Update ptp / phc related code

Add GPIO support to software-pps
Update synchronize-phc
Add run-software-pps script
Add sanity check for server
Sleep at beginning of the loop in client
Add sanity check in client too
Add mode to synchronize-phc
Fix mistake in get-ptp-time
Add kill ptp and phc scripts
Add test-ptp
Add option to print time on each line for ptp-get-time
Add nowait option to gettime
Add logging option in test-ptp
Add error correction in test-ptp
Fix encode decode mistake
Don't use strcpy
Fix packet data transfer, add error correction
Add 68us jitter 20mn A20-shuttle signal measure
Update phc script
Change default parameters for test-board-synchro
Update kill scripts to work when called outside of script dir
Update parse-saleae-measure script to include hex exports

.gitignore

@@ -8,6 +8,8 @@ packet-exchange/build/server
 packet-exchange/build/client
 gettime/build/gettime
 software-pps/build/software-pps
+test-ptp/build/server
+test-ptp/build/client
 
 scripts/packet-histogram_stop-options*
 

gettime/src/gettime.c

@@ -22,6 +22,7 @@
 #include <unistd.h>
 
 #define NSEC_PER_SEC UINT64_C(1000000000)
+#define MAX_BUFFER_SIZE 10000000
 
 // Structs
 
@@ -42,8 +43,13 @@ static uint64_t ts_to_uint(struct timespec t);
 static thread_param_t thread_params;
 static uint64_t ptptime;
 static int quit;
+static int nowait;
+static int print_newline;
+static int print_period;
 static clockid_t clock_id;
 
+static uint64_t ts_buffer[MAX_BUFFER_SIZE];
+
 static void help(char *argv[]) {
   printf(
       "Usage: %s [-h] [-i USEC]\n"
@@ -52,6 +58,9 @@ static void help(char *argv[]) {
       "       -r                 Get time from CLOCK_REALTIME (default)\n"
       "       -t                 Get time from CLOCK_TAI\n"
       "       -q                 Get time then quit\n"
+      "       -L                 Print new line for each value\n"
+      "       -R USEC            Print period\n"
+      "       -F                 Read clock and store in buffer as fast as possible and dump the buffer at the end\n"
       "       -i USEC            RT thread wake-up interval (default: 10ms)\n"
       "\n",
       argv[0]);
@@ -74,13 +83,25 @@ static void *rt_thread(void *p) {
   clock_gettime(CLOCK_MONOTONIC, &next);
 
   // Time lookup loop
-  for (;;) {
+  for (int i = 0;; i++) {
+
     clock_gettime(clock_id, &ptptime_ts);
     ptptime = ts_to_uint(ptptime_ts);
 
-    add_ns(&next, thread_params.interval);
+    if(!nowait) {
+      add_ns(&next, thread_params.interval);
+      clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next, NULL);
+    }
+    else {
+      ts_buffer[i] = ptptime;
+
+      if((i+1) >= MAX_BUFFER_SIZE) {
+        for(int j = 0; j < MAX_BUFFER_SIZE; j++)
+          printf("%" PRIu64 "\n", ts_buffer[j]);
+        exit(EXIT_SUCCESS);
+      }
 
-    clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next, NULL);
+    }
   }
 
   return NULL;
@@ -99,6 +120,8 @@ int main(int argc, char *argv[]) {
   thread_params.interval = 100000 * 1000;
   thread_params.priority = 98;
   clock_id = CLOCK_REALTIME;
+  print_newline = 0;
+  print_period = 100000;
 
   /* Lock all current and future pages from preventing of being paged to
    * swap */
@@ -149,9 +172,12 @@ int main(int argc, char *argv[]) {
 
   // Verbose loop
   for (;;) {
-    usleep(100000);
-    printf("%9" PRIu64 ": \n", ptptime);
-    printf("\033[%dA", 1);
+    usleep(print_period);
+    if(!nowait) {
+      printf("%9" PRIu64 "\n", ptptime);
+      if(!print_newline)
+        printf("\033[%dA", 1);
+    }
   }
 
   exit(EXIT_SUCCESS);
@@ -161,7 +187,7 @@ int main(int argc, char *argv[]) {
 static void process_options(int argc, char *argv[]) {
 
   for (;;) {
-    int c = getopt(argc, argv, "hi:qmrt");
+    int c = getopt(argc, argv, "hi:qmrtLR:F");
 
     if (c == -1) break;
 
@@ -185,6 +211,15 @@ static void process_options(int argc, char *argv[]) {
       case 'q':
         quit = 1;
         break;
+      case 'L':
+        print_newline = 1;
+        break;
+      case 'R':
+        print_period = atoi(optarg);
+        break;
+      case 'F':
+        nowait = 1;
+        break;
     }
   }
 }

measure-analysis/measure-report.md

@@ -64,6 +64,8 @@ no, 0h0, 1000us (10949)  | 0.0000us          | 239.0000us        | 140.4619us
 no, 15h1, 1000us (54075815) | 0.0000us          | 550.0000us        | 299.5232us        | 7.1155us           | 0           
 no, 15h0, 500us (108100303) | 0.0000us          | 457.0000us        | 246.4996us        | 7.5832us           | 0           
 no, 62h51, 1000us (226318412) | 0.0000us          | 586.0000us        | 268.5267us        | 4.6224us           | 0           
+no, 14h2, 1000us (50560753) | 0.0000us          | 418.0000us        | 192.4910us        | 11.2624us          | 0           
+no, 14h2, 1000us (50562481) | 0.0000us          | 399.0000us        | 169.4949us        | 5.6921us           | 0           
 
 ![alt text](measures/graphs/packet_jitterPacket jitter.png "packet_jitter Graph")
 
@@ -85,12 +87,12 @@ Minimum      | Maximum      | Average      | Standard deviation | Lost packets
 
 Two A20 boards are connected end to end with an ethernet cable to a shuttle. All devices are synchronized with PTP. The shuttle sends packets containing timestamps to the boards, and the boards emit a signal at the given timestamp. A logic analyzer measures the variation difference between the signals of the two boards.
 
-**Common test metadata:** Device: A20, Linux kernel version: 5.6, Task priority: 98, Interval: 1000us, Boot Parameters: isolcpus,rcu_nocbs,irqaffinity, ETF qdisc delta: None, Device and processor load: None, Test duration: 0h20, Speed (Mb/s): 1000, ETF offset: 500us, Packet route: E2E, qdisc: pfifo_fast, Client device: A20, XDP: no
+**Common test metadata:** Device: A20, Linux kernel version: 5.6, Task priority: 98, Interval: 1000us, Boot Parameters: isolcpus,rcu_nocbs,irqaffinity, ETF qdisc delta: None, Device and processor load: None, Test duration: 0h20, Speed (Mb/s): 1000, ETF offset: 500us, Packet route: E2E, qdisc: pfifo_fast, Client device: Shuttle, XDP: no
 
 Minimum                         | Maximum                         | Average                         | Standard deviation              | Lost packets
 ------------------------------- | ------------------------------- | ------------------------------- | ------------------------------- | ------------
 **edge jitter - period jitter** | **edge jitter - period jitter** | **edge jitter - period jitter** | **edge jitter - period jitter** |             
-0.0000us - 595.0000us           | 216.0000us - 1432.0000us        | 6.8536us - 999.5032us           | 8.4292us - 45.7510us            | 0           
+0.0000us - 974.0000us           | 68.0000us - 1038.0000us         | 6.2311us - 999.5382us           | 7.9965us - 1.5777us             | 0           
 
