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Step 3.3b: status.ptp for the web UI

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- ptp_clock_status() adds status.ptp: state (LISTENING / UNCALIBRATED /
  SLAVE), locked, gm_id, offset_ns, freq_ppb, path_delay_ns +
  path_delay_sd_ns (window of 64, from lock on), steps_removed,
  gm_time/freq_traceable, version, own_class (255 slave / 248 auto,
  master), clock_id, gm_class/accuracy/p1/p2, sync_avg/min/max_ms and
  sync_jitter_us (HW Sync intervals), announce_avg_ms, delay_req/resp
  counters, hw_ts, window. Snapshot under a mutex shared with the PTP task.
- Per-Sync log moved to debug; info level logs state changes plus a
  60 s summary (max |offset|, freq, delay).
- Verified vs ptp4l: LISTENING -> UNCALIBRATED -> SLAVE in ~35 s;
  locked offset within a few hundred ns, delay 10.27 us +-0.20 us,
  Delay_Req/Resp 69/69, Sync avg 1000.097 ms, Announce avg 2000 ms.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Ben Nicholson
2026-09-25 06:22:41 +10:00
parent 685060e12c
commit 9af6c53294
3 changed files with 164 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/aes67_ptp/aes67_ptp.c
+6 -1
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@@ -1,6 +1,7 @@
#include "aes67_ptp.h"
#include "aes67_cfg.h"
#include "aes67_web.h"
#include "ptp_clock.h"
#include "ptp_hw.h"
@@ -38,5 +39,9 @@ esp_err_t aes67_ptp_start(esp_eth_handle_t eth)
if (err != ESP_OK) {
return err;
}
return ptp_clock_start(netif);
err = ptp_clock_start(netif);
if (err == ESP_OK) {
err = status_register(ptp_clock_status);
}
return err;
}
components/aes67_ptp/ptp_clock.c
+145 -4
View File
@@ -9,6 +9,7 @@
#include "esp_random.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
#include "lwip/sockets.h"
#include "ptp_hw.h"
@@ -23,10 +24,18 @@
#define LOCK_GOOD 8 // consecutive good Syncs to lock
#define LOCK_BAD 3 // consecutive bad Syncs to unlock
#define MAX_DRIFT_PPB 500000.0
#define WINDOW 64 // samples for interval/delay statistics
#define SUMMARY_US (60 * 1000000LL)
static const char *TAG = "ptp";
static const uint8_t PTP_MCAST_MAC[6] = { 0x01, 0x00, 0x5e, 0x00, 0x01, 0x81 };
// Rolling window of int64 samples.
typedef struct {
int64_t v[WINDOW];
int n, next;
} window_t;
typedef struct {
bool valid;
uint8_t port_id[10]; // sourcePortIdentity of the GM (clockId + port)
@@ -35,6 +44,7 @@ typedef struct {
uint16_t var;
uint8_t gm_id[8];
uint16_t steps;
uint8_t flags; // flagField octet 1: timeTraceable 0x10, frequencyTraceable 0x20
int8_t log_announce;
int64_t last_us; // last Announce (esp_timer)
} master_t;
@@ -68,8 +78,49 @@ static struct {
int64_t offset_ns;
int good, bad;
bool locked;
// Statistics for status.ptp (guarded by lock)
SemaphoreHandle_t lock;
window_t sync_iv, announce_iv, delays;
int64_t last_announce_us;
uint32_t delay_req, delay_resp;
uint8_t own_class;
int64_t sum_max_ns, sum_start_us;
} s;
static void win_add(window_t *w, int64_t v)
{
w->v[w->next] = v;
w->next = (w->next + 1) % WINDOW;
if (w->n < WINDOW) {
w->n++;
}
}
static void win_clear(window_t *w)
{
w->n = w->next = 0;
}
// mean, min, max and standard deviation of a window
static void win_stats(const window_t *w, double *mean, double *min, double *max, double *sd)
{
double sum = 0, sq = 0, lo = 0, hi = 0;
for (int i = 0; i < w->n; i++) {
double x = (double)w->v[i];
sum += x;
sq += x * x;
lo = i ? fmin(lo, x) : x;
hi = i ? fmax(hi, x) : x;
}
double m = w->n ? sum / w->n : 0;
*mean = m;
if (min) *min = lo;
if (max) *max = hi;
if (sd) *sd = w->n > 1 ? sqrt(fmax(0, sq / w->n - m * m)) : 0;
}
#define LOCKED(stmt) do { xSemaphoreTake(s.lock, portMAX_DELAY); stmt; xSemaphoreGive(s.lock); } while (0)
static void set_locked(bool locked);
