CN112751641A - TSN network time synchronization method, equipment and storage medium - Google Patents
TSN network time synchronization method, equipment and storage medium Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
- H04J3/0667—Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
Abstract
The invention discloses a time synchronization method, equipment and a storage medium of a TSN (time synchronization network), comprising the following steps of: s1, determining a master clock and a slave clock, wherein the master clock sends a synchronous message K1 to the slave clock; s2, writing the value of the field of the queue waiting time of the synchronous message K1; s3, receiving a synchronization message K1 from a clock, and sending a delay measurement request message K2; s4, writing the value of the field of the queuing waiting time of the delay measurement request message K2; s5, receiving a time delay measurement response message K3 from the slave clock, and calculating the time offset of the master clock and the slave clock; and S6, the slave clock corrects the local time according to the calculated deviation between the master clock and the slave clock. The invention adds information for recording queuing waiting time in a plurality of messages in the timing process to solve the problems of collision between messages in the synchronization process and collision between a synchronous message and a background stream message, and improves the precision of time synchronization by a method of compensating according to the queuing time in the calculation process so as to achieve the effect of time synchronization in the level of submicroseconds.
Description
Technical Field
The invention relates to the technical field of network communication, in particular to a time synchronization method, equipment and a storage medium for a TSN (time synchronization network).
Background
The TSN (Time Sensitive Networking, delay Sensitive network) originally comes from the application requirements in the field of audio and Video, and at that Time, the technology is called as AVB (ethernet audio/Video Bridging, ethernet audio and Video Bridging), and because of the need for higher bandwidth and maximum real-Time for the audio and Video network, high-quality audio and Video can be transmitted better by means of AVB. The TSN is a technology extending from the field of audio and video data to the field of industry and automobiles, provides deterministic performance for ethernet, and is essentially a deterministic ethernet extension set to meet the requirements of many industrial automation applications for delay and real-time data transmission. Many functions of TSN networks are based on time synchronization, which uses the ieee802.1as protocol to provide time synchronization functions for a domain in the network.
The timing between the master clock and the slave clock of the existing TSN network is finished by sending a plurality of messages, and the main synchronization process is as follows: the master clock sends a synchronous message and the time of sending the message to the slave clock, the slave clock records the received time and sends a time delay measurement request message and the time of sending the message to the master clock, and the master clock records the time of receiving the time delay measurement request message and sends the time to the slave clock through a time delay measurement response message. Thus, the slave clock can calculate the clock offset between the master clock and the slave clock according to the obtained time stamp, so as to correct the local time and achieve the purpose of time synchronization between the master clock and the slave clock, and the process is shown in fig. 1. The method can realize time synchronization with the precision of sub-microsecond level in the same domain under the condition of maximum seven hops.
However, in the existing TSN network time synchronization method, when a plurality of nodes send delay measurement request messages to a master clock through a switch at the same time, collision may occur in a switch queue, so that the delay measurement request messages need to be queued for sending. In addition, when there is background traffic in the network, the packet in the synchronization process may collide with the traffic background flow packet to cause queuing and waiting, and the waiting time is unknown. At this time, the time stamp of the message reaching the opposite end in the synchronization process includes the time of queuing, and the time is not accurate when the clock skew calculation is performed, so that the time correction is not accurate. Under the conditions of more nodes and larger service background flow, the queuing waiting time may be longer, so that the problems of larger deviation of clock offset calculation results, larger jitter and incapability of achieving high-precision time synchronization of a submicrosecond level occur.
Disclosure of Invention
In order to solve the above mentioned drawbacks in the background art, the present invention provides a time synchronization method, device and storage medium for a TSN network, wherein information for recording queuing waiting time is added to a plurality of messages in the timing process, so as to solve the problems of collision between synchronous messages and collision between a synchronous message and a background stream message in the synchronization process, and improve the accuracy of time synchronization by compensating according to the queuing time during calculation, so as to achieve the sub-microsecond level time synchronization effect.
