aes67-ESP32-P4/components/aes67_ptp/ptp_clock.c

#include "ptp_clock.h"

#include <string.h>

#include "aes67_cfg.h"
#include "esp_log.h"
#include "esp_random.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "lwip/sockets.h"
#include "ptp_hw.h"

#define PTP_MCAST           "224.0.1.129"
#define PTP_EVENT_PORT      319
#define PTP_GENERAL_PORT    320
#define HDR_LEN             34
#define FLAG_TWO_STEP       0x0200

static const char *TAG = "ptp";
static const uint8_t PTP_MCAST_MAC[6] = { 0x01, 0x00, 0x5e, 0x00, 0x01, 0x81 };

typedef struct {
    bool valid;
    uint8_t port_id[10];            // sourcePortIdentity of the GM (clockId + port)
    uint32_t ip;                    // source address, for hybrid mode later
    uint8_t p1, cls, acc, p2;
    uint16_t var;
    uint8_t gm_id[8];
    uint16_t steps;
    int8_t log_announce;
    int64_t last_us;                // last Announce (esp_timer)
} master_t;

static struct {
    esp_netif_t *netif;
    int ev, gen;
    uint8_t domain, dscp, timeout;
    uint8_t port_id[10];            // our clockId (EUI-64 from MAC) + port 1
    master_t gm;
    // Sync / Follow_Up
    uint16_t sync_seq;
    bool sync_pending;
    int64_t t1, t2, sync_corr;
    // Delay_Req / Delay_Resp
    uint16_t dreq_seq;
    bool dreq_pending;
    int64_t t3;
    int8_t log_dreq;                // from Delay_Resp logMessageInterval
    int64_t next_dreq_us;
    int64_t delay_ns;               // mean path delay, 0 = not measured yet
    // Drift of (t2 - t1) between Syncs: corrects the delay for the time between t2 and t3
    // while the local clock is not yet syntonised.
    int64_t raw, prev_raw, prev_t2;
    double rate;
} s;

/* ----- helpers ----- */

static uint16_t rd16(const uint8_t *p) { return (p[0] << 8) | p[1]; }

static int64_t rd_ts(const uint8_t *p)   // 48-bit seconds + 32-bit ns
{
    uint64_t sec = ((uint64_t)rd16(p) << 32) | ((uint32_t)p[2] << 24) | (p[3] << 16) | (p[4] << 8) | p[5];
    uint32_t ns = ((uint32_t)p[6] << 24) | (p[7] << 16) | (p[8] << 8) | p[9];
    return (int64_t)sec * 1000000000LL + ns;
}

static int64_t rd_corr_ns(const uint8_t *p)   // correctionField: ns * 2^16
{
    int64_t v = 0;
    for (int i = 0; i < 8; i++) {
        v = (v << 8) | p[i];
    }
    return v >> 16;
}

static int64_t mac_ns(const eth_mac_time_t *t)
{
    return (int64_t)t->seconds * 1000000000LL + t->nanoseconds;
}

static void fmt_id(char *out, const uint8_t *id)
{
    sprintf(out, "%02x-%02x-%02x-%02x-%02x-%02x-%02x-%02x", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7]);
}

// IEEE 1588 dataset comparison (without the topology part): <0 if a is better.
static int compare(const master_t *a, const master_t *b)
{
    if (a->p1 != b->p1) return a->p1 - b->p1;
    if (a->cls != b->cls) return a->cls - b->cls;
    if (a->acc != b->acc) return a->acc - b->acc;
    if (a->var != b->var) return a->var - b->var;
    if (a->p2 != b->p2) return a->p2 - b->p2;
    int c = memcmp(a->gm_id, b->gm_id, 8);
    if (c) return c;
    return a->steps - b->steps;
}

static int open_socket(uint16_t port, struct in_addr ifaddr)
{
    int fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
    int one = 1;
    setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
    struct sockaddr_in a = { .sin_family = AF_INET, .sin_port = htons(port), .sin_addr.s_addr = htonl(INADDR_ANY) };
    struct ip_mreq m = { .imr_interface = ifaddr };
    inet_aton(PTP_MCAST, &m.imr_multiaddr);
    if (bind(fd, (struct sockaddr *)&a, sizeof(a)) < 0 ||
        setsockopt(fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, &m, sizeof(m)) < 0) {
        ESP_LOGE(TAG, "socket %u: bind/join failed (errno %d)", port, errno);
        close(fd);
        return -1;
    }
    return fd;
}

static bool from_gm(const uint8_t *b)
{
    return s.gm.valid && memcmp(b + 20, s.gm.port_id, 10) == 0;
}

