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Master ProjectImplementation and Performance Analysis of Precision Time Protocol on

Linux based System-On-Chip Platform

Mudassar Ahmed(Matr.Nr. 927837)

MSc. Information EngineeringKiel University of Applied Sciences

May, 2018

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 1 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 2 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 3 / 29

IntroductionWhy Time Synchronization ?

Time Critical Actions

Distributed Computing.

Some financial services require highly accurate timekeeping by law.

Scheduled operations.

Logging.

Power system protection

Control and automation

Data communication applications utilizing an Ethernetcommunications architecture.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 4 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 5 / 29

IntroductionAvailable Solutions/Protocols

NTP.

GPS.

TTP and SERCOS:.

Precision Time Protocol (PTP-1588).

*Self-Organizing ,**Sub-Microsecond level accuracy, ***Hardware assisted (Optional).

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 6 / 29

IntroductionAvailable Solutions/Protocols

NTP.

GPS.

TTP and SERCOS:.

Precision Time Protocol (PTP-1588).

*Self-Organizing ,**Sub-Microsecond level accuracy, ***Hardware assisted (Optional).

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 6 / 29

IntroductionAvailable Solutions/Protocols

NTP.

GPS.

TTP and SERCOS:.

Precision Time Protocol (PTP-1588).

*Self-Organizing ,**Sub-Microsecond level accuracy, ***Hardware assisted (Optional).

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 6 / 29

IntroductionAvailable Solutions/Protocols

NTP.

GPS.

TTP and SERCOS:.

Precision Time Protocol (PTP-1588).

*Self-Organizing ,**Sub-Microsecond level accuracy, ***Hardware assisted (Optional).

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 6 / 29

IntroductionAvailable Solutions/Protocols

NTP.

GPS.

TTP and SERCOS:.

Precision Time Protocol (PTP-1588). *Self-Organizing ,**Sub-Microsecond level accuracy, ***Hardware assisted (Optional).

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 6 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 7 / 29

IntroductionWhy this Project?

Enabling Hardware timestamping capabilities of BeagleBone Black

Analyzing the behavior of PTP implementation, with simulated load.

Analysis of precision uncertainty.

Maximum attainable accuracy.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 8 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 9 / 29

MethodologyTools and Technologies

LinuxPTP (ptp4l, pmc and phy2sys).

stress-ng.

iPerf.

Matlab.

Beaglebone Black (SoC Platform).

Supports Hardware Assisted PTPImplementation.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 10 / 29

MethodologyTools and Technologies

LinuxPTP (ptp4l, pmc and phy2sys).

stress-ng.

iPerf.

Matlab.

Beaglebone Black (SoC Platform).

Supports Hardware Assisted PTPImplementation.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 10 / 29

MethodologyTools and Technologies

LinuxPTP (ptp4l, pmc and phy2sys).

stress-ng.

iPerf.

Matlab.

Beaglebone Black (SoC Platform).

Supports Hardware Assisted PTPImplementation.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 10 / 29

MethodologyTools and Technologies

LinuxPTP (ptp4l, pmc and phy2sys).

stress-ng.

iPerf.

Matlab.

Beaglebone Black (SoC Platform).

Supports Hardware Assisted PTPImplementation.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 10 / 29

MethodologyTools and Technologies

LinuxPTP (ptp4l, pmc and phy2sys).

stress-ng.

iPerf.

Matlab.

Beaglebone Black (SoC Platform).

Supports Hardware Assisted PTPImplementation.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 10 / 29

MethodologyTools and Technologies

LinuxPTP (ptp4l, pmc and phy2sys).

stress-ng.

iPerf.

Matlab.

Beaglebone Black (SoC Platform). Supports Hardware Assisted PTPImplementation.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 10 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 11 / 29

MethodologyEstablishing Test Environment

Configuring a Linux kernel with PTP related options( CONFIG PPS and PTP 1588 CLOCK).

Installing and Configuring necessary tools.LinuxPTPStress-ngiPerfMatlab

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 12 / 29

MethodologyEstablishing Test Environment

Configuring a Linux kernel with PTP related options( CONFIG PPS and PTP 1588 CLOCK).

Installing and Configuring necessary tools.LinuxPTPStress-ngiPerfMatlab

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 12 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 13 / 29

MethodologyTest Case scenarios

Software Timestamping.

Hardware Timestamping.

Comparison of Software and Hardware based Synchronization.

Hardware Assisted Time Synchronization under CPU Load.

Hardware Assisted Time Synchronization under I/O Load.

Hardware Assisted Time Synchronization under Network Load.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 14 / 29

MethodologyTest Case scenarios

Software Timestamping.

Hardware Timestamping.

Comparison of Software and Hardware based Synchronization.

Hardware Assisted Time Synchronization under CPU Load.

Hardware Assisted Time Synchronization under I/O Load.

Hardware Assisted Time Synchronization under Network Load.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 14 / 29

MethodologyTest Case scenarios

Software Timestamping.

Hardware Timestamping.

Comparison of Software and Hardware based Synchronization.

Hardware Assisted Time Synchronization under CPU Load.

Hardware Assisted Time Synchronization under I/O Load.

Hardware Assisted Time Synchronization under Network Load.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 14 / 29

MethodologyTest Case scenarios

Software Timestamping.

Hardware Timestamping.

Comparison of Software and Hardware based Synchronization.

Hardware Assisted Time Synchronization under CPU Load.

Hardware Assisted Time Synchronization under I/O Load.

Hardware Assisted Time Synchronization under Network Load.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 14 / 29

MethodologyTest Case scenarios

Software Timestamping.

