TSC_EDGE_OUT Functionality on Jetson AGX Orin Developer Kit

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
1

Hello,

I am working with the Jetson AGX Orin Developer Kit and need to configure a GPIO pin to function as TSC_EDGE_OUT (Time Stamp Counter Edge Output). I have reviewed the Product Design Guide, TRM, and the Pinmux Spreadsheet but have not found explicit documentation on TSC_EDGE_OUT functionality.

  1. Does the Jetson AGX Orin Developer Kit support TSC_EDGE_OUT?
  2. If so, which GPIO pin(s) can be configured for this purpose?
  3. Are there any specific steps or configurations needed to enable TSC_EDGE_OUT?

Any guidance or documentation references would be greatly appreciated.

Thank you,
Sharon Salmon

2

Ok, from what I found It is GPIO10 which is in pin #85 on the camera connector. now my question is how do I set it to be used as PPS output aligned with PTP ?

4

Hi ssalmon,

What’s the Jetpack version in use?
Are you trying to connect TSC_EDGE_OUT to a GPIO used as PPS input?

You can refer to the following topics to setup PPS first.
PPS input to GPIO on Jetpack 6.1 - #8 by erik93
Pps_gpio interrupt not asserted - #8 by KevinFFF
AGX Xavier PPS fetch timeout R35.2.1(R32.7.1 works fine)

5

Hi,
My version is JetPack 5.1.2.
Im am not trying to have PPS input. I try to use TSC_EDGE_OUT0 which is GPIO10 as a PPS output signal

6

After you generate PPS signal from TSC_EDGE_OUT0, what is it connecting with?
What’s your use case for this signal?
How do you control this pin to use it as PPS output? by trigger the event!?

7

Hi,
I am trying to connect it to OSA 5422 which functions as PTP grandmaster.
It is done for offset measurements.
the pin can be aligned to the PTP

8

How do you connect AGX Orin with OSA-5422? (through ethernet?)

Have you installed linuxptp on AGX Orin?

9

Yes Ethernet
Yes I installed linuxptp

10

Please share the result of the following commands on your devkit.

$ ethtool -T eno1
$ sudo ptp4l -i eno1 -m
(in another terminal)
$ sudo phc2sys -s eno1 -w -m
11

I have these interfaces on my device:
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 10.7.162.18 netmask 255.255.254.0 broadcast 10.7.163.255
inet6 fe80::e928:4340:93e1:e4b7 prefixlen 64 scopeid 0x20
ether 7c:c2:c6:45:3b:57 txqueuelen 1000 (Ethernet)
RX packets 7742 bytes 2245639 (2.2 MB)
RX errors 6809 dropped 0 overruns 0 frame 0
TX packets 8522 bytes 1247799 (1.2 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

eth1: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
ether 3c:6d:66:02:cd:d9 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

root@agxlab-desktop:~# ethtool -T eth1
Time stamping parameters for eth1:
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)
one-step-sync (HWTSTAMP_TX_ONESTEP_SYNC)
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)

12

Your results look good to me.

Please refer to the following steps to setup.

  1. connect OSA 5422 to AGX Orin eth1 port with ethernet cable
  2. create a configuration file(/etc/linuxptp/ptp4l-eth1.conf) with following contents.
# =================================================================
# PTPd configuration file for a dedicated PTP slave on eth1
# =================================================================
[global]
# Log to system log
logging_level     7
verbose           1

# We are a PTP slave (client) only
slaveOnly         1

# Kernel-level hardware timestamping
time_stamping     hardware

# =================================================================
# Port specific options for eth1
# =================================================================
[eth1]
# PTP domain number, 0 is the default. Must match your OSA 5422 setting.
domainNumber      0

# Use Layer 2 (Ethernet) transport. This is robust and doesn't require an IP address.
network_transport L2

# Announce messages tell us about the master clock
logAnnounceInterval  1

# Sync messages are for frequency/time correction
logSyncInterval      -3

# Delay request messages are sent by the slave to measure path delay
logMinDelayReqInterval -3

# Let the servo decide on the PI coefficients
pi_proportional_const 0.0
pi_integral_const     0.0
  1. Create 3 terminals and run the following commands and share the results
(1st terminal)
$ sudo ptp4l -i eth1 -f /etc/linuxptp/ptp4l-eth1.conf -m

