diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index d98eb3e95..ef46a531d 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -10,7 +10,7 @@ updates:
       patterns: ["*"]
 
 - package-ecosystem: cargo
-  directories: ["/", "/fuzz/", "/statime-stm32/"]
+  directories: ["/", "/fuzz/", "/statime-embassy-net/", "/statime-embassy-net/examples/stm32h743/", "/statime-stm32/"]
   allow:
     - dependency-type: all
   schedule:
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index f3649aa6b..44d74e704 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -39,6 +39,10 @@ jobs:
         working-directory: statime-stm32
         run: cargo build
 
+      - name: Build Embassy STM32 example
+        working-directory: statime-embassy-net/examples/stm32h743
+        run: cargo build --release
+
       # Build std is handled by test job
 
   test:
@@ -64,6 +68,10 @@ jobs:
         env:
           RUST_BACKTRACE: 1
 
+      - name: Test Embassy integration
+        working-directory: statime-embassy-net
+        run: cargo test --target x86_64-unknown-linux-gnu
+
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v7.0.0
         with:
@@ -82,6 +90,7 @@ jobs:
         uses: actions-rs/toolchain@v1
         with:
           toolchain: stable
+          target: thumbv7em-none-eabihf
           components: rustfmt, clippy
           override: true
 
@@ -99,6 +108,22 @@ jobs:
           toolchain: stable
           args: --workspace --all-features -- -D warnings
 
+      - name: Check Embassy formatting
+        working-directory: statime-embassy-net
+        run: cargo fmt --all -- --check
+
+      - name: Check Embassy STM32 example formatting
+        working-directory: statime-embassy-net/examples/stm32h743
+        run: cargo fmt --all -- --check
+
+      - name: Run Embassy host clippy
+        working-directory: statime-embassy-net
+        run: cargo clippy --target x86_64-unknown-linux-gnu --all-targets --features monitor -- -D warnings
+
+      - name: Run Embassy STM32 clippy
+        working-directory: statime-embassy-net/examples/stm32h743
+        run: cargo clippy -- -D warnings
+
       - name: Run clippy (fuzzers)
         uses: actions-rs/cargo@844f36862e911db73fe0815f00a4a2602c279505
         with:
diff --git a/Cargo.toml b/Cargo.toml
index a7a531613..dc9085699 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -4,6 +4,7 @@ members = [
     "statime-linux",
 ]
 exclude = [
+    "statime-embassy-net",
     "statime-stm32"
 ]
 resolver = "2"
diff --git a/README.md b/README.md
index f0c351879..1c6afae06 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,9 @@ It is designed to be able to work with many different underlying platforms, incl
 
 On modern Linux kernels, the `statime-linux` crate provides a ready to use PTP daemon. See our [getting started guide](https://docs.statime.pendulum-project.org/guide/getting-started/).
 
-If you want to use Statime on platforms other than Linux, you will need to implement a suitable binary yourself. The `statime-stm32` crate gives an example of how to do this on an embedded target.
+For Embassy-based embedded systems, `statime-embassy-net` provides a reusable
+single-port ordinary-clock runner and an STM32H743 example. The `statime-stm32`
+crate is a separate RTIC-based STM32F7 example.
