X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/6bdc24738d0318b034321bfdd9cff783a73664d4..a5a89c7f1fb8f4eecafbd578b16072263037ad65:/doc/time/README.org?ds=sidebyside diff --git a/doc/time/README.org b/doc/time/README.org index b346b3b..5351973 100644 --- a/doc/time/README.org +++ b/doc/time/README.org @@ -1,55 +1,331 @@ -* Time +#+TITLE: Ninfacyzga-1 Time Tracking +#+AUTHOR: Steven Baltakatei Sandoval +#+EMAIL: baltakatei@gmail.com +* Time Tracking +** About This document was created by Steven Baltakatei Sandoval on -~2020-07-23T22:27Z~ under a [[https://creativecommons.org/licenses/by-sa/4.0/][Creative Commons BY-SA 4.0 license]]. It -was updated by Steven Baltakatei Sandoval on ~2020-07-25T19:34Z~ -** Development Task list -*** Set up prototype unit -**** Solder wire for PPS signal -**** Follow guide -- [[https://ozzmaker.com/forums/topic/connecting-gps-pps-pin/][Ozzmaker post]] on ~PPS~ wiring and a [[https://www.satsignal.eu/ntp/Raspberry-Pi-NTP.html][guide]] recommendation. -- [[http://www.satsignal.eu/raspberry-pi/Schmidt-RPZ-NTP-2016.pdf][Schmidt article]] on Raspberry Pi Zero time server. -- [[https://gpsd.gitlab.io/gpsd/gpsd-time-service-howto.html][GPSD dev ref]] page for ~gpsd~ interfacing with ~ntp~. -*** Document prototype unit +~2020-07-23T22:27Z~ under a [[https://creativecommons.org/licenses/by-sa/4.0/][Creative Commons BY-SA 4.0 license]]. It was +updated by Steven Baltakatei Sandoval on ~2020-10-18T00:11Z~ + ** Narrative The ~ninfacyzga-01~ device is equipped with an Ozzmaker BerryGPS-IMU -module which provides time and location data to ~gpsd~. The time is -provided by GPS satellites which themselves are [[https://science.nasa.gov/science-news/science-at-nasa/2002/08apr_atomicclock/][equipped]] with atomic -clocks. This extremely accurate set of clocks are needed since a GPS -receiver calculates its position in space using a General Relativity +module which provides time and location data to ~gpsd~ and ~chrony~. The +time is provided by GPS satellites which themselves are +equipped [fn:nasa_20020408_atomicclock] with atomic clocks. This +extremely accurate set of clocks are needed since a GPS receiver +calculates its position in space using a General Relativity calculation that uses the small variations in the time stamps received from each satellite. This means that ~gpsd~ may be used to set the system clock without a need for an internet connection to a default Debian time server; ~ninfacyzga-01~ can be its own time server. + +[fn:nasa_20020408_atomicclock] Title:[[https://science.nasa.gov/science-news/science-at-nasa/2002/08apr_atomicclock/][Tick-Tock Atomic Clock]]; +Date:2002-04-08; Website:NASA.gov; [[https://web.archive.org/web/20100429141752/http://science.nasa.gov/science-news/science-at-nasa/2002/08apr_atomicclock/][Archive-link]]; Archive-date: +2010-04-29 + ** Description *** Hardware -Ozzmaker BerryGPS-IMU, Version 3 +Ozzmaker BerryGPS-IMU, Version 3 (see [[https://ozzmaker.com/berrygps-berrygps-imu-quick-start-guide/][ref]]). *** Software -This guide describes steps that may be used to convert a Raspberry Pi -into a time server using ~gpsd~. +- [[https://www.raspberrypi.org/downloads/raspberry-pi-os/][Raspberry Pi OS]] : A GNU/Linux operating system derived from + Debian 10. This procedure was developed with version ~August 2020~. + +- [[https://tracker.debian.org/pkg/gpsd][~gpsd~]] : A background daemon app capable of interfacing with the + [[https://ozzmaker.com/berrygps-berrygps-imu-quick-start-guide/][Ozzmaker BerryGPS-IMU]]'s GPS submodule. Installed and initialized by + ~apt~. Should be installed along with the ~gpsd-clients~ + package. This procedure was developed with ~gpsd~ version + +- [[https://chrony.tuxfamily.org/][~chrony~]] : A set of programs capable of continuously adjusting the + system clock until it is synchronized with configurable time sources + such as GPS and PPS data provided by ~gpsd~. ~chrony~ may be + configured to act as an NTP time client or server. It uses the same + protocol as ~ntp~ but is a GPLv2 implementation. This procedure was + developed with ~chrony~ version ~3.4-4~. + ** Operating Procedures *** Initial Startup -**** Install Raspbian 10 (Buster) onto a Raspberry Pi Zero W. -**** Install Hardware +**** Perform initial setup. +See [[file:../setup/README.org][Main Setup]] procedure. +**** Install Hardware for time tracking See [[https://ozzmaker.com/forums/topic/connecting-gps-pps-pin/][this]] Ozzmaker forum topic about connecting the BerryGPS-IMU ~T_PULSE~ pin to GPIO 18. +#+CAPTION: An image showing how to connect the PPS signal from an Ozzmaker BerryGPS-IMU board to a Raspberry Pi Zero W. +#+NAME: fig:PPS_BERRYGPS_RASPIZW +[[../../img/Compact_Stratum_1_NTP_time_server_hardware,_October_2020.jpg]] + Connect the ~T_PULSE~ connection on the BerryGPS-IMU-3 to GPIO pin 18 -in order to enable ~gpsd~ to read the PPS signal for forwarding to -~ntp~. +(ex: with solder and wire) in order to provide the PPS data signal +generated by the BerryGPS-IMU to the Raspberry Pi. Processing of this +data signal is handled by adding a line to ~/boot/config.txt~ in the +next section ("Install Software"). + +Note: If it is desired to specify a custom GPIO pin besides the one +recommended, see this [[https://raspberryautomation.com/connect-multiple-ds18b20-temperature-sensors-to-a-raspberry-pi/][Raspberry Autom]] article. + +**** Install Software for time tracking +The time tracking function can be performed by two programs: ~gpsd~ +and ~chrony~. + +Basically, two things need to happen: -**** Install Software +1. ~gpsd~ needs to be pointed towards the correct device files for + incoming GPS data (in NMEA format) and the PPS signal ("pulse per + second"; a high precision time signal). + +2. ~chrony~ needs to be pointed towards the correct local IP addresses + where ~gpsd~ provides GPS data and the PPS signal. + +~gpsd~ then will provide GPS and PPS data to ~chrony~ via a "shared +memory driver". + +***** Install packages via ~apt~ Run the following command to install the required packages. -: $ sudo apt install usbmount eject gpsd gpsd-clients python-gps pps-tools ntp +: $ sudo apt install gpsd gpsd-clients python-gps pps-tools chrony + +***** Enable PPS device +Modify the ~/boot/config.txt~ file in order to tell the Raspberry Pi +to expect PPS data on ~BCM 18~ (pin number 12; see [[https://pinout.xyz/][link]]). This is done +by adding the following line to ~/boot/config.txt~ as described on +[[https://ozzmaker.com/forums/topic/problems-with-pps-on-a-pi0w-running-raspian-and-attached-to-a-berrygps-imuv3/][this Ozzmaker page]]: + +: # Enable PPS on GPIO 18 +: dtoverlay=pps-gpio,gpiopin=18 + +The ~/boot/config.txt~ file can be modified via: + +: $ sudo nano /boot/config.txt + +PPS data can be confirmed by running: + +#+BEGIN_EXAMPLE +$ sudo su - +# ppstest /dev/pps0 +trying PPS source "/dev/pps0" +found PPS source "/dev/pps0" +ok, found 1 source(s), now start fetching data... +source 0 - assert 1595708074.003644641, sequence: 219 - clear 0.000000000, sequence: 0 +source 0 - assert 1595708075.003709620, sequence: 220 - clear 0.000000000, sequence: 0 +source 0 - assert 1595708076.003779580, sequence: 221 - clear 0.000000000, sequence: 0 +source 0 - assert 1595708077.003850580, sequence: 222 - clear 0.000000000, sequence: 0 +#+END_EXAMPLE + +Note: For older Raspberry Pi models, it may be necessary to enable +~pps-gpio~ via modifications to ~/etc/modules~ (see [[https://www.raspberrypi.org/forums/viewtopic.php?p=757747#p757747][link]]). + +***** Enable GPS device +The Ozzmaker BerryGPS-IMU makes NMEA sentences available via the +serial "UART" device ~/dev/ttyAMA0~. If bluetooth has not been +disabled, the Raspberry Pi OS automatically creates a software "UART" +device at ~/dev/serial0~. See the "[[file:../setup/README.org::*Disable%20Bluetooth][Disable Bluetooth]]" section in the +[[file:../setup/README.org][Main Setup]] Initial Startup procedure for instructions on how to +disable bluetooth to free up ~/dev/ttyAMA0~ for use