nvidia xavier nx平台上精确时间协议(PTP)调试记录2

free-jdx 2021-05-20 16:37:42 7083
NVIDIA英伟达
1. 前言

承接上一篇继续记录
https://www.ebaina.com/articles/140000012547

2. 参考xaiver平台精确同步时间方法

在启动时，Xavier时间已经与网络同步。
如果您不依赖于以太网模块，可以尝试以下步骤来精确同步

1. 使能 CONFIG_TEGRA_HTS_GTE=y
2. 修改个内核 dts
gte@c1e0000 {
status = “okay”;
}
3.在目标设备上运行GTE用户空间示例应用程序:
在这个示例应用程序中，我们每1秒切换40引脚头Pin 16 (gpio=256)并将信号馈送到Pin 32(gpio=257)。在内核源代码中:
4.找到 tegra-gte-ioctl.h
5.拷贝到 /usr/include/linux/
6.找到 tegra_gte_mon.c and compile gcc tegra_gte_mon.c -o gte_mon
7.运行
 app, ./gte_mon -d gtechip0 -g 257 -r -f &
./gte_mon -h to print usage.
8.echo 256 >/sys/class/gpio/export
9.echo out >/sys/class/gpio/gpio256/direction
开始切换GPIO 256来观察事件。
10.
while true: do
echo 1 >/sys/class/gpio/gpio256/value
echo 0 >/sys/class/gpio/gpio256/value
sleep 1
done
//这应该打印下面的消息。
HW timestamp GPIO EVENT xxxx
11.echo 0 >/sys/class/gpio/gpio256/value
HW timestamp GPIO EVENT yyyy
12.To close the app, execute fg and ctrl+c
13.echo 256 >/sys/class/gpio/unexport to release GPIO 256
3.Nx平台GPIO模拟pps功能几个疑问

（1）NX设备上没有硬编码的PPS pin，NX GPIO的哪个引脚用于连接gps时间脉冲输出?

选择别针。
使用pinmux电子表格选择一个。
如果你使用的是NX devkit，选择一个出现在40引脚头部的gpio
例如，
如果想在头部使用GPIO01 (pin 29)，查看电子表格，
将看到它是GPIO3_PQ.05。

（2）源代码如何构建内核来支持pps

必须从源代码编译内核才能使用它，因为它在默认情况下没有启用。

nvpps {
    compatible = “nvidia,tegra194-nvpps”;
    gpio = <&gpio TEGRA_GPIO(Q, 5) GPIO_ACTIVE_LOW>;
    status = “okay”;
};

（3）在设备/dev/pps以某种方式创建后-如何使用它作为以太网网卡Linux PTP操作的输入?

pps {
gpios = <&tegra_aon_gpio TEGRA194_AON_GPIO(AA, 0) GPIO_ACTIVE_LOW>;
compatible = “pps-gpio”;
assert-falling-edge;
status = “okay”;
};

只需要启用“Tegra NVPPS支持”下的设备驱动程序
缺省情况下，ps-gpio已经启用。

4. 环境搭建如下
mkdir development
cd development
pwd
/mnt/development
wget https://developer.nvidia.com/embedded/L4T/r32_Release_v4.2/Sources/T186/public_sources.tbz2 2
tar -xjf public_sources.tbz2
cd Linux_for_Tegra/
cd source/
cd public/
tar -xjf kernel_src.tbz2
mkdir /mnt/outdir
TEGRA_KERNEL_OUT=/mnt/outdir
cd kernel/
cd kernel-4.9/
make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig

报错如下

make -j8 ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs
make[1]: Entering directory '/mnt/outdir'
  CHK     scripts/mod/devicetable-offsets.h
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-base.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-ape-cam.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-edp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-dsi-hdmi-dp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-dsi-hdmi-dp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-dsi-dp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-hdmi-primary-p3310-1000-c03-00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-hdmi-primary-p3310-1000-a00-00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-base-mods-display.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-imx274.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-imx185_v1.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-a00-00-lc898212.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-hdmi-primary-p3310-1000-a00-00-imx274.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-hdmi-primary-p3310-1000-c03-00-imx274.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-ape-cam.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-base.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-imx185_v1.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-dsi-dp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-dsi-hdmi-hdmi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c03-00-dsi-hdmi-hdmi-imx274-hdmiin.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-c00-00-auo-1080p-edp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-e3313-1000-a00-00-e2598.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3489-1000-a00-00-ucm1.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3489-1000-a00-00-ucm2.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3489-1000-a00-00-e2598.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3489-0888-a00-00-base.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3489-0888-a00-00-e2598.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-quill-p3310-1000-as-0888.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t19x/galen/kernel-dts/tegra194-p2888-0001-p2822-0000.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t19x/galen/kernel-dts/tegra194-p2888-0001-p2822-0000-imx274-hdmi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t19x/galen/kernel-dts/tegra194-p2888-0001-p2822-0000-imx185_v1.dtb
Error: /mnt/developoment/Linux_for_Tegra/source/public/kernel/kernel-4.9/arch/arm64/boot/dts/../../../../../../hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dts:27.19-20 syntax error
FATAL ERROR: Unable to parse input tree
/mnt/developoment/Linux_for_Tegra/source/public/kernel/kernel-4.9/arch/arm64/boot/dts/Makefile:120: recipe for target 'arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dtb' failed
make[2]: *** [arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dtb] Error 1
make[2]: *** Waiting for unfinished jobs....
arch/arm64/Makefile:154: recipe for target 'dtbs' failed
make[1]: *** [dtbs] Error 2
make[1]: Leaving directory '/mnt/outdir'
Makefile:171: recipe for target 'sub-make' failed
make: *** [sub-make] Error 2

修改dts：
hardware/nvidia/platform/t19x/jakku/kernel-dts/tegra194-p3668-all-p3509-0000.dts

还有其他方法可以在设备树中启用gpio，包括创建自己的覆盖层，但有点复杂

在tegra194-p3668-all-p3509-0000.dts，可以从上面添加适当的样本…

/ {
    nvidia,dtsfilename = __FILE__;
    nvidia,dtbbuildtime = __DATE__, __TIME__;

    compatible = "nvidia,p3449-0000+p3668-0000", "nvidia,p3449-0000+p3668-0001", "nvidia,p3509-0000+p3668-0000", "nvidia,p3509-0000+p3668-0001", "nvidia,tegra194";

    nvpps {
        compatible = “nvidia,tegra194-nvpps”;
        gpio = <&gpio TEGRA_GPIO(Q, 5) GPIO_ACTIVE_LOW>;
        status = “okay”;
    };
};

编译通过

5. 如何转换代码和传递更改到动态dtb
sudo fdtput -t i  /boot/tegra194-p3668-all-p3509-0000.dtb nvpps compatible nvidia,tegra194-nvpps gpio &gpio TEGRA_GPIO(Q, 5) GPIO_ACTIVE_LOW status okay

创建dtb覆盖层的问题是，必须自己转换TEGRA_GPIO宏，因为它通常由内核构建dtb生成过程解析。要转换它，请查看kernel-4.9/include/dt-bindings/gpio/tegra-gpio.h。
找到与GPIO字母相关联的数字，在本例中Q为16，将其乘以8，然后将GPIO数字相加，得到133。现在您需要将GPIO_ACTIVE_LOW替换为“1”。

gpio = <&gpio 133 1>;

所以现在一个覆盖的源文件应该是这样的…

/dts-v1/;
/plugin/;

/ {
    overlay-name = "PPS Overlay";
    compatible = "nvidia,p3509-0000+p3668-0000";

    fragment@pps {
        target-path = "/";
        __overlay__ {
            pps {
                gpio = <&gpio 133 1>;
                compatible = “pps-gpio”;
                assert-falling-edge;
                status = “okay”;
            };
        };
    };
};
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