The purpose of the invention can be realized by the following technical scheme:
a TSN network time synchronization method comprises the following steps:
s1, after initial power-on, determining a master clock and a slave clock, then starting to perform periodic timing between the master clock and the slave clock in a certain period, based on a time synchronization protocol, the master clock sends a synchronization message K1 to the slave clock, a field M1 for recording the queuing waiting time of the synchronization message K1 is added to information carried by the synchronization message K1, and the value of the field M1 is used for calculating a time offset value of the slave clock;
s2, when the synchronous message K1 is collided, the message needs to be queued for sending, and when the message is dequeued, the value of the field for recording the queuing waiting time of the synchronous message K1 is written into M1;
s3, a slave clock receives a synchronization message K1, records the value of a field of the queuing waiting time of the synchronization message K1, and sends a delay measurement request message K2, wherein a field M2 for recording the queuing waiting time of the delay measurement request message K2 is added in information carried by the delay measurement request message K2, and the value of the field M2 is used for correcting the timestamp for receiving the delay measurement request message K2 by a master clock;
s4, when the time delay measurement request message K2 is collided, queuing and waiting for sending are needed, and when dequeuing, the value of a field for recording the queuing and waiting time of the time delay measurement request message K2 is written into M2;
s5, after receiving the time delay measurement request message K2, the main clock compensates the receiving time value according to the value of M2, and then the main clock sends a time delay measurement response message K3, and the K3 carries the compensated receiving time of K2;
s6, after receiving a time delay measurement response message K3 sent by a master clock, the slave clock calculates the time offset of the master clock and the slave clock based on a time synchronization protocol and combined with the value of a field recorded by the slave clock and used for recording the queuing waiting time of a synchronization message K1;
and S7, the slave clock corrects the local time according to the calculated deviation between the master clock and the slave clock, so that the time synchronization with the master clock is realized.
Further preferably, the time synchronization protocol in steps S1 and S6 is an ieee802.1as protocol.
Further preferably, the specific steps of determining the relationship between the master clock and the slave clock in step S1 are as follows:
s1.1, when the power is initially powered on, each clock sends own clock parameters to other clocks in the same domain;
s1.2, comparing own parameters when each clock receives clock parameters of other clocks, and marking the clock as a slave clock if the other clock parameters are more optimal; otherwise, marking the clock as a master clock, and simultaneously recording more optimal parameters;
s1.3, after each clock receives self parameters sent by all other clocks, determining the master clock with the optimal parameters, wherein the other clocks are slave clocks, and if two clocks with the same optimal parameters exist, the first clock is used as the master clock.
Further preferably, the principle of the clock parameter comparison in step S1.2 is as follows: the first priority is higher than the second priority, and if the first priorities are the same, the time-level high people win; if the time grades are the same, the person with high time precision wins; if the time precision is the same, the second priority person wins; and if the second priority is still the same, the interface mark small person wins, and the interface mark small person is formed by the clock number and the interface number together.
Further preferably, the field M1 in the step S1 specifically is: the field M1 consists of a single specific field, and the record value of the single field is the value of the queuing waiting time; the field M1 is composed of two specific fields, and the value of the queuing wait time is obtained by performing mathematical calculation on the two specific fields.
Further preferably, the field M2 in the step S3 specifically is: the field M2 consists of a single specific field, and the record value of the single field is the value of the queuing waiting time; the field M2 is composed of two specific fields, and the value of the queuing wait time is obtained by performing mathematical calculation on the two specific fields.
Further preferably, the time offset of the master-slave clock in step S6 is calculated by the following formula:
S＝[(t2-T1-t1)-(t'4-t3)]/2
t'4＝t4-T2
in the formula: s is the deviation between the master clock and the slave clock; t is t1Time of sending a synchronization message K1 for the master clock; t is t2Time of receiving the synchronization message K1 from the clock; t is t3The time for sending the time delay measurement request message K2 from the clock; t is t4Receiving the time of a time delay measurement request message K2 for the master clock; t'4Receiving a time stamp of a time delay measurement request message K2 for the compensated master clock; t is1Is the queue waiting time, T, of the synchronization message K1 in the event of a collision2The queuing waiting time of the time delay measurement request message K2 in the collision is shown.