 ![alt text](measures/graphs/shuttle_a20_signal_jitteredge jitter.png "shuttle_a20_signal_jitter Graph")
 

measure-analysis/measures/measure_sets.json

-{"cyclictest_wake-up_latency": {"ids": [3, 5], "next_id": 6}, "shuttle_signal_jitter": {"ids": [0], "next_id": 1}, "packet_jitter": {"ids": [0, 1, 2, 3, 4], "next_id": 5}, "ping_interval": {"ids": [0], "next_id": 1}, "shuttle_a20_signal_jitter": {"ids": [0], "next_id": 1}}
\ No newline at end of file
+{"cyclictest_wake-up_latency": {"ids": [3, 5], "next_id": 6}, "shuttle_signal_jitter": {"ids": [0], "next_id": 1}, "packet_jitter": {"ids": [0, 1, 2, 3, 4, 5, 6], "next_id": 7}, "ping_interval": {"ids": [0], "next_id": 1}, "shuttle_a20_signal_jitter": {"ids": [1], "next_id": 2}}
\ No newline at end of file

measure-analysis/measures/packet_jitter5.json

+{"measure_sets": [{"measure_type": "packet_jitter", "props_names": ["Packet jitter"], "units": ["us"], "middle": 0, "props": [[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 2, 0, 2, 0, 0, 1, 2, 0, 2, 0, 1, 1, 2, 1, 2, 3, 6, 1, 4, 13, 9, 11, 21, 20, 29, 34, 46, 46, 57, 71, 109, 126, 131, 169, 189, 220, 268, 275, 299, 299, 317, 354, 411, 390, 415, 457, 452, 427, 441, 485, 503, 522, 466, 493, 520, 449, 515, 507, 527, 486, 544, 531, 480, 532, 543, 521, 592, 568, 600, 658, 713, 759, 792, 855, 856, 918, 1000, 1063, 1102, 1204, 1201, 1283, 1391, 1531, 1655, 1789, 1911, 2160, 2348, 2411, 2729, 2899, 3181, 3463, 3627, 3720, 3899, 3967, 3941, 4022, 4023, 3832, 3767, 3727, 3633, 3608, 3527, 3505, 3585, 3635, 3699, 3735, 3691, 3916, 4054, 4273, 4340, 4413, 4747, 5021, 5544, 6220, 7754, 9955, 15719, 27759, 45877, 53157, 38255, 21822, 15232, 14887, 16356, 18708, 22048, 26228, 31697, 40703, 56029, 81460, 111903, 129296, 133030, 158793, 217361, 258231, 252337, 242746, 257345, 297944, 360375, 458603, 588432, 763775, 1070415, 1624853, 2153920, 1955967, 1170896, 681061, 799046, 1917572, 5349987, 8482733, 5417178, 1517889, 387397, 163570, 147649, 411512, 1161623, 1966590, 1952419, 1369798, 916862, 698339, 560000, 440380, 350904, 290575, 252642, 242449, 259948, 264937, 218348, 163559, 145777, 142029, 118578, 85917, 62291, 49001, 41989, 36521, 32550, 28637, 25665, 22898, 21358, 24453, 39077, 56025, 52835, 34440, 20930, 13957, 10607, 8294, 7153, 6280, 5637, 5525, 5140, 4943, 4737, 4462, 4274, 4059, 3853, 3615, 3419, 3311, 3026, 2842, 2691, 2593, 2419, 2259, 2214, 2061, 2007, 1915, 1940, 1828, 1809, 1777, 1844, 1763, 1809, 1699, 1735, 1766, 1690, 1557, 1539, 1588, 1552, 1647, 1529, 1582, 1705, 1681, 1716, 1734, 1838, 1876, 1938, 1955, 2000, 2020, 1998, 2092, 2036, 2001, 1986, 1994, 1879, 1837, 1660, 1608, 1549, 1376, 1259, 1172, 1165, 1039, 943, 961, 800, 772, 712, 603, 571, 494, 498, 407, 397, 359, 304, 342, 359, 297, 279, 309, 257, 287, 285, 261, 260, 217, 211, 218, 210, 198, 195, 185, 164, 180, 182, 185, 178, 176, 169, 170, 173, 182, 163, 187, 152, 151, 130, 150, 148, 118, 112, 124, 89, 83, 47, 55, 51, 23, 22, 17, 10, 10, 10, 3, 1, 2, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]], "props_type": "histogram", "metadata": {"dev": "A20", "ker": "5.6", "prio": "98", "i": "1000us", "boot_p": "isolcpus,rcu_nocbs,irqaffinity", "delta": "None", "load": "None", "duration": "14h2", "speed": "1000", "etf_offset": "500us", "route": "E2E", "qdisc": "pfifo_fast", "client": "Shuttle", "XDP": "no", "lost_packets": "0"}}]}
\ No newline at end of file

measure-analysis/measures/packet_jitter6.json

+{"measure_sets": [{"measure_type": "packet_jitter", "props_names": ["Packet jitter"], "units": ["us"], "middle": 0, "props": [[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 2, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 2, 2, 0, 3, 2, 5, 11, 12, 6, 11, 14, 26, 49, 62, 82, 116, 150, 166, 240, 287, 318, 333, 438, 482, 560, 545, 625, 631, 652, 784, 756, 891, 951, 949, 1019, 1052, 1174, 1158, 1263, 1345, 1314, 1460, 1495, 1539, 1609, 1667, 1735, 1766, 1761, 1903, 1869, 1894, 1813, 1873, 1861, 1927, 1917, 1932, 1947, 1896, 1939, 1952, 2004, 2031, 2063, 2181, 2125, 2113, 2141, 2151, 2277, 2366, 2461, 2644, 2639, 3030, 3180, 3544, 3941, 4225, 4740, 5278, 5804, 6491, 7126, 7873, 8760, 9745, 10643, 11338, 12214, 12865, 13979, 15097, 16756, 18636, 20813, 23639, 26388, 30614, 36174, 42745, 52804, 66042, 84070, 108778, 145761, 209566, 328782, 592280, 1323125, 3558947, 8368140, 12154871, 10217858, 6205413, 3236053, 1397915, 580786, 293172, 183589, 133625, 104761, 84672, 70795, 59837, 51392, 45220, 38994, 33418, 28457, 23831, 19982, 16473, 14339, 12128, 10386, 9083, 7988, 7397, 7096, 6658, 6550, 6955, 7476, 8167, 8966, 9863, 10326, 10319, 9970, 9328, 8137, 6836, 5735, 4886, 4077, 3355, 3080, 2736, 2622, 2333, 2341, 2236, 2184, 2037, 1946, 1867, 1724, 1539, 1408, 1382, 1258, 1113, 1077, 979, 950, 905, 880, 890, 869, 879, 839, 877, 858, 837, 848, 857, 817, 853, 862, 832, 906, 864, 911, 833, 880, 910, 998, 996, 1099, 1109, 1200, 1315, 1357, 1394, 1464, 1543, 1592, 1546, 1535, 1456, 1487, 1449, 1430, 1304, 1304, 1206, 1156, 1168, 1060, 1058, 1026, 1099, 1089, 991, 956, 872, 896, 905, 755, 619, 548, 450, 355, 308, 224, 158, 123, 93, 59, 39, 29, 28, 23, 10, 13, 10, 2, 2, 3, 0, 2, 1, 1, 0, 0, 1, 2, 1, 1, 1, 1, 0, 1, 2, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 2, 0, 1, 2, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0]], "props_type": "histogram", "metadata": {"dev": "A20", "ker": "5.6", "prio": "98", "i": "1000us", "boot_p": "isolcpus,rcu_nocbs,irqaffinity", "delta": "None", "load": "None", "duration": "14h2", "speed": "1000", "etf_offset": "500us", "route": "E2E", "qdisc": "pfifo_fast", "client": "Shuttle", "XDP": "no", "lost_packets": "0"}}]}
\ No newline at end of file

packet-exchange/src/client.c

@@ -150,6 +150,7 @@ static void *packet_sending_thread(void *p) {
     }
     next = uint_to_ts(thread_params.start_ts);
   }
+  add_ns(&next, thread_params.interval);
 
   // Set txtime and TX data timestamp if required
   if (enable_etf || thread_params.send_tx_delay) {
@@ -170,9 +171,21 @@ static void *packet_sending_thread(void *p) {
         nb_cycles >= ((unsigned int)thread_params.max_cycles))
       break;
 
+    clock_gettime(CLOCK_REALTIME, &current);
+    // Sanity check
+    if(current.tv_sec > next.tv_sec)
+      goto invalid_ts;
+    if(current.tv_sec == next.tv_sec && current.tv_nsec > next.tv_nsec)
+      goto invalid_ts;
+
+    ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next, NULL);
+    if (ret) {
+      fprintf(stderr, "clock_nanosleep returned error: %d, aborting...\n", ret);
+      exit(EXIT_FAILURE);
+    }
+
     // TX data
-    *((uint64_t *)send_data) =
-        thread_params.send_tx_delay ? tx_data : 0xdeadbeef;
+    encode(thread_params.send_tx_delay ? tx_data : 0xdeadbeef, send_data);
 
     // Get timestamp before TSN task for stats
     clock_gettime(CLOCK_REALTIME, &current);
@@ -181,7 +194,10 @@ static void *packet_sending_thread(void *p) {
 
