net: add SO_TIMESTAMPING support for PKT sockets

arch/arm/src/common/stm32/Kconfig.eth

@@ -188,7 +188,6 @@ config STM32_ETH_PTP_RTC_HIRES
 config STM32_ETH_TIMESTAMP_RX
 	bool "Hardware timestamping of received packets"
 	depends on STM32_COMMON_LEGACY && STM32_ETH_PTP && NET_TIMESTAMP && STM32_ETH_ENHANCEDDESC
-	select ARCH_HAVE_NETDEV_TIMESTAMP
 	default n
 	---help---
 		Timestamp all received Ethernet packets.

arch/arm/src/common/stm32/stm32_eth_m3m4_v1.c

@@ -4234,6 +4234,10 @@ int stm32_ethinitialize(int intf)
       return ret;
     }
 
+#ifdef CONFIG_STM32_ETH_TIMESTAMP_RX
+  priv->dev.d_features |= NETDEV_RX_STAMP;
+#endif
+
   /* Register the device with the OS so that socket IOCTLs can be performed */
 
   netdev_register(&priv->dev, NET_LL_ETHERNET);

arch/sim/src/sim/sim_netdriver.c

@@ -63,6 +63,7 @@
 
 #include <nuttx/debug.h>
 #include <string.h>
+#include <time.h>
 
 #include <nuttx/compiler.h>
 #include <nuttx/kmalloc.h>
@@ -109,6 +110,9 @@ struct sim_netdev_s
 #endif
   uint8_t buf[SIM_NETDEV_BUFSIZE]; /* Used when packet buffer is fragmented */
   struct work_s work;
+#ifdef CONFIG_NET_TIMESTAMP
+  netpkt_queue_t tstampq;          /* TX timestamp loopback queue */
+#endif
 };
 
 /****************************************************************************
@@ -163,6 +167,25 @@ static int netdriver_send(struct netdev_lowerhalf_s *dev, netpkt_t *pkt)
       sim_netdev_send(DEVIDX(dev), netpkt_getdata(dev, pkt), len);
     }
 
+#ifdef CONFIG_NET_TIMESTAMP
+  /* If the packet is tagged for TX timestamping, generate a
+   * software timestamp and loop it back through the RX path
+   * so the protocol layer can deliver it via MSG_ERRQUEUE.
+   * Reuse the original pkt directly to avoid clone overhead.
+   */
+
+  if (pkt->io_conn != NULL)
+    {
+      FAR struct sim_netdev_s *priv = (FAR struct sim_netdev_s *)dev;
+
+      clock_gettime(CLOCK_REALTIME, &pkt->io_time);
+      iob_add_queue(pkt, &priv->tstampq);
+      atomic_add(&dev->quota_ptr[NETPKT_TX], 1);
+      netdev_lower_rxready(dev);
+      return OK;
+    }
+#endif
+
   netpkt_free(dev, pkt, NETPKT_TX);
   return OK;
 }
@@ -172,6 +195,26 @@ static netpkt_t *netdriver_recv(struct netdev_lowerhalf_s *dev)
   netpkt_t *pkt = NULL;
   unsigned int len;
 
+#ifdef CONFIG_NET_TIMESTAMP
+  /* Return any TX timestamp loopback packets first.
+   * Fast-path: skip locking when the queue is empty.
+   */
+
+  FAR struct sim_netdev_s *priv = (FAR struct sim_netdev_s *)dev;
+
+  if (!IOB_QEMPTY(&priv->tstampq))
+    {
+      netdev_lock(&dev->netdev);
+      pkt = iob_remove_queue(&priv->tstampq);
+      netdev_unlock(&dev->netdev);
+      if (pkt != NULL)
+        {
+          atomic_sub(&dev->quota_ptr[NETPKT_RX], 1);
+          return pkt;
+        }
+    }
+#endif
+
   if (sim_netdev_avail(DEVIDX(dev)))
     {
       pkt = netpkt_alloc(dev, NETPKT_RX);
@@ -237,8 +280,23 @@ static int netdriver_ifup(struct netdev_lowerhalf_s *dev)
 
 static int netdriver_ifdown(struct netdev_lowerhalf_s *dev)
 {
+#ifdef CONFIG_NET_TIMESTAMP
+  /* Drain any pending TX timestamp loopback packets.
+   * Detach the entire queue under lock, then free outside.
+   */
+
+  FAR struct sim_netdev_s *priv = (FAR struct sim_netdev_s *)dev;
+  FAR netpkt_t *pkt;
+
+  while ((pkt = iob_remove_queue(&priv->tstampq)) != NULL)
+    {
+      netpkt_free(dev, pkt, NETPKT_TX);
+    }
+#endif
+
   netdev_lower_carrier_off(dev);
   sim_netdev_ifdown(DEVIDX(dev));
+
   return OK;
 }
 
