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ptp_clock: clarify ptp_clock_rate_adjust function #93190

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@yangbolu1991 yangbolu1991 commented Jul 16, 2025 •
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It's not very clear about the function of ptp_clock_rate_adjust in doc.
Previously, all device drivers used it to adjust rate ratio relatively
based on current frequency.

When PI servo was introduced in PTP and gPTP stacks, NXP ENET PTP driver
started to use it to adjust rate ratio based on its nominal frequency.

Rate ratio adjustment based on nominal frequency with PI servo could
get stable frequency control. So, let's clarify ptp_clock_rate_adjust
adjusting rate ratio based on nominal frequency, and convert other
device drivers.

I am not able to verify these changes since I don't have these boards. If the platform owner could verify, the expected logs of ptp and gptp will be as below. The sync offset will be convergent.

gptp log

[00:00:02.822,000] <inf> phy_mc_ksz8081: PHY 0 is up
[00:00:02.822,000] <inf> phy_mc_ksz8081: PHY (0) Link speed 100 Mb, full duplex

[00:00:02.823,000] <inf> eth_nxp_enet_mac: Link is up
*** Booting Zephyr OS build v4.1.0-3062-g764340614802 ***
[00:00:02.826,000] <inf> net_config: Initializing network
[00:00:02.826,000] <inf> net_config: IPv4 address: 192.0.2.1
[00:00:02.928,000] <inf> net_config: IPv6 address: 2001:db8::1
[00:00:03.830,000] <wrn> net_gptp: Reset Pdelay requests
[00:00:05.268,000] <dbg> net_gptp_sample: gptp_phase_dis_cb: GM FA:FA:62:FF:FE:FE:A2:11 last phase 0.0
[00:00:06.893,000] <inf> net_gptp: sync offset   -117781 ns, freq offset -117781.000000 ppb
[00:00:07.894,000] <inf> net_gptp: sync offset    -73643 ns, freq offset -108977.300000 ppb
[00:00:08.894,000] <inf> net_gptp: sync offset    -37936 ns, freq offset -95363.200000 ppb
[00:00:09.894,000] <inf> net_gptp: sync offset    -15866 ns, freq offset -84674.000000 ppb
[00:00:10.895,000] <inf> net_gptp: sync offset     -4318 ns, freq offset -77885.800000 ppb
[00:00:11.895,000] <inf> net_gptp: sync offset       564 ns, freq offset -74299.200000 ppb
[00:00:12.895,000] <inf> net_gptp: sync offset      1731 ns, freq offset -72963.000000 ppb
[00:00:13.895,000] <inf> net_gptp: sync offset      1687 ns, freq offset -72487.700000 ppb
[00:00:14.896,000] <inf> net_gptp: sync offset      1098 ns, freq offset -72570.600000 ppb
[00:00:15.896,000] <inf> net_gptp: sync offset       540 ns, freq offset -72799.200000 ppb
[00:00:16.896,000] <inf> net_gptp: sync offset       181 ns, freq offset -72996.200000 ppb
[00:00:17.896,000] <inf> net_gptp: sync offset       127 ns, freq offset -72995.900000 ppb
[00:00:18.896,000] <inf> net_gptp: sync offset       -50 ns, freq offset -73134.800000 ppb
[00:00:19.897,000] <inf> net_gptp: sync offset        59 ns, freq offset -73040.800000 ppb
[00:00:20.897,000] <inf> net_gptp: sync offset       -39 ns, freq offset -73121.100000 ppb
[00:00:21.897,000] <inf> net_gptp: sync offset        41 ns, freq offset -73052.800000 ppb
[00:00:22.897,000] <inf> net_gptp: sync offset       -89 ns, freq offset -73170.500000 ppb
[00:00:23.897,000] <inf> net_gptp: sync offset        62 ns, freq offset -73046.200000 ppb
[00:00:24.897,000] <inf> net_gptp: sync offset       -64 ns, freq offset -73153.600000 ppb
[00:00:25.898,000] <inf> net_gptp: sync offset       -27 ns, freq offset -73135.800000 ppb
[00:00:26.898,000] <inf> net_gptp: sync offset        50 ns, freq offset -73066.900000 ppb
[00:00:27.898,000] <inf> net_gptp: sync offset        -3 ns, freq offset -73104.900000 ppb
[00:00:28.899,000] <inf> net_gptp: sync offset        66 ns, freq offset -73036.800000 ppb
[00:00:29.899,000] <inf> net_gptp: sync offset       -63 ns, freq offset -73146.000000 ppb
[00:00:30.899,000] <inf> net_gptp: sync offset       -28 ns, freq offset -73129.900000 ppb
[00:00:31.900,000] <inf> net_gptp: sync offset       132 ns, freq offset -72978.300000 ppb
[00:00:32.900,000] <inf> net_gptp: sync offset        -7 ns, freq offset -73077.700000 ppb
[00:00:33.900,000] <inf> net_gptp: sync offset      -139 ns, freq offset -73211.800000 ppb
[00:00:34.901,000] <inf> net_gptp: sync offset       -58 ns, freq offset -73172.500000 ppb
[00:00:35.901,000] <inf> net_gptp: sync offset         1 ns, freq offset -73130.900000 ppb
[00:00:36.901,000] <inf> net_gptp: sync offset        82 ns, freq offset -73049.600000 ppb
[00:00:37.901,000] <inf> net_gptp: sync offset        -4 ns, freq offset -73111.000000 ppb
[00:00:38.902,000] <inf> net_gptp: sync offset       109 ns, freq offset -72999.200000 ppb