     // Update txtime and TX data timestamp if required
     if (enable_etf) next_txtime += thread_params.interval;
-    if (thread_params.send_tx_delay) tx_data += thread_params.interval;
+    if (thread_params.send_tx_delay) {
+      tx_data = next.tv_sec * NSEC_PER_SEC + next.tv_nsec;
+      tx_data += thread_params.send_tx_delay;
+    }
 
     // Update statistics
     if (nb_cycles) {
@@ -206,15 +222,15 @@ static void *packet_sending_thread(void *p) {
     }
 
     previous = current;
-
-    ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next, NULL);
-    if (ret) {
-      fprintf(stderr, "clock_nanosleep returned error: %d, aborting...\n", ret);
-      exit(EXIT_FAILURE);
-    }
   }
 
   pthread_exit(NULL);
+
+invalid_ts:
+  fprintf(stderr, "Invalid timestamp         : %" PRIu64 "\n", ts_to_uint(next));
+  fprintf(stderr, "Current time is           : %" PRIu64 "\n", ts_to_uint(current));
+  fprintf(stderr, "Difference with timestamp : %" PRIi64 "\n\n\n", ((int64_t)ts_to_uint(next)) - ((int64_t)ts_to_uint(current)));
+  exit(EXIT_FAILURE);
 }
 
 /*

packet-exchange/src/common.c

@@ -128,3 +128,21 @@ void init_signals(void (*_sighand)(int)) {
   for (int i = 0; i < NSIG; i++) signal(i, sighand_wrapper);
 }
 
+static int get_bit(uint64_t t, int i) {
+  return (t & (((uint64_t) 1) << i)) > 0;
+}
+void encode(uint64_t t, char * b) {
+  for(int i = 0; i < 64; i++)
+    b[i] = get_bit(t, i) * 0xff;
+}
+uint64_t decode(char * b) {
+  uint64_t ret = 0;
+  for(int i = 0; i < 64; i++) {
+    int sum_bits = 0;
+    for(int j = 0; j < 8; j++)
+      sum_bits += (b[i] & (1 << j)) > 0;
+    //printf("Sum: %d (%x)\n", sum_bits, b[i]);
+    ret |= (sum_bits >= 4) * (((uint64_t) 1) << i);
+  }
+  return ret;
+}

packet-exchange/src/common.h

@@ -54,4 +54,7 @@ int histogram_max(uint64_t *histogram, int max_value);
 
 extern void (*previous_handlers[NSIG])(int);
 
+void encode(uint64_t t, char * b);
+uint64_t decode(char * b);
+
 #endif

packet-exchange/src/recv_packet.c

@@ -201,7 +201,8 @@ void recv_udp_packet() {
 		}
 	}
 
-	strcpy(stats->data, rx_buffer);
+        for(int i = 0; i < MAX_BUFFER_SIZE; i++)
+          stats->data[i] = rx_buffer[i];
 }
 
 #ifdef WITH_XDP

packet-exchange/src/send_packet.c

@@ -134,7 +134,8 @@ void send_udp_packet(char *data, uint64_t txtime) {
 
   packets_sent++;
 
-  strcpy(tx_buffer, data);
+  for(int i = 0; i < (int)params->tx_buffer_len; i++)
+    tx_buffer[i] = data[i];
 
   memset(&sin, 0, sizeof(sin));
   sin.sin_family = AF_INET;

packet-exchange/src/server.c

@@ -102,6 +102,7 @@ static void help(char *argv[]) {
 static void *emit_signal_thread(void *p) {
   (void)p;
   cpu_set_t mask;
+  struct timespec current;
 
   // Set thread CPU affinity
   if (thread_params.affinity_cpu) {
@@ -114,8 +115,18 @@ static void *emit_signal_thread(void *p) {
 
   pthread_mutex_lock(&emit_signal_mutex);
 
-  for (;;) {
+  for (int i = 0;;i++) {
     pthread_cond_wait(&emit_signal_ts_received, &emit_signal_mutex);
+    clock_gettime(CLOCK_REALTIME, &current);
+
+    // Sanity check
+    if(current.tv_sec > emit_signal_next.tv_sec)
+      goto invalid_ts;
+    if(current.tv_sec == emit_signal_next.tv_sec && current.tv_nsec > emit_signal_next.tv_nsec)
+      goto invalid_ts;
+    if(current.tv_sec + 15 < emit_signal_next.tv_sec)
+      goto invalid_ts;
+
     clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &emit_signal_next, NULL);
 
     toggle_gpio();
@@ -123,6 +134,12 @@ static void *emit_signal_thread(void *p) {
 
   pthread_mutex_unlock(&emit_signal_mutex);
   pthread_exit(NULL);
+
+invalid_ts:
+  fprintf(stderr, "Invalid timestamp         : %" PRIu64 "\n", ts_to_uint(emit_signal_next));
+  fprintf(stderr, "Current time is           : %" PRIu64 "\n", ts_to_uint(current));
+  fprintf(stderr, "Difference with timestamp : %" PRIi64 "\n\n\n", ((int64_t)ts_to_uint(emit_signal_next)) - ((int64_t)ts_to_uint(current)));
+  exit(EXIT_FAILURE);
 }
 
 /* Real-time thread:
@@ -167,12 +184,20 @@ static void *tsn_thread(void *p) {
 
       // Emit signal
       if (thread_params.emit_signal) {
-        uint64_t emit_signal_t = *((uint64_t *)ingress_stats.data);
+        uint64_t emit_signal_t = decode(ingress_stats.data);
 
         pthread_mutex_lock(&emit_signal_mutex);
         emit_signal_next = uint_to_ts(emit_signal_t);
         pthread_cond_signal(&emit_signal_ts_received);
         pthread_mutex_unlock(&emit_signal_mutex);
+
+        // Sanity check
+        if(current.tv_sec > emit_signal_next.tv_sec)
+          goto invalid_ts;
+        if(current.tv_sec == emit_signal_next.tv_sec && current.tv_nsec > emit_signal_next.tv_nsec)
+          goto invalid_ts;
+        if(current.tv_sec + 15 < emit_signal_next.tv_sec)
+          goto invalid_ts;
       }
 
       // Update stats
@@ -217,6 +242,12 @@ static void *tsn_thread(void *p) {
   }
 
   return NULL;
+
+invalid_ts:
+  fprintf(stderr, "Invalid timestamp at reception : %" PRIu64 "\n", ts_to_uint(emit_signal_next));
+  fprintf(stderr, "Current time is                : %" PRIu64 "\n", ts_to_uint(current));
+  fprintf(stderr, "Difference with timestamp      : %" PRIi64 "\n\n\n", ((int64_t)ts_to_uint(emit_signal_next)) - ((int64_t)ts_to_uint(current)));
+  exit(EXIT_FAILURE);
 }
 
 static void create_thread(void *(*thread_function)(void *)) {

scripts/get-ptp-time

@@ -27,19 +27,19 @@ while getopts "hls:m:u:n:" opt; do
         ;;
     s )
         new_offset=$((OPTARG * 1000000000))
-        offset+=$((offset + new_offset))
+        offset=$((offset + new_offset))
         ;;
     m )
         new_offset=$((OPTARG * 1000000))
-        offset+=$((offset + new_offset))
+        offset=$((offset + new_offset))
         ;;
     u )
         new_offset=$((OPTARG * 1000))
-        offset+=$((offset + new_offset))
+        offset=$((offset + new_offset))
         ;;
     n )
         new_offset=${OPTARG}
-        offset+=$((offset + new_offset))
+        offset=$((offset + new_offset))
         ;;
     * )
         usage

scripts/kill-phc

+#!/bin/bash
+
+usage() {
+  cat << ENDUSAGE
+Usage: $0 [-h]
+   Kills all processes started by test-board-synchro (clients and servers)
+   -h             Show help
+ENDUSAGE
+1>&2;
+
+  exit 1;
+}
+
+while getopts "h" opt; do
+  case "${opt}" in
+    h )
+        usage
+        ;;
+    * )
+        usage
+        ;;
+  esac
+done
+
+shift $((OPTIND-1))
+
+killall phc2sys;

scripts/kill-ptp

+#!/bin/bash
+
+script_dir=$(dirname $(realpath $0))
+
+usage() {
+  cat << ENDUSAGE
+Usage: $0 [-h] BOARD1_HOSTNAME BOARD2_HOSTNAME
+   Kills all processes started by test-board-synchro (clients and servers)
+   -h             Show help
+   BOARD_HOSTNAME Uses /etc/hosts to find the IP address associated to the hostname
+ENDUSAGE
+1>&2;
+
+  exit 1;
+}
+
+while getopts "h" opt; do
+  case "${opt}" in
+    h )
+        usage
+        ;;
+    * )
+        usage
+        ;;
+  esac
+done
+
+shift $((OPTIND-1))
+
+if [ $# -ne 2 ]; then
+  usage
+fi
+
+board1=$1
+board2=$2
+
+killall ptp4l;
+$script_dir/sudossh $board1 "killall ptp4l";
+$script_dir/sudossh $board2 "killall ptp4l";

scripts/kill-test-board-synchro

 #!/bin/bash
 
+script_dir=$(dirname $(realpath $0))
+
 usage() {
   cat << ENDUSAGE
 Usage: $0 [-h] BOARD1_HOSTNAME BOARD2_HOSTNAME
-   Kills all processes started by test-board-synchro (clients and servers)
+   Kills all processes started by test-board-synchro (clients, servers, software-pps)
    -h             Show help
+   BOARD_HOSTNAME Uses /etc/hosts to find the IP address associated to the hostname
 ENDUSAGE
 1>&2;
 
   exit 1;
 }
 
-while getopts "hc:i:o:rsT" opt; do
+while getopts "h" opt; do
   case "${opt}" in
     h )
         usage
@@ -24,10 +27,14 @@ done
 
 shift $((OPTIND-1))
 
