3.6.3.3. PRU_ICSSG Ethernet¶
3.6.3.3.1. Introduction¶
PRU_ICSSG Ethernet driver architecture is similar to PRU-ICSS Ethernet driver discussed at PRU-ICSS Ethernet
Driver is developed complying to Linux Driver model and implements netdev and NAPI APIs along with other basic driver functions. Driver supports multiple instances of ICSSG each of which has two slices. Each slice consists of a pair of Programmable Real-Time Units (PRUs), Auxillary Programmable Real-time Units (RTUs) and TX Programmable Real-Time Units (TX_PRUS). So each ICSSG instance supports two Ethernet interfaces i.e. one per slice.
One of the key difference in the driver implementation compared to PRU-ICSS driver is the use of UDMA driver interface and ring accelerator driver available on Keystone III SoC to send/receive frames between ARM Host processor and PRU_ICSSG. This allows for efficient moving of data and is more efficient than the shared memory transport used in PRU-ICSS.
3.6.3.3.2. Boards Supported¶
The AM65x Evaluation Module provides a platform to quickly start evaluation of Sitara™ Arm® Cortex®-A53 AM65x Processors (AM6548, AM6546, AM6528, AM6527, AM6526) and accelerate development for HMI, networking, patient monitoring, and other industrial applications. It is a development platform based on the quad core Cortex-A53, dual Cortex-R5F processor that is integrated with ample connectivity such as PCIe, USB 3.0/2.0, Gigabit Ethernet, PRU_ICSSG Ethernet, etc.
On this platform one CPSW Ethernet port and two ICSSG2 Ethernet ports are available for use.
AM65x industrial development kit (IDK)
The AM65x Industrial Development Kit (IDK) is a development platform for evaluating the industrial communication and control capabilities of Sitara AM65x processors for applications in factory automation, drives, robotics, grid infrastructure, and more. AM65x processors include three PRU_ICSSG (Programmable Real-time Unit for Industrial Communications) sub-systems which can be used for gigabit industrial Ethernet protocols such as Profinet, EtherCAT, Ethernet/IP, and others.
On this platform one CPSW Ethernet port and two ICSSG2 Ethernet ports are available on the baseboard and 4 Ethernet ports, 2 each of ICSSG0 and ICSSG1 are available on the IDK application module.
3.6.3.3.3. Features supported¶
- Two 1G/100M Full-Duplex Ethernet ports on AM65x GP EVM (six ports on AM65x IDK) - 10M link speed is not supported, Half-Duplex is not supported.
- Multiple TX queues (upto 4), single RX queue.
- VLAN
- PTP Ordinary clock
- PPS Out
- Promiscuous mode, All-multi mode
- RGMII mode with RX delay (configured in DTS)
3.6.3.3.4. Driver Configuration¶
The TI Processor SDK has ICSSG driver enabled by default on supported platforms.
To enable/disable Networking support manually, start the Linux Kernel Configuration tool:
$ make ARCH=arm64 menuconfig
...
<M> TI PRU-ICSS Subsystem Platform drivers
...
...
[*] Support for Remote Processor subsystem
<M> TI PRU remoteproc support
...
...
[*] Texas Instruments (TI) devices
...
<M> TI Gigabit PRU Ethernet driver
...
Kernel Kconfig options:
CONFIG_TI_PRUSS
CONFIG_REMOTEPROC
CONFIG_PRU_REMOTEPROC
CONFIG_TI_DAVINCI_MDIO
CONFIG_TI_ICSSG_PRUETH
3.6.3.3.5. Device tree bindings¶
The DT bindings description can be found at:
3.6.3.3.6. User guide¶
3.6.3.3.6.1. Bringing Up interface¶
The network interface can be configured automatically depending on root file system or configured manually. Manual configuration:
ip addr add 192.168.1.1/24 dev eth1
ip link set dev eth1 up
< or >
ifconfig eth1 <ip> netmask <mask> up
3.6.3.3.6.2. Get information (ethtool)¶
Get driver information
The interface can be identified by using ethtool -i|--driver command.