ptp log

[00:00:45.452,000] <dbg> ptp_port: port_state_update: Port 1 changed state from TIME TRANSMITTER to TIME RECEIVER
[00:00:46.139,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:46.139,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 0 Delay_Req
[00:00:46.141,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:46.450,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:46.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:47.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:47.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:47.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:00:48.139,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:48.139,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 1 Delay_Req
[00:00:48.141,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:48.141,000] <dbg> ptp_clock: ptp_clock_delay: Delay -445ns
[00:00:48.450,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:48.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:48.452,000] <wrn> ptp_clock: Clock offset exceeds 1 second.
[00:00:48.452,000] <wrn> ptp_clock: Set clock time: 46.586880075
[00:00:49.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:49.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:49.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -6240ns
[00:00:49.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:00:50.139,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:50.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 2 Delay_Req
[00:00:50.141,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:50.141,000] <dbg> ptp_clock: ptp_clock_delay: Delay -2608ns
[00:00:50.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:50.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:50.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 8548ns
[00:00:51.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:51.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:51.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 8215ns
[00:00:51.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:00:52.139,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:52.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 3 Delay_Req
[00:00:52.141,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:52.141,000] <dbg> ptp_clock: ptp_clock_delay: Delay 2597ns
[00:00:52.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:52.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:52.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 508ns
[00:00:53.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:53.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:53.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 3152ns
[00:00:53.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:00:54.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:54.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 4 Delay_Req
[00:00:54.141,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:54.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1748ns
[00:00:54.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:54.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:54.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 3948ns
[00:00:55.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:55.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:55.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 2068ns
[00:00:55.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:00:56.139,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:56.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 5 Delay_Req
[00:00:56.141,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:56.141,000] <dbg> ptp_clock: ptp_clock_delay: Delay 2137ns
[00:00:56.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:56.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:56.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 572ns
[00:00:57.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:57.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:57.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 259ns
[00:00:57.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:00:58.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:00:58.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 6 Delay_Req
[00:00:58.142,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:00:58.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1787ns
[00:00:58.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:58.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:58.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 438ns
[00:00:59.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:00:59.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:00:59.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 92ns
[00:00:59.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:01:00.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:01:00.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 7 Delay_Req
[00:01:00.142,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:01:00.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1801ns
[00:01:00.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:00.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:00.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -133ns
[00:01:01.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:01.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:01.453,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -68ns
[00:01:01.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:01:02.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:01:02.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 8 Delay_Req
[00:01:02.142,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:01:02.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1737ns
[00:01:02.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:02.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:02.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -43ns
[00:01:03.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:03.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:03.453,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -88ns
[00:01:03.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:01:04.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:01:04.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 9 Delay_Req
[00:01:04.142,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:01:04.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1719ns
[00:01:04.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:04.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:04.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 23ns
[00:01:05.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:05.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:05.453,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -48ns
[00:01:05.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:01:06.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:01:06.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 10 Delay_Req
[00:01:06.142,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:01:06.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1731ns
[00:01:06.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:06.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:06.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 14ns
[00:01:07.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:07.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:07.453,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -41ns
[00:01:07.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Announce message
[00:01:08.140,000] <dbg> ptp_port: port_delay_req_msg_transmit: Port 1 sends Delay_Req message
[00:01:08.140,000] <dbg> ptp_port: port_delay_req_timestamp_cb: Port 1 registered timestamp for 11 Delay_Req
[00:01:08.142,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Delay_Resp message
[00:01:08.142,000] <dbg> ptp_clock: ptp_clock_delay: Delay 1729ns
[00:01:08.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:08.452,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:08.452,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset -42ns
[00:01:09.451,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Sync message
[00:01:09.453,000] <dbg> ptp_msg: ptp_msg_post_recv: Port 1 received Follow_Up message
[00:01:09.453,000] <dbg> ptp_clock: ptp_clock_synchronize: Offset 48ns

@yangbolu1991
include: drivers: ptp_clock: clarify ptp_clock_rate_adjust function
1c22c0c 
It's not very clear about the function of ptp_clock_rate_adjust in doc.
Previously, all device drivers used it to adjust rate ratio relatively
based on current frequency.

When PI servo was introduced in PTP and gPTP stacks, NXP ENET PTP driver
started to use it to adjust rate ratio based on its nominal frequency.

Rate ratio adjustment based on nominal frequency with PI servo could
get stable frequency control. So, let's clarify ptp_clock_rate_adjust
adjusting rate ratio based on nominal frequency, and convert other
device drivers.

Signed-off-by: Yangbo Lu <[email protected]>
@yangbolu1991
drivers: eth_stm32_hal: adjust ptp clock rate based on nominal frequency
0810b23 
Adjusted ptp clock rate based on nominal frequency.

Signed-off-by: Yangbo Lu <[email protected]>
@yangbolu1991
drivers: eth_e1000: adjust ptp clock rate based on nominal frequency
dd7c442 
Adjusted ptp clock rate based on nominal frequency.

Signed-off-by: Yangbo Lu <[email protected]>
@yangbolu1991
drivers: eth_xmc4xxx: adjust ptp clock rate based on nominal frequency
e48005a 
Adjusted ptp clock rate based on nominal frequency.

Signed-off-by: Yangbo Lu <[email protected]>
@github-actions github-actions bot requested review from decsny and erwango July 16, 2025 09:59
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@yangbolu1991 yangbolu1991 mentioned this pull request Jul 16, 2025
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