 
 <p align="center">
 <img width="216px" alt="Statime - PTP in Rust" src="https://tweedegolf.nl/images/statime.jpg" />
@@ -53,4 +55,3 @@ For all past and present funders and supporters, see the [Statime page](https://
 <img style="margin: 1rem 5% 1rem 5%;" src="https://nlnet.nl/image/logos/NGIAssure_tag.svg" alt="Logo NGI Assure" width="150px" />
 <img style="margin: 1rem 5% 1rem 5%;" src="https://tweedegolf.nl/images/logo-stf-blank.png" alt="Logo STF" width="250px" />
 
-
diff --git a/statime-embassy-net/.gitignore b/statime-embassy-net/.gitignore
new file mode 100644
index 000000000..146697f3d
--- /dev/null
+++ b/statime-embassy-net/.gitignore
@@ -0,0 +1,2 @@
+/target
+/examples/stm32h743/target
diff --git a/statime-embassy-net/Cargo.lock b/statime-embassy-net/Cargo.lock
new file mode 100644
index 000000000..81fe21f3e
--- /dev/null
+++ b/statime-embassy-net/Cargo.lock
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diff --git a/statime-embassy-net/Cargo.toml b/statime-embassy-net/Cargo.toml
new file mode 100644
index 000000000..190e0886f
--- /dev/null
+++ b/statime-embassy-net/Cargo.toml
@@ -0,0 +1,49 @@
+[package]
+name = "statime-embassy-net"
+version = "0.1.0"
+edition = "2024"
+license = "MIT OR Apache-2.0"
+description = "PTP ordinary-clock runner for statime on embassy-net"
+repository = "https://github.com/pendulum-project/statime"
+readme = "README.md"
+publish = false
+
+[features]
+default = []
+defmt = ["dep:defmt", "embassy-net/defmt", "embassy-ptp-driver/defmt", "embassy-time/defmt"]
+monitor = []
+
+[dependencies]
+rand_core = "0.6"
+rand_xorshift = "0.3"
+statime = { path = "../statime", default-features = false }
+defmt = { version = "1.0.1", optional = true }
+embassy-futures = { version = "0.1.2", default-features = false }
+embassy-net = { version = "0.9.1", default-features = false, features = [
+	"medium-ethernet",
+	"multicast",
+	"packetmeta-id",
+	"packetmeta-timestamp",
+	"proto-ipv4",
+	"udp",
+] }
+embassy-ptp-driver = "0.1.0"
+embassy-time = { version = "0.5.1", default-features = false }
+
+[dev-dependencies]
+defmt2log = "0.2.1"
+
+[patch.crates-io]
+embassy-futures = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-net = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-net-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-ptp-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-sync = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-time = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-time-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+
+[profile.release]
+codegen-units = 1
+opt-level = "s"
+debug = true
+lto = "fat"
diff --git a/statime-embassy-net/README.md b/statime-embassy-net/README.md
new file mode 100644
index 000000000..d36439aaa
--- /dev/null
+++ b/statime-embassy-net/README.md
@@ -0,0 +1,38 @@
+# statime-embassy-net
+
+PTP ordinary-clock runner for `statime` on timestamp-capable `embassy-net`
+Ethernet drivers.
+
+This crate connects:
+
+- `statime` for the PTP protocol and servo,
+- `embassy-net` for UDP multicast transport,
+- a `statime::Clock` implementation controlling the same hardware clock used
+  for packet timestamps.
+
+The network driver must provide packet timestamps through `embassy-net` packet
+metadata and asynchronous transmit timestamp polling. `EmbassyClock` adapts
+any `embassy_ptp_driver::Clock` to Statime's clock interface. The example
+uses Embassy STM32; applications using it must select their concrete
+`embassy-stm32` chip feature.
+
+The runner is currently a single-port UDP/IPv4 ordinary clock using E2E delay
+measurement. It is slave-only by default. To keep static packet storage small,
+it accepts PTP datagrams up to 256 bytes; larger, TLV-heavy messages are
+discarded as truncated.
+
+Runner startup reports multicast-membership and socket-binding errors. Once
+started, transient link or IP-configuration loss keeps the clock in holdover;
+the existing sockets and protocol state resume when connectivity returns.
+
+The default servo is Statime's `FixedWanderKalmanFilter`, intended for embedded
+systems whose oscillator wander is characterized or conservatively bounded.
+
+The default feature set has no logging backend. Enable `defmt` for diagnostics
+and `monitor` to expose lock-free tracking and holdover state. Enabling
+`monitor` does not change `Runner::new`; attach a monitor with
+`Runner::with_monitor` where needed.
+
+See the [`examples/stm32h743`](examples/stm32h743) package for a complete
+STM32H743 Embassy application. Its target, linker, probe, and board dependencies
+are kept outside the reusable library package.