by ~gpsd~. + +***** Setup ~gpsd~ +See the "[[file:../location/README.org::*Setup%20~gpsd~][Setup ~gpsd~]]" subsection within the "Initial Startup" section +of the Location Logging [[file:../location/README.org][~README.org~]] file. There is one additional +change that must be made which is to add a ~/dev/pps0~ item to the +~DEVICES=~ line in ~/etc/default/gpsd~ like so: + +: DEVICES="/dev/ttyAMA0 /dev/pps0" + +~/dev/ttyAMA0~ is where ~gpsd~ can get NMEA data from the GPS unit. + +~/dev/pps0~ is where ~gpsd~ can get a PPS signal. + +As an example, the following lines will be present in +~/etc/default/gpsd~ if both location and time tracking are set up: + +#+BEGIN_EXAMPLE +START_DAEMON="true" +USBAUTO="false" +DEVICES="/dev/ttyAMA0 /dev/pps0" +GPSD_OPTIONS="-n" +#+END_EXAMPLE + +Make sure to enable ~gpsd~ to automatically start as a system service. + +: $ sudo systemctl enable gpsd +: $ sudo systemctl start gpsd + +***** Setup ~chrony~ +Modify the configuration file for ~chrony~ at ~/etc/chrony/chrony.conf~. + +: $ sudo nano /etc/chrony/chrony.conf + +Add the following lines: + +#+BEGIN_EXAMPLE +# Get time from GPS (/dev/XXXX) and PPS (/dev/YYYY) +#refclock SOCK /run/chrony.XXXX.sock refid GPS precision 1e-1 offset 0.0000 +#refclock SOCK /run/chrony.YYYY.sock refid PP precision 1e-7 +refclock SHM 0 refid GPS precision 1e-1 offset 0.0000 delay 0.2 stratum 1 +refclock SHM 1 refid PPS precision 1e-7 stratum 1 +#+END_EXAMPLE + +Where +- ~XXXX~ : the basename of the GPS device's serial port. In this guide + it should be ~ttyAMA0~; other setups may use ~ttyS0~, ~ttyACM0~, or + ~serial0~. + +- ~YYYY~ : the basename of the PPS device's serial port. In this guide + it should be ~pps0~. + +Note: The ~refclock SOCK~ lines are left as comments in case ~gpsd~ +incorrectly maps the GPS and PPS data. + +The following commands may be useful for testing ~gpsd~ and ~chrony~ +configurations. +- ~chronyc sources -v~ : Shows time sources and associated accuracy + information. + +- ~chronyc tracking~ : Shows the current time difference between + the reference clock and the system clock. Note: ~chrony~ gradually + attempts to reduce the difference by changing the system clock. -These instructions assume that ~gpsd~ has already been setup to -provide NMEA sentences to ~gpspipe~ for location. See the ~README.org~ -in ~doc/location~ for details. Basically, ~gpsd~ needs to be told via -its ~/etc/default/gpsd~ configuration file of which ~/dev/tty???~ will -provide the raw GPS module data. +- ~sudo chronyc makestep~ : Force ~chrony~ to set the system clock to + match the reference clock immediately. + +- ~sudo systemctl enable chrony~ : Enable automatic startup of + ~chrony~ (Note: This command shouldn't be necessary since the act of + installing ~chrony~ via ~sudo apt install chrony~ should + automatically enable it). + +- ~sudo systemctl stop chrony~ : Stop ~chrony~. + +- ~sudo systemctl restart chrony~ : Restart ~chrony~. + +- ~systemctl status chrony~ : Check status of ~chrony~ service. + +- ~sudo ntpshmmon~ : Shows live output of data using the shared memory + driver filled by ~gpsd~. ([[https://gpsd.gitlab.io/gpsd/gpsd-time-service-howto.html][ref]]) + +- ~sudo ipcs -m~ : Show live segments of the shared memory. ([[https://gpsd.gitlab.io/gpsd/gpsd-time-service-howto.html][ref]]) + +- ~sudo date -s '2020-07-07T00:00+0000'~ : Manually sets time to a + string. + +An example output of ~sudo chronyc sources -v~ will show something +similar to this: + +#+BEGIN_EXAMPLE +pi@ninfacyzga-1-x:~ $ sudo chronyc sources -v +210 Number of sources = 6 + + .-- Source mode '^' = server, '=' = peer, '#' = local clock. + / .- Source state '*' = current synced, '+' = combined , '-' = not combined, +| / '?' = unreachable, 'x' = time may be in error, '~' = time too variable. +|| .