From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: Received: from mails.dpdk.org (mails.dpdk.org [217.70.189.124]) by inbox.dpdk.org (Postfix) with ESMTP id 6C09445B0C; Fri, 11 Oct 2024 05:19:45 +0200 (CEST) Received: from mails.dpdk.org (localhost [127.0.0.1]) by mails.dpdk.org (Postfix) with ESMTP id EFC6C406FF; Fri, 11 Oct 2024 05:19:34 +0200 (CEST) Received: from mgamail.intel.com (mgamail.intel.com [192.198.163.16]) by mails.dpdk.org (Postfix) with ESMTP id 69243406BB for ; Fri, 11 Oct 2024 05:19:31 +0200 (CEST) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=intel.com; i=@intel.com; q=dns/txt; s=Intel; t=1728616772; x=1760152772; h=from:to:cc:subject:date:message-id:in-reply-to: references:mime-version:content-transfer-encoding; bh=YsnQFI51tePDwwEL/gd03b21nic1hkUZB1WhKWPpZ5w=; b=LjgOjuittjKMELEOuSooSfLLz0aSpFddgg9oxPZqFwavspqiWPOXBSSd abE5BjILvFz6OuYeBsSeUuiIiN3D8Uhdm3z8Mw+8pdgo448AGm4yqtTr0 6lN+RCRxwe6oBGVOnr7qpKFBJMkhzNMGbyjYerUM6iznZcvGdCWOyGCno ey2hgAcnHNJCCuOM6JVvb+4msSpPbKjQXjCqveHbvqySVdrBQR6AxNXiS zq9G7yjOmZUdzpKq4ckVeWw/jJm4IDSIXEX7/mDIBQNo457xey9oHW6mu G92hu/7c1hX8U2XyEvzz7PmoTMrXAETGlyCrRngtjaJmpZlyFQEji45qH A==; X-CSE-ConnectionGUID: SDXbBC1+Q9G5gB1+a+wGgg== X-CSE-MsgGUID: PpHGjjcwRdW0EkLcu5UsBA== X-IronPort-AV: E=McAfee;i="6700,10204,11221"; a="15629296" X-IronPort-AV: E=Sophos;i="6.11,194,1725346800"; d="scan'208";a="15629296" Received: from orviesa004.jf.intel.com ([10.64.159.144]) by fmvoesa110.fm.intel.com with ESMTP/TLS/ECDHE-RSA-AES256-GCM-SHA384; 10 Oct 2024 20:19:31 -0700 X-CSE-ConnectionGUID: kzBIH1gPStmf3zwqP+myAA== X-CSE-MsgGUID: jsuaf7mRQYaygco9+KU1dg== X-ExtLoop1: 1 X-IronPort-AV: E=Sophos;i="6.11,194,1725346800"; d="scan'208";a="81776187" Received: from unknown (HELO localhost.localdomain) ([10.239.252.253]) by orviesa004-auth.jf.intel.com with ESMTP/TLS/ECDHE-RSA-AES256-GCM-SHA384; 10 Oct 2024 20:19:30 -0700 From: Mingjin Ye To: dev@dpdk.org Cc: Mingjin Ye , Simei Su , Wenjun Wu , Kirill Rybalchenko Subject: [PATCH v5 3/3] examples/ptpclient: add frequency adjustment Date: Fri, 11 Oct 2024 02:53:32 +0000 Message-Id: <20241011025332.1423395-4-mingjinx.ye@intel.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20241011025332.1423395-1-mingjinx.ye@intel.com> References: <20241010093221.1359778-2-mingjinx.ye@intel.com> <20241011025332.1423395-1-mingjinx.ye@intel.com> MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-BeenThere: dev@dpdk.org X-Mailman-Version: 2.1.29 Precedence: list List-Id: DPDK patches and discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Errors-To: dev-bounces@dpdk.org This patch adds PI servo controller to support frequency adjustment API for IEEE1588 PTP. For example, the command for starting ptpclient with PI controller is: dpdk-ptpclient -a 0000:81:00.0 -c 1 -n 3 -- -T 0 -p 0x1 -c 1 Signed-off-by: Simei Su Signed-off-by: Wenjun Wu Signed-off-by: Mingjin Ye --- v2: Add doc. --- doc/guides/sample_app_ug/ptpclient.rst | 12 +- examples/ptpclient/ptpclient.c | 284 +++++++++++++++++++++++-- 2 files changed, 274 insertions(+), 22 deletions(-) diff --git a/doc/guides/sample_app_ug/ptpclient.rst b/doc/guides/sample_app_ug/ptpclient.rst index d47e942738..89fe575b5f 100644 --- a/doc/guides/sample_app_ug/ptpclient.rst +++ b/doc/guides/sample_app_ug/ptpclient.rst @@ -50,6 +50,10 @@ The adjustment for slave can be represented as: If the command line parameter ``-T 1`` is used the application also synchronizes the PTP PHC clock with the Linux kernel clock. +If the command line parameter ``-c 1`` is used, the application will also +use the servo of the local clock. Only one type of servo is currently +implemented, the PI controller. Default 0 (not used). + Compiling the Application ------------------------- @@ -65,7 +69,7 @@ To run the example in a ``linux`` environment: .. code-block:: console - .