/* ----- message handling ----- */

static void on_announce(const uint8_t *b, int len, uint32_t src_ip)
{
    if (len < 64) {
        return;
    }
    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(),
    };
    memcpy(m.port_id, b + 20, 10);
    memcpy(m.gm_id, b + 53, 8);
    if (memcmp(m.port_id, s.port_id, 10) == 0) {
        return;  // our own
    }
    if (from_gm(b)) {
        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));
        s.gm = m;
        s.sync_pending = s.dreq_pending = false;
        s.delay_ns = s.prev_t2 = 0;
        s.log_dreq = 0;
        s.next_dreq_us = 0;
    }
}

static void sync_complete(void)
{
    s.sync_pending = false;
    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);
    }
    s.prev_raw = s.raw;
    s.prev_t2 = s.t2;
    if (!s.delay_ns) {
        return;
    }
    // offset = t2 - t1 - corrections - mean path delay
    int64_t offset = s.raw - s.delay_ns;
    ESP_LOGI(TAG, "seq %u: offset %+lld ns, path delay %lld ns, rate %+.3f ppm", s.sync_seq, offset, s.delay_ns,
             s.rate * 1e6);
}

static void on_sync(const uint8_t *b, int len)
{
    if (len < 44 || !from_gm(b)) {
        return;
    }
    eth_mac_time_t t2;
    uint16_t seq = rd16(b + 30);
    if (!ptp_hw_rx_ts(PTP_MSG_SYNC, seq, b + 20, &t2)) {
        ESP_LOGW(TAG, "Sync %u: no HW RX timestamp", seq);
        return;
    }
    s.sync_seq = seq;
    s.t2 = mac_ns(&t2);
    s.sync_corr = rd_corr_ns(b + 8);
    if (rd16(b + 6) & FLAG_TWO_STEP) {
        s.sync_pending = true;  // wait for Follow_Up
    } else {
        s.t1 = rd_ts(b + 34);
        sync_complete();
    }
}

static void on_follow_up(const uint8_t *b, int len)
{
    if (len < 44 || !from_gm(b) || !s.sync_pending || rd16(b + 30) != s.sync_seq) {
        return;
    }
    s.t1 = rd_ts(b + 34);
    s.sync_corr += rd_corr_ns(b + 8);
    sync_complete();
}

static void send_delay_req(void)
{
    uint8_t m[44] = { 0 };
    m[0] = PTP_MSG_DELAY_REQ;
    m[1] = 2;
    m[3] = sizeof(m);
    m[4] = s.domain;
    memcpy(m + 20, s.port_id, 10);
    s.dreq_seq++;
    m[30] = s.dreq_seq >> 8;
    m[31] = s.dreq_seq & 0xff;
    m[32] = 1;      // controlField: Delay_Req
    m[33] = 0x7f;
    uint32_t dst;
    inet_aton(PTP_MCAST, (struct in_addr *)&dst);
    eth_mac_time_t t3;
    esp_err_t err = ptp_hw_send_event(PTP_MCAST_MAC, dst, s.dscp, m, sizeof(m), &t3);
    if (err != ESP_OK) {
        ESP_LOGW(TAG, "Delay_Req %u: %s", s.dreq_seq, esp_err_to_name(err));
        s.dreq_pending = false;
        return;
    }
    s.t3 = mac_ns(&t3);
    s.dreq_pending = true;
}

static void on_delay_resp(const uint8_t *b, int len)
{
    if (len < 54 || !from_gm(b) || !s.dreq_pending || rd16(b + 30) != s.dreq_seq ||
        memcmp(b + 44, s.port_id, 10) != 0) {
        return;
    }
    s.dreq_pending = false;
    int64_t t4 = rd_ts(b + 34) - rd_corr_ns(b + 8);
    s.log_dreq = (int8_t)b[33];
    if (!s.prev_t2) {
        return;
    }
    // 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
}

