STM32 NUCLEO-H745ZI-Q flexPTP demo
What's this?
This is a flexPTP demo project showcasing the capabilities of the flexPTP IEEE 1588 Precision Time Protocol implementation for the STMicroelectronics NUCLEO-H745ZI-Q dual-core MCU devboard.
Still not clear what is it useful for? No worries, it's a behind-the-scenes support technology that use unaware every day if you have a smartphone or when you are connected to the internet. Modern telecommunication and measurement systems often rely on precise time synchronization down to the nanoseconds' scale. Methods got standardized by the IEEE and now it's known by the name of the Precision Time Protocol. This software project is an evaluation environment to showcase the capabilities of our IEEE 1588 PTP implementation named flexPTP on the STMicroelectronics NUCLEO-H745ZI board.
Tip
Just want to try the demo and skip compiling? Download one of the precompiled binaries and jump to Deploying!
Tip
Have not seen any dual-core MCU project before? Don't panic, go on with reading this and you will have a picture of it for sure! :)
Get the sources
Note
To acquire the full source tree after cloning the repo, please fetch the linked submodules as well:
git clone https://gitea.epagris.com/epagris/flexPTP-demo-NUCLEO-H745ZI-Q.git
cd flexPTP-demo-NUCLEO-H745ZI-Q
git submodule init
git submodule update
Building
Note
The STM32H745 is a multicore device with a Cortex-M7 and a Cortex-M4 core. The software is built separately for the M7 and the M4 cores!
Prerequisites
The following two pieces of software are necessary for building:
arm-none-eabi-gcc(v12+): the GCC ARM Cortex-M C cross-compilercmake(v3.22+): KitWare's build management system
Note
Both applications are available on common Linux systems through the official package repository. For building on Windows we recommend to install the STM32CubeCLT bundle shipping the
arm-none-eabi-{gcc|gdb},openocdand ST's proprietary STLink downloading tools. The CMake needs to be installed separately.
Compiling
The project is fully CMake managed. Configure and invoke the cross-compiler using the commands below and compile targets for both cores:
cmake . -B build
cmake --build build --target CM4 CM7 --
Once the building has concluded the output binaries would be deposited per core in the build/CM4 and build/CM7 directories: CM4.elf, CM7.elf. Intentionally NO .bin dumps are generated. If they were they would span the whole MCU Flash address range (including gaps as well) resulting in unmanagable ~640MB files. The .elf files carry addressing information as well, they are much more effective in size.
Deploying
Downloading the firmware
The compiled pair of .elf binaries can be downloaded onto the devboard through several tools, see below. The two binaries have no overlapping memory ranges so that uploading them one after the other is viable.
Using the STM32CubeProgrammer
The STM32CubeProgrammer recognizes the MCU once connected. Upload the CM4.elf and CM7.elf separately on the Erasing & Programming pane.
Using the openocd application
The OpenOCD programming/debugging tool can also be used to upload the firmware using the following command:
openocd -f "board/st_nucleo_h745zi.cfg" -c init -c halt -c "program build/CM4/CM4.elf" -c "program build/CM7/CM7.elf" -c exit
OpenOCD is also available through the common Linux package managers.
Interacting with the firmware
The firmware prints its messages to and expect user input coming on the board controller's virtual serial port using the 115200-8-N-1 configuration. Use Putty or any equivalent (e.g. GtkTerm) serial port terminal to communicate with the firmware. On Linux, the device will show up as /dev/ttyACMx.
Note
Read the firmware's bootup hints and messages carefully!
PPS signal
The 1PPS signal is emitted on the PB5 pin.
Development
An all-around Visual Studio Code project is packaged along the project to enable easy development, debugging and editing. To enable these powerful features, install the STM32Cube for Visual Studio Code, CMakeTools, Cortex-Debug, Embedded Tools extensions, OpenOCD and the STM32CubeCLT software package. The latter one is required for downloading the firmware right away using the Cortex-Debug extension (if not done through OpenOCD) and for providing the Embedded Tools extension with register description .SVD files. clangd and clang-format are highly recommended.
This project has predefined Launch and Attach tasks. Uploading the firmware and attaching to this dual-core MCU is a bit tricky: first program both cores, then connect to and start the M7 core, and then attach to the M4 core. It's also possible to debug or reprogram just one core.
Software structure
The project is relying on the following large software building blocks:
- the FreeRTOS embedded operating system modified for this particular project,
- the CMSIS RTOS V2 module as a wrapper for FreeRTOS,
- STM32H7xx Hardware Abstraction Layer library (HAL) providing MCU specific functionality,
- the Lightweight IP (lwip) Ethernet stack extended with PTP timestamp support,
- the EtherLib, our in-house developed Ethernet stack,
- the embfmt a printf()-like formatted printer implementation for embedded systems.