+if [ $# -ne 2 ]; then
+  usage
+fi
+
 board1=$1
 board2=$2
 
 killall client;
 killall run-client;
-./sudossh $board1 "killall server";
-./sudossh $board2 "killall server";
+$script_dir/sudossh $board1 "killall server software-pps";
+$script_dir/sudossh $board2 "killall server software-pps";

scripts/parse-saleae-measures.py

@@ -3,9 +3,14 @@
 import sys
 import argparse
 
-def parseLine(l):
+def parseLine(l, hex_export=False):
 
-    (ts, ch0, ch1, *x)  = l.split(", ")
+    if hex_export:
+        (ts, ch, *x)  = l.split(", ")
+        ch = int(ch)
+        ch0, ch1 = ch & 1, (ch & 2) >> 1
+    else:
+        (ts, ch0, ch1, *x)  = l.split(", ")
 
     ts = int(float(ts) * 10**9)
 
@@ -53,12 +58,12 @@ def parsePulses(filename):
     print("IO error")
     exit()
 
-def parseToggles(filename):
+def parseToggles(filename, hex_import=False):
 
     with open(filename, "r") as f:
         lines = [l for l in f]
         lines = lines[3:]
-        values = [ parseLine(l) for l in lines]
+        values = [ parseLine(l, hex_import) for l in lines]
         values_c1 = []
         values_c2 = []
 
@@ -128,12 +133,15 @@ def parse_args():
     parser = argparse.ArgumentParser(description='Measure analysis')
     parser.add_argument('-t', nargs=1, required=False, help='import shuttle-a20 json measures')
     parser.add_argument('-p', nargs=1, required=False, help='import shuttle json measures')
+    parser.add_argument('-H', action='store_true', required=False, help='Import measures exported with hex values')
 
     args = parser.parse_args()
 
+    hex_export=bool(args.H)
+
     if args.t is not None:
         filename = args.t[0]
-        (deltas, periods_c1, periods_c2) = parseToggles(filename)
+        (deltas, periods_c1, periods_c2) = parseToggles(filename, hex_export)
         print("# Shuttle-A20 synchronization signal jitter histogram")
         generateHistogram(deltas)
         generateHistogram(periods_c1 + periods_c2)

scripts/run-software-pps

+#!/bin/bash
+
+script_dir=$(dirname $(realpath $0))
+
+usage () {
+  cat << ENDUSAGE
+Usage: $0 [-h] [-i USEC -g -s -t MSEC] BOARD1_HOSTNAME BOARD2_HOSTNAME
+   -h             Show help
+   -i USEC        Signal period
+   -g             Use GPIO instead of serial
+   -t MSEC        Set the start timestamp offset
+   BOARD_HOSTNAME Uses /etc/hosts to find the IP address associated to the hostname
+ENDUSAGE
+1>&2;
+
+  exit 1;
+}
+
+interval=1000
+pp_opts=""
+ts_offset=6000
+
+while getopts "hi:gt:" opt; do
+  case "$opt" in
+    h)
+      usage
+      ;;
+    i)
+      interval=${OPTARG}
+      ;;
+    g)
+      pps_opts+=" -g "
+      ;;
+    t )
+      ts_offset=${OPTARG}
+      ;;
+    *)
+      usage
+      ;;
+  esac
+done
+
+shift $((OPTIND-1)) 
+
+if [ $# -ne 2 ]; then
+  usage
+fi
+
+board1=$1
+board2=$2
+
+ts=$($script_dir/get-ptp-time -m $ts_offset)
+
+echo "Timestamp: $ts";
+
+ssh $board1 "cd tsn-measures/software-pps/build;make";
+$script_dir/exec-ssh-nohup $board1 "tsn-measures/software-pps/build/software-pps -a1 -p97 -i $interval $pps_opts -s $ts";
+
+ssh $board2 "cd tsn-measures/software-pps/build;make";
+$script_dir/exec-ssh-nohup $board2 "tsn-measures/software-pps/build/software-pps -a1 -p97 -i $interval $pps_opts -s $ts";

scripts/synchronize-phc

@@ -6,17 +6,21 @@ usage() {
   cat << ENDUSAGE
 Usage: $0 [-h]
    -h             Show help
+   -s             use CLOCK_REALTIME as slave (might not work well)
 ENDUSAGE
 1>&2;
 
   exit 1;
 }
 
-while getopts "h" opt; do
+while getopts "hs" opt; do
   case "${opt}" in
     h )
         usage
         ;;
+    s )
+        rt_slave=1
+        ;;
     * )
         usage
         ;;
@@ -27,5 +31,14 @@ shift $((OPTIND-1))
 
 # Run phc2sys
 
-chrt -f 95 phc2sys -m -c /dev/ptp0 -s CLOCK_REALTIME -w &> ~/phc2sys_sys_log &
-chrt -f 95 phc2sys -m -c /dev/ptp1 -s CLOCK_REALTIME -w &> ~/phc2sys_sys_log &
+
+pmc -u -b 0 -i enp1s0 "SET GRANDMASTER_SETTINGS_NP clockClass 248 clockAccuracy 0xfe offsetScaledLogVariance 0xffff currentUtcOffset 37 leap61 0 leap59 0 currentUtcOffsetValid 1 ptpTimescale 1 timeTraceable 1 frequencyTraceable 0 timeSource 0xa0"
+pmc -u -b 0 -i enp2s0 "SET GRANDMASTER_SETTINGS_NP clockClass 248 clockAccuracy 0xfe offsetScaledLogVariance 0xffff currentUtcOffset 37 leap61 0 leap59 0 currentUtcOffsetValid 1 ptpTimescale 1 timeTraceable 1 frequencyTraceable 0 timeSource 0xa0"
+
+if [ -n "$rt_slave" ]; then
+  chrt -f 95 phc2sys -m -c /dev/ptp0 -s /dev/ptp1 --step_threshold=1 -w &> ~/phc2sys_ptps_log &
+  chrt -f 95 phc2sys -m -s /dev/ptp0 -c CLOCK_REALTIME --step_threshold=1 -w &> ~/phc2sys_rt_log &
+else
+  chrt -f 95 phc2sys -m -c /dev/ptp0 -s CLOCK_REALTIME --step_threshold=1 -w &> ~/phc2sys_ptp0_log &
+  chrt -f 95 phc2sys -m -c /dev/ptp1 -s CLOCK_REALTIME --step_threshold=1 -w &> ~/phc2sys_ptp1_log &
+fi

scripts/test-board-synchro

@@ -17,9 +17,9 @@ ENDUSAGE
   exit 1;
 }
 
-interval=500000
+interval=1000
 server_opts=""
-ts_offset=6000
+ts_offset=2000
 
 while getopts "hc:i:o:rt:T" opt; do
   case "${opt}" in
@@ -57,8 +57,8 @@ if [ -n "$enable_tracing" ]; then
   server_opts+=" -T $((interval*2)) -E \"-e irq -e sched -e net -e napi -e gpio\" -B 100000"
 fi
 
-./sudossh $board1 "killall server";
-./sudossh $board2 "killall server";
+$script_dir/sudossh $board1 "killall server";
+$script_dir/sudossh $board2 "killall server";
 killall client;
 killall run-client;
 

software-pps/build/Makefile

@@ -4,6 +4,7 @@ SRCDIR = ../src
 SRCS  = software-pps.c
 SRCS += common.c
 SRCS += pulse.c
+SRCS += gpio.c
 
