Ethernet TSN CPSW gPTP TimeReceiver (gPTP Slave) Example
Introduction
This ethernet TSN example illustrates the usage of gPTP IEEE 802.1AS stack with CPSW peripheral, in gPTP End-Point time_receiver mode (i.e. slave mode). However, the application used here supports all the below modes: - gPTP End-Point time_transmitter mode (i.e. master mode) - gPTP End-Point time_receiver mode (i.e. slave mode) - gPTP Bridge mode
In this example, connected Host PC is configured to force gPTP grand master role, so that the DUT becomes time_receiver (i.e. gPTP slave) mode. Yang based configuration is also supported. Currently File System is not supported, will be added in future releases.
See also :Ethernet TSN and gPTP Stack - API and Integration Guide
Supported Combinations
Parameter |
Value |
|---|---|
CPU + OS |
wkup-r5fss0-0_freertos |
Toolchain |
ti-arm-clang |
Board |
am62px-sk |
Example folder |
source/networking/enet/core/examples/tsn/gptp_cpsw_app |
Steps to Run the Example
Prerequisites
EVM Board
Cat6 ethernet cable
PC with Linux Ubuntu OS (or any PC running bash shell) and PTP capable network card
Install
linuxptp
$ sudo apt-get install linuxptp
$ ptp4l -v
Configure linuxptp
$ wget https://raw.githubusercontent.com/richardcochran/linuxptp/master/configs/gPTP.cfg -O ~/gptp_config.cfg
Attention
Change the value of priority1 in ~/gptp_config.cfg file to 100, to enforce it to gPTP master
Attention
For some network cards, there is a bug with internal propagation delay. So, in those cases you might need to increase the neighborPropDelayThresh in ptp_config.cfg as below-
$ cat ~/gptp_config.cfg
\#
\# 802.1AS example configuration containing those attributes which
\# differ from the defaults. See the file, default.cfg, for the
/# complete list of available options.
/#
[global]
gmCapable 1
priority1 100
priority2 248
logAnnounceInterval 0
logSyncInterval -3
syncReceiptTimeout 3
neighborPropDelayThresh 10000
min_neighbor_prop_delay -20000000
assume_two_step 1
path_trace_enabled 1
follow_up_info 1
transportSpecific 0x1
ptp_dst_mac 01:80:C2:00:00:0E
network_transport L2
delay_mechanism P2P
priority1in ~/gptp_config.cfg file can be changed to make the Linux PC master or slave. Lower the number higher the priority to become master.
Build the example
Note
Due to EVM limitation of only 1 MAC address available in the EEPROM, manual MAC address entries have been added using Sysconfig.\n To modify them, go to Enet (CPSW) > System integration config, and modify the entries under ‘MAC Address List’ option. :::
When using CCS projects to build, import the CCS project for the required combination and build it using the CCS project menu (see Using SDK with CCS Projects).
When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)
HW Setup
AM62PX-SK
For CPSW based example
Connect a ethernet cable to the CPSW RGMII 1 port in AM62PX-SK from host PC as shown below
Ethernet cable for CPSW based ethernet
AM64X-EVM
For CPSW based example
Connect a ethernet cable to the EVM from host PC as shown below
AM62X-SK
For CPSW based example
Connect a ethernet cable to the EVM from host PC as shown below
AM62LX-EVM
For CPSW based example
Connect a ethernet cable to the EVM from host PC as shown below
AM243X-EVM
For CPSW based example
Connect a ethernet cable to the EVM from host PC as shown below.
AM243X-LP
Note
AM243X-LP has two ethernet Ports which can be configured as both CPSW/ICSS ports.
For CPSW based examples
Connect a ethernet cable to the EVM from host PC as shown below.
PPS Output
PPS output is a square wave signal generated by the device. It is used for comparison between the TT (master) and TR( slave) nodes when they are time synchronized. On the device, PPS is generated on the SYNC_OUT signal pin from CPTS (Common Platform Time Synchronization) of CPSW.