/* ----- task ----- */

static void load_config(void)
{
    cJSON *c = cfg_get("ptp");
    s.domain = cJSON_GetObjectItem(c, "domain")->valueint;
    s.dscp = cJSON_GetObjectItem(c, "dscp")->valueint;
    s.timeout = cJSON_GetObjectItem(c, "announce_timeout")->valueint;
    cJSON_Delete(c);
}

static void ptp_task(void *arg)
{
    esp_netif_ip_info_t ip = { 0 };
    while (esp_netif_get_ip_info(s.netif, &ip) != ESP_OK || !ip.ip.addr) {
        vTaskDelay(pdMS_TO_TICKS(500));
    }
    struct in_addr ifaddr = { .s_addr = ip.ip.addr };
    s.ev = open_socket(PTP_EVENT_PORT, ifaddr);
    s.gen = open_socket(PTP_GENERAL_PORT, ifaddr);
    if (s.ev < 0 || s.gen < 0) {
        vTaskDelete(NULL);
    }
    char id[24];
    fmt_id(id, s.port_id);
    ESP_LOGI(TAG, "TimeReceiver on " IPSTR ", domain %u, clock %s, listening", IP2STR(&ip.ip), s.domain, id);

    uint8_t b[128];
    while (1) {
        fd_set fds;
        FD_ZERO(&fds);
        FD_SET(s.ev, &fds);
        FD_SET(s.gen, &fds);
        struct timeval tv = { .tv_sec = 0, .tv_usec = 100000 };
        if (select((s.ev > s.gen ? s.ev : s.gen) + 1, &fds, NULL, NULL, &tv) > 0) {
            for (int k = 0; k < 2; k++) {
                int fd = k ? s.gen : s.ev;
                if (!FD_ISSET(fd, &fds)) {
                    continue;
                }
                struct sockaddr_in src;
                socklen_t sl = sizeof(src);
                int len = recvfrom(fd, b, sizeof(b), 0, (struct sockaddr *)&src, &sl);
                if (len < HDR_LEN || (b[1] & 0x0f) != 2 || b[4] != s.domain) {
                    continue;
                }
                switch (b[0] & 0x0f) {
                case PTP_MSG_ANNOUNCE:   on_announce(b, len, src.sin_addr.s_addr); break;
                case PTP_MSG_SYNC:       on_sync(b, len); break;
                case PTP_MSG_FOLLOW_UP:  on_follow_up(b, len); break;
                case PTP_MSG_DELAY_RESP: on_delay_resp(b, len); break;
                default: break;
                }
            }
        }

        int64_t now = esp_timer_get_time();
        if (s.gm.valid) {
            // announceReceiptTimeout x the GM's announce interval
            int64_t window = (int64_t)s.timeout * (s.gm.log_announce >= 0 ? 1000000LL << s.gm.log_announce
                                                                          : 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);
                memset(&s.gm, 0, sizeof(s.gm));
                s.delay_ns = s.prev_t2 = 0;
            } 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
                int64_t iv = s.log_dreq >= 0 ? 1000000LL << s.log_dreq : 1000000LL >> -s.log_dreq;
                s.next_dreq_us = now + iv / 2 + (esp_random() % (uint32_t)iv);
            }
        }
    }
}

esp_err_t ptp_clock_start(esp_netif_t *netif)
{
    s.netif = netif;
    load_config();
    uint8_t mac[6];
    esp_netif_get_mac(netif, mac);
    const uint8_t pid[10] = { mac[0], mac[1], mac[2], 0xff, 0xfe, mac[3], mac[4], mac[5], 0, 1 };
    memcpy(s.port_id, pid, sizeof(pid));
    return xTaskCreate(ptp_task, "ptp", 4096, NULL, 10, NULL) == pdPASS ? ESP_OK : ESP_ERR_NO_MEM;
}