 OBJS = $(SRCS:%.c=%.o)
 

software-pps/src/gpio.c

+#include "gpio.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+static int gpio_state;
+static char cmd[128];
+static char * one = "1";
+static char * zero = "0";
+static int fd;
+
+void enable_gpio(int gpio_index) {
+  sprintf(cmd, "echo %d > /sys/class/gpio/export", gpio_index);
+  system(cmd);
+  sprintf(cmd, "echo out > /sys/class/gpio/gpio%d/direction", gpio_index);
+  system(cmd);
+
+  sprintf(cmd, "/sys/class/gpio/gpio%d/value", gpio_index);
+  fd = open(cmd, O_WRONLY);
+}
+
+void toggle_gpio() {
+
+  if(gpio_state)
+        write(fd, one, 1);
+  else
+        write(fd, zero, 1);
+
+  gpio_state = !gpio_state;
+}

software-pps/src/gpio.h

+#ifndef GPIO_H
+#define GPIO_H
+
+void enable_gpio(int gpio_index);
+void toggle_gpio();
+
+#endif

software-pps/src/software-pps.c

@@ -21,6 +21,7 @@
 #include <unistd.h>
 
 #include "pulse.h"
+#include "gpio.h"
 #include "common.h"
 
 // Structs
@@ -48,6 +49,7 @@ static uint64_t nb_cycles;
 
 static main_param_t main_params;
 static thread_param_t thread_params;
+static int use_gpio;
 
 static void help(char *argv[]) {
   printf(
@@ -59,6 +61,7 @@ static void help(char *argv[]) {
       "       -r USEC            non-RT main thread refresh interval\n"
       "       -l N_CYCLES        RT thread cycles amount (default: infinite)\n"
       "       -s NS              Common start time reference\n"
+      "       -g                 Use GPIO instead of serial\n"
       "       -v                 Verbose\n"
       "\n",
       argv[0]);
@@ -103,7 +106,11 @@ static void *pps_thread(void *p) {
       break;
 
 
-    send_pulse();
+    if(use_gpio)
+      toggle_gpio();
+    else
+      send_pulse();
+
     add_ns(&next, thread_params.interval);
 
     ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next, NULL);
@@ -134,6 +141,7 @@ int main(int argc, char *argv[]) {
   thread_params.start_ts = 0;
   main_params.refresh_rate = 50000;
   main_params.verbose = 0;
+  use_gpio = 0;
 
   // Lock all current and future pages from preventing of being paged to
   // swap
@@ -145,7 +153,10 @@ int main(int argc, char *argv[]) {
   // Process bash options
   process_options(argc, argv);
 
-  enable_pulse();
+  if(use_gpio)
+    enable_gpio(86);
+  else
+    enable_pulse();
 
   // Initialize pthread attributes (default values)
   if (pthread_attr_init(&attr)) {
@@ -198,7 +209,7 @@ int main(int argc, char *argv[]) {
  */
 static void process_options(int argc, char *argv[]) {
   for (;;) {
-    int c = getopt(argc, argv, "a:hi:l:p:r:s:v");
+    int c = getopt(argc, argv, "a:hgi:l:p:r:s:v");
 
     if (c == -1) break;
 
@@ -210,6 +221,9 @@ static void process_options(int argc, char *argv[]) {
         help(argv);
         exit(EXIT_SUCCESS);
         break;
+      case 'g':
+        use_gpio = 1;
+        break;
       case 'i':
         thread_params.interval = strtoull(optarg, NULL, 10) * 1000;
         break;

test-ptp/build/Makefile

+SERVER_PROG = server
+CLIENT_PROG = client
+SRCDIR = ../src
+
+SERVER_SRCS  = server.c
+SERVER_SRCS  += recv_packet.c
+SERVER_SRCS  += send_packet.c
+SERVER_SRCS  += common.c
+SERVER_SRCS  += tracer.c
+SERVER_SRCS  += gpio.c
+
+CLIENT_SRCS  = client.c
+CLIENT_SRCS += recv_packet.c
+CLIENT_SRCS += send_packet.c
+CLIENT_SRCS += common.c
+CLIENT_SRCS += tracer.c
+
+SERVER_OBJS = $(SERVER_SRCS:%.c=%.o)
+CLIENT_OBJS = $(CLIENT_SRCS:%.c=%.o)
+
+ifeq ($(DEBUG),)
+CFLAGS = -O2
+else
+CFLAGS = -Og -g -Wall -Wextra
+endif
+
+CFLAGS += -MD -MP
+CFLAGS += -I $(SRCDIR)
+CFLAGS += -std=gnu99
+
+LLIBS = -pthread
+
+ifneq ($(WITH_XDP),)
+CFLAGS += -D WITH_XDP
+LDFLAGS += -L/usr/lib -lbpf
+else ifneq ($(WITH_GIT_XDP),)
+IFLAGS += -I ${HOME}/libbpf/include
+CFLAGS += -D WITH_XDP $(IFLAGS)
+LDIRS += -L${HOME}/libbpf/src
+LLIBS += -lelf -lz -l:libbpf.a
+endif
+
+vpath %.c $(SRCDIR)
+
+xdp_kern.o: xdp_kern.c
+	clang $(IFLAGS) -isystem /usr/include/arm-linux-gnueabihf -S -target bpf -D __BPF_TRACING__ -Wall -O2 -emit-llvm -c -g -o xdp_kern.ll $^
+	llc -march=bpf -filetype=obj -o $@ xdp_kern.ll
+
+ifneq ($(WITH_GIT_XDP),)
+$(SERVER_PROG): $(SERVER_OBJS) xdp_kern.o
+	$(CC) $(LDFLAGS) $(LDIRS) $(SERVER_OBJS) $(LLIBS) -o $@
+else
+$(SERVER_PROG): $(SERVER_OBJS)
+	$(CC) $(LDFLAGS) $(LDIRS) $^ $(LLIBS) -o $@
+endif
+
+$(CLIENT_PROG): $(CLIENT_OBJS)
+	$(CC) $(LDFLAGS) $(LDIRS) $^ $(LLIBS) -o $@
+
+
+-include $(subst .c,.d,$(SERVER_SRCS))
+-include $(subst .c,.d,$(CLIENT_SRCS))
+
+clean:
+	$(RM) $(SERVER_OBJS) $(SERVER_PROG) $(subst .c,.d,$(SERVER_SRCS))
+	$(RM) $(CLIENT_OBJS) $(CLIENT_PROG) $(subst .c,.d,$(CLIENT_SRCS))
+
+.PHONY: clean

