arch/arm/stm32: hardware TX timestamping via SO_TIMESTAMPING by daniel-p-carvalho · Pull Request #20148 · apache/nuttx

daniel-p-carvalho · 2026-09-14T22:55:27Z

Depends on #20180. Please do not merge this PR before #20180.

The first six commits below are the same commits as #20180, on top of current master, because the TX timestamp has to come from the same hardware counter as the RX timestamp and the /dev/ptp0 clock. Until #20180 is merged this PR shows them in its diff; only the last two commits are new here, and those are the ones to review in this PR. I will rebase it onto master once #20180 is in, so that it is reduced to those two commits.

Summary

The STM32 Ethernet MAC can capture a timestamp for every transmitted frame, but the driver only timestamped received frames. A PTP daemon that measures the path delay with the peer-to-peer mechanism needs the transmit time of its Pdelay_Req from the hardware. Taking it in software, after sendmsg() returns, gave a negative peer delay on the board I tested with, which the daemon rejects.

This PR adds hardware TX timestamping to the legacy STM32 Ethernet driver, delivered through the generic SO_TIMESTAMPING mechanism that #20161 added to the network stack: the driver clones the transmitted frame, attaches the hardware timestamp and loops it back to the AF_PACKET socket, where recvmsg(..., MSG_ERRQUEUE) returns it. No new socket option, ioctl or change in the network stack is needed. The TX timestamp is the raw MAC counter, the same time base as the RX timestamp and /dev/ptp0 from #20180.

This PR was reworked after review of its first version. The custom socket ioctls (SIOCG_TX_HW_TIMESTAMP, SIOCS_PTP_ADJFREQ, SIOCS_PTP_ADJPHASE) are gone, replaced by SO_TIMESTAMPING for TX and by the PTP hardware clock in #20180. The other parts of the original 13 commits were merged separately (#20172, #20173, #20195) or moved to #20180.

Commits

The first six are the commits of #20180, unchanged, and are reviewed there:

drivers/timers: Add TMRDEPPATH/TMRVPATH for PTP clock drivers.
arch/arm/stm32: Convert RX hardware timestamp before pkt_input().
arch/arm/stm32: Disable reception of self-transmitted frames.
arch/arm/stm32: deliver direct hardware counter timestamps for PTP.
arch/arm/stm32: implement PTP hardware clock driver (/dev/ptp0)
net/pkt: remove unused variable conn in append_timestamping

New in this PR:

arch/arm/stm32: implement hardware TX timestamping via SO_TIMESTAMPING loopback. Adds CONFIG_STM32_ETH_TIMESTAMP_TX. When an outgoing frame is flagged for timestamping, the driver keeps a clone of it, sets ETH_TDES0_TTSE in the transmit descriptor and, when the transmission completes, reads the timestamp from TDES6/TDES7, converts it with ptp_to_timespec() and queues the clone. The queued clones are handed back to the network stack from stm32_receive() through pkt_input(), where net/pkt delivers them to the error queue of the socket. Pending clones are released when the interface goes down.
arch/arm/stm32: fix PTP multicast filter and RX/TX frame routing. Fixes found while running PTP with the change above. With CONFIG_NET_PROMISCUOUS all control frames are forwarded (ETH_MACFFR_PCF_ALL), so the link-local PTP multicast reaches the DMA. Frames already delivered to packet sockets are no longer logged as Dropped, Unknown type. The io_conn of a looped-back clone is cleared before its IOB is freed. ptp_to_timespec() is moved above its first user.

Impact

Everything new is under CONFIG_STM32_ETH_TIMESTAMP_TX (default n, needs STM32_ETH_PTP, NET_TIMESTAMP and enhanced descriptors), which only exists for the legacy STM32 MAC driver. Boards that do not enable it are not affected by commit 7. Commit 8 touches the receive path of the same driver, but only the promiscuous-mode filter and a log message.
The timestamps are raw counter values, as for RX in arch/arm/stm32: implement PTP hardware clock driver (/dev/ptp0) #20180, so the consumer has to use /dev/ptp0 as its clock. apps/netutils/ptpd does that with -H -p /dev/ptp0.
No change to the network stack or to any public header.
The apps side, ptpd reading the TX timestamp from the error queue, is a follow-up to netutils/ptpd: IEEE 1588 P2P delay mechanism, hardware clock phase-lock and outlier rejection nuttx-apps#3782.