/* ----- helpers ----- */
@@ -146,7 +197,8 @@ static void on_announce(const uint8_t *b, int len, uint32_t src_ip)
}
master_t m = {
.valid = true, .ip = src_ip, .p1 = b[47], .cls = b[48], .acc = b[49], .var = rd16(b + 50),
.p2 = b[52], .steps = rd16(b + 61), .log_announce = (int8_t)b[33], .last_us = esp_timer_get_time(),
.p2 = b[52], .steps = rd16(b + 61), .flags = b[7], .log_announce = (int8_t)b[33],
.last_us = esp_timer_get_time(),
};
memcpy(m.port_id, b + 20, 10);
memcpy(m.gm_id, b + 53, 8);
@@ -154,17 +206,31 @@ static void on_announce(const uint8_t *b, int len, uint32_t src_ip)
return; // our own
}
if (from_gm(b)) {
LOCKED({
if (s.last_announce_us) {
win_add(&s.announce_iv, m.last_us - s.last_announce_us);
}
s.last_announce_us = m.last_us;
s.gm = m; // refresh dataset and timeout
});
} else if (!s.gm.valid || compare(&m, &s.gm) < 0) {
char id[24];
fmt_id(id, m.gm_id);
ESP_LOGI(TAG, "TimeTransmitter %s (p1 %u class %u p2 %u, %u hops) from " IPSTR,
id, m.p1, m.cls, m.p2, m.steps, IP2STR((esp_ip4_addr_t *)&src_ip));
LOCKED({
s.gm = m;
s.last_announce_us = m.last_us;
win_clear(&s.announce_iv);
win_clear(&s.sync_iv);
win_clear(&s.delays);
});
s.sync_pending = s.dreq_pending = false;
LOCKED({
s.delay_ns = s.prev_t2 = 0;
s.stepped = false;
set_locked(false);
});
s.log_dreq = 0;
s.next_dreq_us = 0;
}
@@ -175,6 +241,7 @@ static void set_locked(bool locked)
if (locked != s.locked) {
s.locked = locked;
if (locked) {
win_clear(&s.delays); // delay statistics cover the locked period, not the pull-in
ESP_LOGI(TAG, "locked: offset %+lld ns, frequency %+.3f ppm, path delay %lld ns",
s.offset_ns, s.freq_ppb / 1000, s.delay_ns);
} else {
@@ -234,6 +301,7 @@ static void sync_complete(void)
s.raw = s.t2 - s.t1 - s.sync_corr;
if (s.prev_t2 && s.t2 > s.prev_t2) {
s.rate = (double)(s.raw - s.prev_raw) / (double)(s.t2 - s.prev_t2);
LOCKED(win_add(&s.sync_iv, s.t2 - s.prev_t2));
}
s.prev_raw = s.raw;
s.prev_t2 = s.t2;
@@ -241,9 +309,20 @@ static void sync_complete(void)
return;
}
// offset = t2 - t1 - corrections - mean path delay
servo(s.raw - s.delay_ns);
ESP_LOGI(TAG, "seq %u: offset %+lld ns, freq %+.3f ppm, path delay %lld ns%s", s.sync_seq, s.offset_ns,
LOCKED(servo(s.raw - s.delay_ns));
ESP_LOGD(TAG, "seq %u: offset %+lld ns, freq %+.3f ppm, path delay %lld ns%s", s.sync_seq, s.offset_ns,
s.freq_ppb / 1000, s.delay_ns, s.locked ? ", locked" : "");
// Info-level summary once a minute: worst offset in the period.
int64_t now = esp_timer_get_time();
s.sum_max_ns = llabs(s.offset_ns) > s.sum_max_ns ? llabs(s.offset_ns) : s.sum_max_ns;
if (!s.sum_start_us) {
s.sum_start_us = now;
} else if (now - s.sum_start_us >= SUMMARY_US) {
ESP_LOGI(TAG, "%s: max |offset| %lld ns, freq %+.3f ppm, path delay %lld ns (last 60 s)",
s.locked ? "locked" : "unlocked", s.sum_max_ns, s.freq_ppb / 1000, s.delay_ns);
s.sum_max_ns = 0;
s.sum_start_us = now;
}
}
static void on_sync(const uint8_t *b, int len)
@@ -303,6 +382,7 @@ static void send_delay_req(void)
}
s.t3 = mac_ns(&t3);
s.dreq_pending = true;
LOCKED(s.delay_req++);
}
static void on_delay_resp(const uint8_t *b, int len)
@@ -312,6 +392,7 @@ static void on_delay_resp(const uint8_t *b, int len)
return;
}
s.dreq_pending = false;
LOCKED(s.delay_resp++);
int64_t t4 = rd_ts(b + 34) - rd_corr_ns(b + 8);
s.log_dreq = (int8_t)b[33];
if (!s.prev_t2) {
@@ -319,7 +400,10 @@ static void on_delay_resp(const uint8_t *b, int len)
}
// mean path delay = ((t2 - t1 - corr) + (t4 - t3)) / 2, plus the offset drift between t2 and t3
int64_t d = (s.raw + (t4 - s.t3) + (int64_t)(s.rate * (double)(s.t3 - s.t2))) / 2;
s.delay_ns = s.delay_ns ? (s.delay_ns * 7 + d) / 8 : d; // light smoothing
LOCKED({