test-ptp/src/common.c

+#define _GNU_SOURCE
+#include "common.h"
+
+#include <errno.h>
+#include <error.h>
+#include <fcntl.h>
+#include <inttypes.h>
+#include <limits.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <time.h>
+#include <unistd.h>
+
+static int latency_target_fd = -1;
+static int32_t latency_target_value = 0;
+
+void (*previous_handlers[NSIG])(int);
+static void (*sighand)(int);
+
+uint64_t ts_to_uint(struct timespec t) {
+  return t.tv_sec * NSEC_PER_SEC + t.tv_nsec;
+}
+struct timespec uint_to_ts(uint64_t t) {
+  struct timespec ts;
+  ts.tv_sec = t / NSEC_PER_SEC;
+  ts.tv_nsec = t - (ts.tv_sec * NSEC_PER_SEC);
+  return ts;
+}
+
+/* Latency trick
+ * if the file /dev/cpu_dma_latency exists,
+ * open it and write a zero into it. This will tell
+ * the power management system not to transition to
+ * a high cstate (in fact, the system acts like idle=poll)
+ * When the fd to /dev/cpu_dma_latency is closed, the behavior
+ * goes back to the system default.
+ *
+ * Documentation/power/pm_qos_interface.txt
+ */
+void set_latency_target(void) {
+  struct stat s;
+  int err;
+
+  errno = 0;
+  err = stat("/dev/cpu_dma_latency", &s);
+  if (err == -1) {
+    error(EXIT_FAILURE, errno, "WARN: stat /dev/cpu_dma_latency failed");
+    return;
+  }
+
+  errno = 0;
+  latency_target_fd = open("/dev/cpu_dma_latency", O_RDWR);
+  if (latency_target_fd == -1) {
+    error(EXIT_FAILURE, errno, "WARN: open /dev/cpu_dma_latency");
+    return;
+  }
+
+  errno = 0;
+  err = write(latency_target_fd, &latency_target_value, 4);
+  if (err < 1) {
+    error(EXIT_FAILURE, errno, "# error setting cpu_dma_latency to %d!",
+          latency_target_value);
+    close(latency_target_fd);
+    return;
+  }
+  printf("# /dev/cpu_dma_latency set to %dus\n", latency_target_value);
+}
+
+void add_ns(struct timespec *t, uint64_t ns) {
+  t->tv_nsec += ns;
+
+  while (t->tv_nsec >= ((int64_t)NSEC_PER_SEC)) {
+    t->tv_sec += 1;
+    t->tv_nsec -= NSEC_PER_SEC;
+  }
+}
+
+uint64_t calcdiff_ns(struct timespec t1, struct timespec t2) {
+  uint64_t diff;
+  diff = NSEC_PER_SEC * (uint64_t)((int)t1.tv_sec - (int)t2.tv_sec);
+  diff += ((int)t1.tv_nsec - (int)t2.tv_nsec);
+  return diff;
+}
+
+int64_t _max_(int64_t a, int64_t b) { return a > b ? a : b; }
+int64_t _min_(int64_t a, int64_t b) { return a < b ? a : b; }
+
+int histogram_min(uint64_t *histogram, int max_value) {
+  int ret = max_value;
+  for (int i = max_value; i >= 0; i--) ret = histogram[i] ? i : ret;
+  return ret;
+}
+int histogram_max(uint64_t *histogram, int max_value) {
+  int ret = 0;
+  for (int i = 0; i <= max_value; i++) ret = histogram[i] ? i : ret;
+  return ret;
+}
+
+static void sighand_wrapper(int sig) {
+  // If we get un unexpected signal, report it, if not print the histogram
+  if (sig == SIGINT || sig == SIGTERM)
+    (*sighand)(sig);  // Will print the histogram
+  else
+    printf("Uknown signal interrupt: %s (%d)\n", strsignal(sig), sig);
+
+  // Execute the default handler
+  if (previous_handlers[sig] == SIG_DFL) {
+    signal(sig, SIG_DFL);
+    raise(sig);
+  } else if (previous_handlers[sig] == SIG_IGN) {
+    return;
+  } else {
+    (*previous_handlers[sig])(sig);
+  }
+}
+
+void init_signals(void (*_sighand)(int)) {
+  sighand = _sighand;
+
+  for (int i = 0; i < NSIG; i++) signal(i, sighand_wrapper);
+}
+
+static int get_bit(uint64_t t, int i) {
+  return (t & (((uint64_t) 1) << i)) > 0;
+}
+void encode(uint64_t t, char * b) {
+  for(int i = 0; i < 64; i++)
+    b[i] = get_bit(t, i) * 0xff;
+}
+uint64_t decode(char * b) {
+  uint64_t ret = 0;
+  for(int i = 0; i < 64; i++) {
+    int sum_bits = 0;
+    for(int j = 0; j < 8; j++)
+      sum_bits += (b[i] & (1 << j)) > 0;
+    //printf("Sum: %d (%x)\n", sum_bits, b[i]);
+    ret |= (sum_bits >= 4) * (((uint64_t) 1) << i);
+  }
+  return ret;
+}

test-ptp/src/common.h

+#ifndef UTILITIES_H
+#define UTILITIES_H
+
+#define _GNU_SOURCE
+#include <inttypes.h>
+#include <signal.h>
+#include <stdint.h>
+#include <time.h>
+#include <unistd.h>
+
+#ifdef WITH_XDP
+#include <bpf/bpf.h>
+#include <bpf/libbpf.h>
+#include <bpf/xsk.h>
+#include <linux/if_ether.h>
+#include <linux/if_link.h>
+#include <linux/if_xdp.h>
+#include <linux/ip.h>
+#include <linux/udp.h>
+#endif
+
+#define NSEC_PER_SEC UINT64_C(1000000000)
+#define SERVER_PORT "50000"
+#define SERVER_PORT_INT 50000
+
+#define MAX_KERNEL_LATENCY 1000
+#define MAX_RTT 1000
+#define MAX_JITTER 1000
+
+#define MAX_BUFFER_SIZE 1024
+
+#define TIMESTAMP_BUFFER_SIZE 4096
+#define err(...)                              \
+	do {                                  \
+		fprintf(stderr, __VA_ARGS__); \
+		exit(EXIT_FAILURE);           \
+	} while (0)
+
+#define err_errno(...) error(EXIT_FAILURE, errno, __VA_ARGS__);
+
+uint64_t ts_to_uint(struct timespec t);
+struct timespec uint_to_ts(uint64_t t);
+void add_ns(struct timespec *t, uint64_t ns);
+uint64_t calcdiff_ns(struct timespec t1, struct timespec t2);
+
+void set_latency_target(void);
+void init_signals(void (*_sighand)(int));
+
+int64_t _min_(int64_t a, int64_t b);
+int64_t _max_(int64_t a, int64_t b);
+
+int histogram_min(uint64_t *histogram, int max_value);
+int histogram_max(uint64_t *histogram, int max_value);
+
+extern void (*previous_handlers[NSIG])(int);
+
+void encode(uint64_t t, char * b);
+uint64_t decode(char * b);
+
+#endif

test-ptp/src/gpio.c

+#include "gpio.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+static int gpio_state;
+static char cmd[128];
+static char * one = "1";
+static char * zero = "0";
+static int fd;
+
+void enable_gpio(int gpio_index) {
+  sprintf(cmd, "echo %d > /sys/class/gpio/export", gpio_index);
+  system(cmd);
+  sprintf(cmd, "echo out > /sys/class/gpio/gpio%d/direction", gpio_index);
+  system(cmd);
+
+  sprintf(cmd, "/sys/class/gpio/gpio%d/value", gpio_index);
+  fd = open(cmd, O_WRONLY);
+}
+
+void toggle_gpio() {
+
+  if(gpio_state)
+        write(fd, one, 1);
+  else
+        write(fd, zero, 1);
+
+  gpio_state = !gpio_state;
+}

test-ptp/src/gpio.h

+#ifndef GPIO_H
+#define GPIO_H
+
+void enable_gpio(int gpio_index);
+void toggle_gpio();
+
+#endif

test-ptp/src/recv_packet.h

+#ifndef RECV_PACKET
+#define RECV_PACKET
+
+#include "common.h"
+
+typedef struct ingress_param {
+	char network_if[16];
+
+	int use_timestamps;
+	int xdp_polling_mode;
+	uint64_t interval;
+
+	size_t tx_buffer_len;
+
+} ingress_param_t;
+
+typedef struct ingress_stat {
+	int min_kernel_latency;
+	int avg_kernel_latency;
+	int max_kernel_latency;
+
+	int min_interval;
+	int avg_interval;
+	int max_interval;
+
+	uint64_t packets_received;
+	uint64_t high_kernel_latency;
+	uint64_t high_jitter;
+
+	char data[MAX_BUFFER_SIZE];
+} ingress_stat_t;
+
+void init_udp_recv(ingress_param_t *_params, ingress_stat_t *stats,
+		   int use_histogram, uint64_t *_kernel_latency_hist);
+
+void recv_udp_packet(void);
+
+#ifdef WITH_XDP
+#define NUM_FRAMES 4096
+#define FRAME_SIZE XSK_UMEM__DEFAULT_FRAME_SIZE
+
+struct xsk_umem_info {
+	struct xsk_ring_prod fq;
+	struct xsk_ring_cons cq;
+	struct xsk_umem *umem;
+	void *buffer;
+};
+struct xdpsock {
+	struct xsk_ring_cons rx;
+	struct xsk_ring_prod tx;
+	struct xsk_umem_info umem;
+	struct xsk_socket *xsk;
+	int fd;
+};
+#endif
+
+void init_xdp_recv(ingress_param_t * _params);
+int recv_xdp_packet(void);
+void recv_xdp_cleanup(void);
+void setup_poll_fd(void);
+void close_xdp_socket(void);
+
+#endif