Testing

Built for stm32f4discovery:ethraw, a custom board configuration with the STM32F407 MAC and a DP83848 PHY, with CONFIG_STM32_ETH_TIMESTAMP_TX=y, without errors or new warnings. ./tools/checkpatch.sh -g upstream/master..HEAD passes.

On hardware, against a GNSS-referenced ptp4l Grandmaster using the IEC/IEEE 61850-9-3 profile, over AF_PACKET and through a Fast Ethernet switch, with ptpd -H -p /dev/ptp0 -B -P from apache/nuttx-apps#3782 plus the follow-up that reads the TX timestamps:

path_delay 9265.3 ns with σ = 2.5 ns over a 20 minute run (159 samples, no failed queries), phase offset about -2.2 µs, drift about -79.95 ppm.
Several 5 minute runs: path_delay between 9.26 and 9.33 µs.
The PPS output of the MAC, measured on an oscilloscope against the Grandmaster's PPS, stayed within about 20 µs.
Without this PR, and with ptpd taking the transmit time in software, the peer delay was negative (about -18 µs) and was rejected, so the path delay stayed at 0.

These runs were made on the same commits before the rebase onto the current master. The rebase dropped one commit that had already been merged (#20195) and the files touched by this series are identical to the ones that were tested, but the rebased branch was only built, not run again. Other STM32 boards that use this driver were not tested.

github-actions · 2026-09-14T23:04:17Z

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xiaoxiang781216 · 2026-09-15T02:15:34Z


+/* PTP Timestamping *********************************************************/
+
+#define SIOCG_TX_HW_TIMESTAMP _SIOC(0x0046) /* Get hardware TX timestamp */


does Linux define the similar ioctl?

No, Linux doesn't have a direct equivalent for any of the three - it exposes each NIC's PTP hardware clock as its own /dev/ptpN character device with a clockid_t, disciplined via the standard POSIX clock_adjtime() syscall rather than a dedicated network ioctl. TX timestamp retrieval similarly goes through SO_TIMESTAMPING + the socket error queue (MSG_ERRQUEUE/SCM_TIMESTAMPING), which NuttX's socket layer doesn't implement (MSG_ERRQUEUE is defined for API compat but unused, and there's a comment in inet_sockif.c noting SO_TIMESTAMPING as future work).

While looking into this I found drivers/timers/ptp_clock.c already implements a generic upper-half PTP hardware clock framework matching Linux's /dev/ptpN model closely - PTP_CLOCK_ADJTIME handling ADJ_FREQUENCY/ADJ_OFFSET via struct timex, the dynamic-clockid-to-fd conversion, etc. It has no registered lower-half driver anywhere in the tree yet, and its adjfine/adjphase ops map almost directly onto what this PR already implements in stm32_eth_ptp_adjust()/stm32_eth_ptp_adjphase(). I didn't know about it when I wrote this PR; migrating to it as a lower-half driver looks like the right direction for SIOCS_PTP_ADJFREQ/SIOCS_PTP_ADJPHASE, dropping both in favor of /dev/ptp0. SIOCG_TX_HW_TIMESTAMP is unrelated to that framework though - it's per-packet TX timestamp retrieval, not clock discipline, and there's no equivalent facility in ptp_clock.c for it; the real Linux equivalent there is SO_TIMESTAMPING/MSG_ERRQUEUE, which as noted isn't implemented in NuttX, so I don't see a smaller-scope alternative to keeping that one as a plain ioctl for now.

Would you rather I do the /dev/ptp0 migration for ADJFREQ/ADJPHASE in this PR, or land the current ioctls now and follow up separately?

