Ethernet TSN gPTP on ICSSG along with LwIP stack

Table of Contents

• Introduction
• Supported Combinations
• Steps to Run the Example
  • Prerequisites
  • To Configure Static IP
  • Build the example
  • HW Setup
    • AM243X-EVM
      • For ICSS based example
    • AM243X-LP
      • For ICSS based examples
  • Create a network between EVM and host PC
  • Run the example
  • Sample Log Output
    • PC Output
    • DUT output
• See Also

Introduction

This ethernet TSN example illustrates the usage of gPTP IEEE 802.1AS stack with ICSSG peripheral with LwIP network stack running in parallel. Here we demonstrate a simple TCP echo server using netconn APIs with the LwIP stack. On the gPTP front, 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, We use dedicated Rx and Tx DMA channels for gPTP traffic. Please note that only ICSSG switch mode is supported with gPTP.

Please refer to the Enet Lwip TCP Server Example on ICSSG page for LwIP TCP echo server documentation.

See also :Ethernet TSN and gPTP Stack - API and Integration Guide for gPTP stack documentation.

Supported Combinations

Parameter	Value
CPU + OS	r5fss0-0_freertos
Toolchain	ti-arm-clang
Boards	am243x-evm, am243x-lp
Example folder	examples/networking/tsn/gptp_lwip_icssg

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

  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

• priority1 in ~/gptp_config.cfg file can be changed to make the Linux PC master or slave. Lower the number higher the priority to become master.

Please refer to the Enet Lwip TCP Server Example on ICSSG page to start a TCP client on PC.

To Configure Static IP

Please refer to Ethernet LwIP TCP/IP Static IP.

Build the example

• 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

Note

Make sure you have setup the EVM with cable connections as shown here, EVM Setup. In addition do below steps.

AM243X-EVM

For ICSS based example

• Connect a ethernet cable to the EVM from host PC as shown below

Ethernet cable for ICSS based ethernet

AM243X-LP

Note

AM243X-LP has two ethernet Ports which can be configured as ICSS ports.

For ICSS based examples

• Connect a ethernet cable to the AM243X-LP from host PC as shown below

Ethernet cable for ICSS based ethernet

Create a network between EVM and host PC

EVM and PC has to 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. Connect both EVM and PC to a DHCP server to get the IP addressess.

Local network between PC and EVM

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 to start the gPTP on linux:

  $ sudo ptp4l -i eno1 -m -l 6 -q -f ~/gptp_config.cfg

  Replace eno1 with the network interface connected to your PC.
• After the evm gets the IP address, you can ping the IP address to verify the connection.
• Execute the below command in PC terminal to start a TCP communication with the EVM.

  ncat <ip-address-of-evm> 8888

• 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

===============================
ICSSG GPTP LWIP TCP ECHO SERVER
================================
Enabling clocks!
Mdio_open:294 
EnetPhy_bindDriver:1828 
EnetPhy_bindDriver:1828 
PHY 3 is alive
PHY 15 is alive
unibase-1.1.4
INF:cbase:tilld0: has mac: F4:84:4C:FB:C0:42
INF:cbase:tilld1: has mac: 00:00:00:00:00:00
Start: uniconf_task
EnetApp_uniconfTask: dbname: NULL
INF:uconf:simpledb_open:no data is imported
INF:uconf:uc_hwal_open:
INF:cbase:cb_rawsock_open:combase-1.1.3
INF:cbase:cb_rawsock_open:dmaTxChId=-1 numRxChannels=0 dmaRxChId=-1 nTxPkts=0 nRxPkts=0 pktSize=0
INF:uconf:create_semname_with_dbname:null dbname is specified.
INF:cbase:cb_lld_task_create:alloc stack size=16384
INF:uconf:000000-191526:uniconf_main:uniconf started
EnetApp_gptpYangConfig:domain=0
INF:uconf:get_exmodid_in_db:first xl4gptp:exmodid=0
INF:uconf:create_semname_with_dbname:null dbname is specified.
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_SINGLE_CLOCK_MODE=1
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_USE_HW_PHASE_ADJUSTMENT=1
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_CLOCK_COMPUTE_INTERVAL_MSEC=100
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_FREQ_OFFSET_IIR_ALPHA_START_VALUE=1
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_FREQ_OFFSET_IIR_ALPHA_STABLE_VALUE=4
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_PHASE_OFFSET_IIR_ALPHA_START_VALUE=1
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_PHASE_OFFSET_IIR_ALPHA_STABLE_VALUE=4
EnetApp_gptpNonYangConfig:XL4_EXTMOD_XL4GPTP_MAX_DOMAIN_NUMBER=1
Start: gptp2d_task
EnetApp_initTsn:TSN app start done!
Starting lwIP, local interface IP is dhcp-enabled
[LWIPIF_LWIP] NETIF INIT SUCCESS
Host MAC address-0 : f4:84:4c:fb:c0:42
[LWIPIF_LWIP] Enet has been started successfully
[0]Enet IF UP Event. Local interface IP:0.0.0.0
INF:gptp:gptpman_run:max_domains=1, max_ports=2
INF:cbase:cb_rawsock_open:combase-1.1.3
INF:cbase:cb_rawsock_open:dmaTxChId=1 numRxChannels=2 dmaRxChId=1 nTxPkts=8 nRxPkts=8 pktSize=1536
INF:cbase:rxChId 1 has owner dmaRxShared 0
INF:cbase:rxChId 3 has owner dmaRxShared 0
For ICSSG, EthType and VlanId are not used to match the packet only dest addr is used 
For ICSSG, EthType and VlanId are not used to match the packet only dest addr is used 
INF:cbase:cbl_query_response:tilld0 link DOWN !!!!
[0]Waiting for network UP ...
INF:gptp:dev:tilld0 open success
INF:cbase:tilld1: alloc mac: 70:FF:76:1E:3A:07
INF:gptp:dev:tilld1 open success
INF:gptp:gptpnet_init:Open lldtsync OK!
INF:cbase:cbl_query_response:tilld1 link DOWN !!!!
INF:gptp:IEEE1588-2019 performance monitoring disabled.
INF:uconf:ydbi_get_item_ifk3vk0:no data
INF:uconf:ydbi_get_item_ifk3vk0:no data
INF:gptp:onenet_activate:tilld0 status=0, duplex=1, speed=0Mbps
INF:uconf:ydbi_get_item_ifk3vk0:no data
INF:uconf:ydbi_get_item_ifk3vk0:no data
INF:gptp:onenet_activate:tilld1 status=0, duplex=1, speed=0Mbps
INF:ubase:GPTP_MEDIUM_ALLOC: fragsize=16 fragused/fragnum=830/921 (90%)
INF:ubase:GPTP_SMALL_ALLOC: fragsize=4 fragused/fragnum=19/71 (26%)
INF:ubase:SM_DATA_INST: fragsize=8 fragused/fragnum=2002/2002 (100%)
INF:gptp:gptpman_run:GPTPNET_INTERVAL_TIMEOUT_NSEC=125000000
WRN:gptp:gptpgcfg_link_check:can't read speed
 