A computer readable storage medium having non-volatile program code executable by a processor, the program code causing the processor to perform the TSN network time synchronization method described above.
A TSN network time synchronization device, comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the time synchronization method to perform TSN network time synchronization.
The invention has the beneficial effects that:
the invention adds the information for recording the queuing waiting time in a plurality of messages in the master-slave clock timing process, and carries out corresponding compensation calculation according to the information when receiving, thereby effectively solving the problems of large time synchronization error and low timing precision caused by the collision between synchronous messages or the collision between the synchronous messages and the service flow messages in the synchronization process, and realizing the time synchronization effect of sub-microsecond level.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a basic flow diagram for master-slave clock timing according to the present invention;
FIG. 2 is a block diagram of a single-fragment record queue wait time in accordance with the present invention;
FIG. 3 is a block diagram of a two field record queue latency of the present invention;
fig. 4 is a schematic diagram of a possible TSN network topology provided in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
Implementation mode one
A TSN network time synchronization method comprises the following steps:
(1) when the power is initially powered on, each clock sends own clock parameters to other clocks in the same domain;
(2) each clock compares its own parameters when receiving clock parameters of other clocks, and if the other clock parameters are more optimal, it marks itself as a slave clock; otherwise, marking the clock as a master clock, and simultaneously recording more optimal parameters;
the principle of comparison is as follows: the first priority is higher than the second priority, and if the first priorities are the same, the time-level high people win; if the time grades are the same, the person with high time precision wins; if the time precision is the same, the second priority person wins; if the second priority is still the same, the interface identifier (formed by the clock number and the interface number) wins;
(3) after each clock receives the self parameters sent by all other clocks, the master clock with the optimal parameters is determined, the other clocks are slave clocks, and if two clocks with the same optimal parameters exist, the first clock is used as the standard;
(4) after the master-slave relation is determined, the master clock and the slave clock begin to carry out periodic timing in a certain period, the master clock sends a synchronous frame, and the frame carries sending time t1And the header of the frame is added with a field waitTime field for recording the queuing waiting time on the basis of the original structure, the default value of the field waitTime field is 0, and FIG. 2 is a possible adding mode of the field;
(5) if the synchronous frame is not collided, the frame is directly sent without waiting in a queue, if the synchronous frame is collided, the frame is required to wait in a queue for sending again, the queuing waiting time is calculated in the queue, the value is the dequeuing time minus the enqueuing time, and the waitTime field is written after the calculation is finished;
(6) if the synchronous frame needs to pass through multiple hops to reach the slave clock, the queuing waiting time of each hop is accumulated as T1FIG. 4 is a schematic diagram of a multi-hop topology;
(7) after receiving the synchronous frame from the clock, recording the time t2And total queuing wait time T1. The slave clock then sends a delay measurement request to the master clockClock and record the transmission time t3Adding a field waitTime for recording queuing waiting time to the time delay measurement request on the basis of the original structure, wherein the default value is 0;
(8) and if the delay measurement request does not collide with other frames, the delay measurement request is directly sent without queuing. If the time delay measurement request collides with other frames, the time delay measurement request needs to be queued for retransmission, the queuing time is calculated in the queue, the value is the dequeuing time minus the enqueuing time, and the waitTime field is written after the calculation is finished;
(9) if the time delay measurement request can reach the main clock through multiple hops, the queuing waiting time of each hop is accumulated to be used as T2；
(10) After the master clock receives the time delay measurement request, the time t received is recorded4And queuing wait time T2Then sending a delay measurement response to the slave clock, wherein the response carries a timestamp, and the value of the timestamp is as follows: t'4＝t4-T2This response does not take into account queue latency;
(11) after receiving the delay measurement response from the clock, record t'4At this time, the slave clock has t1、t2、t3、t'4Four values, of which t'4Is t after compensation4And a queuing time T1Thus, the deviation between the master and slave clocks can be calculated as:
S＝[(t2-T1-t1)-(t'4-t3)]/2
(12) and the slave clock corrects the local time according to the calculated deviation between the master clock and the slave clock, so that the time synchronization with the master clock is realized.