Out of box configuration for PPS signal output of this example is as follow:
EVM |
Mapped Signal Name |
SOC Pin Name |
PPS frequency |
Output |
|---|---|---|---|---|
am64x-EVM |
PRG0_PRU0_GPO17 |
U1 |
3.814 KHz |
Pin B8 on J2 (i.e PIN8 on J2B) connector |
am243x-EVM |
PRG0_PRU0_GPO17 |
U1 |
3.814 KHz |
Pin B8 on J2 (i.e PIN8 on J2B) connector |
am243x-LP |
MMC1_DAT2 |
K20 |
3.814 KHz |
Pin3 on J6 connector |
am263x-CC |
SFDM0_CLK1 |
A16 |
3.814 KHz |
Pin4 on J6 connector |
am263x-LP |
SFDM0_CLK1 |
A16 |
3.814 KHz |
Pin4 on J6 connector |
To set/modify configuration of PPS signal , you may follow the below steps:
Configure the bitSelect in EnetApp_enableTsSync() function in tsnapp_cpsw_main.c file. If bit n is selected, 2^(n+1) nano seconds is the time period of the square wave. Please note bitSelect starts from bit 17 which corresponds to 3.814 KHz.
Configure pinmux for PPS Output signal under ENET(CPSW)->’pinmux Config’->’CPTS0_TS_SYNC(CPTS0_TS_SYNC)’ and select the appropriate pin as per your EVM.
Signal is generated on the above configured PIN. You may connect oscilloscope on the pin to visualize and compare. One sample signal captured using oscilloscope. Blue from gPTP TT (master) and purple is from gPTP TR (slave)
Create a network between EVM and host PC
EVM and PC has to be connected directly as shown below using CAT6 or CAT5 cable. If there is ethernet switch placed in between, make sure the switch is gPTP capable.
PORT1 instead of PORT0 on EVM can be used as well.
Run the example
Attention
If you need to reload and run again, a CPU power-cycle is MUST
Execute the below command in PC terminal, before starting EVM:
$ sudo ptp4l -i eno1 -m -l 6 -q -f ~/gptp_config.cfg
Replace eno1 with the network interface connected to your PC.
You will see logs in the UART terminal as shown in the next section. PC side logs are with Intel i210 card.
Launch a CCS debug session and run the example executable, see CCS Launch, Load and Run
Connect board and PC as mentioned in “HW Setup” above.
Sample Log Output
PC Output
$ sudo ptp4l -i eno1 -m -l 6 -q -f ~/gptp_config.cfg
ptp4l[7727.045]: selected /dev/ptp0 as PTP clock
ptp4l[7727.088]: port 1: INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[7727.088]: port 0: INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[7727.088]: port 1: link down
ptp4l[7727.088]: port 1: LISTENING to FAULTY on FAULT_DETECTED (FT_UNSPECIFIED)
ptp4l[7727.127]: selected local clock 6805ca.fffe.c87ac2 as best master
ptp4l[7727.127]: assuming the grand master role
ptp4l[7729.260]: port 1: link up
ptp4l[7729.300]: port 1: FAULTY to LISTENING on INIT_COMPLETE
ptp4l[7732.330]: port 1: new foreign master f4844c.fffe.fbc042-1
ptp4l[7732.354]: port 1: LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[7732.354]: selected local clock 6805ca.fffe.c87ac2 as best master
ptp4l[7732.354]: assuming the grand master role
DUT output
==========================
gPTP App
==========================
Enabling clocks!
sitara-cpsw: Create RX task for regular traffic
start to open driver.
EnetAppUtils_reduceCoreMacAllocation: Reduced Mac Address Allocation for CoreId:1 From 4 To 2
Init all configs
----------------------------------------------
sitara-cpsw: init config
Mdio_open:294
sitara-cpsw: Open port 1
EnetPhy_bindDriver:1717
sitara-cpsw: Open port 2
EnetPhy_bindDriver:1717
PHY 3 is alive
PHY 15 is alive
initQs() txFreePktInfoQ initialized with 16 pkts
MAC port addr: f4:84:4c:fb:c0:42
unibase-1.1.5
app_start:gptp start done!
INF:def04:simpledb_open:no data is imported
INF:def04:uc_hwal_open:
INF:cbase:cb_rawsock_open:dmaTxChId=0 dmaRxChId=0 nTxPkts=16 nRxPkts=32 pktSize=1536
INF:cbase:Mac addr has not been allocated
INF:def04:000000-082218:uniconf_main:uniconf started
gptp_task: started.
gptp_task: dbname=INF:def04:get_exmodid_in_db:first xl4gptp:exmodid=0
INF:gptp:gptpman_run:max_domains=1, max_ports=2
INF:cbase:cb_rawsock_open:dmaTxChId=1 dmaRxChId=1 nTxPkts=16 nRxPkts=32 pktSize=1536
INF:cbase:Mac addr has not been allocated
INF:gptp:dev:tilld0 open success
INF:gptp:dev:tilld1 open success
INF:gptp:gptpnet_init:Open lldtsync OK!
