Struct PiServo 

pub struct PiServo { /* private fields */ }

PI (Proportional-Integral) servo for clock discipline.

Processes offset samples and produces clock adjustment actions. The servo transitions through ServoState::Init -> ServoState::FrequencyLock -> ServoState::PhaseLock as it gathers enough samples to converge.

Implementations

impl PiServo

pub fn new(config: ServoConfig) -> Self

Create a new PI servo with the given configuration.

pub fn with_defaults() -> Self

Create a new PI servo with default configuration.

pub fn state(&self) -> ServoState

Current servo state.

pub fn frequency(&self) -> f64

Current estimated frequency offset in PPM.

pub fn sample_count(&self) -> u32

Number of samples processed so far.

pub fn sample(&mut self, offset_ns: f64, poll_interval_secs: f64) -> ServoAction

Process a new offset measurement and return the action to take.

Arguments

• offset_ns: measured clock offset in nanoseconds (positive means local clock is ahead).
• poll_interval_secs: current polling interval in seconds (tau). This controls the PI gain scaling.

pub fn reset(&mut self)

Reset the servo to its initial state.