While looking into this I found drivers/timers/ptp_clock.c already implements a generic upper-half PTP hardware clock framework matching Linux's /dev/ptpN model closely - PTP_CLOCK_ADJTIME handling ADJ_FREQUENCY/ADJ_OFFSET via struct timex, the dynamic-clockid-to-fd conversion, etc. It has no registered lower-half driver anywhere in the tree yet, and its adjfine/adjphase ops map almost directly onto what this PR already implements in stm32_eth_ptp_adjust()/stm32_eth_ptp_adjphase(). I didn't know about it when I wrote this PR;

ptp driver framework is implemented by @Donny9 to let eth driver provide ptp clock in a portable way.

migrating to it as a lower-half driver looks like the right direction for SIOCS_PTP_ADJFREQ/SIOCS_PTP_ADJPHASE, dropping both in favor of /dev/ptp0.

yes, I think so.

SIOCG_TX_HW_TIMESTAMP is unrelated to that framework though - it's per-packet TX timestamp retrieval, not clock discipline, and there's no equivalent facility in ptp_clock.c for it; the real Linux equivalent there is SO_TIMESTAMPING/MSG_ERRQUEUE, which as noted isn't implemented in NuttX, so I don't see a smaller-scope alternative to keeping that one as a plain ioctl for now.

@wenquan2015 do some improvement in this area, which may simplify your code.

Would you rather I do the /dev/ptp0 migration for ADJFREQ/ADJPHASE in this PR, or land the current ioctls now and follow up separately?

it's better to algin your improvement inside both kernel and userspace to Linux design, so we can use other ptp library and utility in the future.

@daniel-p-carvalho Hi, I've already implemented the SO_TIMESTAMPING + MSG_ERRQUEUE TX timestamp delivery and will submitt PRs to NuttX mainline this week after resolving the conflict. The full Linux-style flow is in place: sender tags iob->io_conn, driver captures the timestamp and loops the IOB back via RX path, userspace retrieves it with recvmsg(MSG_ERRQUEUE) + SCM_TIMESTAMPING cmsg.
@xiaoxiang781216 #20161

Sounds good, I'll migrate SIOCS_PTP_ADJFREQ/SIOCS_PTP_ADJPHASE to /dev/ptp0 (registering a lower-half driver against drivers/timers/ptp_clock.c) in this PR.

For TX timestamp delivery, I'd rather hold off on migrating SIOCG_TX_HW_TIMESTAMP to SO_TIMESTAMPING until apache/nuttx#20161 merges. Should I keep this PR open as-is for that follow-up once apache/nuttx#20161 merges, mark it as draft in the meantime, or close it and submit a fresh PR later instead? Happy to do whichever fits your workflow better.

@wenquan2015 nice work, looking forward to building on top of it once it's in.

it's better to split your pr into there new pr:

the general network improvement or bugfix

implement stm32 eth ptp driver

implement stm32 eth hardware timestamp

it's fine to reuse this pr for item 2 or 3 if you want.

xiaoxiang781216 · 2026-09-15T02:16:31Z

 /* PTP Timestamping *********************************************************/

 #define SIOCG_TX_HW_TIMESTAMP _SIOC(0x0046) /* Get hardware TX timestamp */
+#define SIOCS_PTP_ADJFREQ     _SIOC(0x0047) /* Set PTP hardware frequency adjustment (ppb) */


xiaoxiang781216 · 2026-09-15T02:17:33Z


 #define SIOCG_TX_HW_TIMESTAMP _SIOC(0x0046) /* Get hardware TX timestamp */
 #define SIOCS_PTP_ADJFREQ     _SIOC(0x0047) /* Set PTP hardware frequency adjustment (ppb) */
+#define SIOCS_PTP_ADJPHASE    _SIOC(0x0048) /* Set PTP hardware phase adjustment (ns) */