diff --git a/statime-embassy-net/examples/stm32h743/.cargo/config.toml b/statime-embassy-net/examples/stm32h743/.cargo/config.toml
new file mode 100644
index 000000000..5686ab26e
--- /dev/null
+++ b/statime-embassy-net/examples/stm32h743/.cargo/config.toml
@@ -0,0 +1,14 @@
+[build]
+target = "thumbv7em-none-eabihf"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip STM32H743ZITx"
+rustflags = [
+    "-C", "link-arg=--nmagic",
+    "-C", "target-cpu=cortex-m7",
+    "-C", "link-arg=-Tlink.x",
+    "-C", "link-arg=-Tdefmt.x",
+]
+
+[env]
+DEFMT_LOG = "info"
diff --git a/statime-embassy-net/examples/stm32h743/Cargo.lock b/statime-embassy-net/examples/stm32h743/Cargo.lock
new file mode 100644
index 000000000..4e3c5be98
--- /dev/null
+++ b/statime-embassy-net/examples/stm32h743/Cargo.lock
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+	"critical-section-single-core",
+] }
+cortex-m-rt = "0.7"
+defmt = "1.0.1"
+defmt-rtt = "1.1.0"
+embassy-executor = { version = "0.10.0", features = [
+	"platform-cortex-m",
+	"executor-thread",
+	"defmt",
+] }
+embassy-net = { version = "0.9.1", default-features = false, features = [
+	"defmt",
+	"dhcpv4",
+	"medium-ethernet",
+	"multicast",
+	"packetmeta-id",
+	"packetmeta-timestamp",
+	"proto-ipv4",
+	"udp",
+] }
+embassy-stm32 = { version = "0.6.0", default-features = false, features = [
+	"defmt",
+	"ptp",
+	"rt",
+	"stm32h743zi",
+	"time-driver-tim12",
+	"unstable-pac",
+] }
+embassy-time = { version = "0.5.1", default-features = false, features = [
+	"defmt",
+	"generic-queue-8",
+] }
+panic-probe = { version = "1.0.0", features = ["print-defmt"] }
+static_cell = "2.1.1"
+
+[patch.crates-io]
+embassy-embedded-hal = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-executor = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-futures = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-hal-internal = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-net = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-net-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-ptp-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-stm32 = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-sync = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-time = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-time-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-time-queue-utils = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-usb-driver = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+embassy-usb-synopsys-otg = { git = "https://github.com/quartiq/embassy.git", branch = "pr/network-clock" }
+
+[profile.release]
+codegen-units = 1
+opt-level = "s"
+debug = true
+lto = "fat"
+
+[workspace]
diff --git a/statime-embassy-net/examples/stm32h743/README.md b/statime-embassy-net/examples/stm32h743/README.md
new file mode 100644
index 000000000..689245643
--- /dev/null
+++ b/statime-embassy-net/examples/stm32h743/README.md
@@ -0,0 +1,16 @@
+# STM32H743 example
+
+Complete `statime-embassy-net` application for an STM32H743ZI with an RMII PHY
+at address 0, an 8 MHz HSE oscillator, and DHCPv4. The pin mapping is in
+[`src/main.rs`](src/main.rs); Ethernet DMA storage is placed in SRAM3 by
+[`memory.x`](memory.x).
+
+From this directory:
+
+```console
+cargo build --release
+cargo run --release
+```
+
+The optional `stabilizer` feature resets its PHY through PE3 before Ethernet
+initialization.
diff --git a/statime-embassy-net/examples/stm32h743/build.rs b/statime-embassy-net/examples/stm32h743/build.rs
new file mode 100644
index 000000000..486005cdc
--- /dev/null
+++ b/statime-embassy-net/examples/stm32h743/build.rs
@@ -0,0 +1,8 @@
+use std::{env, fs, path::PathBuf};
+
+fn main() {
+    let out = PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    fs::write(out.join("memory.x"), include_bytes!("memory.x")).unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+    println!("cargo:rerun-if-changed=memory.x");
+}
