linuxptp/clock.c

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/**
* @file clock.c
* @note Copyright (C) 2011 Richard Cochran <richardcochran@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include <errno.h>
#include <poll.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include "bmc.h"
#include "clock.h"
#include "foreign.h"
#include "mave.h"
#include "missing.h"
#include "msg.h"
#include "phc.h"
#include "port.h"
#include "servo.h"
#include "print.h"
#include "tlv.h"
#include "util.h"
#define FAULT_RESET_SECONDS 15
#define N_CLOCK_PFD (N_POLLFD + 1) /* one extra per port, for the fault timer */
#define MAVE_LENGTH 10
#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0]))
struct clock {
clockid_t clkid;
struct servo *servo;
struct defaultDS dds;
struct dataset default_dataset;
struct currentDS cur;
struct parentDS dad;
struct timePropertiesDS tds;
struct foreign_clock *best;
struct port *port[MAX_PORTS];
struct pollfd pollfd[MAX_PORTS*N_CLOCK_PFD];
int fault_fd[MAX_PORTS];
time_t fault_timeout;
int nports;
tmv_t master_offset;
tmv_t path_delay;
struct mave *avg_delay;
tmv_t c1;
tmv_t c2;
tmv_t t1;
tmv_t t2;
};
struct clock the_clock;
static void handle_state_decision_event(struct clock *c);
static int cid_eq(struct ClockIdentity *a, struct ClockIdentity *b)
{
return 0 == memcmp(a, b, sizeof(*a));
}
static void clock_destroy(struct clock *c)
{
int i;
for (i = 0; i < c->nports; i++) {
port_close(c->port[i]);
close(c->fault_fd[i]);
}
if (c->clkid != CLOCK_REALTIME) {
phc_close(c->clkid);
}
memset(c, 0, sizeof(*c));
}
static int clock_fault_timeout(struct clock *c, int index, int set)
{
struct itimerspec tmo = {
{0, 0}, {0, 0}
};
if (set) {
pr_debug("waiting %d seconds to clear fault on port %d",
c->fault_timeout, index);
tmo.it_value.tv_sec = c->fault_timeout;
} else {
pr_debug("clearing fault on port %d", index);
}
return timerfd_settime(c->fault_fd[index], 0, &tmo, NULL);
}
static int clock_master_lost(struct clock *c)
{
int i;
for (i = 0; i < c->nports; i++) {
if (PS_SLAVE == port_state(c->port[i]))
return 0;
}
return 1;
}
static void clock_ppb(clockid_t clkid, double ppb)
{
struct timex tx;
memset(&tx, 0, sizeof(tx));
tx.modes = ADJ_FREQUENCY;
tx.freq = (long) (ppb * 65.536);
if (clock_adjtime(clkid, &tx) < 0)
pr_err("failed to adjust the clock: %m");
}
static void clock_step(clockid_t clkid, int64_t ns)
{
struct timex tx;
int sign = 1;
if (ns < 0) {
sign = -1;
ns *= -1;
}
memset(&tx, 0, sizeof(tx));
tx.modes = ADJ_SETOFFSET | ADJ_NANO;
tx.time.tv_sec = sign * (ns / NS_PER_SEC);
tx.time.tv_usec = sign * (ns % NS_PER_SEC);
/*
* The value of a timeval is the sum of its fields, but the
* field tv_usec must always be non-negative.
