PTP Sync on Drive Orin

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.8.1
[Y] 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
[Y] 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
[Y] 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

Hi, I have a PTP GM connected to the eqos_0 port and a lidar connected to mgbe1_0.
I am running following command for Orin PTP sync
ptp4l -i eqos_0 -p /dev/ptp4 -m -l7 -4

and see following output

ptp4l[8315.158]: port 0: INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[8315.158]: port 1: received link status notification
ptp4l[8315.158]: interface index 3 is up
ptp4l[8315.866]: port 1: setting asCapable
ptp4l[8316.766]: port 1: new foreign master 002166.fffe.0859cb-1
ptp4l[8320.366]: selected best master clock 002166.fffe.0859cb
ptp4l[8320.366]: updating UTC offset to 37
ptp4l[8320.366]: port 1: LISTENING to UNCALIBRATED on RS_SLAVE
ptp4l[8321.908]: port 1: delay timeout
ptp4l[8321.909]: delay   filtered     263578   raw     263578
ptp4l[8322.166]: master offset -613662061805 s0 freq   -5323 path delay    263578
ptp4l[8323.066]: master offset -613662060491 s1 freq   -4009 path delay    263578
ptp4l[8323.383]: port 1: delay timeout
ptp4l[8323.966]: master offset      -6762 s2 freq  -10771 path delay    263578
ptp4l[8323.966]: port 1: UNCALIBRATED to SLAVE on MASTER_CLOCK_SELECTED
ptp4l[8324.866]: master offset       3138 s2 freq   -2900 path delay    263578
ptp4l[8325.410]: port 1: delay timeout
ptp4l[8325.411]: delay   filtered     237196   raw     210815
ptp4l[8325.766]: master offset      25644 s2 freq  +20548 path delay    237196
ptp4l[8325.892]: port 1: delay timeout
ptp4l[8325.893]: delay   filtered     210815   raw     209977

For lidar PTP sync I am using the following command but lidar is not getting PTP synced.
sudo ptp4l -i mgbe1_0 -p /dev/ptp3 -m -l7

ptp4l[8424.565]: config item /var/run/ptp4l.min_neighbor_prop_delay is -20000000
ptp4l[8424.565]: config item (null).uds_address is '/var/run/ptp4l'
ptp4l[8424.565]: port 0: INITIALIZING to LISTENING on INIT_COMPLETE
ptp4l[8424.565]: port 1: received link status notification
ptp4l[8424.565]: interface index 5 is up
ptp4l[8432.547]: port 1: announce timeout
ptp4l[8432.548]: port 1: LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
ptp4l[8432.548]: selected local clock 48b02d.fffe.d2f099 as best master
ptp4l[8432.548]: assuming the grand master role
ptp4l[8432.549]: port 1: master tx announce timeout
ptp4l[8432.549]: port 1: setting asCapable
ptp4l[8433.548]: port 1: master sync timeout
ptp4l[8434.548]: port 1: master sync timeout
ptp4l[8434.549]: port 1: master tx announce timeout
ptp4l[8435.548]: port 1: master sync timeout
ptp4l[8436.548]: port 1: master sync timeout
ptp4l[8436.549]: port 1: master tx announce timeout

Are there any more setting that needs to take place?

3

Dear @dellxps,
Could you follow Orin Time Sync | NVIDIA Docs

4

Dear @dellxps,
do you still need support on this issue. Could you provide any update on this issue?

5

I followed the Docs and was able to get the setup working. Although I keep getting this error

clockcheck: clock jumped forward or running faster than expected!

from ptp4l and ORIN loses the PTP lock

 tegra-ubuntu systemd[1]: Started Precision Time Protocol (PTP) service.
 tegra-ubuntu ptp4l[12552]: [7716.493] selected /dev/ptp4 as PTP clock
 tegra-ubuntu ptp4l[12552]: [7716.493] port 2: just a bunch of devices
 tegra-ubuntu ptp4l[12552]: [7716.493] port 1: INITIALIZING to LISTENING on INIT_COMPLETE
 tegra-ubuntu ptp4l[12552]: [7716.494] port 2: INITIALIZING to LISTENING on INIT_COMPLETE
 tegra-ubuntu ptp4l[12552]: [7716.494] port 0: INITIALIZING to LISTENING on INIT_COMPLETE
 tegra-ubuntu ptp4l[12552]: [7718.044] port 1: new foreign master 002166.fffe.0859cb-1
 tegra-ubuntu ptp4l[12552]: [7722.044] selected best master clock 002166.fffe.0859cb
 tegra-ubuntu ptp4l[12552]: [7722.044] updating UTC offset to 37
 tegra-ubuntu ptp4l[12552]: [7722.044] port 1: LISTENING to UNCALIBRATED on RS_SLAVE
 tegra-ubuntu ptp4l[12552]: [7724.043] master offset -37000035944 s0 freq   -2717 path delay    203978
tegra-ubuntu ptp4l[12552]: [7724.445] port 2: LISTENING to MASTER on ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES
tegra-ubuntu ptp4l[12552]: [7724.445] selected best master clock 002166.fffe.0859cb
 tegra-ubuntu ptp4l[12552]: [7724.445] updating UTC offset to 37
 tegra-ubuntu ptp4l[12552]: [7725.043] master offset -37000021637 s1 freq  +11589 path delay    187895
 tegra-ubuntu ptp4l[12552]: [7726.043] master offset     -17646 s2 freq   -6057 path delay    187895
 tegra-ubuntu ptp4l[12552]: [7726.043] port 1: UNCALIBRATED to SLAVE on MASTER_CLOCK_SELECTED
 tegra-ubuntu ptp4l[12552]: [7727.043] master offset     -27735 s2 freq  -21439 path delay    203978
 tegra-ubuntu ptp4l[12552]: [7728.043] master offset     -25347 s2 freq  -27372 path delay    209354
 tegra-ubuntu ptp4l[12552]: [7729.043] master offset        441 s2 freq   -9188 path delay    209354
 tegra-ubuntu ptp4l[12552]: [7730.043] master offset       2931 s2 freq   -6566 path delay    203978