INF:gptp:000000-504656: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?)
[0]Waiting for network UP ...
Icssg_handleLinkUp:2594 
INF:cbase:cbl_query_response:tilld0: link UP, speed=1000, duplex=1 !!!!
INF:gptp:index=1 speed=1000, duplex=full, ptpdev=tilld0
Icssg_handleLinkUp:2594 
[0]Network Link UP Event
INF:cbase:cbl_query_response:tilld1: link UP, speed=1000, duplex=1 !!!!
INF:gptp:index=2 speed=1000, duplex=full, ptpdev=tilld1
WRN:gptp:000003-876633:waiting_for_pdelay_interval_timer_proc:portIndex=2, sourcePortIdentity=68:05:CA:FF:FE:C8:7A:C2, thisClock=F4:84:4C:FF:FE:FB:C0:42, neighborPropDelay=221
INF:gptp:waiting_for_pdelay_interval_timer_proc:portIndex=2, not asCapable
ERR:gptp:provide_rxframe: RX not ETH_P_1588 packet 0x88CC
[0]Waiting for network UP ...
INF:gptp:md_pdelay_resp_sm_recv_req:port=2, set receivedNonCMLDSPdelayReq=1
INF:gptp:waiting_for_pdelay_interval_timer_proc:set asCapableAcrossDomains, portIndex=2
INF:gptp:set asCapable for domainIndex=0, portIndex=2
INF:gptp:000004-884133:gptpgcfg_set_asCapable:domainInde=0, portIndex=2, ascapable=1
INF:gptp:000004-891519:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=1
INF:gptp:000004-903700:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:000004-999147:setSyncTwoStep_txSync:domainIndex=0, portIndex=2, sync gap=5000msec
INF:gptp:000005-004383:setFollowUp_txFollowUp:domainIndex=0, portIndex=2, fup gap=5007msec
INF:gptp:000005-999187:gm_stable:gm_stable_proc:domainIndex=0
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=2
[0]Waiting for network UP ...
INF:gptp:000007-192911: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:000007-206027: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=-50065501
INF:gptp:set_phase_offsetGM:domainIndex=0, offset adjustment by Freq., diff=12765
INF:gptp:set_phase_offsetGM:domainIndex=0, offset adjustment by Freq., diff=12871
INF:gptp:clock_master_sync_receive:computeGmRateRatio:domainIndex=0 unstable rate=847ppb (timeleap_future)
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 13718ppb, GMdiff=12871nsec
INF:gptp:set_phase_offsetGM:domainIndex=0, offset adjustment by Freq., diff=11458
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 13886ppb, GMdiff=11458nsec
INF:gptp:set_phase_offsetGM:domainIndex=0, stable
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 10660ppb, GMdiff=9825nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2968ppb, GMdiff=8594nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2881ppb, GMdiff=8323nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2901ppb, GMdiff=8073nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2784ppb, GMdiff=7814nsec
[0]Waiting for network UP ...
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2668ppb, GMdiff=7333nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2605ppb, GMdiff=7103nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2584ppb, GMdiff=6885nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2560ppb, GMdiff=6673nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2496ppb, GMdiff=6463nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2429ppb, GMdiff=6259nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2320ppb, GMdiff=6056nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2333ppb, GMdiff=5874nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2316ppb, GMdiff=5694nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2240ppb, GMdiff=5512nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2208ppb, GMdiff=5341nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2167ppb, GMdiff=5174nsec
domain=0, offset=0nsec, hw-adjrate=2167ppb
        gmsync=true, last_setts64=0nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2125ppb, GMdiff=5012nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 2058ppb, GMdiff=4852nsec
[0]Waiting for network UP ...
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 1998ppb, GMdiff=4556nsec
[0]Enet IF UP Event. Local interface IP:172.24.227.210

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