*/
if (tx.time.tv_usec < 0) {
tx.time.tv_sec -= 1;
tx.time.tv_usec += 1000000000;
}
if (clock_adjtime(clkid, &tx) < 0)
pr_err("failed to step clock: %m");
}
static void clock_update_grandmaster(struct clock *c)
{
memset(&c->cur, 0, sizeof(c->cur));
c->dad.parentPortIdentity.clockIdentity = c->dds.clockIdentity;
c->dad.parentPortIdentity.portNumber = 0;
c->dad.grandmasterIdentity = c->dds.clockIdentity;
c->dad.grandmasterClockQuality = c->dds.clockQuality;
c->dad.grandmasterPriority1 = c->dds.priority1;
c->dad.grandmasterPriority2 = c->dds.priority2;
c->tds.currentUtcOffset = CURRENT_UTC_OFFSET;
c->tds.currentUtcOffsetValid = FALSE;
c->tds.leap61 = FALSE;
c->tds.leap59 = FALSE;
c->tds.timeTraceable = FALSE;
c->tds.frequencyTraceable = FALSE;
c->tds.ptpTimescale = TRUE;
c->tds.timeSource = INTERNAL_OSCILLATOR;
}
static void clock_update_slave(struct clock *c)
{
struct ptp_message *msg = TAILQ_FIRST(&c->best->messages);
c->cur.stepsRemoved = 1 + c->best->dataset.stepsRemoved;
c->dad.parentPortIdentity = c->best->dataset.sender;
c->dad.grandmasterIdentity = msg->announce.grandmasterIdentity;
c->dad.grandmasterClockQuality = msg->announce.grandmasterClockQuality;
c->dad.grandmasterPriority1 = msg->announce.grandmasterPriority1;
c->dad.grandmasterPriority2 = msg->announce.grandmasterPriority2;
c->tds.currentUtcOffset = msg->announce.currentUtcOffset;
c->tds.currentUtcOffsetValid = field_is_set(msg, 1, UTC_OFF_VALID);
c->tds.leap61 = field_is_set(msg, 1, LEAP_61);
c->tds.leap59 = field_is_set(msg, 1, LEAP_59);
c->tds.timeTraceable = field_is_set(msg, 1, TIME_TRACEABLE);
c->tds.frequencyTraceable = field_is_set(msg, 1, FREQ_TRACEABLE);
c->tds.ptpTimescale = field_is_set(msg, 1, PTP_TIMESCALE);
c->tds.timeSource = msg->announce.timeSource;
}
static int forwarding(struct port *p)
{
enum port_state ps = port_state(p);
switch (ps) {
case PS_MASTER:
case PS_GRAND_MASTER:
case PS_SLAVE:
case PS_UNCALIBRATED:
case PS_PRE_MASTER:
return 1;
default:
break;
}
return 0;
}
/* public methods */
UInteger8 clock_class(struct clock *c)
{
return c->dds.clockQuality.clockClass;
}
struct clock *clock_create(int phc_index, struct interface *iface, int count,
struct defaultDS *ds, struct port_defaults *pod)
{
int i, max_adj, sw_ts = 0;
struct clock *c = &the_clock;
char phc[32];
srandom(time(NULL));
if (c->nports)
clock_destroy(c);
if (phc_index >= 0) {
snprintf(phc, 31, "/dev/ptp%d", phc_index);
c->clkid = phc_open(phc);
if (c->clkid == CLOCK_INVALID) {
pr_err("Failed to open %s: %m", phc);
return NULL;
}
max_adj = phc_max_adj(c->clkid);
if (!max_adj) {
pr_err("clock is not adjustable");
return NULL;
}
} else {
c->clkid = CLOCK_REALTIME;
max_adj = 512000;
}
for (i = 0; i < count; i++) {
if (iface[i].timestamping == TS_SOFTWARE) {
sw_ts = 1;
break;
}
}
c->servo = servo_create("pi", max_adj, sw_ts);
if (!c->servo) {
pr_err("Failed to create clock servo");
return NULL;
}
c->avg_delay = mave_create(MAVE_LENGTH);
if (!c->avg_delay) {