@@ -259,12 +317,14 @@ static int netdriver_rmmac(struct netdev_lowerhalf_s *dev,
 static void netdriver_txdone_interrupt(void *priv)
 {
   struct netdev_lowerhalf_s *dev = (struct netdev_lowerhalf_s *)priv;
+
   netdev_lower_txdone(dev);
 }
 
 static void netdriver_rxready_interrupt(void *priv)
 {
   struct netdev_lowerhalf_s *dev = (struct netdev_lowerhalf_s *)priv;
+
   netdev_lower_rxready(dev);
 }
 
@@ -273,7 +333,11 @@ static void sim_netdev_work(void *arg)
   struct sim_netdev_s *priv = (struct sim_netdev_s *)arg;
   struct netdev_lowerhalf_s *dev = (struct netdev_lowerhalf_s *)&priv->dev;
 
-  if (sim_netdev_avail(DEVIDX(dev)))
+  if (sim_netdev_avail(DEVIDX(dev))
+#ifdef CONFIG_NET_TIMESTAMP
+      || !IOB_QEMPTY(&priv->tstampq)
+#endif
+     )
     {
       netdev_lower_rxready(dev);
     }
@@ -347,15 +411,20 @@ void sim_netdriver_setmacaddr(int devidx, unsigned char *macaddr)
 void sim_netdriver_setmtu(int devidx, int mtu)
 {
   IDXDEV(devidx)->netdev.d_pktsize = MIN(SIM_NETDEV_BUFSIZE,
-                                               mtu + ETH_HDRLEN);
+                                         mtu + ETH_HDRLEN);
 }
 
 void sim_netdriver_loop(void)
 {
   int devidx;
+
   for (devidx = 0; devidx < CONFIG_SIM_NETDEV_NUMBER; devidx++)
     {
-      if (sim_netdev_avail(devidx))
+      if (sim_netdev_avail(devidx)
+#ifdef CONFIG_NET_TIMESTAMP
+          || !IOB_QEMPTY(&g_sim_dev[devidx].tstampq)
+#endif
+         )
         {
           netdev_lower_rxready(IDXDEV(devidx));
         }

boards/arm/imx9/imx95-evk/configs/can/defconfig

@@ -62,7 +62,6 @@ CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
-CONFIG_NET_LL_GUARDSIZE=14
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_FILEIOSIZE=512

include/nuttx/mm/iob.h

@@ -37,6 +37,10 @@
 #  include <nuttx/wqueue.h>
 #endif
 
+#ifdef CONFIG_NET_TIMESTAMP
+#  include <sys/time.h>
+#endif
+
 #ifdef CONFIG_MM_IOB
 
 /****************************************************************************
@@ -126,6 +130,18 @@ struct iob_s
 #endif
   unsigned int io_pktlen; /* Total length of the packet */
 
+  FAR struct socket_conn_s *io_conn;
+
+#ifdef CONFIG_NET_TIMESTAMP
+  /* timestamp of the packet.
+   * d_features is the member of net_driver_s struct, if the NETDEV_RX_STAMP
+   * bit of d_features is set, the timestamp is provided by hardware driver.
+   * Otherwise it is filled in by kernel when the packet is passed into
+   * respective protocol layer. The timestamp is in CLOCK_REALTIME.
+   */
+
+  struct timespec io_time;
+#endif
 #ifdef CONFIG_IOB_ALLOC
   iob_free_cb_t io_free;  /* Custom free callback */
   FAR uint8_t  *io_data;

include/nuttx/net/netdev.h

@@ -84,6 +84,7 @@
 
 #define NETDEV_TX_CSUM  (1 << 1) /* Netdev support hardware tx checksum */
 #define NETDEV_RX_CSUM  (1 << 2) /* Netdev support hardware rx checksum */
+#define NETDEV_RX_STAMP (1 << 3) /* Netdev support hardware timestamp */
 