(2nd terminal)
$sudo phc2sys -s eth1 -w -m

(3rd terminal)
$ date
13

Hi.
I didn’t run this exactly.
I ran:
sudo ptp4l -i eth1 -f /etc/linuxptp/ptp4l-eth1.conf -m -H

The conf file looks like this:

=================================================================

PTPd configuration file for a dedicated PTP slave on eth1

=================================================================

[global]

time_stamping hardware
delay_mechanism E2E
network_transport L2
tx_timestamp_timeout 20

Log to system log

logging_level 7
verbose 1

We are a PTP slave (client) only

slaveOnly 1

PTP domain number, 0 is the default. Must match your master clock setting

domainNumber 0

Let the servo decide on the PI coefficients (0.0 = auto)

pi_proportional_const 0.0
pi_integral_const 0.0

=================================================================

Port specific options for eth1

=================================================================

[eth1]

Announce messages tell us about the master clock

logAnnounceInterval 1

Sync messages are for frequency/time correction

logSyncInterval 1

Delay request messages are sent by the slave to measure path delay

logMinDelayReqInterval 1

The ruesults of terminal1 looks like that:
ptp4l[201126.901]: delay filtered 2442 raw 1865
ptp4l[201127.558]: master offset 349 s2 freq -5113 path delay 2442
ptp4l[201128.270]: port 1: delay timeout
ptp4l[201128.276]: delay filtered 2280 raw 1893
ptp4l[201128.558]: master offset 91 s2 freq -5266 path delay 2280
ptp4l[201128.662]: port 1: delay timeout
ptp4l[201128.668]: delay filtered 2203 raw 1758
ptp4l[201129.558]: master offset -114 s2 freq -5444 path delay 2203
ptp4l[201129.900]: port 1: delay timeout
ptp4l[201129.908]: delay filtered 2127 raw 1755
ptp4l[201130.558]: master offset -135 s2 freq -5499 path delay 2127
ptp4l[201130.596]: port 1: delay timeout
ptp4l[201130.604]: delay filtered 2010 raw 1744
ptp4l[201131.558]: master offset -51 s2 freq -5456 path delay 2010
ptp4l[201131.696]: port 1: delay timeout
ptp4l[201131.704]: delay filtered 1879 raw 1761
ptp4l[201132.030]: port 1: delay timeout
ptp4l[201132.036]: delay filtered 1814 raw 1763
ptp4l[201132.290]: port 1: delay timeout
ptp4l[201132.296]: delay filtered 1770 raw 1777
ptp4l[201132.558]: master offset 92 s2 freq -5328 path delay 1770
ptp4l[201133.531]: port 1: delay timeout
ptp4l[201133.540]: delay filtered 1770 raw 1843
ptp4l[201133.558]: master offset -122 s2 freq -5514 path delay 1770
ptp4l[201133.955]: port 1: delay timeout
ptp4l[201133.960]: delay filtered 1762 raw 1743
ptp4l[201134.558]: master offset -132 s2 freq -5561 path delay 1762
ptp4l[201135.436]: port 1: delay timeout

Terminal2 look like:
root@agxlab-desktop:~# sudo phc2sys -s eth1 -w -m
phc2sys[201186.897]: CLOCK_REALTIME phc offset 528210 s0 freq -5194 delay 2560
phc2sys[201187.898]: CLOCK_REALTIME phc offset 527820 s1 freq -5584 delay 2656
phc2sys[201188.899]: CLOCK_REALTIME phc offset 10962 s2 freq +5378 delay 2657
phc2sys[201189.899]: CLOCK_REALTIME phc offset 81144 s2 freq +78849 delay 2624
phc2sys[201190.900]: CLOCK_REALTIME phc offset 67902 s2 freq +89950 delay 2848
phc2sys[201191.901]: CLOCK_REALTIME phc offset 34598 s2 freq +77017 delay 2624
phc2sys[201192.901]: CLOCK_REALTIME phc offset 6483 s2 freq +59281 delay 2688
phc2sys[201193.902]: CLOCK_REALTIME phc offset -10863 s2 freq +43880 delay 2687
phc2sys[201194.902]: CLOCK_REALTIME phc offset -18618 s2 freq +32866 delay 3040
phc2sys[201195.903]: CLOCK_REALTIME phc offset -20649 s2 freq +25250 delay 2688

Terminal3:
root@agxlab-desktop:~# date
Wed 09 Jul 2025 17:39:25 IDT

14

Hope this is ok. if not , I’ll try the persice configuration

21

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