pr_err("Failed to create moving average");
return NULL;
}
c->dds = *ds;
/* Initialize the parentDS. */
clock_update_grandmaster(c);
c->dad.parentStats = 0;
c->dad.observedParentOffsetScaledLogVariance = 0xffff;
c->dad.observedParentClockPhaseChangeRate = 0x7fffffff;
for (i = 0; i < ARRAY_SIZE(c->pollfd); i++) {
c->pollfd[i].fd = -1;
c->pollfd[i].events = 0;
}
c->fault_timeout = FAULT_RESET_SECONDS;
for (i = 0; i < count; i++) {
c->port[i] = port_open(pod, phc_index, iface[i].name, iface[i].transport,
iface[i].timestamping, 1+i, iface[i].dm, c);
if (!c->port[i]) {
pr_err("failed to open port %s", iface[i].name);
return NULL;
}
c->fault_fd[i] = timerfd_create(CLOCK_MONOTONIC, 0);
if (c->fault_fd[i] < 0) {
pr_err("timerfd_create failed: %m");
return NULL;
}
c->pollfd[N_CLOCK_PFD * i + N_POLLFD].fd = c->fault_fd[i];
c->pollfd[N_CLOCK_PFD * i + N_POLLFD].events = POLLIN|POLLPRI;
}
c->dds.numberPorts = c->nports = count;
for (i = 0; i < c->nports; i++)
port_dispatch(c->port[i], EV_INITIALIZE, 0);
return c;
}
struct dataset *clock_best_foreign(struct clock *c)
{
return c->best ? &c->best->dataset : NULL;
}
struct port *clock_best_port(struct clock *c)
{
return c->best ? c->best->port : NULL;
}
struct dataset *clock_default_ds(struct clock *c)
{
struct dataset *out = &c->default_dataset;
struct defaultDS *in = &c->dds;
out->priority1 = in->priority1;
out->identity = in->clockIdentity;
out->quality = in->clockQuality;
out->priority2 = in->priority2;
out->stepsRemoved = 0;
out->sender.clockIdentity = in->clockIdentity;
out->sender.portNumber = 0;
out->receiver.clockIdentity = in->clockIdentity;
out->receiver.portNumber = 0;
return out;
}
UInteger8 clock_domain_number(struct clock *c)
{
return c->dds.domainNumber;
}
struct ClockIdentity clock_identity(struct clock *c)
{
return c->dds.clockIdentity;
}
void clock_install_fda(struct clock *c, struct port *p, struct fdarray fda)
{
int i, j, k;
for (i = 0; i < c->nports; i++) {
if (p == c->port[i])
break;
}
for (j = 0; j < N_POLLFD; j++) {
k = N_CLOCK_PFD * i + j;
c->pollfd[k].fd = fda.fd[j];
c->pollfd[k].events = POLLIN|POLLPRI;
}
}
void clock_manage(struct clock *c, struct port *p, struct ptp_message *msg)
{
int i, pdulen;
struct port *fwd;
struct management_tlv *mgt;
struct PortIdentity pid;
struct ClockIdentity *tcid, wildcard = {
{0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff}
};
/* Forward this message out all eligible ports. */
if (forwarding(p) && msg->management.boundaryHops) {
pdulen = msg->header.messageLength;
msg->management.boundaryHops--;
msg_pre_send(msg);
for (i = 0; i < c->nports; i++) {
fwd = c->port[i];
if (fwd != p && forwarding(fwd) &&
port_forward(fwd, msg, pdulen))
pr_err("port %d: management forward failed", i);
}
msg_post_recv(msg, pdulen);
msg->management.boundaryHops++;
}
/* Apply this message to the local clock and ports. */
tcid = &msg->management.targetPortIdentity.clockIdentity;
if (!cid_eq(tcid, &wildcard) && !cid_eq(tcid, &c->dds.clockIdentity)) {