Implement lower-half PTP hardware clock operations (struct ptp_lowerhalf_s and struct ptp_ops_s) in the STM32 Ethernet driver and register it with the generic PTP clock framework (drivers/timers/ptp_clock.c) to expose /dev/ptp0. Supported operations: - adjfine: adjust PTP clock frequency in parts per billion (ppb) - adjphase: adjust PTP clock phase via hardware TSSTU - adjtime: shift PTP clock time by signed delta in nanoseconds - gettime: atomic double-read of hardware timestamp registers - settime: initialize hardware timestamp counter via TSSTI - getres: return 1 ns clock resolution Also fix a sign bug in frequency trim where uint64_t addend promoted negative ppb adjustments to unsigned, corrupting frequency trim for crystals running faster than nominal. Follow-up to apache#20148 per review recommendation to use the standard POSIX /dev/ptp0 character driver instead of custom socket ioctls. Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

Implement lower-half PTP hardware clock operations (struct ptp_lowerhalf_s and struct ptp_ops_s) in the STM32 Ethernet driver and register it with the generic PTP clock framework (drivers/timers/ptp_clock.c) to expose /dev/ptp0. Supported operations: - adjfine: adjust PTP clock frequency in parts per billion (ppb) - adjphase: adjust PTP clock phase via hardware TSSTU - adjtime: shift PTP clock time by signed delta in nanoseconds - gettime: atomic double-read of hardware timestamp registers - settime: initialize hardware timestamp counter via TSSTI - getres: return 1 ns clock resolution Also fix a sign bug in stm32_eth_ptp_adjust() where uint64_t addend promoted negative ppb adjustments to unsigned, corrupting frequency trim for crystals running faster than nominal. Follow-up to apache#20148 per review recommendation to use the standard POSIX /dev/ptp0 character driver instead of custom socket ioctls. Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

daniel-p-carvalho · 2026-09-19T15:18:17Z

Status update, and a heads-up on what will change in this PR.

Following the review here (replace the custom socket ioctls with the generic PTP hardware clock, and use SO_TIMESTAMPING for TX timestamps), the original 13 commits have been split up. Everything they contained is now either merged, in its own PR, or dropped:

Original content	Where it went
tickless compare-match race, `adjtime()` slewing from the tickless tick handler	merged as #20173
self-transmit loopback false positive in `net/pkt`	merged as #20172
`SIOCS_PTP_ADJFREQ` / `SIOCS_PTP_ADJPHASE`	dropped; replaced by the `/dev/ptp0` driver in #20180
`SIOCG_TX_HW_TIMESTAMP`	dropped; replaced by `SO_TIMESTAMPING` + `MSG_ERRQUEUE` (#20161, merged)
RX timestamp ordering, `ETH_MACCR_ROD`, direct hardware counter timestamps, `TMRDEPPATH`/`TMRVPATH`	#20180
stale `io_conn` in recycled IOBs (`CONFIG_NET_TIMESTAMPING` typo left behind by #20161)	#20195

What is left for this PR is the STM32 hardware TX timestamping itself, delivered through SO_TIMESTAMPING as defined in #20161. It depends on #20180 (the TX and RX timestamps have to come from the same hardware counter), so I am converting this PR to a draft for now. Once #20180 and #20195 are merged I will rebase the remaining commits onto master, force-push this branch, and update the title and description, so the current diff and the older ioctl-related threads will be outdated by then.

The comments above about the ioctl definitions and the FAR/cast style in the ioctl code no longer apply, since that code is gone. The FAR and cast feedback has been applied to the code that replaced it in #20180.

Every other timer driver block in this Make.defs sets TMRDEPPATH and TMRVPATH so DEPPATH/VPATH include this directory. CONFIG_PTP_CLOCK and CONFIG_PTP_CLOCK_DUMMY were the only two missing it, leaving ptp_clock.c/ptp_clock_dummy.c unreachable via VPATH and without a generated dependency file when no other timer driver in this file is also selected. Assisted-by: Claude:claude-sonnet-5 Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com> (cherry picked from commit 6d38122)

stm32_receive() called pkt_input() before stm32_eth_ptp_convert_rxtime(), so every packet handed to a packet socket carried the previous frame's RX timestamp instead of its own in dev->d_rxtime. Reorder so the timestamp is converted first. Assisted-by: Claude:claude-sonnet-5 Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com> (cherry picked from commit 9bfa20d)