//examples/dpdk-ptpclient -l 1 -n 4 -- -p 0x1 -T 0 + .//examples/dpdk-ptpclient -l 1 -n 4 -- -p 0x1 -T 0 -c 1 Refer to *DPDK Getting Started Guide* for general information on running applications and the Environment Abstraction Layer (EAL) options. @@ -73,7 +77,13 @@ applications and the Environment Abstraction Layer (EAL) options. * ``-p portmask``: Hexadecimal portmask. * ``-T 0``: Update only the PTP slave clock. * ``-T 1``: Update the PTP slave clock and synchronize the Linux Kernel to the PTP clock. +* ``-c 0``: Not used clock servo controller. +* ``-c 1``: The clock servo PI controller is used and the log will print information + about "master offset". +Also, by adding ``-T 1`` and ``-c 1`` , the ``master offset`` value printed in the +log will slowly converge and eventually stabilise at the nanosecond level. The +synchronisation accuracy is much higher compared to not using a servo controller. Code Explanation ---------------- diff --git a/examples/ptpclient/ptpclient.c b/examples/ptpclient/ptpclient.c index afb61bba51..dea8d9d54a 100644 --- a/examples/ptpclient/ptpclient.c +++ b/examples/ptpclient/ptpclient.c @@ -46,6 +46,35 @@ static volatile bool force_quit; #define KERNEL_TIME_ADJUST_LIMIT 20000 #define PTP_PROTOCOL 0x88F7 +#define KP 0.7 +#define KI 0.3 +#define FREQ_EST_MARGIN 0.001 + +enum servo_state { + SERVO_UNLOCKED, + SERVO_JUMP, + SERVO_LOCKED, +}; + +struct pi_servo { + double offset[2]; + double local[2]; + double drift; + double last_freq; + int count; + + double max_frequency; + double step_threshold; + double first_step_threshold; + int first_update; +}; + +enum controller_mode { + MODE_NONE, + MODE_PI, + MAX_ALL +} mode = MODE_NONE; + struct rte_mempool *mbuf_pool; uint32_t ptp_enabled_port_mask; uint8_t ptp_enabled_port_nb; @@ -135,6 +164,9 @@ struct ptpv2_data_slave_ordinary { uint8_t ptpset; uint8_t kernel_time_set; uint16_t current_ptp_port; + int64_t master_offset; + int64_t path_delay; + struct pi_servo *servo; }; static struct ptpv2_data_slave_ordinary ptp_data; @@ -293,36 +325,44 @@ print_clock_info(struct ptpv2_data_slave_ordinary *ptp_data) ptp_data->tstamp3.tv_sec, (ptp_data->tstamp3.tv_nsec)); - printf("\nT4 - Master Clock. %lds %ldns ", + printf("\nT4 - Master Clock. %lds %ldns\n", ptp_data->tstamp4.tv_sec, (ptp_data->tstamp4.tv_nsec)); - printf("\nDelta between master and slave clocks:%"PRId64"ns\n", + if (mode == MODE_NONE) { + printf("\nDelta between master and slave clocks:%"PRId64"ns\n", ptp_data->delta); - clock_gettime(CLOCK_REALTIME, &sys_time); - rte_eth_timesync_read_time(ptp_data->current_ptp_port, &net_time); + clock_gettime(CLOCK_REALTIME, &sys_time); + rte_eth_timesync_read_time(ptp_data->current_ptp_port, + &net_time); - time_t ts = net_time.tv_sec; + time_t ts = net_time.tv_sec; - printf("\n\nComparison between Linux kernel Time and PTP:"); + printf("\n\nComparison between Linux kernel Time and PTP:"); - printf("\nCurrent PTP Time: %.24s %.9ld ns", + printf("\nCurrent PTP Time: %.24s %.9ld ns", ctime(&ts), net_time.tv_nsec); - nsec = (int64_t)timespec64_to_ns(&net_time) - + nsec = (int64_t)timespec64_to_ns(&net_time) - (int64_t)timespec64_to_ns(&sys_time); - ptp_data->new_adj = ns_to_timeval(nsec); + ptp_data->new_adj = ns_to_timeval(nsec); - gettimeofday(&ptp_data->new_adj, NULL); + gettimeofday(&ptp_data->new_adj, NULL); - time_t tp = ptp_data->new_adj.tv_sec; + time_t