Second embodiment
In contrast to the first embodiment, the master clock transmits a synchronization frame, which carries the transmission time t1And the header of the frame is added with two fields enqueTime and dequeue time for recording frame enqueue and dequeue based on the original structure, the default values of the two fields are both 0, and FIG. 3 is a possible adding party of the two fieldsFormula (II) is shown.
If the synchronous frame is not collided, the synchronous frame is directly sent without queuing; if the synchronous frame is collided, queuing is needed to wait for retransmission, the enqueue time is written into the enqueTime field, and the dequeue time is written into the dequeue time field in the queue.
And if the synchronous frame can reach the slave clock only by multiple hops, adding the accumulated queuing time of the last hop to the dequeue time in the queue of each hop, and writing the enqueue time into the enqueTime, wherein the accumulated queuing time of the last hop is equal to the dequeue time of the last hop minus the enqueTime of the last hop.
After receiving the synchronous frame from the clock, recording the time t2And calculating the total queuing wait time equal to dequeTime minus enqueTime, taking the value as T1. Then the slave clock sends a time delay measurement request to the master clock and records the sending time t3Two fields enqueTime and dequeue time for recording frame enqueuing and dequeuing are added to the time delay measurement request on the basis of the original structure, and the default values of the two fields are both 0.
If the time delay measurement request is not collided, the time delay measurement request is directly sent without queuing; and if the time delay measurement request is collided, queuing for sending again is needed, the enqueue time is written into the enqueTime field, and the dequeue time is written into the dequeue time field in the queue.
If the time delay measurement request can reach the slave clock through multiple hops, the dequeue time and the accumulated queue time of the previous hop are added in the queue of each hop and written into the dequeue time, and the enqueue time is written into the enqueTime. And the accumulated queuing time of the previous hop is equal to the dequeTime of the previous hop minus the enqueTime of the previous hop.
After the master clock receives the time delay measurement request, the time t received is recorded4And calculating the total queuing wait time T2，T2Subtracting enqueTime from dequeTime, and then sending a delay measurement response to the slave clock, wherein the response carries a timestamp, and the value of the timestamp is as follows: t'4＝t4-T2This response does not take into account queue latency.
The other procedures are the same as those in the first embodiment.
Third embodiment
This embodiment is different from the first and second embodiments in that the sync frame uses two fields, enqueTime and dequeue time, to record the enqueue time and dequeue time, respectively, and the delay measurement request uses one field, waitTime, to record the queuing latency.
Other processes and calculation methods are the same as those of the first embodiment and the second embodiment.
Embodiment IV
This embodiment is different from the first and second embodiments in that the delay measurement request uses two fields, enqueTime and dequeue time, to record the enqueue time and dequeue time, respectively, and the sync frame uses one field, waitTime, to record the queuing latency.
Other processes and calculation methods are the same as those of the first embodiment and the second embodiment.
A computer readable storage medium having non-volatile program code executable by a processor, the program code causing the processor to perform the TSN network time synchronization method described above.
A TSN network time synchronization device, comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the time synchronization method to perform TSN network time synchronization.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (9)
1. A TSN network time synchronization method is characterized by comprising the following steps:
s1, after initial power-on, determining a master clock and a slave clock, then starting to perform periodic timing between the master clock and the slave clock in a certain period, based on a time synchronization protocol, the master clock sends a synchronization message K1 to the slave clock, a field M1 for recording the queuing waiting time of the synchronization message K1 is added to information carried by the synchronization message K1, and the value of the field M1 is used for calculating a time offset value of the slave clock;
s2, when the synchronous message K1 is collided, the message needs to be queued for sending, and when the message is dequeued, the value of the field for recording the queuing waiting time of the synchronous message K1 is written into M1;
s3, a slave clock receives a synchronization message K1, records the value of a field of the queuing waiting time of the synchronization message K1, and sends a delay measurement request message K2, wherein a field M2 for recording the queuing waiting time of the delay measurement request message K2 is added in information carried by the delay measurement request message K2, and the value of the field M2 is used for correcting the timestamp for receiving the delay measurement request message K2 by a master clock;
s4, when the time delay measurement request message K2 is collided, queuing and waiting for sending are needed, and when dequeuing, the value of a field for recording the queuing and waiting time of the time delay measurement request message K2 is written into M2;
s5, after receiving the time delay measurement request message K2, the main clock compensates the receiving time value according to the value of M2, and then the main clock sends a time delay measurement response message K3, and the K3 carries the compensated receiving time of K2;
s6, after receiving a time delay measurement response message K3 sent by a master clock, the slave clock calculates the time offset of the master clock and the slave clock based on a time synchronization protocol and combined with the value of a field recorded by the slave clock and used for recording the queuing waiting time of a synchronization message K1;
and S7, the slave clock corrects the local time according to the calculated deviation between the master clock and the slave clock, so that the time synchronization with the master clock is realized.