return;
}
if (msg->tlv_count != 1) {
return;
}
mgt = (struct management_tlv *) msg->management.suffix;
switch (mgt->id) {
case USER_DESCRIPTION:
case SAVE_IN_NON_VOLATILE_STORAGE:
case RESET_NON_VOLATILE_STORAGE:
case INITIALIZE:
case FAULT_LOG:
case FAULT_LOG_RESET:
case DEFAULT_DATA_SET:
case CURRENT_DATA_SET:
case PARENT_DATA_SET:
case TIME_PROPERTIES_DATA_SET:
case PRIORITY1:
case PRIORITY2:
case DOMAIN:
case SLAVE_ONLY:
case TIME:
case CLOCK_ACCURACY:
case UTC_PROPERTIES:
case TRACEABILITY_PROPERTIES:
case TIMESCALE_PROPERTIES:
case PATH_TRACE_LIST:
case PATH_TRACE_ENABLE:
case GRANDMASTER_CLUSTER_TABLE:
case ACCEPTABLE_MASTER_TABLE:
case ACCEPTABLE_MASTER_MAX_TABLE_SIZE:
case ALTERNATE_TIME_OFFSET_ENABLE:
case ALTERNATE_TIME_OFFSET_NAME:
case ALTERNATE_TIME_OFFSET_MAX_KEY:
case ALTERNATE_TIME_OFFSET_PROPERTIES:
case TRANSPARENT_CLOCK_DEFAULT_DATA_SET:
case PRIMARY_DOMAIN:
pid.clockIdentity = clock_identity(c);
pid.portNumber = 0;
if (port_managment_error(pid, p, msg, NOT_SUPPORTED))
pr_err("failed to send management error status");
break;
default:
for (i = 0; i < c->nports; i++) {
if (port_manage(c->port[i], p, msg))
break;
}
break;
}
}
struct parentDS *clock_parent_ds(struct clock *c)
{
return &c->dad;
}
struct PortIdentity clock_parent_identity(struct clock *c)
{
return c->dad.parentPortIdentity;
}
int clock_poll(struct clock *c)
{
int cnt, i, j, k, lost = 0, sde = 0;
enum fsm_event event;
cnt = poll(c->pollfd, ARRAY_SIZE(c->pollfd), -1);
if (cnt < 0) {
if (EINTR == errno) {
return 0;
} else {
pr_emerg("poll failed");
return -1;
}
} else if (!cnt) {
return 0;
}
for (i = 0; i < c->nports; i++) {
/* Let the ports handle their events. */
for (j = 0; j < N_POLLFD; j++) {
k = N_CLOCK_PFD * i + j;
if (c->pollfd[k].revents & (POLLIN|POLLPRI)) {
event = port_event(c->port[i], j);
if (EV_STATE_DECISION_EVENT == event)
sde = 1;
if (EV_ANNOUNCE_RECEIPT_TIMEOUT_EXPIRES == event)
lost = 1;
port_dispatch(c->port[i], event, 0);
}
}
/* Check the fault timer. */
k = N_CLOCK_PFD * i + N_POLLFD;
if (c->pollfd[k].revents & (POLLIN|POLLPRI)) {
clock_fault_timeout(c, i, 0);
port_dispatch(c->port[i], EV_FAULT_CLEARED, 0);
}
/* Clear any fault after a little while. */
if (PS_FAULTY == port_state(c->port[i])) {
clock_fault_timeout(c, i, 1);
}
}
if (lost && clock_master_lost(c))
clock_update_grandmaster(c);
if (sde)
handle_state_decision_event(c);
return 0;
}
void clock_path_delay(struct clock *c, struct timespec req, struct timestamp rx,
Integer64 correction)
{
tmv_t c1, c2, c3, pd, t1, t2, t3, t4;
if (tmv_is_zero(c->t1))
return;
c1 = c->c1;
c2 = c->c2;
c3 = correction_to_tmv(correction);
t1 = c->t1;
t2 = c->t2;
t3 = timespec_to_tmv(req);
t4 = timestamp_to_tmv(rx);
/*
* c->path_delay = (t2 - t3) + (t4 - t1);
* c->path_delay -= c_sync + c_fup + c_delay_resp;
* c->path_delay /= 2.0;
*/
pd = tmv_add(tmv_sub(t2, t3), tmv_sub(t4, t1));
pd = tmv_sub(pd, tmv_add(c1, tmv_add(c2, c3)));
pd = tmv_div(pd, 2);