diff --git a/statime-embassy-net/examples/stm32h743/memory.x b/statime-embassy-net/examples/stm32h743/memory.x
new file mode 100644
index 000000000..8a2e5cf27
--- /dev/null
+++ b/statime-embassy-net/examples/stm32h743/memory.x
@@ -0,0 +1,15 @@
+MEMORY
+{
+  FLASH (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
+  RAM   (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+  SRAM3 (rwx) : ORIGIN = 0x30040000, LENGTH = 32K
+}
+
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+
+SECTIONS {
+  .sram3 (NOLOAD) : ALIGN(4) {
+    *(.sram3 .sram3.*);
+    . = ALIGN(4);
+  } > SRAM3
+}
diff --git a/statime-embassy-net/examples/stm32h743/src/main.rs b/statime-embassy-net/examples/stm32h743/src/main.rs
new file mode 100644
index 000000000..8b4a04fdf
--- /dev/null
+++ b/statime-embassy-net/examples/stm32h743/src/main.rs
@@ -0,0 +1,160 @@
+#![no_std]
+#![no_main]
+
+use core::mem::MaybeUninit;
+
+use defmt::unwrap;
+use embassy_executor::Spawner;
+use embassy_net::{Config as NetConfig, StackResources};
+use embassy_stm32::{
+    bind_interrupts,
+    eth::{Ethernet, GenericPhy, InterruptHandler, PacketQueue, PtpClockConfig, Sma},
+    interrupt::{InterruptExt as _, Priority},
+    pac::{self, Interrupt},
+    peripherals::{ETH, ETH_SMA},
+};
+use static_cell::StaticCell;
+use statime::filters::{FixedWanderKalmanConfig, FixedWanderKalmanFilter};
+use statime_embassy_net::{Config as PtpConfig, EmbassyClock, PtpStorage, Runner as PtpRunner};
+
+use {defmt_rtt as _, panic_probe as _};
+
+defmt::timestamp!("{=u64:us}", embassy_time::Instant::now().as_micros());
+
+#[defmt::panic_handler]
+fn defmt_panic() -> ! {
+    panic_probe::hard_fault()
+}
+
+const ETH_TX_PACKETS: usize = 4;
+const ETH_RX_PACKETS: usize = 4;
+const STACK_SOCKETS: usize = 4;
+
+type Device = Ethernet<'static, ETH, GenericPhy<Sma<'static, ETH_SMA>>>;
+
+bind_interrupts!(struct Irqs {
+    ETH => InterruptHandler<ETH>;
+});
+
+#[unsafe(link_section = ".sram3.eth")]
+static mut PACKETS: MaybeUninit<PacketQueue<ETH_TX_PACKETS, ETH_RX_PACKETS>> =
+    MaybeUninit::uninit();
+static PTP_STORAGE: StaticCell<PtpStorage> = StaticCell::new();
+static STACK_RESOURCES: StaticCell<StackResources<STACK_SOCKETS>> = StaticCell::new();
+
+mod board {
+    use embassy_stm32::{
+        Config,
+        rcc::{
+            AHBPrescaler, APBPrescaler, HSIPrescaler, Hse, HseMode, Pll, PllDiv, PllMul, PllPreDiv,
+            PllSource, Sysclk, VoltageScale,
+        },
+        time::Hertz,
+    };
+
+    pub const MAC_ADDRESS: [u8; 6] = [0x02, 0x50, 0x54, 0x50, 0x00, 0x01];
+    pub const SEED: u64 = 0x5054_5020_4847_4331;
+
+    pub fn stm32_config() -> Config {
+        let mut config = Config::default();
+        config.rcc.hse = Some(Hse {
+            freq: Hertz(8_000_000),
+            mode: HseMode::Oscillator,
+        });
+        config.rcc.hsi = Some(HSIPrescaler::Div1);
+        config.rcc.csi = false;
+        config.rcc.pll1 = Some(Pll {
+            source: PllSource::Hse,
+            prediv: PllPreDiv::Div4,
+            mul: PllMul::Mul400,
+            fracn: None,
+            divp: Some(PllDiv::Div2),
+            divq: None,
+            divr: None,
+        });
+        config.rcc.sys = Sysclk::Pll1P;
+        config.rcc.d1c_pre = AHBPrescaler::Div1;
+        config.rcc.ahb_pre = AHBPrescaler::Div2;
+        config.rcc.apb1_pre = APBPrescaler::Div2;
+        config.rcc.apb2_pre = APBPrescaler::Div2;
+        config.rcc.apb3_pre = APBPrescaler::Div2;
+        config.rcc.apb4_pre = APBPrescaler::Div2;
+        config.rcc.voltage_scale = VoltageScale::Scale1;
+        config
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) -> ! {
+    let p = embassy_stm32::init(board::stm32_config());
+
+    // Ethernet DMA buffers are placed in SRAM3 by this example linker
+    // script, so enable that RAM before initializing the packet queue.
+    pac::RCC.ahb2enr().modify(|w| w.set_sram3en(true));
+
+    // ETH wakes the network runner; TIM12 drives embassy-time deadlines.
