A GPS satellite contains multiple atomic clocks, so it is considered a “stratum zero” time source. Any equipment that gets its time from GPS satellites is therefore “stratum 1” time sourcej. And gear that gets time from a “stratum 1” time source (for example, networked servers) are “stratum 2”. And so on.
At each level there is redundancy: A single satellite has several clocks. A single GPS receiver listens to several satellites. A single stratum 2 device listens to several stratum 1 devices. And so, we get some semblance of accurate time on our devices.
And that’s important, because computer clocks are notoriously bad at keeping time. They drift, often by a few seconds a day or more. And if we don’t all know exactly what time it is, then we barely have a functioning civilization.
On this page I’ve documented the setup for the NTP server in my homelab.
I’m using the following hardware:
- Raspberry Pi 4
- Uputronics GPS/RTC HAT
- Nothing else.
And the following software:
- Manjaro is the Linux distribution
- Chrony is the NTP daemon
- GPSD is the GPS & PPS bridge between the hardware and Chrony
- gpsctl to control the firmware settings of the Uputronics board
pps-gpiokernel module, to map the Uputronics pin for PPS to
lsmod | grep ppsto find out if you have it.)
- GPSD Time Service HOWTO
- gpsd serial port issues
- Paul Gear’s NTP blog series 1 2 3 4 5
- Gateworks info on GPS satellites protocols etc
- Rob Robinette Pi Time Server blog
Common NTP metrics:
- poll interval — The interval, in seconds, between polls of this peer. NTP will automatically adjust the poll interval based on the reliability of the peer.
- root delay – our delay, in milliseconds, to the stratum 0 time sources
- root dispersion – the maximum possible offset, in milliseconds, that our local clock could be from the stratum 0 time sources, given the characteristics of our peer(s).
- offset – the local clock’s offset, in milliseconds, from NTP’s best estimate of the correct time, given our peer(s)
- jitter – as for jitter, this is the overall error in estimating the offset
- frequency (or drift) – the estimated error, in parts per million, of the local clock
Transcript of server setup
I started by flashing Manjaro Raspberry Pi 4 minimal image and running through the installer, which was really simple.
Then, once it rebooted I signed in with SSH. Once on the device, I updated and installed needed packages:
sudo pacman -Syu sudo pacman -Syu vim ack ethtool git jq pps-tools chrony gpsd
Weirdly, I noticed that I noticed that
localhost doesn’t resolve, so I had to add an
/etc/hosts entry for it:
sudo echo "127.0.0.1 localhost" >> /etc/hosts
Hardware & kernel modules
Now I’m on to the gps setup. First, we need the right hardware config and kernel modules:
cat <<EOF | sudo tee -a /boot/config.txt # disable bluetooth & wifi dtoverlay=disable-bt dtoverlay=disable-wifi # Get 1PPS from HAT pin dtoverlay=pps-gpio,gpiopin=18 EOF sudo vim /boot/cmdline.txt # remove console=serial0,115200 and kgdboc=serial0,115200 # Turn off power saving because it causes the system clock to skew even more: # add nohz=off
Also, there are some services that we need to turn off, because they conflict with resources we’re trying to use:
sudo systemctl disable attach-bluetooth.service sudo systemctl mask serial-getty@ttyS0.service sudo systemctl mask serial-getty@ttyAMA0.service sudo systemctl stop systemd-timesyncd.service sudo systemctl disable systemd-timesyncd.service sudo reboot
Now, the Uputronics board connects in two ways to the Pi. It uses a serial port for the GPS signal, and it uses a GPIO pin for the PPS signal. The GPS signal provides complete time information along with a lot of data about the quality of signal, satellite connections, etc. The PPS (pulse per second) signal is a very accurate, very plain electronic puls on a GPIO pin that marks when each second starts.
GPS is the clock, and PPS is used to discipline the clock.
After reboot, PPS is working right away:
$ sudo dmesg | grep pps [ 4.653434] pps_core: LinuxPPS API ver. 1 registered [ 4.653446] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <email@example.com> [ 4.664103] pps pps0: new PPS source pps@12.-1 [ 4.664160] pps pps0: Registered IRQ 49 as PPS source
ppstest /dev/pps0 gave me some good output.