if (pd < 0) {
pr_warning("negative path delay %10lld", pd);
pr_warning("path_delay = (t2 - t3) + (t4 - t1)");
pr_warning("t2 - t3 = %+10lld", t2 - t3);
pr_warning("t4 - t1 = %+10lld", t4 - t1);
pr_warning("c1 %10lld", c1);
pr_warning("c2 %10lld", c2);
pr_warning("c3 %10lld", c3);
}
c->path_delay = mave_accumulate(c->avg_delay, pd);
pr_debug("path delay %10lld %10lld", c->path_delay, pd);
}
void clock_peer_delay(struct clock *c, tmv_t ppd)
{
c->path_delay = ppd;
}
void clock_remove_fda(struct clock *c, struct port *p, struct fdarray fda)
{
int i, j, k;
for (i = 0; i < c->nports; i++) {
if (p == c->port[i])
break;
}
for (j = 0; j < N_POLLFD; j++) {
k = N_CLOCK_PFD * i + j;
c->pollfd[k].fd = -1;
c->pollfd[k].events = 0;
}
}
int clock_slave_only(struct clock *c)
{
return c->dds.slaveOnly;
}
UInteger16 clock_steps_removed(struct clock *c)
{
return c->cur.stepsRemoved;
}
enum servo_state clock_synchronize(struct clock *c,
struct timespec ingress_ts,
struct timestamp origin_ts,
Integer64 correction1,
Integer64 correction2)
{
double adj;
tmv_t ingress, origin;
enum servo_state state = SERVO_UNLOCKED;
ingress = timespec_to_tmv(ingress_ts);
origin = timestamp_to_tmv(origin_ts);
c->t1 = origin;
c->t2 = ingress;
c->c1 = correction_to_tmv(correction1);
c->c2 = correction_to_tmv(correction2);
/*
* c->master_offset = ingress - origin - c->path_delay - c->c1 - c->c2;
*/
c->master_offset = tmv_sub(ingress,
tmv_add(origin, tmv_add(c->path_delay, tmv_add(c->c1, c->c2))));
if (!c->path_delay)
return state;
adj = servo_sample(c->servo, c->master_offset, ingress, &state);
pr_info("master offset %10lld s%d adj %+7.0f path delay %10lld",
c->master_offset, state, adj, c->path_delay);
switch (state) {
case SERVO_UNLOCKED:
break;
case SERVO_JUMP:
clock_step(c->clkid, -c->master_offset);
c->t1 = tmv_zero();
c->t2 = tmv_zero();
break;
case SERVO_LOCKED:
clock_ppb(c->clkid, -adj);
break;
}
return state;
}
struct timePropertiesDS *clock_time_properties(struct clock *c)
{
return &c->tds;
}
static void handle_state_decision_event(struct clock *c)
{
struct foreign_clock *best = NULL, *fc;
int fresh_best = 0, i;
for (i = 0; i < c->nports; i++) {
fc = port_compute_best(c->port[i]);
if (!fc)
continue;
if (!best || dscmp(&fc->dataset, &best->dataset) > 0)
best = fc;
}
if (!best)
return;
pr_notice("selected best master clock %s",
cid2str(&best->dataset.identity));
if (c->best != best) {
mave_reset(c->avg_delay);
fresh_best = 1;
}
c->best = best;
for (i = 0; i < c->nports; i++) {
enum port_state ps;
enum fsm_event event;
ps = bmc_state_decision(c, c->port[i]);
switch (ps) {
case PS_LISTENING:
event = EV_NONE;
break;
case PS_GRAND_MASTER:
clock_update_grandmaster(c);
event = EV_RS_GRAND_MASTER;
break;
case PS_MASTER:
event = EV_RS_MASTER;
break;
case PS_PASSIVE:
event = EV_RS_PASSIVE;
break;
case PS_SLAVE:
clock_update_slave(c);
event = EV_RS_SLAVE;
break;
default:
event = EV_FAULT_DETECTED;
break;
}
port_dispatch(c->port[i], event, fresh_best);
}
}