It also provides some information about supported features.
root@am65xx-evm:~# ethtool -i eth1
driver: icssg-prueth
version:
firmware-version:
expansion-rom-version:
bus-info: pruss2_eth
supports-statistics: yes
supports-test: no
supports-eeprom-access: no
supports-register-dump: no
supports-priv-flags: no
ethtool - Display standard information about device/link
root@am65xx-evm:~# ethtool eth1
Settings for eth1:
Supported ports: [ TP MII ]
Supported link modes: 100baseT/Full
1000baseT/Full
Supported pause frame use: No
Supports auto-negotiation: Yes
Supported FEC modes: Not reported
Advertised link modes: 100baseT/Full
1000baseT/Full
Advertised pause frame use: No
Advertised auto-negotiation: Yes
Advertised FEC modes: Not reported
Link partner advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Full
Link partner advertised pause frame use: Symmetric Receive-only
Link partner advertised auto-negotiation: Yes
Link partner advertised FEC modes: Not reported
Speed: 1000Mb/s
Duplex: Full
Port: MII
PHYAD: 0
Transceiver: internal
Auto-negotiation: on
Current message level: 0x00007fff (32767)
drv probe link timer ifdown ifup rx_err tx_err tx_queued intr tx_done rx_status pktdata hw wol
Link detected: yes
3.6.3.3.6.3. VLAN Config¶
VLAN can be added/deleted using ip or vconfig utility.
VLAN Add
ip link add link eth1 name eth1.5 type vlan id 5
< or >
vconfig add eth1 5
VLAN del
ip link del eth1.5
< or >
vconfig rem eth1 5
VLAN IP assigning
IP address can be assigned to the VLAN interface either via udhcpc
when a VLAN aware dhcp server is present or via static ip assigning
using ip or ifconfig.
Once VLAN is added, it will create a new entry in Ethernet interfaces like eth1.5, below is an example how it check the vlan interface
ip addr add 10.0.0.5/24 dev eth1.5
< or >
ifconfig eth1.5 10.0.0.5
....
root@am65xx-evm:~# ifconfig eth1.5
eth1.5 Link encap:Ethernet HWaddr 70:FF:76:1D:5C:64
inet addr:10.0.0.5 Bcast:10.255.255.255 Mask:255.0.0.0
inet6 addr: fe80::72ff:76ff:fe1d:5c64/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:45 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:7590 (7.4 KiB)
VLAN Packet Send/Receive
To Send or receive packets with the VLAN tag, bind the socket to the proper Ethernet interface shown above and can send/receive via that socket-fd.
3.6.3.3.6.4. Multicast Add/Delete¶
Multicast MAC address can be added/deleted using ip maddr commands or Linux socket ioctl SIOCADDMULTI/SIOCDELMULTI.
Show muliticast address
~# ip maddr show eth1
3: eth1
link 33:33:00:00:00:01 users 2
link 01:00:5e:00:00:01 users 2
link 01:00:5e:00:00:fb users 2
link 33:33:ff:1d:5c:64 users 2
link 01:00:5e:00:00:fc users 2
link 33:33:00:01:00:03 users 2
link 33:33:00:00:00:fb users 2
link 01:80:c2:00:00:21 users 2
inet 224.0.0.252
inet 224.0.0.251
inet 224.0.0.1
inet6 ff02::fb
inet6 ff02::1:3
inet6 ff02::1:ff1d:5c64
inet6 ff02::1
inet6 ff01::1
Add muliticast address
~# ip maddr add 01:00:5e:00:00:05 dev eth1
~# ip maddr show dev eth1
3: eth1
link 33:33:00:00:00:01 users 2
link 01:00:5e:00:00:01 users 2
link 01:00:5e:00:00:fb users 2
link 33:33:ff:1d:5c:64 users 2
link 01:00:5e:00:00:fc users 2
link 33:33:00:01:00:03 users 2
link 33:33:00:00:00:fb users 2
link 01:80:c2:00:00:21 users 2
link 01:00:5e:00:00:05 static
inet 224.0.0.252
inet 224.0.0.251
inet 224.0.0.1
inet6 ff02::fb
inet6 ff02::1:3
inet6 ff02::1:ff1d:5c64
inet6 ff02::1
inet6 ff01::1
Delete muliticast address
# ip maddr del 01:00:5e:00:00:05 dev eth1
3.6.3.3.6.5. Other ethtool commands¶
ethtool -P|--show-permaddr DEVNAME Show permanent hardware
address
~# ethtool -P eth1
Permanent address: 70:ff:76:1d:5c:64
ethtool -s|--change DEVNAME Change generic options
Below commands will be redirected to the phy driver:
# ethtool -s <dev>
[ speed %d ]
[ duplex half|full ]
[ autoneg on|off ]
[ wol p|u|m|b|a|g|s|d... ]
[ sopass %x:%x:%x:%x:%x:%x ]
Note
ICSSG Ethernet driver does not perform any kind of WOL specific actions or configurations.