+    Interrupt::ETH.set_priority(Priority::P6);
+    Interrupt::TIM8_BRK_TIM12.set_priority(Priority::P7);
+
+    #[cfg(feature = "stabilizer")]
+    {
+        use embassy_stm32::gpio::{Level, Output, Speed};
+        const SYSCLK_HZ: u32 = 400_000_000;
+
+        let mut phy_reset = Output::new(p.PE3, Level::Low, Speed::Low);
+        phy_reset.set_low();
+        cortex_m::asm::delay(SYSCLK_HZ / 4);
+        phy_reset.set_high();
+        cortex_m::asm::delay(SYSCLK_HZ / 4);
+        core::mem::forget(phy_reset);
+    }
+
+    let queue = unsafe {
+        let packets = core::ptr::addr_of_mut!(PACKETS);
+        PacketQueue::init(&mut *packets);
+        (*packets).assume_init_mut()
+    };
+    let phy = GenericPhy::new(Sma::new(p.ETH_SMA, p.PA2, p.PC1), 0);
+    let mut device = Ethernet::new_with_phy(
+        queue,
+        p.ETH,
+        Irqs,
+        p.PA1,
+        p.PA7,
+        p.PC4,
+        p.PC5,
+        p.PB12,
+        p.PG14,
+        p.PB11,
+        board::MAC_ADDRESS,
+        phy,
+    );
+    let ptp_clock = EmbassyClock::new(device.start_ptp(PtpClockConfig::default()));
+    let (stack, runner) = embassy_net::new(
+        device,
+        NetConfig::dhcpv4(Default::default()),
+        STACK_RESOURCES.init(StackResources::new()),
+        board::SEED,
+    );
+    let ptp_runner = PtpRunner::<_, FixedWanderKalmanFilter>::new(
+        stack,
+        ptp_clock,
+        PTP_STORAGE.init(PtpStorage::new()),
+        PtpConfig::new(board::MAC_ADDRESS, board::SEED),
+        FixedWanderKalmanConfig::default(),
+    );
+
+    spawner.spawn(unwrap!(net_task(runner)));
+    spawner.spawn(unwrap!(ptp_task(ptp_runner)));
+    match core::future::pending::<core::convert::Infallible>().await {}
+}
+
+#[embassy_executor::task]
+async fn net_task(mut runner: embassy_net::Runner<'static, Device>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::task]
+async fn ptp_task(mut runner: PtpRunner<'static, EmbassyClock<embassy_stm32::eth::PtpClock<ETH>>>) {
+    unwrap!(runner.run().await);
+}
diff --git a/statime-embassy-net/src/embassy_clock.rs b/statime-embassy-net/src/embassy_clock.rs
new file mode 100644
index 000000000..9bf878903
--- /dev/null
+++ b/statime-embassy-net/src/embassy_clock.rs
@@ -0,0 +1,216 @@
+use embassy_ptp_driver::{Clock as PtpClock, ScaledPpm, Timestamp};
+use statime::{
+    Clock as StatimeClock,
+    config::TimePropertiesDS,
+    time::{Duration, Time},
+};
+
+use crate::time_from_parts;
+
+fn time_from(timestamp: Timestamp) -> Time {
+    time_from_parts(timestamp.seconds(), timestamp.quarter_nanos())
+}
+
+/// A Statime clock backed by an Embassy PTP hardware clock.
+#[derive(Debug)]
+pub struct EmbassyClock<T> {
+    inner: T,
+}
+
+impl<T> EmbassyClock<T> {
+    /// Wrap an initialized Embassy PTP clock.
+    pub const fn new(inner: T) -> Self {
+        Self { inner }
+    }
+
+    /// Borrow the underlying PTP clock.
+    pub const fn inner(&self) -> &T {
+        &self.inner
+    }
+
+    /// Mutably borrow the underlying PTP clock.
+    pub const fn inner_mut(&mut self) -> &mut T {
+        &mut self.inner
+    }
+
+    /// Unwrap the underlying PTP clock.
+    pub fn into_inner(self) -> T {
+        self.inner
+    }
+}
+
+/// Error returned by [`EmbassyClock`].
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
+pub enum EmbassyClockError<E> {
+    /// The PTP clock rejected an operation.
+    Clock(E),
+    /// Statime requested a frequency adjustment that is not finite.