s.delay_ns = s.delay_ns ? (s.delay_ns * 7 + d) / 8 : d; // light smoothing for the servo
win_add(&s.delays, d); // raw samples for status
});
}
/* ----- task ----- */
@@ -330,6 +414,8 @@ static void load_config(void)
s.domain = cJSON_GetObjectItem(c, "domain")->valueint;
s.dscp = cJSON_GetObjectItem(c, "dscp")->valueint;
s.timeout = cJSON_GetObjectItem(c, "announce_timeout")->valueint;
// clockClass per role: slave-only 255, auto/master 248 (TimeTransmitter itself: step 6)
s.own_class = strcmp(cJSON_GetObjectItem(c, "role")->valuestring, "slave") == 0 ? 255 : 248;
cJSON_Delete(c);
}
@@ -385,10 +471,12 @@ static void ptp_task(void *arg)
: 1000000LL >> -s.gm.log_announce);
if (now - s.gm.last_us > window) {
ESP_LOGW(TAG, "TimeTransmitter lost (no Announce for %lld ms), listening", window / 1000);
LOCKED({
memset(&s.gm, 0, sizeof(s.gm));
s.delay_ns = s.prev_t2 = 0;
s.stepped = false;
set_locked(false); // frequency correction stays (holdover)
});
} else if (now >= s.next_dreq_us && s.prev_t2) {
send_delay_req();
// Delay_Req interval from the GM's Delay_Resp; randomised 0.5..1.5x
@@ -399,9 +487,62 @@ static void ptp_task(void *arg)
}
}
void ptp_clock_status(cJSON *st)
{
cJSON *p = cJSON_AddObjectToObject(st, "ptp");
char id[24];
double mean, min, max, sd;
xSemaphoreTake(s.lock, portMAX_DELAY);
const char *state = !s.gm.valid ? "LISTENING" : s.locked ? "SLAVE" : "UNCALIBRATED";
cJSON_AddStringToObject(p, "state", state);
cJSON_AddBoolToObject(p, "locked", s.locked);
cJSON_AddNumberToObject(p, "version", 2);
cJSON_AddNumberToObject(p, "own_class", s.own_class);
fmt_id(id, s.port_id);
cJSON_AddStringToObject(p, "clock_id", id);
cJSON_AddBoolToObject(p, "hw_ts", true);
cJSON_AddNumberToObject(p, "window", WINDOW);
cJSON_AddNumberToObject(p, "delay_req", s.delay_req);
cJSON_AddNumberToObject(p, "delay_resp", s.delay_resp);
if (s.gm.valid) {
fmt_id(id, s.gm.gm_id);
cJSON_AddStringToObject(p, "gm_id", id);
cJSON_AddNumberToObject(p, "gm_class", s.gm.cls);
cJSON_AddNumberToObject(p, "gm_accuracy", s.gm.acc);
cJSON_AddNumberToObject(p, "gm_p1", s.gm.p1);
cJSON_AddNumberToObject(p, "gm_p2", s.gm.p2);
cJSON_AddNumberToObject(p, "steps_removed", s.gm.steps);
cJSON_AddBoolToObject(p, "gm_time_traceable", s.gm.flags & 0x10);
cJSON_AddBoolToObject(p, "gm_freq_traceable", s.gm.flags & 0x20);
if (s.stepped) {
cJSON_AddNumberToObject(p, "offset_ns", s.offset_ns);
cJSON_AddNumberToObject(p, "freq_ppb", round(s.freq_ppb));
}
if (s.delays.n) {
win_stats(&s.delays, &mean, NULL, NULL, &sd);
cJSON_AddNumberToObject(p, "path_delay_ns", round(mean));
cJSON_AddNumberToObject(p, "path_delay_sd_ns", round(sd));
}
if (s.sync_iv.n) {
win_stats(&s.sync_iv, &mean, &min, &max, &sd);
cJSON_AddNumberToObject(p, "sync_avg_ms", mean / 1e6);
cJSON_AddNumberToObject(p, "sync_min_ms", min / 1e6);
cJSON_AddNumberToObject(p, "sync_max_ms", max / 1e6);
cJSON_AddNumberToObject(p, "sync_jitter_us", sd / 1e3);
}
if (s.announce_iv.n) {
win_stats(&s.announce_iv, &mean, NULL, NULL, NULL);
cJSON_AddNumberToObject(p, "announce_avg_ms", mean / 1e3);
}
}
xSemaphoreGive(s.lock);
}
esp_err_t ptp_clock_start(esp_netif_t *netif)
{
s.netif = netif;
s.lock = xSemaphoreCreateMutex();
load_config();
uint8_t mac[6];
esp_netif_get_mac(netif, mac);
components/aes67_ptp/ptp_clock.h
+4 -1
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@@ -1,7 +1,10 @@
// PTPv2 ordinary clock over UDP/IPv4 (E2E). Step 3.2: TimeReceiver measurement only.
// PTPv2 ordinary clock over UDP/IPv4 (E2E). TimeReceiver (TimeTransmitter: step 6).
#pragma once
#include "cJSON.h"
#include "esp_err.h"
#include "esp_netif.h"
esp_err_t ptp_clock_start(esp_netif_t *netif);
// Adds the "ptp" object to /api/status.
void ptp_clock_status(cJSON *st);