tegra-ubuntu ptp4l[12552]: [7780.043] master offset       1566 s2 freq   -6456 path delay    192317
 tegra-ubuntu ptp4l[12552]: [7781.043] master offset      14814 s2 freq   +7262 path delay    192317
 tegra-ubuntu ptp4l[12552]: [7781.993] clockcheck: clock jumped backward or running slower than expected!
 tegra-ubuntu ptp4l[12552]: [7782.044] master offset      48320 s0 freq   +7262 path delay    209661
 tegra-ubuntu ptp4l[12552]: [7782.044] port 1: SLAVE to UNCALIBRATED on SYNCHRONIZATION_FAULT
 tegra-ubuntu ptp4l[12552]: [7782.314] clockcheck: clock jumped forward or running faster than expected!
 tegra-ubuntu ptp4l[12552]: [7782.453] clockcheck: clock jumped forward or running faster than expected!
 tegra-ubuntu ptp4l[12552]: [7782.562] clockcheck: clock jumped backward or running slower than expected!
 tegra-ubuntu ptp4l[12552]: [7782.920] clockcheck: clock jumped forward or running faster than expected!
 tegra-ubuntu ptp4l[12552]: [7783.039] clockcheck: clock jumped backward or running slower than expected!
 tegra-ubuntu ptp4l[12552]: [7783.043] master offset     -40810 s0 freq   +7262 path delay    209661
 tegra-ubuntu ptp4l[12552]: [7783.757] clockcheck: clock jumped forward or running faster than expected!
 tegra-ubuntu ptp4l[12552]: [7783.942] clockcheck: clock jumped backward or running slower than expected!
 tegra-ubuntu ptp4l[12552]: [7784.043] clockcheck: clock jumped forward or running faster than expected!
 tegra-ubuntu ptp4l[12552]: [7784.043] master offset     -58414 s0 freq   +7262 path delay    209661
 tegra-ubuntu ptp4l[12552]: [7784.140] timed out while polling for tx timestamp
 tegra-ubuntu ptp4l[12552]: [7784.140] increasing tx_timestamp_timeout may correct this issue, but it is likely caused by a driver bug
 tegra-ubuntu ptp4l[12552]: [7784.140] port 2: send sync failed
 tegra-ubuntu ptp4l[12552]: [7784.140] port 2: MASTER to FAULTY on FAULT_DETECTED (FT_UNSPECIFIED)
 tegra-ubuntu ptp4l[12552]: [7785.043] master offset     -72779 s1 freq   -7103 path delay    210772
 tegra-ubuntu ptp4l[12552]: [7786.043] master offset       6048 s2 freq   -1055 path delay    210772
 tegra-ubuntu ptp4l[12552]: [7786.043] port 1: UNCALIBRATED to SLAVE on MASTER_CLOCK_SELECTED
 tegra-ubuntu ptp4l[12552]: [7787.043] master offset      98334 s2 freq  +93045 path delay    210772

 tegra-ubuntu ptp4l[12552]: [7793.043] master offset       -674 s2 freq  -15316 path delay    214896

 tegra-ubuntu ptp4l[12552]: [7800.043] master offset      -2828 s2 freq   -6103 path delay    178248
 tegra-ubuntu ptp4l[12552]: [7800.141] port 2: FAULTY to LISTENING on INIT_COMPLETE
 tegra-ubuntu ptp4l[12552]: [7801.043] master offset      -8432 s2 freq  -12555 path delay    171792
7

There is no update from you for a period, assuming this is not an issue any more.
Hence we are closing this topic. If need further support, please open a new one.
Thanks

Dear @dellxps,
Could you test the issue on DRIVE OS 6.0.8.1?

9

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