INF:gptp:IEEE1588-2019 performance monitoring enabled.
INF:gptp:onenet_activate:tilld0 status=0, duplex=0, speed=0Mbps
INF:gptp:onenet_activate:tilld1 status=0, duplex=0, speed=0Mbps
INF:gptp:000000-250075:domainIndex=0, GM changed old=00:00:00:00:00:00:00:00, new=F4:84:4C:FF:FE:FB:C0:42
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=2
INF:gptp:set_phase_offsetGM:domainIndex=0, New adjustment(New GM?)
Cpsw_handleLinkUp:1449
MAC Port 1: link up
INF:gptp:index=1 speed=1000, duplex=full, ptpdev=tilld0
WRN:gptp:000003-754416:waiting_for_pdelay_resp_condition:sequenceId doesn't match, expected=19314, received=19313
WRN:gptp:000003-763396:waiting_for_pdelay_resp_condition:Discard this RESP and wait for the next one, this could be because of SM Reset. SeqId: expected=19314, received=19313
WRN:gptp:000003-778684:waiting_for_pdelay_resp_follow_up_condition:portIndex=1, sequenceId doesn't match, expected=19314, received=19313
WRN:gptp:000003-790751:waiting_for_pdelay_resp_follow_up_condition:portIndex=1, PdelayResp comes twice for the same PdelayReq, sequenceId=19314
INF:gptp:md_pdelay_resp_sm_recv_req:port=1, set receivedNonCMLDSPdelayReq=1
WRN:gptp:000004-749940:waiting_for_pdelay_interval_timer_proc:portIndex=1, sourcePortIdentity=68:05:CA:FF:FE:C8:7A:C2, thisClock=F4:84:4C:FF:FE:FB:C0:42, neighborPropDelay=202
INF:gptp:waiting_for_pdelay_interval_timer_proc:portIndex=1, not asCapable
5. 60s : CPU load = 5.53 %
INF:gptp:waiting_for_pdelay_interval_timer_proc:set asCapableAcrossDomains, portIndex=1
INF:gptp:set asCapable for domainIndex=0, portIndex=1
INF:gptp:000005-759595:gptpgcfg_set_asCapable:domainInde=0, portIndex=1, ascapable=1
INF:gptp:000005-767807:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=1
INF:gptp:000005-779397:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:000005-874392:setSyncTwoStep_txSync:domainIndex=0, portIndex=1, sync gap=5874msec
INF:gptp:000005-879954:setFollowUp_txFollowUp:domainIndex=0, portIndex=1, fup gap=5879msec
INF:gptp:000006-775705:domainIndex=0, GM changed old=F4:84:4C:FF:FE:FB:C0:42, new=68:05:CA:FF:FE:C8:7A:C2
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=0
INF:gptp:000006-789098:gm_stable:gm_stable_proc:domainIndex=0
INF:gptp:000006-794316:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=1
INF:gptp:set_phase_offsetGM:domainIndex=0, New adjustment(New GM?)
INF:gptp:set_phase_offsetGM:domainIndex=0, offset adjustment, diff=475406949
INF:gptp:set_phase_offsetGM:domainIndex=0, stable
INF:gptp:clock_master_sync_receive:computeGmRateRatio:domainIndex=0 unstable rate=1944ppb (timeleap_future)
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 3323ppb, GMdiff=13790nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 6646ppb, GMdiff=17036nsec
domain=0, offset=0nsec, hw-adjrate=6646ppb
gmsync=true, last_setts64=0nsec
...
...
25. 64s : CPU load = 4.40 %
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 28683ppb, GMdiff=3809nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 27958ppb, GMdiff=1963nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 27135ppb, GMdiff=262nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 26240ppb, GMdiff=-1277nsec
domain=0, offset=0nsec, hw-adjrate=26240ppb
gmsync=true, last_setts64=0nsec
Limitation
Due to AM273x CPSW limitation, it is not possible to clasify the packets based on ethernet frame type and direct it to different Rx Flow / channel. Hence a single Rx DMA channel is shared among multiple applications, including gPTP stack.
See Also
Ethernet And Networking | Ethernet TSN CPSW gPTP Bridge Example | Ethernet TSN CPSW gPTP TimeReceiver (gPTP Slave) Example | Ethernet TSN CPSW gPTP TimeTransmitter (gPTP Master) Example | Ethernet TSN and gPTP Stack - API and Integration Guide