Hardware Timestamping.

Comparison of Software and Hardware based Synchronization.

Hardware Assisted Time Synchronization under CPU Load.

Hardware Assisted Time Synchronization under I/O Load.

Hardware Assisted Time Synchronization under Network Load.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 14 / 29

MethodologyTest Case scenarios

Software Timestamping.

Hardware Timestamping.

Comparison of Software and Hardware based Synchronization.

Hardware Assisted Time Synchronization under CPU Load.

Hardware Assisted Time Synchronization under I/O Load.

Hardware Assisted Time Synchronization under Network Load.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 14 / 29

Outline

1 IntroductionWhy Time Synchronization ?Available Solutions/ProtocolsWhy this Project?

2 MethodologyTools and TechnologiesEstablishing Test EnvironmentTest Case scenariosData Collections and Presentation

3 Results/Demo

4 Summary

5 References

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 15 / 29

MethodologyData Collection and Presentation(Test Sheet)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 16 / 29

MethodologyData Collection and Presentation (Log File)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 17 / 29

MethodologyData Collection and Presentation (Matlab Workspace)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 18 / 29

MethodologyData Collection and Presentation (Data Presentation)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 19 / 29

Results/DemoSoftware Timestamping based Time Synchronization

Time (sec)

0 1000 2000 3000 4000 5000 6000 7000

Off

se

t fr

om

Ma

ste

r clo

ck (

ns)

-800.000

-600.000

-400.000

-200.000

0

200.000

400.000

600.000

800.000

Slave 1

Slave 2

Slave 3

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 20 / 29

Results/DemoHardware Timestamping based Time Synchronization (Multiple Slaves)

Time (sec)

1000 1010 1020 1030 1040 1050 1060 1070 1080 1090 1100

Off

se

t fr

om

Ma

ste

r C

lock (

ns)

-500

-400

-300

-200

-100

0

100

200

300

400

500

Slave 1

Slave 2

Slave 3

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 21 / 29

Results/DemoHardware Timestamping based Time Synchronization (Single Slave)

Time (sec)

8000 8010 8020 8030 8040 8050 8060 8070 8080 8090 8100

Off

se

t fr

om

Ma

ste

r C

lock (

ns)

-300

-250

-200

-150

-100

-50

0

50

100

150

200

250

300

Data

Slave 3

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 22 / 29

Results/DemoComparison of Hardware and Software based Time Synchronization

Time(sec)

0 50 100 150 200 250 300 350 400 450 500 550

Off

se

t fr

om

Ma

ste

r clo

ck (

ns)

-60.000

-50.000

-40.000

-30.000

-20.000

-10.000

0

10.000

20.000

30.000

40.000

50.000

60.000

70.000

80.000

90.000

100.000

Slave Clock (Sw)

Slave Clock (Hw)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 23 / 29

Results/DemoHardware Assisted Time Synchronization under CPU Load

Time (sec)

0 10 20 30 40 50 60 70 80 90 100

Off

se

t fr

om

Ma

ste

r C

lock (

ns)

-1000

-800

-600

-400

-200

0

200

400

600

800

1000

Slave 1

Slave 2 (50%)

Slave 3 (100%)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 24 / 29

Results/DemoHardware Assisted Time Synchronization under I/O Load

Time (sec)

0 20 40 60 80 100 120 140 160 180 200

Off

se

t fr

om

Ma

ste

r C

lock (

ns)

-1000

-800

-600

-400

-200

0

200

400

600

800

1000

Slave 1

Slave 2 (I/O Load)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 25 / 29

Results/DemoHardware Assisted Time Synchronization under Network Load

Time (sec)

0 5 10 15 20 25 30 35 40 45 50

Off

se

t fr

om

Ma

ste

r clo

ck (

ns)

×104

-9

-8

-7

-6

-5

-4

-3

-2

-1

0

1

2

3

4

5

6

7

8

9

Slave 1

Slave 2 (1Mb)

Slave 3 (5 Mb)

Slave 4 (10 Mb)

Slave 5 (20 Mb)

Slave 6 (50 Mb)

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 26 / 29

Summary

In Software only solutions,the average offset of slave clocks remainedbetween ± 0.5ms

In Hardware based implementations, the accuracy of ± 200ns wasfrequently achieved.

In load case scenarios, apparently network traffic based tests showedsome considerable effects.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 27 / 29

References I

IEEE Std 1588 -2008 (Revision of IEEE Std 1588-2002) .IEEE Standard for a Precision Clock Synchronization Protocol forNetworked Measurement and Control Systems.IM - IEEE Instrumentation and Measurement Society, 2008.

Kendall Correll, Nick Barendt and Michael Branicky .Design Considerations for Software Only Implementations of the IEEE1588 Precision Time Protocol.IEEE 1588 Conference, Zurich, October 2005.

Patrick Ohly, David N. Lombard, Kevin B. Stanton.Hardware Assisted Precision Time Protocol.Design and case study.LCI International Conference on High-Performance ClusteredComputing, 2008.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 28 / 29

References II

Richard Cochran and Cristian Marinescu .Design and Implementation of a PTP Clock Infrastructure for theLinux Kernel.International IEEE Symposium , 116-121, 2010.

Richard Cochran, Cristian Marinescu and Christian Riesch .Synchronizing the Linux System Time to a PTP Hardware Clock.IPrecision Clock Synchronization for Measurement Control andCommunication (ISPCS), 2011 International IEEE Symposium on12-16 Sept. 2011,.

Mudassar Ahmed (Matr.Nr. 927837) Master Project May, 2018 29 / 29