. However, an increase in radio bit rate is
sensors (among many others) [4]. Some of GPIO pins
often accompanied by an increase in radio power
can be used as digital inputs/outputs and as interfaces
consumption. All things being equal, a higher
for embedded protocols. Two most important
transmission bit rate will result in higher system
protocols based on their widespread are:
performance. But an increase in the communication bit
o I2C – low-speed interface – Inter-Integrated
Circuit (I2C) is a serial bus interface which rate has a significant impact on the power consumption
supports multiple devices and only requires two and computational requirement of the node [17].
wires for communication. It's work on relatively The Ethernet port is the Raspberry Pi's main gateway
low speeds [21]. for communication with other devices and the Internet.
o SPI – Serial Peripheral Interface Bus (SPI) is a The model B has a standard RJ45 Ethernet port while
synchronous full-duplex (two way) serial model A doesn’t, but can be connected to a wired
connection [22]. network by an USB Ethernet adapter. The Raspberry Pi's
• Extended GPIO – in addition to standard GPIO port, Ethernet port is auto-sensing which means that it may be
Raspberry Pi Model B Rev 2 has an expanded set of connected to a router or directly to another computer
connectors. It is important to mention P5 header (without the need for a crossover cable) [5, 6]. USB
which is made up of 8 pins (+3.3 V, +5 V, two ground Ethernet adapter has two-speed mode, 10 Mb/s and 100
pins and four GPIO pins that can provide the second Mb/s. With a cable connected, the Raspberry Pi will
automatically receive the details it needs to access the
Internet when it loads its operating system through the

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 Dynamic Host Configuration Protocol (DHCP). This transition for those not familiar with Linux command
assigns the Raspberry Pi an Internet Protocol (IP) address line.
on network, and tells it the gateway it needs to use to • It comes pre-installed with software useful for writing
access the Internet (typically the IP address of router or codes.
modem). Internet connectivity of Raspberry Pi besides an
Ethernet/LAN cable (standard RJ45 connector) may be • The operating system has been tailored to run on the
via an USB WiFi adapter. Using such a device, the Raspberry Pi. The code compilation is optimized for
Raspberry Pi can be used for creating ad-hoc networks or on-chip floating-point calculations (hard-float) rather
to connect to a wide range of wireless networks, than a slower software-based method.
including those running on the latest 802.11n high speed • There is wide spread community support for the
standard [18]. operating system.
Raspberry Pi can serve as static websites, but it can
F. Advantages
also generate dynamic content using databases and web
applications. In addition, it can even provide access to its After analysis above performed, general conclusions
GPIO ports via web technologies. Also, Raspberry Pi can about the Raspberry Pi advantages can be stated.
be used as SensorWeb node by connecting it to a network • First of all, it is important to mention that
so it can be accessed from other computers. On the other Raspberry Pi is a small independent computer
side, the administration of Raspberry Pi can be done over that runs on the Linux operating system and can
Secure Shell (SSH), a network protocol for secure data be programmed as needed.
communication [4]. • It has a very large working memory (many other
sensor nodes do not have).
E. Operating systems • It has expandable memory to store the data.
Sensor nodes run embedded software that samples the • It works on processor which supports a large set
physical environment, load data, aggregates and of instructions.
communicate with higher level (peers or gateways). • It operates at speeds from 700 MHz to 1000
Regardless of the hierarchical approach each sensor node MHz.
still needs a program, and the most common approaches • It has support for USB 2.0 which allows its
to programming each sensor node, is to either program it expansion with a large number of peripherals.
using some form of operating system or to choose a • Depending of the needs it is possible to expand
higher level of abstraction. The operating systems vary the Raspberry Pi with WiFi and Bluetooth
from traditional operating systems in terms of goals and adapters (power and range can be changed by
technique and each system differs substantially in the changing the adapter).
approach to memory protection, dynamic reprogramming,
• Expansion and communication with network
thread model, real-time features, etc. [17].
devices over a LAN adapter are possible.
Like every computer, the Raspberry Pi needs an
• It is possible to form an expandable system with
operating system, and the preferred one for the Raspberry
various electronic components (sensors and
Pi is Linux distribution. That’s partly because it’s free,
electronic circuits) using digital inputs and
but mainly it’s because it runs on the Raspberry Pi’s
outputs, I2C or SPI protocols (most of today's
ARM processor [4]. There are several distribution of
devices use one of these methods of
Linux ported to the Raspberry Pi’s BCM2835 chip,
communication).
including Debian, Fedora Remix and Arch Linux [19].
The Raspberry Pi uses an operating system called G. Disadvantages
Raspbian (Table III) based on Linux but there are also a Based on the above mentioned it can be noted that for
few non-Linux OS options available. small amount of money the Raspberry Pi comes with a lot
of nice things, but it also lacks some useful features. The
TABLE III. THE COMPARASION OF USED OPERATING SYSTEMS
main disadvantages of Raspberry Pi are [4]:
Name Operating system • It does not have a real-time clock (RTC) with a
Raspberry Pi RASPBIAN backup battery. The fact of missing clock can be
MicaZ TINY OS,MOTE RUNNER workarounded using a network time server, and most
TelosB TINY OS,SOS,MANTISOS operating systems do this automatically.
Iris TINY OS,MOTE RUNNER
• The Raspberry Pi always boots from an SD card. It
Cricket TINY OS
means that even a perfectly valid installation of an
Lotus RTOS,TINY OS
operating system is available on a USB stick or an
There are several reasons for deciding to go with the external hard drive, it can’t be booted. In other words,
Raspbian operating system [19]: external storage devices can be used but can’t be used
• Raspbian has a desktop environment similar to to boot the Raspberry Pi.
Windows and Mac called Lightweight X11 Desktop • It does not support Bluetooth or WiFi out of the box
Environment (LXDE), so it provides an easy but these supports can be added by USB dongles.

MIPRO 2014/CTS 1251

 • Unfortunately, most Linux distributions are still a bit detection of critical events is performed using fuzzy
picky about their hardware, so it should be first logic). The final evaluation of this prototype and
checked whether flavor of Linux supports particular Raspberry Pi usage as wireless sensor node and
device. SensorWeb is planned to be performed by its
• It doesn’t have built-in an Analog to Digital implementing in home automation and Internet of things
converter. External component must be used for AD projects what are directions of our future work.
conversion. REFERENCES
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1252 MIPRO 2014/CTS