- xxxx [ yyyy ] +/- zzzz +|| Reachability register (octal) -. | xxxx = adjusted offset, +|| Log2(Polling interval) --. | | yyyy = measured offset, +|| \ | | zzzz = estimated error. +|| | | \ +MS Name/IP address Stratum Poll Reach LastRx Last sample +=============================================================================== +#- GPS 1 4 377 21 +110ms[ +110ms] +/- 200ms +#* PPS 1 4 377 22 +2496ns[+3045ns] +/- 1000ns +^- vps-2d3ddab6.vps.ovh.ca 2 6 277 57 +1302us[+1304us] +/- 151ms +^? time.richiemcintosh.com 2 6 1 59 +2626us[+2628us] +/- 92ms +^- varuna.ga-group.nl 3 6 377 55 -3962us[-3960us] +/- 151ms +^- ntp3.junkemailfilter.com 2 6 377 58 -4561us[-4558us] +/- 80ms +#+END_EXAMPLE + +General references for the ~chrony.conf~ file are: + +- The ~chrony~ ~4.0~ documentation. ([[https://chrony.tuxfamily.org/doc/4.0/chrony.conf.html][ref]]) + +- The ~gpsd~ documentation for communicating with ~chrony~. ([[https://gpsd.gitlab.io/gpsd/gpsd-time-service-howto.html#_feeding_chrony_from_gpsd][ref]]) + +- Setup guide for a USB GPS with ~gpsd~ and ~chrony~. ([[https://photobyte.org/raspberry-pi-stretch-gps-dongle-as-a-time-source-with-chrony-timedatectl/][ref]]) + +***** Disable CPU power saving +Power saving featurs of the Raspberry Pi Zero W may also be disabled +in order to improve accuracy. + +****** Configure CPU ~scaling_governor~ +If additional precision is required, the PPS signal may be made more +reliable at the cost of increasing CPU power by configuring the CPU to +always run at maximum frequency.[fn:se_20180320_raspicpugov] This +change can be performed by modifying the following file as root: + +: /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor + +The file should consist of one line. Change + +: ondemand + +to + +: performance + +. + +This change can be performed via the ~nano~ text editor by running the +following commands: + +: $ sudo su - +: # nano /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor + +Additionally, in order to prevent the ~raspi-config~ init script from +reverting this text file back to ~ondemand~ after a reboot, this +script must be disabled via: + +: $ sudo systemctl disable raspi-config + +****** Configure ~/boot/config.txt~ +Modify ~/boot/config.txt~ so that it contains these lines in order to +disable power saving functions: + +#+BEGIN_EXAMPLE +# Disable power saving +nohz=off +#+END_EXAMPLE + +[fn:se_20180320_raspicpugov] Title:[[https://raspberrypi.stackexchange.com/questions/9034/how-to-change-the-default-governor]["How to change the default governor?"]]; Author:[[https://raspberrypi.stackexchange.com/users/5538/goldilocks][goldilocks]]; Date: 2018-03-20; Website:stackexchange.com; *** Normal Startup *** Normal Operation *** Normal Shutdown *** Unscheduled Shutdown +** Appendix A +*** Example ~chrony.conf~ for ~chrony~ +For Raspberry Pi OS, the configuration file should be installed at +~/etc/chrony/chrony.conf~. + +#+BEGIN_EXAMPLE +# Welcome to the chrony configuration file. See chrony.conf(5) for more +# information about usuable directives. +pool 2.debian.pool.ntp.org iburst + +# This directive specify the location of the file containing ID/key pairs for +# NTP authentication. +keyfile /etc/chrony/chrony.keys + +# This directive specify the file into which chronyd will store the rate +# information. +driftfile /var/lib/chrony/chrony.drift + +# Uncomment the following line to turn logging on. +#log tracking measurements statistics + +# Log files location. +logdir /var/log/chrony + +# Stop bad estimates upsetting machine clock. +maxupdateskew 100.0 + +# This directive enables kernel synchronisation (every 11 minutes) of the +# real-time clock. Note that it can’t be used along with the 'rtcfile' directive. +rtcsync + +# Step the system clock instead of slewing it if the adjustment is larger than +# one second, but only in the first three clock updates. +makestep 1 3 +# Get time from GPS (/dev/ttyAMA0) and PPS (/dev/pps0) +#refclock SOCK /run/chrony.ttyAMA0.sock refid GPS precision 1e-1 offset 0.0000 +#refclock SOCK /run/chrony.pps0.sock refid PP precision 1e-7 +refclock SHM 0 refid GPS precision 1e-1 offset 0.0000 delay 0.2 stratum 1 +refclock SHM 1 refid PPS precision 1e-7 stratum 1 +#+END_EXAMPLE