nvidia nx平台使用ptp 同步两台nx设备

1. 前言

使用PTP同步时间之间的两个xavier nx设备
(与一个xavier nx设备为主和另一个xavier nx设备为slave)。

Master side

ifconfig eth0 down
ifconfig eth0 up
ifconfig eth0 0.0.0.0
ip addr add 10.0.0.1/24 dev eth0
ip link set dev eth0 up
timedatectl set-ntp false
date 010100002018
phc_ctl /dev/ptp0 set
phc_ctl /dev/ptp0 get
ptp4l -f gPTP.cfg -i eth0 -p /dev/ptp0 -m

slave side

ifconfig eth0 down
ifconfig eth0 up
ifconfig eth0 0.0.0.0
ip addr add 10.0.0.2/24 dev eth0
ip link set dev eth0 up
timedatectl set-ntp false
phc_ctl /dev/ptp0 get
ptp4l -f gPTP.cfg -i eth0 -p /dev/ptp0 -s -m

使用“date”命令和“phc_ctl /dev/ptp0 get”命令检查了时间
主设备中发送的日期和时间没有反映在从设备中

2. 尝试如下命令

在主/从设备上执行以下命令

$ systemctl stop ptp4l
$ systemctl disable ptp4l
$ systemctl reboot

尝试在主服务器和从服务器上执行这些命令
但是仍然不能同步从时钟到主时钟

查看release标签，
$ cat /etc/nv_tegra_release作为参考，

R32 (release)， REVISION: 5.1, GCID: 26202423, 
BOARD: t186ref, EABI: aarch64, DATE: Fri Feb 19 16:50:29 UTC 2021

3.查询gPTP.cfg

Default Data Set
twoStepFlag 1
gmCapable 1
priority1 248
priority2 248
domainNumber 0
clockClass 248
clockAccuracy 0xFE
offsetScaledLogVariance 0xFFFF
free_running 0
freq_est_interval 1

Port Data Set
logAnnounceInterval 1
logSyncInterval -3
logMinPdelayReqInterval 0
announceReceiptTimeout 3
syncReceiptTimeout 3
delayAsymmetry 0
fault_reset_interval 4
neighborPropDelayThresh 800
min_neighbor_prop_delay -20000000

Run time options
assume_two_step 1
logging_level 6
path_trace_enabled 1
follow_up_info 1
hybrid_e2e 0
tx_timestamp_timeout 1
use_syslog 1
verbose 0
summary_interval 0
kernel_leap 1
check_fup_sync 0

Servo options
pi_proportional_const 0.0
pi_integral_const 0.0
pi_proportional_scale 0.0
pi_proportional_exponent -0.3
pi_proportional_norm_max 0.7
pi_integral_scale 0.0
pi_integral_exponent 0.4
pi_integral_norm_max 0.3
step_threshold 0.0
first_step_threshold 0.00002
max_frequency 900000000
clock_servo pi
sanity_freq_limit 200000000
ntpshm_segment 0

Transport options
transportSpecific 0x1
ptp_dst_mac 01:80:C2:00:00:0E
p2p_dst_mac 01:80:C2:00:00:0E
uds_address /var/run/ptp4l

Default interface options
network_transport L2
delay_mechanism P2P
time_stamping hardware
tsproc_mode filter
delay_filter moving_median
delay_filter_length 10
egressLatency 0
ingressLatency 0
boundary_clock_jbod 0

4. 修改配置

Host side
ifconfig eth0 down
ifconfig eth0 up
ifconfig eth0 0.0.0.0
ip addr add 10.0.0.1/24 dev eth0
ip link set dev eth0 up
timedatectl set-ntp false
date 010100002018
phc_ctl /dev/ptp0 set
phc_ctl /dev/ptp0 get
ptp4l -f gPTP.cfg -i eth0 -p /dev/ptp0 -m

slave side
ifconfig eth0 down
ifconfig eth0 up
ifconfig eth0 0.0.0.0
ip addr add 10.0.0.2/24 dev eth0
ip link set dev eth0 up
timedatectl set-ntp false
phc_ctl /dev/ptp0 get
ptp4l -f gPTP.cfg -i eth0 -p /dev/ptp0 -s -m

尝试以上的命令，仍不能在从属设备上得到时间同步
下面是我的设备上的phc_ctl /dev/ptp0输出

phc_ctl[235.617]:
capabilities:
62500000 maximum frequency adjustment (ppb)
0 programable alarms
0 external time stamp channels
0 programmable periodic signals
doesn’t have pulse per second support

sudo phc_ctl /dev/ptp0 get
phc_ctl[255.518]: clock time is 1625919201.249458848 or Sat Jul 10 17:43:21 2021

使用linuxptp

 git clone git://git.code.sf.net/p/linuxptp/code linuxptp
   cd linuxptp/
   make -j6
  sudo make install