test-ptp/src/send_packet.c

+/*
+ *
+ * UDP packet sending functions
+ *
+ * Large portions taken from scheduled tx tools gist
+ *
+ */
+
+#define _GNU_SOURCE
+#include "send_packet.h"
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <error.h>
+#include <fcntl.h>
+#include <ifaddrs.h>
+#include <inttypes.h>
+#include <linux/errqueue.h>
+#include <linux/ethtool.h>
+#include <linux/net_tstamp.h>
+#include <linux/sockios.h>
+#include <net/if.h>
+#include <netdb.h>
+#include <netinet/in.h>
+#include <poll.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include "common.h"
+#include "tracer.h"
+
+static void *poll_thread(void *p);
+static void process_error_queue();
+
+static void init_tx_buffer();
+static int set_if();
+
+static int so_timestamping_flags =
+    SOF_TIMESTAMPING_TX_SOFTWARE | SOF_TIMESTAMPING_SOFTWARE;
+
+static egress_param_t *params;
+static egress_stat_t *stats;
+static uint64_t *kernel_latency_hist;
+static int use_histogram;
+static int stop_tracing;
+static uint64_t packets_sent = 0;
+
+static struct sock_txtime sk_txtime;
+static char *tx_buffer;
+static int sock_fd;
+
+static int64_t timestamps_buffer[TIMESTAMP_BUFFER_SIZE];
+static int ts_buf_read_index = 0;
+static int ts_buf_write_index = 0;
+
+static int log_timestamps = 0;
+static FILE * log_file;
+
+
+/*
+ * Init UDP socket
+ */
+void init_udp_send(egress_param_t *_params, egress_stat_t *_stats,
+                   int _use_histogram, int _stop_tracing, int _log_timestamps, uint64_t *_kernel_latency_hist) {
+  int set_if_err;
+  pthread_t thread;
+
+  params = _params;
+  stats = _stats;
+  kernel_latency_hist = _kernel_latency_hist;
+  use_histogram = _use_histogram;
+  stop_tracing = _stop_tracing;
+  log_timestamps = _log_timestamps;
+
+  if(log_timestamps)
+    log_file = fopen("timestamps_log", "w+");
+
+  init_tx_buffer();
+
+  sock_fd = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
+  if (sock_fd < 0) error(EXIT_FAILURE, errno, "Socket creation failed\n");
+
+  set_if_err = set_if();
+  if (set_if_err < 0) error(EXIT_FAILURE, errno, "Couldn't set interface\n");
+
+  if (setsockopt(sock_fd, SOL_SOCKET, SO_PRIORITY, &params->packet_priority,
+                 sizeof(params->packet_priority)))
+    error(EXIT_FAILURE, errno, "Couldn't set socket priority\n");
+
+  if (setsockopt(sock_fd, SOL_SOCKET, SO_BINDTODEVICE, params->network_if,
+                 strlen(params->network_if)))
+    error(EXIT_FAILURE, errno, "setsockopt SO_BINDTODEVICE failed\n");
+
+  if (params->use_etf) {
+    sk_txtime.clockid = CLOCK_REALTIME;
+    sk_txtime.flags = SOF_TXTIME_REPORT_ERRORS;
+
+    if (setsockopt(sock_fd, SOL_SOCKET, SO_TXTIME, &sk_txtime,
+                   sizeof(sk_txtime)))
+      error(EXIT_FAILURE, errno, "setsockopt SO_TXTIME failed\n");
+  }
+
+  if (params->use_timestamps) {
+    if (setsockopt(sock_fd, SOL_SOCKET, SO_TIMESTAMPING, &so_timestamping_flags,
+                   sizeof(so_timestamping_flags)))
+      error(EXIT_FAILURE, errno, "setsockopt SO_TIMESTAMPING failed\n");
+  }
+
+  // Create poll thread
+  if (pthread_create(&thread, NULL, poll_thread, NULL))
+    error(EXIT_FAILURE, errno, "Couldn't create poll thread");
+}
+
+
+/*
+ * Sends udp packets
+ */
+void send_udp_packet(char *data, uint64_t txtime) {
+  struct msghdr msg;     // Message hardware, sent to the socket
+  struct cmsghdr *cmsg;  // Control message hardware, for txtime
+  char control[CMSG_SPACE(sizeof(txtime))] = {};  // Stores txtime
+  struct iovec iov;  // The iovec structures stores the TX buffer
+  int sendmsgerr;
+  struct sockaddr_in sin;  // Server address
+  struct timespec ts;      // timestamp for userspace timestamping
+
+  if (params->use_timestamps) {
+    clock_gettime(CLOCK_REALTIME, &ts);
+    timestamps_buffer[ts_buf_write_index] = ts_to_uint(ts);
+    ts_buf_write_index = (ts_buf_write_index + 1) % TIMESTAMP_BUFFER_SIZE;
+  }
+
+  packets_sent++;
+
+  clock_gettime(CLOCK_REALTIME, &ts);
+  encode(ts_to_uint(ts), tx_buffer);
+
+  if(log_timestamps) {
+    fprintf(log_file, "%" PRIi64 "\n", ts_to_uint(ts));
+  }
+    
+
+  memset(&sin, 0, sizeof(sin));
+  sin.sin_family = AF_INET;
+  sin.sin_addr.s_addr = inet_addr(params->server_ip);
+  sin.sin_port = htons(SERVER_PORT_INT);
+
+  iov.iov_base = tx_buffer;
+  iov.iov_len = params->tx_buffer_len;
+
+  memset(&msg, 0, sizeof(msg));
+  msg.msg_name = &sin;
+  msg.msg_namelen = sizeof(sin);
+  msg.msg_iov = &iov;
+  msg.msg_iovlen = 1;
+
+  if (params->use_etf) {
+    // We specify the transmission time in the CMSG.
+    msg.msg_control = control;
+    msg.msg_controllen = sizeof(control);
+
+    cmsg = CMSG_FIRSTHDR(&msg);
+    cmsg->cmsg_level = SOL_SOCKET;
+    cmsg->cmsg_type = SCM_TXTIME;
+    cmsg->cmsg_len = CMSG_LEN(sizeof(uint64_t));
+    *((uint64_t *)CMSG_DATA(cmsg)) = txtime;
+    msg.msg_controllen = cmsg->cmsg_len;
+  }
+
+  sendmsgerr = sendmsg(sock_fd, &msg, 0);
+  if (sendmsgerr < 0)
+    error(EXIT_FAILURE, errno, "sendmsg failed, ret value: %d\n", sendmsgerr);
+}
+
+static void *poll_thread(void *p) {
+  (void)p;
+  // Poll file descriptor
+  struct pollfd poll_fd = {.fd = sock_fd};
+
+  while (1) {
+    int ret;
+
+    ret = poll(&poll_fd, 1, -1);
+    if (ret == 1 && poll_fd.revents & POLLERR) {
+      process_error_queue();
+    }
+  }
+
+  return NULL;
+}
+
+static void process_error_queue() {
+  int recv_ret;
+
+  // IO vector
+  unsigned char data_buffer[256];  // Buffer in io vector
+  struct iovec iov = {.iov_base = data_buffer, .iov_len = sizeof(data_buffer)};
+
+  // Control data, will store error or timestamps
+  unsigned char msg_control[CMSG_SPACE(sizeof(struct sock_extended_err)) +
+                            CMSG_SPACE(sizeof(struct timespec))];
+
+  // Message hardware structure, containts IO vector and control message
+  // hardware
+  struct msghdr msg = {.msg_iov = &iov,
+                       .msg_iovlen = 1,
+                       .msg_control = msg_control,
+                       .msg_controllen = sizeof(msg_control)};
+
+  struct cmsghdr *cmsg;
+
+  // Timestamps and errors are received in the error queue
+  recv_ret = recvmsg(sock_fd, &msg, MSG_ERRQUEUE | MSG_DONTWAIT);
+  if (recv_ret == -1) {
+    fprintf(stderr, "recvmsg() failed\n");
+    return;
+  }
+
+  for (cmsg = CMSG_FIRSTHDR(&msg); cmsg; cmsg = CMSG_NXTHDR(&msg, cmsg)) {
+    // If a timestamp was received
+    if (cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SO_TIMESTAMPING) {
+      struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
+
+      int kernel_latency =
+          (ts_to_uint(*stamp) - timestamps_buffer[ts_buf_read_index]) / 1000;
+      ts_buf_read_index = (ts_buf_read_index + 1) % TIMESTAMP_BUFFER_SIZE;
+
+      stats->min_kernel_latency =
+          _min_(kernel_latency, stats->min_kernel_latency);
+      stats->max_kernel_latency =
+          _max_(kernel_latency, stats->max_kernel_latency);
+      stats->avg_kernel_latency =
+          (stats->max_kernel_latency * packets_sent + kernel_latency) /
+          (packets_sent + 1);
+
+      if (use_histogram) {
+        if (kernel_latency > MAX_KERNEL_LATENCY)
+          stats->high_kernel_latency++;
+        else
+          kernel_latency_hist[kernel_latency]++;
+      }
+
+    }
+    // If an error was received
+    else {
+      struct sock_extended_err *serr = (void *)CMSG_DATA(cmsg);
+
+      if (serr->ee_origin != SO_EE_ORIGIN_TXTIME) continue;
+
+      switch (serr->ee_code) {
+        case SO_EE_CODE_TXTIME_INVALID_PARAM:
+          stats->invalid_parameter++;
+          break;
+        case SO_EE_CODE_TXTIME_MISSED:
+          if(stop_tracing) {
+            tracemark("Deadline missed\n");
+            tracing(0);
+            exit(EXIT_FAILURE);
+          }
+          stats->missed_deadline++;
+          break;
+        default:
+          fprintf(stderr, "Uknown TxTime error\n");
+      }
+    }
+  }
+}
+
+// Sets the interface
+static int set_if() {
+  struct ifreq ifreq;
+
+  memset(&ifreq, 0, sizeof(ifreq));
+  strncpy(ifreq.ifr_name, params->network_if, sizeof(ifreq.ifr_name) - 1);
+
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifreq))
+    error(EXIT_FAILURE, errno, "ioctl SIOCGIFINDEX failed\n");
+
+  return ifreq.ifr_ifindex;
+}
+
+static void init_tx_buffer() {
+  if (params->tx_buffer_len < 1) {
+    fprintf(stderr, "tx buffer length should be greater than 1\n");
+    exit(EXIT_FAILURE);
+  }
+
+  tx_buffer = malloc(params->tx_buffer_len);
+}
+