 /* Determine the largest possible address */
 
@@ -527,9 +528,10 @@ struct net_driver_s
   /* Reception timestamp of packet being currently processed.
    * If CONFIG_ARCH_HAVE_NETDEV_TIMESTAMP is true, the timestamp is provided
    * by hardware driver. Otherwise it is filled in by kernel when packet
-   * enters ipv4_input or ipv6_input.
+   * enters ipv4_input or ipv6_input. The timestamp is in CLOCK_REALTIME.
    *
-   * The timestamp is in CLOCK_REALTIME.
+   * d_rxtime is serviced for older netdev driver.
+   * d_rxtime will be replaced by iob->io_tstamp in net stack.
    */
 
   struct timespec d_rxtime;

include/sys/socket.h

@@ -223,6 +223,22 @@
 #define SO_TIMESTAMPNS  20 /* Generates a timestamp in ns for each incoming packet
                             * arg: integer value
                             */
+#define SO_TIMESTAMPING 21 /* Generates timestamp for each output packet
+                            */
+
+/* Protocol-level socket options may begin with this value */
+
+#define __SO_PROTOCOL   16
+
+/* Timestamp generation */
+
+#define SOF_TIMESTAMPING_TX_HARDWARE  (1 << SO_TIMESTAMPING)
+#define SOF_TIMESTAMPING_TX_SOFTWARE  SOF_TIMESTAMPING_TX_HARDWARE
+
+/* Timestamp reporting */
+
+#define SOF_TIMESTAMPING_SOFTWARE     SOF_TIMESTAMPING_TX_SOFTWARE
+#define SOF_TIMESTAMPING_RAW_HARDWARE SOF_TIMESTAMPING_TX_HARDWARE
 
 /* The options are unsupported but included for compatibility
  * and portability
@@ -249,10 +265,6 @@
 
 #define SOL_PACKET      19
 
-/* Protocol-level socket options may begin with this value */
-
-#define __SO_PROTOCOL  16
-
 /* Values for the 'how' argument of shutdown() */
 
 #define SHUT_RD         1 /* Bit 0: Disables further receive operations */
@@ -297,10 +309,12 @@
 
 /* "Socket"-level control message types: */
 
-#define SCM_RIGHTS      0x01    /* rw: access rights (array of int) */
-#define SCM_CREDENTIALS 0x02    /* rw: struct ucred */
-#define SCM_SECURITY    0x03    /* rw: security label */
-#define SCM_TIMESTAMP   SO_TIMESTAMP
+#define SCM_RIGHTS       0x01    /* rw: access rights (array of int) */
+#define SCM_CREDENTIALS  0x02    /* rw: struct ucred */
+#define SCM_SECURITY     0x03    /* rw: security label */
+#define SCM_TIMESTAMP    SO_TIMESTAMP
+#define SCM_TIMESTAMPNS  SO_TIMESTAMPNS
+#define SCM_TIMESTAMPING SO_TIMESTAMPING
 
 /* Desired design of maximum size and alignment (see RFC2553) */
 

mm/iob/iob_alloc.c

@@ -96,6 +96,9 @@ static FAR struct iob_s *iob_alloc_committed(void)
       iob->io_len    = 0;    /* Length of the data in the entry */
       iob->io_offset = 0;    /* Offset to the beginning of data */
       iob->io_pktlen = 0;    /* Total length of the packet */
+#ifdef CONFIG_NET_TIMESTAMPING
+      iob->io_conn   = NULL;
+#endif
     }
 
   spin_unlock_irqrestore(&g_iob_lock, flags);
@@ -135,6 +138,9 @@ static FAR struct iob_s *iob_tryalloc_internal(bool throttled)
           iob->io_len    = 0;    /* Length of the data in the entry */
           iob->io_offset = 0;    /* Offset to the beginning of data */
           iob->io_pktlen = 0;    /* Total length of the packet */
+#ifdef CONFIG_NET_TIMESTAMPING
+          iob->io_conn   = NULL;
+#endif
           return iob;
         }
     }
@@ -340,11 +346,8 @@ FAR struct iob_s *iob_alloc_dynamic(uint16_t size)
   iob = kmm_memalign(IOB_ALIGNMENT, alignsize);
   if (iob)
     {
-      iob->io_flink   = NULL;             /* Not in a chain */
-      iob->io_len     = 0;                /* Length of the data in the entry */
-      iob->io_offset  = 0;                /* Offset to the beginning of data */
+      memset(iob, 0, offsetof(struct iob_s, io_data));
       iob->io_bufsize = size;             /* Total length of the iob buffer */
-      iob->io_pktlen  = 0;                /* Total length of the packet */
       iob->io_free    = iob_free_dynamic; /* Customer free callback */
       iob->io_data    = (FAR uint8_t *)ALIGN_UP((uintptr_t)(iob + 1),
                                                 IOB_ALIGNMENT);
@@ -383,14 +386,10 @@ FAR struct iob_s *iob_alloc_with_data(FAR void *data, uint16_t size,
 
