diff --git a/can/interfaces/socketcan/constants.py b/can/interfaces/socketcan/constants.py index 3144a2cfa..500fbda1c 100644 --- a/can/interfaces/socketcan/constants.py +++ b/can/interfaces/socketcan/constants.py @@ -4,6 +4,10 @@ # Generic socket constants SO_TIMESTAMPNS = 35 +SO_TIMESTAMPING = 37 +SOF_TIMESTAMPING_RX_SOFTWARE = 1 << 3 +SOF_TIMESTAMPING_SOFTWARE = 1 << 4 +SOF_TIMESTAMPING_RAW_HARDWARE = 1 << 6 CAN_ERR_FLAG = 0x20000000 CAN_RTR_FLAG = 0x40000000 diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 40da0d094..b921800e5 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -42,9 +42,9 @@ # Constants needed for precise handling of timestamps -RECEIVED_TIMESTAMP_STRUCT = struct.Struct("@ll") +RECEIVED_TIMESPEC_STRUCT = struct.Struct("@ll") RECEIVED_ANCILLARY_BUFFER_SIZE = ( - CMSG_SPACE(RECEIVED_TIMESTAMP_STRUCT.size) if CMSG_SPACE_available else 0 + CMSG_SPACE(RECEIVED_TIMESPEC_STRUCT.size * 3) if CMSG_SPACE_available else 0 ) @@ -556,11 +556,24 @@ def capture_message( # Fetching the timestamp assert len(ancillary_data) == 1, "only requested a single extra field" cmsg_level, cmsg_type, cmsg_data = ancillary_data[0] - assert ( - cmsg_level == socket.SOL_SOCKET and cmsg_type == constants.SO_TIMESTAMPNS + assert cmsg_level == socket.SOL_SOCKET and cmsg_type in ( + constants.SO_TIMESTAMPNS, + constants.SO_TIMESTAMPING, ), "received control message type that was not requested" # see https://man7.org/linux/man-pages/man3/timespec.3.html -> struct timespec for details - seconds, nanoseconds = RECEIVED_TIMESTAMP_STRUCT.unpack_from(cmsg_data) + if cmsg_type == constants.SO_TIMESTAMPNS: + seconds, nanoseconds = RECEIVED_TIMESPEC_STRUCT.unpack_from(cmsg_data) + else: + # cmsg_type == constants.SO_TIMESTAMPING + # + # stamp[0] is the software timestamp + # stamp[1] is deprecated + # stamp[2] is the raw hardware timestamp + offset = struct.calcsize(RECEIVED_TIMESPEC_STRUCT.format) * 2 + seconds, nanoseconds = RECEIVED_TIMESPEC_STRUCT.unpack_from( + cmsg_data, offset=offset + ) + if nanoseconds >= 1e9: raise can.CanOperationError( f"Timestamp nanoseconds field was out of range: {nanoseconds} not less than 1e9" @@ -619,6 +632,7 @@ def __init__( self, channel: str = "", receive_own_messages: bool = False, + can_hardware_timestamps: bool = False, local_loopback: bool = True, fd: bool = False, can_filters: Optional[CanFilters] = None, @@ -642,6 +656,17 @@ def __init__( channel using :attr:`can.Message.channel`. :param receive_own_messages: If transmitted messages should also be received by this bus. + :param bool can_hardware_timestamps: + Use raw hardware timestamp for can messages if available instead + of the system timestamp. By default we use the SO_TIMESTAMPNS + interface which provides ns resolution but low accuracy. If your + can hardware supports it you can use this parameter to + alternatively use the SO_TIMESTAMPING interface and request raw + hardware timestamps. These are much higher precision but will + almost certainly not be referenced to the time of day. There + may be other pitfalls to such as loopback packets reporting with + no timestamp at all. + See https://www.kernel.org/doc/html/latest/networking/timestamping.html :param local_loopback: If local loopback should be enabled on this bus. Please note that local loopback does not mean that messages sent @@ -659,6 +684,7 @@ def __init__( self.socket = create_socket() self.channel = channel self.channel_info = f"socketcan channel '{channel}'" + self._can_hardware_timestamps = can_hardware_timestamps self._bcm_sockets: Dict[str, socket.socket] = {} self._is_filtered = False self._task_id = 0 @@ -703,12 +729,25 @@ def __init__( except OSError as error: log.error("Could not enable error frames (%s)", error) - # enable nanosecond resolution timestamping - # we can always do this since - # 1) it is guaranteed to be at least as precise as without - # 2) it is available since Linux 2.6.22, and CAN support was only added afterward - # so this is always supported by the kernel - self.socket.setsockopt(socket.SOL_SOCKET, constants.SO_TIMESTAMPNS, 1) + if not self._can_hardware_timestamps: + # Utilise SO_TIMESTAMPNS interface : + # we can always do this since + # 1) it is guaranteed to be at least as precise as without + # 2) it is available since Linux 2.6.22, and CAN support was only added afterward + # so this is always supported by the kernel + self.socket.setsockopt(socket.SOL_SOCKET, constants.SO_TIMESTAMPNS, 1) + else: + # Utilise SO_TIMESTAMPING interface : + # Allows us to use raw hardware timestamps where available + timestamping_flags = ( + constants.SOF_TIMESTAMPING_SOFTWARE + | constants.SOF_TIMESTAMPING_RX_SOFTWARE + | constants.SOF_TIMESTAMPING_RAW_HARDWARE + ) + + self.socket.setsockopt( + socket.SOL_SOCKET, constants.SO_TIMESTAMPING, timestamping_flags + ) try: bind_socket(self.socket, channel) diff --git a/can/logger.py b/can/logger.py index 81e9527f0..2cce6d710 100644 --- a/can/logger.py +++ b/can/logger.py @@ -46,6 +46,13 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: choices=sorted(can.VALID_INTERFACES), ) + parser.add_argument( + "-H", + "--hardwarets", + help="Read hardware timestamps instead of system timestamps.", + action="store_true", + ) + parser.add_argument( "-b", "--bitrate", type=int, help="Bitrate to use for the CAN bus." ) @@ -109,6 +116,8 @@ def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC: config["data_bitrate"] = parsed_args.data_bitrate if getattr(parsed_args, "can_filters", None): config["can_filters"] = parsed_args.can_filters + if parsed_args.hardwarets: + config["can_hardware_timestamps"] = True return Bus(parsed_args.channel, **config)