gPTP supported ports

eolson · November 9, 2023, 2:15pm

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

I’m a little confused reading through the documentation, but what ports support gPTP? I have a gPTP enabled external grandmaster running on eqos_0, but i’m not sure if it’s working correctly. I’ve also tried the default ptp4l configuration on MATENET P4 with our lidar devices on Quad HMTD J3 (P4 & P3) but i believe the amount of jumping between x2 switches is causing a large delay time.

VickNV · November 9, 2023, 4:27pm

Please refer to Time Synchronization for detailed information.

eolson · November 9, 2023, 4:47pm

I’m confused by the documentation, which switch, ports, etc. have gPTP enabled?

VickNV · November 9, 2023, 6:50pm

The grandmaster should be connected to ‘MateNET Connector J11: P4’.

eolson · November 10, 2023, 3:28pm

Can the external grandmaster be connected to other ports? We have x2 lidars that publish over the limit the matenet ports have, and we found when plugging into the other ethernet switch the grandmaster time delay is very large as it’s jumping between 2 switches.

eolson · November 14, 2023, 1:59pm

I’ve noticed as well that there is a [ptp1] process running on the system? And when viewing the output in wireshark on mgbe2_0 and mgbe3_0 I’m seeing Sync messages? Is the drive unit running a ptp service in the background?

VickNV · November 14, 2023, 4:23pm

Are you trying to connect more lidars than there are available ports? How many lidars are you attempting to connect? Additionally, could you provide more details about the observed behavior and the specific challenges you are facing?

eolson · November 14, 2023, 4:39pm

Here is how our system is setup:

My issue is i’m seeing a large gm_offset when trying to use the default ptp4l configuration with a Boundary Clock for MGBR3_0 and MGBE2_0. My concern is the jumping between 2 switches for PTP vs. putting ptp on say eqos or even on the same switch as the ouster lidars.

VickNV · November 14, 2023, 5:03pm

Please provide the detailed steps you’ve taken, the specific commands you used and their output showing the ‘gm_offset’ issue.

eolson · November 14, 2023, 5:20pm

Commands ran:

sudo ifconfig mgbe2_0 192.168.1.10 (IP for external GM)
sudo ifconfig mgbe3_0 169.254.105.172 (IP for x2 Ouster Lidars)
sudo ./ptp4l -f /etc/linuxptp/ptp4l.conf -i mgbe2_0 -p /dev/ptp2 -m

ptp4l[650.563] master offset 375403641 s2 freq +2500000 path delay -15200753

Can you also explain what i’m seeing on with the [ptp1] service running in the background. I’m seeing sync / follow messages from Nvidia to LLDP_Multicast

boundary_clock_jbod 1
[mgbe2_0]
[mgbe3_0]

github.com

richardcochran/linuxptp/blob/master/configs/default.cfg

[global]
#
# Default Data Set
#
twoStepFlag		1
clientOnly		0
socket_priority		0
priority1		128
priority2		128
domainNumber		0
#utc_offset		37
clockClass		248
clockAccuracy		0xFE
offsetScaledLogVariance	0xFFFF
free_running		0
freq_est_interval	1
dscp_event		0
dscp_general		0
dataset_comparison	ieee1588
G.8275.defaultDS.localPriority	128

This file has been truncated. show original

VickNV · November 14, 2023, 6:47pm

Please follow Orin Time Sync | NVIDIA Docs to use the mentioned configuration files. For the ptp1 issue, please provide specific details about what you observed and how you observed it.

eolson · November 14, 2023, 7:05pm

nvidia@tegra-ubuntu:~$ ps aux | grep "ptp"
root         962  0.0  0.0      0     0 ?        S    11:40   0:00 [ptp1]
nvidia      4815  0.0  0.0   4728  2172 pts/2    S+   12:53   0:00 grep --color=auto ptp
nvidia@tegra-ubuntu:~$

What is sending these PTPv2 messages?

Something on root is running ptp. I’ve also disabled gptpoff on the AURIX, not sure if that’s what is publishing these messages.

VickNV · November 14, 2023, 8:07pm

It seems that LAN7431 kernel driver registers the ptp1.

What are your concerns on these frames sent to LLDP_Multicast? Could you check what’s with the source MAC address ‘48:b0:2d:63:1a:f7’ in your system?

eolson · November 14, 2023, 8:16pm

I think the concern is that if I have an external GM, that the solution might pick this as the best clock vs. our own. I’d rather have the ethernet traffic clear of any PTP messages that are not coming from our devices. As for the source of the mac address I can’t seem to find that anywhere in the system.