2. The TSN network time synchronization method of claim 1, wherein the time synchronization protocol in steps S1 and S6 is an ieee 802.11 as protocol.
3. The TSN network time synchronization method according to claim 1, wherein the specific steps of determining the master-slave clock relationship in step S1 are as follows:
s1.1, when the power is initially powered on, each clock sends own clock parameters to other clocks in the same domain;
s1.2, comparing own parameters when each clock receives clock parameters of other clocks, and marking the clock as a slave clock if the other clock parameters are more optimal; otherwise, marking the clock as a master clock, and simultaneously recording more optimal parameters;
s1.3, after each clock receives self parameters sent by all other clocks, determining the master clock with the optimal parameters, wherein the other clocks are slave clocks, and if two clocks with the same optimal parameters exist, the first clock is used as the master clock.
4. A TSN network time synchronization method according to claim 3, wherein the principle of the clock parameter comparison in step S1.2 is: the first priority is higher than the second priority, and if the first priorities are the same, the time-level high people win; if the time grades are the same, the person with high time precision wins; if the time precision is the same, the second priority person wins; and if the second priority is still the same, the interface mark small person wins, and the interface mark small person is formed by the clock number and the interface number together.
5. The TSN network time synchronization method of claim 1, wherein the field M1 of the step S1 specifically comprises: the field M1 consists of a single specific field, and the record value of the single field is the value of the queuing waiting time; the field M1 is composed of two specific fields, and the value of the queuing wait time is obtained by performing mathematical calculation on the two specific fields.
6. The TSN network time synchronization method of claim 1, wherein the field M2 of the step S3 specifically comprises: the field M2 consists of a single specific field, and the record value of the single field is the value of the queuing waiting time; the field M2 is composed of two specific fields, and the value of the queuing wait time is obtained by performing mathematical calculation on the two specific fields.
7. The TSN network time synchronization method of claim 1, wherein the time offset of the master-slave clock in step S6 is calculated by the following formula:
S＝[(t2-T1-t1)-(t'4-t3)]/2
t'4＝t4-T2
in the formula: s is the deviation between the master clock and the slave clock; t is t1Time of sending a synchronization message K1 for the master clock; t is t2Time of receiving the synchronization message K1 from the clock; t is t3The time for sending the time delay measurement request message K2 from the clock; t is t4Receiving the time of a time delay measurement request message K2 for the master clock; t'4Receiving a time stamp of a time delay measurement request message K2 for the compensated master clock; t is1Is the queue waiting time, T, of the synchronization message K1 in the event of a collision2The queuing waiting time of the time delay measurement request message K2 in the collision is shown.
8. A computer readable storage medium having non-volatile program code executable by a processor, the program code causing the processor to perform the TSN network time synchronization method of claims 1-7.
9. A TSN network time synchronization device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor implements the time synchronization method of claims 1-7 to perform TSN network time synchronization when executing the program.
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| CN114390666A (en) * | 2022-01-28 | 2022-04-22 | 高新兴物联科技有限公司 | Communication module time synchronization method, device and computer readable storage medium |
| CN115065646A (en) * | 2022-04-29 | 2022-09-16 | 中国电子技术标准化研究院 | Message timing sending method and device based on software and hardware cooperation |
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