The GPS serial device was found, too:
$ sudo dmesg | grep AMA [ 2.141700] fe201000.serial: ttyAMA0 at MMIO 0xfe201000 (irq = 21, base_baud = 0) is a PL011 rev2
The basic hardware is working. Now let’s compile
gpsctl and configure the Uputronics board:
pacman -Syu gcc make glibc curl -LO https://github.com/philrandal/gpsctl/archive/refs/tags/v1.16.tar.gz tar xvzf v1.16.tar.gz mv gpsctl-1.16 gpsctl pushd gpsctl ./build.sh sudo cp gpsctl /usr/local/bin
Now that I have
gpsctl, I fiddled with the Uputronics board config for a while,
before finally resetting the board and saving my own settings to the board:
gpsctl -p /dev/ttyAMA0 -a --reset gpsctl -p /dev/ttyAMA0 -a -B 115200 --configure_for_timing --save_config -v
It takes 20 minutes or so for the GPS device to get a strong signal, so you have to wait. Eventually, you’ll see something like:
$ gpsctl -Q fix Time (UTC): 2021-10-23 01:01:31 (yyyy-mm-dd hh:mm:ss) Latitude: 37.75479700 N Longitude: 122.40819180 W Altitude: 19.738 feet Motion: 0.025 mph at 66.924 degrees heading Satellites: 7 used for computing this fix Accuracy: time (31 ns), height (+/-39.915 feet), position (+/-29.354 feet), heading(+/-29.597 degrees), speed(+/-0.067 mph)
I installed the accompanying
systemd service unit,
gpsctl will run every time the machine starts:
sudo cp etc/systemd/system/ublox-init.service /etc/systemd/system cat <<EOF | sudo tee /etc/default/gpsctl PARAMS="-p /dev/ttyAMA0 -q -a -B 115200 --configure_for_timing" EOF systemctl enable ublox-init.service systemctl daemon-reload
gpsd and Chrony
With any luck, the hardware works great and now we just have to get the software talking to it.
This will give you enough debug information to see that everything’s working.
$ sudo gpsd -N -n -s 115200 -D 4 /dev/ttyAMA0 /dev/pps0 gpsd:INFO: launching (Version 3.23.1, revision 3.23.1) gpsd:INFO: listening on port gpsd gpsd:INFO: stashing device /dev/ttyAMA0 at slot 0 gpsd:INFO: SER: opening GPS data source type 2 at '/dev/ttyAMA0' gpsd:INFO: SER: fd 6 current speed 115200, 8N1 gpsd:INFO: SER: fd 6 current speed 115200, 8O1 gpsd:INFO: SER: fd 6 current speed 115200, 8N1 gpsd:INFO: SER: fd 6 current speed 115200, 8N1 gpsd:INFO: SER: fd 6 current speed 115200, 8N1 gpsd:INFO: gpsd_activate(2): activated GPS (fd 6) gpsd:INFO: KPPS:/dev/pps0 RFC2783 path:/dev/pps0, fd is 7 gpsd:INFO: KPPS:/dev/pps0 pps_caps 0x1151 gpsd:INFO: KPPS:/dev/pps0 have PPS_CANWAIT gpsd:WARN: KPPS:/dev/pps0 missing PPS_CAPTURECLEAR, pulse may be offset gpsd:INFO: KPPS:/dev/pps0 kernel PPS will be used
You’ll start seeing gpsd get both GPS and PPS signals.
Alternatively you can run
cgps and watch your GPS in real time, which is more fun.
At least, that’s my idea of fun.
Once you know that these parameters work reliably for you,
put them into
/etc/default/gpsd and the
systemd unit will pick them up:
cat <<EOF | sudo tee /etc/default/gpsd # Devices gpsd should collect to at boot time. # They need to be read/writeable, either by user gpsd or the group dialout. DEVICES="/dev/ttyAMA0 /dev/pps0" # Other options you want to pass to gpsd GPSD_OPTIONS="-n -s 115200" # Automatically hot add/remove USB GPS devices via gpsdctl USBAUTO="true" EOF systemctl restart gpsd
And gpsd is running:
$ sudo systemctl status gpsd ● gpsd.service - GPS (Global Positioning System) Daemon Loaded: loaded (/usr/lib/systemd/system/gpsd.service; enabled; vendor preset: disabled) Active: active (running) since Fri 2021-10-22 18:01:36 PDT; 5min ago TriggeredBy: ● gpsd.socket Process: 2053 ExecStart=/usr/bin/gpsd $GPSD_OPTIONS $OPTIONS $DEVICES (code=exited, status=0/SUCCESS) Main PID: 2054 (gpsd) Tasks: 3 (limit: 1820) CPU: 1.510s CGroup: /system.slice/gpsd.service └─2054 /usr/bin/gpsd -n -s 115200 /dev/ttyAMA0 /dev/pps0 Oct 22 18:01:36 gps systemd: Starting GPS (Global Positioning System) Daemon... Oct 22 18:01:36 gps systemd: Started GPS (Global Positioning System) Daemon.