tp = ptp_data->new_adj.tv_sec; - printf("\nCurrent SYS Time: %.24s %.6ld ns", - ctime(&tp), ptp_data->new_adj.tv_usec); + printf("\nCurrent SYS Time: %.24s %.6ld ns", + ctime(&tp), ptp_data->new_adj.tv_usec); - printf("\nDelta between PTP and Linux Kernel time:%"PRId64"ns\n", - nsec); + printf("\nDelta between PTP and Linux Kernel time:%"PRId64"ns\n", + nsec); + } + + if (mode == MODE_PI) { + printf("path delay: %"PRId64"ns\n", ptp_data->path_delay); + printf("master offset: %"PRId64"ns\n", ptp_data->master_offset); + } printf("[Ctrl+C to quit]\n"); @@ -529,6 +569,149 @@ update_kernel_time(void) } +static void +clock_path_delay(struct ptpv2_data_slave_ordinary *ptp_data) +{ + uint64_t t1_ns, t2_ns, t3_ns, t4_ns; + int64_t pd, diff; + + t1_ns = timespec64_to_ns(&ptp_data->tstamp1); + t2_ns = timespec64_to_ns(&ptp_data->tstamp2); + t3_ns = timespec64_to_ns(&ptp_data->tstamp3); + t4_ns = timespec64_to_ns(&ptp_data->tstamp4); + + pd = (t2_ns - t3_ns) + (t4_ns - t1_ns); + diff = t3_ns - t2_ns; + if (diff <= INT32_MAX && diff >= INT32_MIN) + ptp_data->path_delay = pd / 2; + else + ptp_data->path_delay = 0; +} + +static double +pi_sample(struct pi_servo *s, int64_t offset, double local_ts, + enum servo_state *state) +{ + double ki_term, ppb = s->last_freq; + double freq_est_interval, localdiff; + + switch (s->count) { + case 0: + s->offset[0] = offset; + s->local[0] = local_ts; + *state = SERVO_UNLOCKED; + s->count = 1; + break; + case 1: + s->offset[1] = offset; + s->local[1] = local_ts; + + /* Make sure the first sample is older than the second. */ + if (s->local[0] >= s->local[1]) { + *state = SERVO_UNLOCKED; + s->count = 0; + break; + } + + /* Wait long enough before estimating the frequency offset. */ + localdiff = (s->local[1] - s->local[0]) / 1e9; + localdiff += localdiff * FREQ_EST_MARGIN; + freq_est_interval = 0.016 / KI; + if (freq_est_interval > 1000.0) + freq_est_interval = 1000.0; + + if (localdiff < freq_est_interval) { + *state = SERVO_UNLOCKED; + break; + } + + /* Adjust drift by the measured frequency offset. */ + s->drift += (1e9 - s->drift) * (s->offset[1] - s->offset[0]) / + (s->local[1] - s->local[0]); + + if (s->drift < -s->max_frequency) + s->drift = -s->max_frequency; + else if (s->drift > s->max_frequency) + s->drift = s->max_frequency; + + if ((s->first_update && + s->first_step_threshold && + s->first_step_threshold < llabs(offset)) || + (s->step_threshold && + s->step_threshold < llabs(offset))) + *state = SERVO_JUMP; + else + *state = SERVO_LOCKED; + + ppb = s->drift; + s->count = 2; + break; + case 2: + /* + * reset the clock servo when offset is greater than the max + * offset value. Note that the clock jump will be performed in + * step 1, so it is not necessary to have clock jump + * immediately. This allows re-calculating drift as in initial + * clock startup. + */ + if (s->step_threshold && + s->step_threshold < llabs(offset)) { + *state = SERVO_UNLOCKED; + s->count = 0; + break; + } + + ki_term = KI * offset; + ppb = KP * offset + s->drift + ki_term; + if (ppb < -s->max_frequency) + ppb = -s->max_frequency; + else if (ppb > s->max_frequency) + ppb = s->max_frequency; + else + s->drift += ki_term; + + *state = SERVO_LOCKED; + break; + } + + s->last_freq = ppb; + return ppb; +} + +static void +ptp_adjust_servo(struct ptpv2_data_slave_ordinary *ptp_data) +{ + uint64_t t1_ns, t2_ns; + double adj_freq; + enum servo_state state = SERVO_UNLOCKED; + + t1_ns = timespec64_to_ns(&ptp_data->tstamp1); + t2_ns = timespec64_to_ns(&ptp_data->tstamp2); + ptp_data->master_offset = t2_ns - t1_ns - ptp_data->path_delay; + if (!ptp_data->path_delay) + return; + + adj_freq = pi_sample(ptp_data->servo, ptp_data->master_offset, t2_ns, + &state); + + switch (state) { + case SERVO_UNLOCKED: + break; + case SERVO_JUMP: + ptp_data->servo->first_update = 0; + rte_eth_timesync_adjust_freq(ptp_data->portid, + -(long)(adj_freq * 65.536)); + rte_eth_timesync_adjust_time(ptp_data->portid, + -ptp_data->master_offset); + break; + case SERVO_LOCKED: + ptp_data->servo->first_update = 0; + rte_eth_timesync_adjust_freq(ptp_data->portid, + -(long)(adj_freq * 65.536)); + break; + } +} + /* * Parse the DELAY_RESP message. */ @@ -553,11 +736,16 @@ parse_drsp(struct ptpv2_data_slave_ordinary *ptp_data) ((uint64_t)ntohl(rx_tstamp->sec_lsb)) | (((uint64_t)ntohs(rx_tstamp->sec_msb)) << 32); - /* Evaluate the delta for adjustment. */ - ptp_data->delta = delta_eval(ptp_data); + if (mode == MODE_PI) { + clock_path_delay(ptp_data); + ptp_adjust_servo(ptp_data); + } else { + /* Evaluate the delta for adjustment. */ + ptp_data->delta = delta_eval(ptp_data); - rte_eth_timesync_adjust_time(ptp_data->portid, - ptp_data->delta); + rte_eth_timesync_adjust_time(ptp_data->portid, + ptp_data->delta); + } ptp_data->current_ptp_port = ptp_data->portid; @@ -652,7 +840,9 @@ print_usage(const char *prgname) printf("%s [EAL options] -- -p PORTMASK -T VALUE\n" " -T VALUE: 0 - Disable, 1 - Enable Linux Clock" " Synchronization (0 default)\n" - " -p PORTMASK: hexadecimal bitmask of ports to configure\n", + " -p PORTMASK: hexadecimal bitmask of ports to configure\n" + " -c CONTROLLER: 0 - Not used, 1 - PI. The servo which is" + " used to synchronize the local clock. (0 default)\n", prgname); } @@ -688,6 +878,36 @@ parse_ptp_kernel(const char *param) return 1; } +static int +parse_ptp_servo_mode(const char *param) +{ + char *end = NULL; + unsigned long pm; + + /* Parse the hexadecimal string. */ + pm = strtoul(param, &end, 10); + + if ((param[0] == '\0') || (end == NULL) || (*end != '\0')) + return -1; + + return pm; +} + +static void +servo_init(struct pi_servo *servo) +{ + memset(servo, 0x00, sizeof(*servo)); + + servo->drift = 100000000; + servo->last_freq = 100000000; + servo->count = 0; + + servo->max_frequency = 100000000; + servo->step_threshold = 0.1 * NSEC_PER_SEC; + servo->first_step_threshold = 0.00002 * NSEC_PER_SEC; + servo->first_update = 1; +} + /* Parse the commandline arguments. */ static int ptp_parse_args(int argc, char **argv) @@ -700,7 +920,7 @@ ptp_parse_args(int argc, char **argv) argvopt = argv; - while ((opt = getopt_long(argc, argvopt, "p:T:", + while ((opt = getopt_long(argc, argvopt, "p:T:c:", lgopts, &option_index)) != EOF) { switch (opt) { @@ -724,6 +944,17 @@ ptp_parse_args(int argc, char **argv) ptp_data.kernel_time_set = ret; break; + case 'c': + ret = parse_ptp_servo_mode(optarg); + if (ret == 0) { + mode = MODE_NONE; + } else if (ret == 1) { + mode = MODE_PI; + } else { + print_usage(prgname); + return -1; + } + break; default: print_usage(prgname); @@ -778,6 +1009,14 @@ main(int argc, char *argv[]) rte_exit(EXIT_FAILURE, "Error with PTP initialization\n"); /* >8 End of parsing specific arguments. */ + if (mode == MODE_PI) { + ptp_data.servo = malloc(sizeof(*(ptp_data.servo))); + if (!ptp_data.servo) + rte_exit(EXIT_FAILURE, "no memory for servo\n"); + + servo_init(ptp_data.servo); + } + /* Check that there is an even number of ports to send/receive on. */ nb_ports = rte_eth_dev_count_avail(); @@ -831,6 +1070,9 @@ main(int argc, char *argv[]) rte_eth_dev_close(portid); } + if (mode == MODE_PI) + free(ptp_data.servo); + /* clean up the EAL */ rte_eal_cleanup(); -- 2.25.1