Ethernet TSN gPTP on CPSW 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
    • PPS Output
  • 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 CPSW 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 two Rx and two Tx DMA channel, one Rx and one Tx channel specific to gPTP traffic and one Rx and one Tx channel specific to non-gPTP traffic, this is handled by LwIP stack.

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

Please refer to the Ethernet TSN gPTP Examples page for the above gPTP mode specific 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	am263x-cc, am263x-lp
Example folder	examples/networking/tsn/gptp_lwip_cpsw

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 CPSW 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.

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:

1. 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.
2. 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.
   

   Figure: Syscfg tool CPSW pinmux changes to select PPS signal pin
3. 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)
   

   Figure: Signal captured on oscilloscope

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

==================================
  CPSW GPTP LWIP TCP ECHO SERVER 
==================================
Enabling clocks!
EnetAppUtils_reduceCoreMacAllocation: Reduced Mac Address Allocation for CoreId:1 From 4 To 2 
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:000000-097424: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
[0]Enet IF UP Event. Local interface IP:0.0.0.0
[LWIPIF_LWIP] Enet has been started successfully
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=1 dmaRxChId=1 nTxPkts=8 nRxPkts=16 pktSize=1536
INF:cbase:rxChId 1 has owner dmaRxShared 0
[0]Waiting for network UP ...
INF:cbase:cbl_query_response:tilld0 link DOWN !!!!
INF:gptp:dev:tilld0 open success
INF:cbase:tilld1: alloc mac: 70:FF:76:1E:3A:07
INF:gptp:dev:tilld1 open success
INF:cbase:cbl_query_response:tilld1 link DOWN !!!!
INF:gptp:gptpnet_init:Open lldtsync OK!
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:000000-379622: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 ...
Cpsw_handleLinkUp:1450 
MAC Port 2: link up
INF:cbase:cbl_query_response:tilld1: link UP, speed=1000, duplex=1 !!!!
[0]Network Link UP Event
INF:gptp:index=2 speed=1000, duplex=full, ptpdev=tilld1
WRN:gptp:000003-251701: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=203
INF:gptp:waiting_for_pdelay_interval_timer_proc:portIndex=2, not asCapable
Cpsw_handleLinkUp:1450 
MAC Port 1: link up
INF:cbase:cbl_query_response:tilld0: link UP, speed=1000, duplex=1 !!!!
INF:gptp:index=1 speed=1000, duplex=full, ptpdev=tilld0
INF:gptp:md_pdelay_resp_sm_recv_req:port=2, set receivedNonCMLDSPdelayReq=1
[0]Waiting for network UP ...
INF:gptp:waiting_for_pdelay_interval_timer_proc:set asCapableAcrossDomains, portIndex=2
INF:gptp:set asCapable for domainIndex=0, portIndex=2
INF:gptp:000004-259132:gptpgcfg_set_asCapable:domainInde=0, portIndex=2, ascapable=1
INF:gptp:000004-266523:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:gptpclock_set_gmsync:gptpInstanceIndex=0, domainIndex=0, gmstate=1
NF:gptp:000004-278712:gm_stable:gm_unstable_proc:domainIndex=0
INF:gptp:000004-374156:setSyncTwoStep_txSync:domainIndex=0, portIndex=2, sync gap=4375msec
INF:gptp:000004-379390:setFollowUp_txFollowUp:domainIndex=0, portIndex=2, fup gap=4382msec
INF:gptp:000005-374200: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:000006-344047: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:000006-357144: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=1754370932
INF:gptp:set_phase_offsetGM:domainIndex=0, stable
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 3156ppb, GMdiff=9781nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 5707ppb, GMdiff=9794nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 7727ppb, GMdiff=9742nsec
................
...............
[0]Enet IF UP Event. Local interface IP:192.168.1.10
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 4291ppb, GMdiff=12nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 4264ppb, GMdiff=-2nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 4222ppb, GMdiff=-21nsec
IFV:gptp:domainIndex=0, clock_master_sync_receive:the master clock rate to 4189ppb, GMdiff=-34nsec

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