Tip
The project can either use LwIP or EtherLib Ethernet stacks. This can be easily changed by setting the
ETH_STACKCMake variable in theCM4/CMakeLists.txt:set(ETH_STACK "LWIP") # select "LWIP" or "ETHERLIB"The development of the EtherLib network stack was motivated in the beginning by just curiosity and our need for something that is suitable for our university research. Gradually it became a handy tool so we've decided to promote it into our public projects as well.
The Ethernet and PTP-related functionality is managed by the M4 core, the M7 core handles the system initialization and standard output UART communication. The project is organized the following way:
ROOT
Common: sources and libraries used by both cores
Boot: boot and init functions
Drivers
CMSIS: ARM CMSIS-related files (CMSIS RTOS V2 and device headers)
STM32H7_HAL/stm32h7xx-hal-driver: ST's STM32H7xx HAL driver files (submodule)
ICC: inter-core communication methods
Middlewares
embfmt: a printf()-like formatted printer implementation for embedded systems (submodule)
FreeRTOS: the custom tailored
shared.ld: linker script for the shared areas
CM4: Cortex-M4 core files
Common: symlink to the Common folder
Drivers
EthDrv: a custom Ethernet driver (with PTP timestamp support), a PHY-interface and network stack interfaces
Inc: headers for compile-time library configuration
Modules
flexptp: our PTP implementation (submodule)
lwip and lwip_port: the LwIP Ethernet stack and its system dependent module (submodule)
etherlib: our in-house developed Ethernet stack (submodule)
blocking_io: a simple blocking FIFO implementation
Src
cliutils: CLI-interface implementation
ethernet: Ethernet stack initialization
cmds.c: custom CLI commands
CM7: Cortex-M7 core files
Common: symlink to the Common folder
Inc: headers for compile-time library configuration
Modules
blocking_io: a simple blocking FIFO implementation
Src: main source files
Note
The flexPTP parameters are defined in the flexptp_options.h header.
Handling code redundancy
Libraries appearing in the Common folder are compiled for both cores resulting in binary symbols under the same names. Having the same library names for both cores breaks the CMake-managed compilation with a 'multiple symbol definition' error. To circumvent it common libraries are postfixed with the target core name, i.e. freertos_kernel -> freertos_kernel_CM4 and freertos_kernel_CM7. Unfortunately, even this way the resulted .elfs cannot be combined, only the build gets managable. Although, the Cortex-M7 core could run the Cortex-M4 programs for sure, doing so all advanced features of the M7 core would be just sitting there idly.
Bootup sequence
The M7 core is the first to start up, the M4 core is being held in reset for a while. The M7 core initializes clocks, standard output and the Inter-Core Communication (ICC) channel. After all these are done the M4 core is release from the reset.
Printing and logging
In this project the memory-heavy printf() is replaced by the more embedded-optimized MSG() function backed by the embfmt library. Parameters and format specifiers are fully printf() compatible.
Each message on the standard output is prefixed with the origin of the message, either the M4 or the M7 core. The CLI interpreter is installed on the CM4 core.
CLI commands
The software offers you with the following multitude, most flexPTP-related of commands:
? Print this help (22/48)
hist Print command history
osinfo Print OS-related information
flexptp Start flexPTP daemon
ptp pps {freq} Set or query PPS signal frequency [Hz]
ptp servo params [Kp Kd] Set or query K_p and K_d servo parameters
ptp servo log internals {on|off} Enable or disable logging of servo internals
ptp reset Reset PTP subsystem
ptp servo offset [offset_ns] Set or query clock offset
ptp log {def|corr|ts|info|locked|bmca} {on|off} Turn on or off logging
time [ns] Print time
ptp master [[un]prefer] [clockid] Master clock settings
ptp info Print PTP info
ptp domain [domain] Print or get PTP domain
ptp addend [addend] Print or set addend
ptp transport [{ipv4|802.3}] Set or get PTP transport layer
ptp delmech [{e2e|p2p}] Set or get PTP delay mechanism
ptp transpec [{def|gPTP}] Set or get PTP transportSpecific field (majorSdoId)
ptp profile [preset [<name>]] Print or set PTP profile, or list available presets
ptp tlv [preset [name]|unload] Print or set TLV-chain, or list available TLV presets
ptp pflags [<flags>] Print or set profile flags
ptp period <delreq|sync|ann> [<lp>|matched] Print or set log. periods
ptp coarse [threshold] Print or set coarse correction threshold
ptp priority [<p1> <p2>] Print or set clock priority fields
Tip
The above hint can be listed by typing '?'.
Notes
Warning
By default, the MCU clock is sourced by the onboard (STLink) board controller on this devboard. According to our observations, this clock signal is loaded with heavy noise rendering the clock synchronization unable to settle precisely. We highly recommend to solder a 8 or 25 MHz oscillator onto the designated X3 pads to achieve the best results!
Related papers and references
Time Synchronization Extension for the IO-Link Industrial Communication Protocol
Methods of Peripheral Synchronization in Real-Time Cyber-Physical Systems
License
The project was created by András Wiesner (Epagris) in 2025 and published under the MIT license. Contributions are welcome! :)