Set ETH_MACCR_ROD unconditionally when configuring the MAC. In half-duplex mode the MAC otherwise reflects every frame it transmits back to its own receiver, flooding the receive path with our own traffic right as a genuine reply arrives. The bit has no effect in full-duplex (confirmed on our hardware: fduplex=1), so setting it unconditionally is safe and changes nothing observable for boards already running full-duplex. The sibling stm32f7 driver has the same gap (ETH_MACCR_ROD cleared but never set) and stm32h7's equivalent ETH_MACCR_DO bit has the same issue; both are left out of scope here since only m3m4_v1 hardware was available to validate against. Assisted-by: Claude:claude-sonnet-5 Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com> (cherry picked from commit 41536cb)

The MAC hardware counter is the PTP clock reference. Delivering its raw timestamp directly (instead of synthesizing one against CLOCK_REALTIME, which starts at an arbitrary boot-time phase) lets the PTP daemon close the feedback loop and phase-lock the MAC counter - and therefore the physical PPS output - to the master. Assisted-by: Gemini:gemini-3.8-flash-medium Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

Implement lower-half PTP hardware clock operations (struct ptp_lowerhalf_s and struct ptp_ops_s) in the STM32 Ethernet driver and register it with the generic PTP clock framework (drivers/timers/ptp_clock.c) to expose /dev/ptp0. Supported operations: - adjfine: adjust PTP clock frequency in parts per billion (ppb) - adjphase: adjust PTP clock phase via hardware TSSTU - adjtime: shift PTP clock time by signed delta in nanoseconds - gettime: atomic double-read of hardware timestamp registers - settime: initialize hardware timestamp counter via TSSTI - getres: return 1 ns clock resolution Also fix a sign bug in stm32_eth_ptp_adjust() where uint64_t addend promoted negative ppb adjustments to unsigned, corrupting frequency trim for crystals running faster than nominal. Follow-up to apache#20148 per review recommendation to use the standard POSIX /dev/ptp0 character driver instead of custom socket ioctls. Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

Variable conn is declared and initialized in append_timestamping() but never referenced, triggering -Wunused-variable compiler warning. Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

…G loopback Implement hardware TX timestamping support for STM32 Ethernet MAC (stm32_eth_m3m4_v1.c) following the upstream SO_TIMESTAMPING loopback architecture (PR apache#20161). When an outgoing packet is flagged with SO_TIMESTAMPING (dev->d_iob->io_conn != NULL): - Clone the IOB and hold a reference in priv->tx_meta[txindex] - Set ETH_TDES0_TTSE on the transmit DMA descriptor - On transmission completion (stm32_freeframe), retrieve the hardware timestamp from TDES6/TDES7, convert to timespec via ptp_to_timespec(), and enqueue the clone onto priv->tx_tstampq - Deliver pending TX timestamp clones back to netdev RX path in stm32_receive using pkt_input(), where net/pkt intercepts the frame and delivers it to userspace via recvmsg(..., MSG_ERRQUEUE) - Properly drain pending queues and clones on interface down (stm32_ifdown) Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

- Under CONFIG_NET_PROMISCUOUS, forward all control frames (ETH_MACFFR_PCF_ALL) instead of only non-PAUSE ones, so link-local PTP multicast reaches the DMA. - Move ptp_to_timespec() above its first user so the TX timestamp path can call it. - stm32_receive(): do not log frames already delivered to packet sockets (PTP, IPv6) as "Dropped, Unknown type". - stm32_tx_tstamp_flush(): clear io_conn before freeing the looped-back IOB. Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com> Assisted-by: Claude:claude-sonnet-5

daniel-p-carvalho · 2026-09-19T21:12:20Z

I have updated this PR as announced above, so the diff and the older ioctl-related threads are now outdated.

It now contains only the STM32 hardware TX timestamping, delivered through SO_TIMESTAMPING and MSG_ERRQUEUE as defined in #20161, and it is rebased on current master (the mm/iob fix from #20195 is already in there). The title and description have been rewritten.