   DEBUGASSERT(free_cb != NULL);
 
-  iob = kmm_malloc(sizeof(struct iob_s));
+  iob = kmm_zalloc(sizeof(struct iob_s));
   if (iob)
     {
-      iob->io_flink   = NULL;    /* Not in a chain */
-      iob->io_len     = 0;       /* Length of the data in the entry */
-      iob->io_offset  = 0;       /* Offset to the beginning of data */
       iob->io_bufsize = size;    /* Total length of the iob buffer */
-      iob->io_pktlen  = 0;       /* Total length of the packet */
       iob->io_free    = free_cb; /* Customer free callback */
       iob->io_data    = data;
     }
@@ -426,10 +425,7 @@ FAR struct iob_s *iob_init_with_data(FAR void *data, uint16_t size,
 {
   FAR struct iob_s *iob = (FAR struct iob_s *)data;
 
-  iob->io_flink   = NULL;    /* Not in a chain */
-  iob->io_len     = 0;       /* Length of the data in the entry */
-  iob->io_offset  = 0;       /* Offset to the beginning of data */
-  iob->io_pktlen  = 0;       /* Total length of the packet */
+  memset(iob, 0, offsetof(struct iob_s, io_data));
   iob->io_free    = free_cb; /* Customer free callback */
   iob->io_data    = (FAR uint8_t *)ALIGN_UP((uintptr_t)(iob + 1),
                                             IOB_ALIGNMENT);

mm/iob/iob_clone.c

@@ -127,6 +127,10 @@ int iob_clone_partial(FAR struct iob_s *iob1, unsigned int len,
 
   iob2->io_pktlen = len + offset2;
 
+#ifdef CONFIG_NET_TIMESTAMP
+  iob2->io_time = iob1->io_time;
+#endif
+
   /* Handle special case where there are empty buffers at the head
    * the list, Skip I/O buffer containing the data offset.
    */

net/Kconfig

@@ -23,10 +23,6 @@ config ARCH_HAVE_NETDEV_STATISTICS
 	bool
 	default n
 
-config ARCH_HAVE_NETDEV_TIMESTAMP
-	bool
-	default n
-
 config NET_WRITE_BUFFERS
 	bool
 	default n
@@ -139,7 +135,6 @@ config NET_LL_GUARDSIZE
 	int "Data Link Layer(L2) Guard size of Network buffer(IOB)"
 	default 50 if RNDIS
 	default 18 if NET_VLAN
-	default 16 if NET_CAN && NET_TIMESTAMP
 	default 14 if NET_ETHERNET
 	default 0
 	---help---

net/can/can_bufpool.c

@@ -36,14 +36,9 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#ifdef CONFIG_NET_TIMESTAMP
 #  define CAN_BUFFER_SIZE ALIGN_UP(sizeof(struct iob_s) + NET_CAN_PKTSIZE + \
                                    CONFIG_NET_LL_GUARDSIZE + IOB_ALIGNMENT - \
                                    1, IOB_ALIGNMENT)
-#else
-#  define CAN_BUFFER_SIZE ALIGN_UP(sizeof(struct iob_s) + NET_CAN_PKTSIZE + \
-                                   IOB_ALIGNMENT - 1, IOB_ALIGNMENT)
-#endif
 
 /****************************************************************************
  * Private Data
@@ -117,10 +112,7 @@ FAR struct iob_s *can_iob_clone(FAR struct net_driver_s *dev)
       return NULL;
     }
 
-#ifdef CONFIG_NET_TIMESTAMP
   iob_reserve(iob, CONFIG_NET_LL_GUARDSIZE);
-#endif
-
   /* CAN data length is fixed, So when we use iob_clone_partial to copy
    * data, we don't have to worry about distributing other iob.
    */