I found that the
chrony package in Arch/Manjaro didn’t have PPS support compiled into it.
So, even though I’d installed it, I needed to recompile the binaries.
I used the same build flags as the Arch package spec for chrony,
but I got a build that has PPS support because I’d installed
curl -LO https://download.tuxfamily.org/chrony/chrony-4.2.tar.gz tar xvzf chrony-4.2.tar.gz cd chrony-4.2 ./configure \ --prefix=/usr \ --enable-scfilter \ --enable-ntp-signd \ --with-user=chrony \ --with-sendmail=/usr/bin/sendmail \ --with-hwclockfile=/etc/adjtime \ --sbindir=/usr/bin \ --with-pidfile=/run/chrony/chronyd.pid make make install
For my setup, Chrony connects to gpsd via shared memory.
Here’s the config file I ended up with.
The last three lines are the most important.
allow line starts the NTP server (Chrony is a client otherwise),
and the two
refclock lines connect gpsd to Chrony as sources:
cat <<EOF | sudo tee /etc/chrony.conf driftfile /var/lib/chrony/drift ntsdumpdir /var/lib/chrony leapsectz right/UTC makestep 1.0 3 rtcsync allow # The offset of 0.0424 is specific to my Uputronics GPS refclock SHM 0 refid GPS precision 1e-1 offset 0.0424 delay 0.2 refclock SHM 1 refid PPS precision 1e-7 pool north-america.pool.ntp.org EOF sudo systemctl restart chronyd.service
And that’s it, Chrony is up and running.
But are the GPS and PPS signals being used by chrony?
If you run
chronyc sources, you should see a
#- by GPS and a
#* next to PPS.
$ chronyc sources # chronyc sources MS Name/IP address Stratum Poll Reach LastRx Last sample =============================================================================== #- GPS 0 4 375 18 +8362us[+8362us] +/- 200ms #* PPS 0 4 364 63 -147ns[ -65ns] +/- 180ns ^- ntp2.wiktel.com 1 6 377 27 +2107us[+2107us] +/- 30ms ^- briareus.schulte.org 3 6 377 31 -737us[ -737us] +/- 70ms ^- ftp8.ofertadasorte.com.br 2 6 377 27 -1755us[-1755us] +/- 7632us ^- 22.214.171.124 2 6 377 28 +30us[ +30us] +/- 45ms
Helpful chrony commands:
chronyc ntpdatafor peer details
Configuring client machines
If clients on a LAN run
you can take advantage of the
so that they sync with each other in case your NTP server goes down.
I’m mostly running
# timedatectl timesync-status Server: 126.96.36.199 (188.8.131.52) Poll interval: 34min 8s (min: 32s; max 34min 8s) Leap: normal Version: 4 Stratum: 3 Reference: A0401C7 Precision: 1us (-25) Root distance: 13.930ms (max: 5s) Offset: +175us Delay: 4.480ms Jitter: 344us Packet count: 105 Frequency: +13.141ppm # timedatectl Local time: Fri 2021-10-22 17:24:06 PDT Universal time: Sat 2021-10-23 00:24:06 UTC RTC time: Sat 2021-10-23 00:24:06 Time zone: America/Los_Angeles (PDT, -0700) System clock synchronized: yes NTP service: active RTC in local TZ: no
[Time] NTP=ntp FallbackNTP=time.cloudflare.com 0.us.pool.ntp.org 1.us.pool.ntp.org 2.us.pool.ntp.org 3.us.pool.ntp.org
I’d like to track and improve the accuracy of the clock. I’d also like to put some basic monitoring in place.
Following the GPSD Time Service HOWTO
$ ethtool --show-eee eth0 EEE settings for eth0: EEE status: enabled - inactive ... $ ethtool --set-eee eth0 eee off
It needs to be built from source:
git clone git://git.code.sf.net/p/linuxptp/code linuxptp cd linuxptp make sudo make install cat <<EOF | sudo tee /usr/local/etc/ptp4l.conf > [global] # only syslog every 1024 seconds summary_interval 10 # send to chronyd/ntpd using SHM 2 clock_servo ntpshm ntpshm_segment 2 # set our priority high since we have PPS priority1 10 priority2 10 [eth0] EOF echo "refclock SHM 2 refid PTP precision 1e-7" >> /etc/chrony.conf