This PR must be merged after #20180. The first six commits are the same commits as #20180, which this PR needs because the TX and RX timestamps have to come from the same hardware counter, so they show up in this diff until #20180 is merged. Only the last two commits are new here. I will rebase it once #20180 is in, and only the last two commits need review here.

Implement lower-half PTP hardware clock operations (struct ptp_lowerhalf_s and struct ptp_ops_s) in the STM32 Ethernet driver and register it with the generic PTP clock framework (drivers/timers/ptp_clock.c) to expose /dev/ptp0. Supported operations: - adjfine: adjust PTP clock frequency in parts per billion (ppb) - adjphase: adjust PTP clock phase via hardware TSSTU - adjtime: shift PTP clock time by signed delta in nanoseconds - gettime: atomic double-read of hardware timestamp registers - settime: initialize hardware timestamp counter via TSSTI - getres: return 1 ns clock resolution Also fix a sign bug in stm32_eth_ptp_adjust() where uint64_t addend promoted negative ppb adjustments to unsigned, corrupting frequency trim for crystals running faster than nominal. Follow-up to #20148 per review recommendation to use the standard POSIX /dev/ptp0 character driver instead of custom socket ioctls. Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

daniel-p-carvalho requested review from antmerlino, fjpanag, jerpelea, pkarashchenko, raiden00pl and xiaoxiang781216 as code owners September 14, 2026 22:55

github-actions Bot added Arch: arm Issues related to ARM (32-bit) architecture Area: Drivers Drivers issues Size: L The size of the change in this PR is large labels Sep 14, 2026

daniel-p-carvalho mentioned this pull request Sep 14, 2026

netutils/ptpd: IEEE 1588 P2P delay mechanism, hardware clock phase-lock and outlier rejection apache/nuttx-apps#3782

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daniel-p-carvalho force-pushed the feat/ptp-hw-timestamp-sync branch from df6136c to 70cf835 Compare September 14, 2026 23:34

xiaoxiang781216 reviewed Sep 15, 2026

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zhhyu7 reviewed Sep 16, 2026

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Comment thread net/pkt/pkt.h Outdated

daniel-p-carvalho force-pushed the feat/ptp-hw-timestamp-sync branch 3 times, most recently from 84e534c to 67293c8 Compare September 17, 2026 00:24

daniel-p-carvalho mentioned this pull request Sep 17, 2026

arch/arm/stm32: implement PTP hardware clock driver (/dev/ptp0) #20180

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daniel-p-carvalho marked this pull request as draft September 19, 2026 15:18

daniel-p-carvalho added 6 commits September 19, 2026 18:10

net/pkt: remove unused variable conn in append_timestamping

ed34ad2

Variable conn is declared and initialized in append_timestamping() but never referenced, triggering -Wunused-variable compiler warning. Assisted-by: Gemini:gemini-3.8-pro Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>

daniel-p-carvalho added 2 commits September 19, 2026 18:10

daniel-p-carvalho force-pushed the feat/ptp-hw-timestamp-sync branch from 67293c8 to ba8190d Compare September 19, 2026 21:11

github-actions Bot added Size: M The size of the change in this PR is medium and removed Size: L The size of the change in this PR is large labels Sep 19, 2026

daniel-p-carvalho changed the title ~~arch/arm/stm32, sched, net: hardware PTP timestamping, ADJFREQ/ADJPHASE, and tickless fixes~~ arch/arm/stm32: hardware TX timestamping via SO_TIMESTAMPING Sep 19, 2026

daniel-p-carvalho mentioned this pull request Sep 19, 2026

netutils/ptpd: hardware TX timestamps via MSG_ERRQUEUE and egress latency compensation apache/nuttx-apps#3791

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daniel-p-carvalho marked this pull request as ready for review September 19, 2026 21:22

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		/* PTP Timestamping *********************************************************/

		#define SIOCG_TX_HW_TIMESTAMP _SIOC(0x0046) /* Get hardware TX timestamp */

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