# ethtool -s eth1 duplex full speed 100
[ 74.768324] icssg-prueth pruss2_eth eth1: Link is Down
[ 78.592924] icssg-prueth pruss2_eth eth1: Link is Up - 100Mbps/Full - flow control off
ethtool -r|--negotiate DEVNAME Restart N-WAY negotiation
# ethtool -r eth1
[ 273.151655] icssg-prueth pruss2_eth eth1: Link is Down
[ 276.225423] icssg-prueth pruss2_eth eth1: Link is Up - 1Gbps/Full - flow control off
ethtool-l|--show-channels DEVNAME Query Channels
# ethtool -l eth1
Channel parameters for eth1:
Pre-set maximums:
RX: 1
TX: 4
Other: 0
Combined: 0
Current hardware settings:
RX: 1
TX: 1
Other: 0
Combined: 0
ethtool -L\|--set-channels DEVNAME Set Channels.
Allows to control number of TX channels driver is allowed to work with at DMA level. The maximum number of TX channels is 4.
Supported options [ tx N ]:
# ethtool -L eth1 tx 4
ethtool -S|--statistics DEVNAME Show adapter statistics
“ethtool -S” command displays statistic for the ethernet port.
# ethtool -S eth1
NIC statistics:
rx_good_frames: 53
rx_broadcast_frames: 1
rx_multicast_frames: 53
rx_crc_error_frames: 0
rx_mii_error_frames: 0
rx_odd_nibble_frames: 0
rx_frame_max_size: 2000
rx_max_size_error_frames: 0
rx_frame_min_size: 64
rx_min_size_error_frames: 11
rx_overrun_frames: 0
rx_class0_hits: 64
rx_class1_hits: 0
rx_class2_hits: 0
rx_class3_hits: 0
rx_class4_hits: 0
rx_class5_hits: 0
rx_class6_hits: 0
rx_class7_hits: 0
rx_class8_hits: 0
rx_class9_hits: 0
rx_class10_hits: 0
rx_class11_hits: 0
rx_class12_hits: 0
rx_class13_hits: 0
rx_class14_hits: 0
rx_class15_hits: 0
rx_smd_frags: 0
rx_bucket1_size: 64
rx_bucket2_size: 128
rx_bucket3_size: 256
rx_bucket4_size: 512
rx_64B_frames: 2
rx_bucket1_frames: 13
rx_bucket2_frames: 30
rx_bucket3_frames: 20
rx_bucket4_frames: 1
rx_bucket5_frames: 0
rx_total_bytes: 7864
rx_tx_total_bytes: 24165
tx_good_frames: 98
tx_broadcast_frames: 0
tx_multicast_frames: 98
tx_odd_nibble_frames: 0
tx_underflow_errors: 0
tx_frame_max_size: 2000
tx_max_size_error_frames: 0
tx_frame_min_size: 64
tx_min_size_error_frames: 0
tx_bucket1_size: 64
tx_bucket2_size: 128
tx_bucket3_size: 256
tx_bucket4_size: 512
tx_64B_frames: 0
tx_bucket1_frames: 0
tx_bucket2_frames: 68
tx_bucket3_frames: 21
tx_bucket4_frames: 9
tx_bucket5_frames: 0
tx_total_bytes: 12479
ethtool -T|--show-time-stamping DEVNAME Show time stamping
capabilities.
# ethtool -T eth1
Time stamping parameters for eth1:
Capabilities:
hardware-transmit (SOF_TIMESTAMPING_TX_HARDWARE)
software-transmit (SOF_TIMESTAMPING_TX_SOFTWARE)
hardware-receive (SOF_TIMESTAMPING_RX_HARDWARE)
software-receive (SOF_TIMESTAMPING_RX_SOFTWARE)
software-system-clock (SOF_TIMESTAMPING_SOFTWARE)
hardware-raw-clock (SOF_TIMESTAMPING_RAW_HARDWARE)
PTP Hardware Clock: 2
Hardware Transmit Timestamp Modes:
off (HWTSTAMP_TX_OFF)
on (HWTSTAMP_TX_ON)
Hardware Receive Filter Modes:
none (HWTSTAMP_FILTER_NONE)
all (HWTSTAMP_FILTER_ALL)
ethtool --show-eee DEVNAME Show EEE settings
ethtool --show-eee eth1
EEE Settings for eth1:
EEE status: disabled
Tx LPI: disabled
Supported EEE link modes: 100baseT/Full
1000baseT/Full
Advertised EEE link modes: Not reported
Link partner advertised EEE link modes: 100baseT/Full
1000baseT/Full
3.6.3.3.6.6. PTP Ordinary Clock¶
The PRU Ethernet & IEP drivers implement the Linux PTP hardware clock subsystem APIs, the PRU-ICSS PTP clock can therefore be adjusted by using those standard APIs. See PTP hardware clock infrastructure for Linux for more details.
The PTP Ordinary Clock (OC) implementation is provided by the linuxptp application.
ptp4l -f oc.cfg
oc.cfg is a ptp4l configuration file.