test-ptp/src/send_packet.h

+#ifndef SEND_PACKET_H
+#define SEND_PACKET_H
+
+#include "common.h"
+
+typedef struct egress_param {
+  int packet_priority;
+  size_t tx_buffer_len;
+  char server_ip[45];
+  char network_if[16];
+
+  int use_etf;
+  int use_timestamps;
+
+} egress_param_t;
+
+typedef struct egress_stat {
+
+  uint64_t high_kernel_latency;
+  uint64_t invalid_parameter;
+  uint64_t missed_deadline;
+
+  int min_kernel_latency;
+  int avg_kernel_latency;
+  int max_kernel_latency;
+
+  int min_interval;
+  int avg_interval;
+  int max_interval;
+
+} egress_stat_t;
+
+void init_udp_send(egress_param_t *_params,
+                   egress_stat_t *_stats,
+                   int _use_histogram, int _stop_tracing, int log_timestamps,
+                   uint64_t *_kernel_latency_hist);
+
+void send_udp_packet(char *data, uint64_t txtime);
+
+#endif

test-ptp/src/tracer.c

+#include "tracer.h"
+
+#define _GNU_SOURCE
+#include <errno.h>
+#include <error.h>
+#include <fcntl.h>
+#include <getopt.h>
+#include <limits.h>
+#include <linux/unistd.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdarg.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <sys/prctl.h>
+#include <sys/resource.h>
+#include <sys/stat.h>
+#include <sys/syscall.h>
+#include <sys/sysinfo.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/utsname.h>
+#include <time.h>
+#include <unistd.h>
+
+/*
+ * From cyclictest code source
+ */
+
+#define KVARS 32
+#define KVARNAMELEN 32
+#define KVALUELEN 32
+
+#define MAX_PATH 255
+
+static char *fileprefix;
+static char *procfileprefix = "/proc/sys/kernel/";
+static char *debugfileprefix = "/sys/kernel/debug/tracing/";
+
+static int trace_fd = -1;
+static int tracemark_fd = -1;
+
+static int kernvar(int mode, const char *name, char *value,
+                   size_t sizeofvalue) {
+  char filename[128];
+  int retval = 1;
+  int path;
+  size_t len_prefix = strlen(fileprefix), len_name = strlen(name);
+
+  memcpy(filename, fileprefix, len_prefix);
+  memcpy(filename + len_prefix, name, len_name + 1);
+
+  path = open(filename, mode);
+  if (path >= 0) {
+    if (mode == O_RDONLY) {
+      int got;
+      if ((got = read(path, value, sizeofvalue)) > 0) {
+        retval = 0;
+        value[got - 1] = '\0';
+      }
+    } else if (mode == O_WRONLY) {
+      if (write(path, value, sizeofvalue) == sizeofvalue) retval = 0;
+    }
+    close(path);
+  }
+  return retval;
+}
+
+static void setkernvar(const char *name, char *value) {
+  if (kernvar(O_WRONLY, name, value, strlen(value)))
+    fprintf(stderr, "could not set %s to %s\n", name, value);
+}
+
+void open_fds(void) {
+
+  fileprefix = debugfileprefix;
+
+  char trace_path[MAX_PATH];
+  char tracemark_path[MAX_PATH];
+
+  // Open tracing_on file
+  strcpy(trace_path, fileprefix);
+  strcat(trace_path, "tracing_on");
+  if ((trace_fd = open(trace_path, O_WRONLY)) == -1)
+    printf("unable to open %s for tracing", trace_path);
+
+  // Open trace mark file
+  strcpy(tracemark_path, fileprefix);
+  strcat(tracemark_path, "trace_marker");
+  if ((tracemark_fd = open(tracemark_path, O_WRONLY)) == -1)
+    printf("unable to open %s for tracing", tracemark_path);
+
+}
+
+void setup_tracer(int enable_graph) {
+
+  fileprefix = procfileprefix;
+  setkernvar("ftrace_enabled", "1");
+
+  fileprefix = debugfileprefix;
+  // Clear old traces by setting tracer to nop first
+  setkernvar("current_tracer", "nop");
+  if(enable_graph)
+    setkernvar("current_tracer", "function_graph");
+  else
+    setkernvar("current_tracer", "function");
+
+  open_fds();
+
+  tracing(0);
+}
+
+void tracing(int on) {
+  if (on)
+    write(trace_fd, "1", 1);
+  else
+    write(trace_fd, "0", 1);
+}
+
+void tracemark(char * s) {
+  write(tracemark_fd, s, strlen(s));
+}

test-ptp/src/tracer.h

+#ifndef TRACER_H
+#define TRACER_H
+
+void setup_tracer(int enable_graph);
+void open_fds(void);
+void tracing(int on);
+void tracemark(char * s);
+
+#endif
+

test-ptp/src/xdp_kern.c

+#define KBUILD_MODNAME "blub"
+
+#include <linux/bpf.h>
+#include <linux/if_ether.h>
+#include <linux/if_link.h>
+#include <linux/if_xdp.h>
+#include <linux/in.h>
+#include <linux/ip.h>
+#include <linux/udp.h>
+
+#include "bpf_helpers.h"
+
+#define bpf_printk(fmt, ...)                                               \
+	({                                                                 \
+		char ____fmt[] = fmt;                                      \
+		bpf_trace_printk(____fmt, sizeof(____fmt), ##__VA_ARGS__); \
+	})
+
+struct bpf_map_def SEC("maps") xsks_map = {
+    .type = BPF_MAP_TYPE_XSKMAP,
+    .key_size = sizeof(int),
+    .value_size = sizeof(int),
+    .max_entries = 64,
+};
+
+static inline int parse_ipv4(void *data, unsigned long long nh_off,
+			     void *data_end) {
+	struct iphdr *iph = data + nh_off;
+
+	if ((void *)(iph + 1) > data_end) return 0;
+
+	return iph->protocol;
+}
+
+SEC("xdp_sock")
+int xdp_sock_prog(struct xdp_md *ctx) {
+	void *data_end = (void *)(long)ctx->data_end;
+	void *data = (void *)(long)ctx->data;
+	struct ethhdr *eth = data;
+	int idx = ctx->rx_queue_index;
+	unsigned int ipproto = 0;
+	unsigned long long nh_off;
+
+	/* Check if it's a UDP frame: If UDP -> Redirect to active xsk for user
+	 * space. If not -> pass to stack.
+	 */
+	nh_off = sizeof(*eth);
+	if (data + nh_off > data_end) return XDP_PASS;
+
+	if (eth->h_proto == __builtin_bswap16(ETH_P_IP))
+		ipproto = parse_ipv4(data, nh_off, data_end);
+
+	if (ipproto != IPPROTO_UDP) return XDP_PASS;
+
+	/* If socket bound to rx_queue then redirect to user space */
+	if (bpf_map_lookup_elem(&xsks_map, &idx))
+		return bpf_redirect_map(&xsks_map, idx, 0);
+
+	/* Else pass to Linux' network stack */
+	return XDP_PASS;
+}
+
+char _license[] SEC("license") = "GPL";
+