nvidia@tegra-ubuntu:~$ ip a
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host
       valid_lft forever preferred_lft forever
2: dummy0: <BROADCAST,NOARP> mtu 1500 qdisc noop state DOWN group default qlen 1000
    link/ether a2:1d:68:10:26:f8 brd ff:ff:ff:ff:ff:ff
3: eqos_0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1466 qdisc mq state UP group default qlen 1000
    link/ether 48:b0:2d:b5:f0:a7 brd ff:ff:ff:ff:ff:ff
    inet 10.224.3.50/24 brd 10.224.3.255 scope global dynamic eqos_0
       valid_lft 682516sec preferred_lft 682516sec
    inet6 fe80::4ab0:2dff:feb5:f0a7/64 scope link
       valid_lft forever preferred_lft forever
4: mgbe0_0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1466 qdisc mq state UP group default qlen 1000
    link/ether 48:b0:2d:b5:f0:a9 brd ff:ff:ff:ff:ff:ff
    inet6 fe80::4ab0:2dff:feb5:f0a9/64 scope link
       valid_lft forever preferred_lft forever
5: mgbe1_0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1466 qdisc mq state DOWN group default qlen 1000
    link/ether 48:b0:2d:b5:f0:ab brd ff:ff:ff:ff:ff:ff
6: mgbe2_0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1466 qdisc mq state UP group default qlen 1000
    link/ether 48:b0:2d:b5:f0:ad brd ff:ff:ff:ff:ff:ff
    inet6 fe80::4ab0:2dff:feb5:f0ad/64 scope link
       valid_lft forever preferred_lft forever
7: mgbe3_0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1466 qdisc mq state UP group default qlen 1000
    link/ether 48:b0:2d:b5:f0:af brd ff:ff:ff:ff:ff:ff
    inet6 fe80::4ab0:2dff:feb5:f0af/64 scope link
       valid_lft forever preferred_lft forever
8: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
    link/can
9: enP7p1s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000
    link/ether 48:b0:2d:91:ca:e6 brd ff:ff:ff:ff:ff:ff
    inet6 fe80::4ab0:2dff:fe91:cae6/64 scope link
       valid_lft forever preferred_lft forever
10: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
    link/can
11: wlP1p1s0: <BROADCAST,MULTICAST> mtu 1500 qdisc noop state DOWN group default qlen 1000
    link/ether b4:8c:9d:49:a0:f9 brd ff:ff:ff:ff:ff:ff
12: mgbe2_0.200@mgbe2_0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1466 qdisc noqueue state UP group default qlen 1000
    link/ether 48:b0:2d:b5:f0:ad brd ff:ff:ff:ff:ff:ff
    inet 10.42.0.28/24 brd 10.42.0.255 scope global mgbe2_0.200
       valid_lft forever preferred_lft forever
    inet6 fe80::4ab0:2dff:feb5:f0ad/64 scope link
       valid_lft forever preferred_lft forever
13: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default
    link/ether 02:42:8a:98:53:d8 brd ff:ff:ff:ff:ff:ff
    inet 172.17.0.1/16 brd 172.17.255.255 scope global docker0
       valid_lft forever preferred_lft forever

VickNV · November 14, 2023, 8:20pm

Please check aurix by executing the ‘status’ command in the aurix shell.

eolson · November 14, 2023, 8:24pm


Welcome to minicom 2.7.1

OPTIONS: I18n
Compiled on Aug 13 2017, 15:25:34.
Port /dev/ttyACM1, 11:49:20

Press CTRL-A Z for help on special keys

ReporterId-0x8001 Error_Attribute-0x0 Timestamp-0x77fa7dd1
MCU_FOH: ErrReport: ErrorCode-0x18550080 ReporterId-0x8001 Error_Attribute-0x0 Timestamp-0x77faf3c9
status
Info: Executing cmd: status, argc: 0, args:
Alive       : 02:33:45
CPU load     Core 0: 5%
CPU load max Core 0: 100%
CPU load     Core 1: 0%
CPU load max Core 1: 00%
CPU load     Core 2: 0%
CPU load max Core 2: 00%
CPU load     Core 3: 0%
CPU load max Core 3: 00%
CPU load     Core 4: 0%
CPU load max Core 4: 00%
CPU load     Core 5: 0%
CPU load max Core 5: 00%

IP-address   (AURIX): 10.42.0.146

MAC-address        (AURIX): 0x48B02D631AF6

RAM Usage: 79232 bytes
Command Executed
NvShell>

VickNV · November 16, 2023, 4:21pm

These PTP traffic should be from Marvell FW running in the switch.

eolson · November 16, 2023, 4:23pm

Is there a reason why it’s running PTP by default on the switch FW? Is there any way to disable it so that our external GM is the only one that would be publishing any PTP messages. Understanding that there will be PTP traffic from our external GM and the slave ptp command on the system

VickNV · November 20, 2023, 7:23pm

Does using the mentioned configuration files still observe the issue?

eolson · November 30, 2023, 4:46pm

Yes, when we run the automotive-slave.cfg configuration file, it does not seem to recognize our “external grandmaster” it just pulls the master that’s running on the Marvel FW switch. It will run and show the output with low rms / delays, however this is still the same result even when not plugging in our external grandmaster so i’m not sure how valid it is.

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gPTP supported ports

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