5. eth0的时间戳参数

ethtool -T eth0的输出如下

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: 0
Hardware Transmit Timestamp Modes:
off (HWTSTAMP_TX_OFF)
on (HWTSTAMP_TX_ON)
Hardware Receive Filter Modes:
none (HWTSTAMP_FILTER_NONE)
ptpv1-l4-sync (HWTSTAMP_FILTER_PTP_V1_L4_SYNC)
ptpv1-l4-delay-req (HWTSTAMP_FILTER_PTP_V1_L4_DELAY_REQ)
ptpv2-l4-sync (HWTSTAMP_FILTER_PTP_V2_L4_SYNC)
ptpv2-l4-delay-req (HWTSTAMP_FILTER_PTP_V2_L4_DELAY_REQ)
ptpv2-l2-sync (HWTSTAMP_FILTER_PTP_V2_L2_SYNC)
ptpv2-l2-delay-req (HWTSTAMP_FILTER_PTP_V2_L2_DELAY_REQ)
ptpv2-event (HWTSTAMP_FILTER_PTP_V2_EVENT)

从根终端运行了命令
但是客户端上的“phc_ctl /dev/ptp0 get”并没有返回主机端上的时间

Host side:
sudo ptpd -M -V -i eth0
Device side:
sudo ptpd -s -V -i eth0

6. 调试记录

主端使用下面的命令

ifconfig eth0 down
ifconfig eth0 up
ifconfig eth0 0.0.0.0
ip addr add 10.0.0.1/24 dev eth0
ip link set dev eth0 up
timedatectl set-ntp false
date 010100002018
phc_ctl /dev/ptp0 set
phc_ctl /dev/ptp0 get
ptp4l -i eth0 -m -H
phc2sys -m -s CLOCK_REALTIME -c eth0 -w

从端使用以下命令

ifconfig eth0 down
ifconfig eth0 up
ifconfig eth0 0.0.0.0
ip addr add 10.0.0.2/24 dev eth0
ip link set dev eth0 up
timedatectl set-ntp false
phc_ctl /dev/ptp0 get
ptp4l -i eth0 -p /dev/ptp0 -s -m
phc2sys -a -r -m

附加主从侧的日志

root@linux:/home/nvidia# ptp4l -i eth0 -m -H
ptp4l[186.842]: selected /dev/ptp0 as PTP clock
ptp4l[186.844]: port 1 (eth0): INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[186.845]: port 0 (/var/run/ptp4l): INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[186.845]: port 0 (/var/run/ptp4lro): INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[193.957]: port 1 (eth0): LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[193.957]: selected local clock 48b02d.fffe.07645e as best master
ptp4l[193.957]: port 1 (eth0): assuming the grand master role
ptp4l[245.714]: port 1 (eth0): link down
ptp4l[245.714]: port 1 (eth0): MASTER to FAULTY on FAULT_DETECTED (FT_UNSPECIFIED)
ptp4l[245.714]: port 1 (eth0): assuming the grand master role
ptp4l[254.625]: port 1 (eth0): link up
ptp4l[254.626]: port 1 (eth0): FAULTY to LISTENING on INIT_COMPLETE
ptp4l[260.711]: port 1 (eth0): LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[260.711]: port 1 (eth0): assuming the grand master role

---------------------------------------------------------------------------------

root@linux:/home/nvidia# sudo /usr/local/sbin/phc2sys -m -s CLOCK_REALTIME -c eth0 -w
phc2sys[2640.073]: eth0 sys offset    -39792 s0 freq    +280 delay   3552
phc2sys[2641.074]: eth0 sys offset    -40032 s1 freq     +40 delay   3552
phc2sys[2642.074]: eth0 sys offset       -96 s2 freq     -56 delay   3552
phc2sys[2643.074]: eth0 sys offset       -16 s2 freq      -5 delay   3520
phc2sys[2644.075]: eth0 sys offset       -16 s2 freq      -9 delay   3520
phc2sys[2645.075]: eth0 sys offset         0 s2 freq      +2 delay   3552
phc2sys[2646.075]: eth0 sys offset         0 s2 freq      +2 delay   3552
phc2sys[2647.075]: eth0 sys offset        16 s2 freq     +18 delay   3520
phc2sys[2648.076]: eth0 sys offset       -16 s2 freq      -9 delay   3552
phc2sys[2649.076]: eth0 sys offset       -16 s2 freq     -14 delay   3552
phc2sys[2650.076]: eth0 sys offset        16 s2 freq     +13 delay   3520
phc2sys[2651.077]: eth0 sys offset         0 s2 freq      +2 delay   3520
phc2sys[2652.077]: eth0 sys offset       -16 s2 freq     -14 delay   3488
phc2sys[2653.077]: eth0 sys offset         0 s2 freq      -3 delay   3552
phc2sys[2654.077]: eth0 sys offset       -16 s2 freq     -19 delay   3520