Example oc.cfg for OC,
[global]
tx_timestamp_timeout 10
logMinPdelayReqInterval -3
logSyncInterval -3
twoStepFlag 1
summary_interval 0
[eth1]
delay_mechanism P2P
network_transport L2
where eth1 is the intended PRU-ICSS Ethernet port over which the OC functionality is provided.
See The Linux PTP Project for more details about linuxptp in general and ptp4l(8) - Linux man page about ptp4l configurations in particular.
Here is a sample screen display of ptp4l for PRU-ICSS Ethernet port as PTP/OC in slave mode:
# ptp4l -f oc.cfg -s -m
ptp4l[1255.613]: selected /dev/ptp2 as PTP clock
ptp4l[1255.664]: port 1: INITIALIZING to LISTENING on INITIALIZE
ptp4l[1255.665]: port 0: INITIALIZING to LISTENING on INITIALIZE
ptp4l[1255.665]: port 1: link up
ptp4l[1263.081]: selected best master clock 70ff76.fffe.1d5c64
ptp4l[1269.343]: selected best master clock 70ff76.fffe.1d5c64
ptp4l[1271.367]: port 1: new foreign master d494a1.fffe.8c36e9-1
ptp4l[1275.368]: selected best master clock d494a1.fffe.8c36e9
ptp4l[1275.368]: port 1: LISTENING to UNCALIBRATED on RS_SLAVE
ptp4l[1275.754]: port 1: UNCALIBRATED to SLAVE on MASTER_CLOCK_SELECTED
ptp4l[1276.381]: rms 789386424832367360 max 1578772849664738816 freq -60377 +/- 22862 delay 229 +/- 6
ptp4l[1277.385]: rms 473 max 729 freq -67059 +/- 642 delay 251 +/- 4
ptp4l[1278.389]: rms 792 max 830 freq -65620 +/- 211 delay 253 +/- 0
ptp4l[1279.393]: rms 504 max 667 freq -65335 +/- 17 delay 255 +/- 1
ptp4l[1280.397]: rms 166 max 271 freq -65484 +/- 59 delay 251 +/- 2
ptp4l[1281.401]: rms 26 max 42 freq -65649 +/- 34 delay 249 +/- 1
ptp4l[1282.405]: rms 43 max 50 freq -65727 +/- 10 delay 253 +/- 3
ptp4l[1283.409]: rms 26 max 39 freq -65739 +/- 6 delay 256 +/- 1
ptp4l[1284.412]: rms 5 max 7 freq -65725 +/- 3 delay 253 +/- 1
ptp4l[1285.416]: rms 5 max 7 freq -65717 +/- 6 delay 252 +/- 1
ptp4l[1286.420]: rms 11 max 14 freq -65698 +/- 6 delay 252 +/- 1
ptp4l[1287.424]: rms 8 max 12 freq -65693 +/- 5 delay 254 +/- 1
ptp4l[1288.427]: rms 7 max 12 freq -65687 +/- 4 delay 251 +/- 2
ptp4l[1289.430]: rms 4 max 8 freq -65686 +/- 3 delay 249 +/- 1
ptp4l[1290.434]: rms 5 max 8 freq -65693 +/- 7 delay 249 +/- 1
ptp4l[1291.438]: rms 4 max 9 freq -65696 +/- 5 delay 251 +/- 1
ptp4l[1292.441]: rms 7 max 9 freq -65682 +/- 5 delay 253 +/- 0
ptp4l[1293.445]: rms 11 max 14 freq -65667 +/- 4 delay 252 +/- 0
ptp4l[1294.448]: rms 8 max 14 freq -65662 +/- 5 delay 254 +/- 1
ptp4l[1295.452]: rms 6 max 8 freq -65659 +/- 5 delay 254 +/- 2
ptp4l[1296.456]: rms 3 max 7 freq -65657 +/- 2 delay 251 +/- 0
ptp4l[1297.459]: rms 4 max 5 freq -65661 +/- 6 delay 256 +/- 2
...
3.6.3.3.6.7. PPS Pulse Per Second support¶
PPS hardware pin is available only on the IDK application card i.e. ICSSG0 port 0 and ICSSG1 port 1. They are available at LEDs LD2 and LD5 respectively.
PPS can be tested using testptp.c tool.
To find out the PTP device number i.e. PTP Hardware Clock, use ethtool -T <devname>
Note
For PPS to work, the firmware needs to be running so the ICSSG network interface must be brought up.
To turn on PPS,
# ifconfig eth1 up
# ./testptp -d /dev/ptp2 -P 1
pps for system time request okay
You should be able to see either LD2 or LD5 blink at 1 second interval.
To turn off PPS,
# ./testptp -d /dev/ptp2 -P 0
pps for system time request okay