+    NonFiniteFrequency,
+}
+
+impl<E: core::error::Error> core::fmt::Display for EmbassyClockError<E> {
+    fn fmt(&self, formatter: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::Clock(error) => write!(formatter, "PTP clock: {error}"),
+            Self::NonFiniteFrequency => formatter.write_str("non-finite frequency adjustment"),
+        }
+    }
+}
+
+impl<E: core::error::Error + 'static> core::error::Error for EmbassyClockError<E> {
+    fn source(&self) -> Option<&(dyn core::error::Error + 'static)> {
+        match self {
+            Self::Clock(error) => Some(error),
+            Self::NonFiniteFrequency => None,
+        }
+    }
+}
+
+impl<T: PtpClock> StatimeClock for EmbassyClock<T> {
+    type Error = EmbassyClockError<T::Error>;
+
+    fn now(&self) -> Time {
+        time_from(self.inner.now())
+    }
+
+    fn step_clock(&mut self, offset: Duration) -> Result<Time, Self::Error> {
+        // Embassy clocks step in whole nanoseconds; preserve Statime's lossy
+        // conversion and clamp values outside the driver's signed range.
+        let nanos = offset
+            .nanos_rounded()
+            .clamp(i64::MIN as i128, i64::MAX as i128) as i64;
+        self.inner
+            .step(nanos)
+            .map(time_from)
+            .map_err(EmbassyClockError::Clock)
+    }
+
+    fn set_frequency(&mut self, ppm: f64) -> Result<Time, Self::Error> {
+        if !ppm.is_finite() {
+            return Err(EmbassyClockError::NonFiniteFrequency);
+        }
+
+        // The cast saturates. Sub-LSB truncation is integrated away by the
+        // servo instead of requiring a separate floating-point rounding step.
+        let adjustment = ScaledPpm::from_raw((ppm * (1i32 << 16) as f64) as i32);
+        self.inner
+            .set_frequency(adjustment)
+            .map(time_from)
+            .map_err(EmbassyClockError::Clock)
+    }
+
+    fn set_properties(
+        &mut self,
+        _time_properties_ds: &TimePropertiesDS,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[derive(Debug, Default)]
+    struct TestClock {
+        fail: bool,
+        step: i64,
+        frequency: ScaledPpm,
+    }
+
+    #[derive(Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    struct TestError;
+
+    impl core::fmt::Display for TestError {
+        fn fmt(&self, formatter: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+            formatter.write_str("test clock failure")
+        }
+    }
+
+    impl core::error::Error for TestError {}
+
+    impl PtpClock for TestClock {
+        type Error = TestError;
+
+        fn now(&self) -> Timestamp {
+            Timestamp::from_seconds_and_nanos(1, 2)
+        }
+
+        fn step(&mut self, offset_nanos: i64) -> Result<Timestamp, Self::Error> {
+            if self.fail {
+                return Err(TestError);
+            }
+            self.step = offset_nanos;
+            Ok(self.now())
+        }
+
+        fn set_frequency(&mut self, adjustment: ScaledPpm) -> Result<Timestamp, Self::Error> {
+            if self.fail {
+                return Err(TestError);
+            }
+            self.frequency = adjustment;
+            Ok(self.now())
+        }
+    }
+
+    #[test]
+    fn converts_statime_adjustments_to_driver_units() {
+        let mut clock = EmbassyClock::new(TestClock::default());
+
+        clock.step_clock(Duration::from_fixed_nanos(1.6)).unwrap();
+        assert_eq!(clock.inner().step, 1);
+
+        clock.set_frequency(-0.25).unwrap();
+        assert_eq!(clock.inner().frequency, ScaledPpm::from_raw(-16_384));
+
+        clock.set_frequency(f64::MAX).unwrap();
+        assert_eq!(clock.inner().frequency, ScaledPpm::from_raw(i32::MAX));
+    }
+
+    #[test]
+    fn clamps_steps_to_the_driver_range() {
+        let mut clock = EmbassyClock::new(TestClock::default());
+
+        clock
+            .step_clock(Duration::from_fixed_nanos(i64::MAX as i128 + 1))
+            .unwrap();
+        assert_eq!(clock.inner().step, i64::MAX);
+
+        clock
+            .step_clock(Duration::from_fixed_nanos(i64::MIN as i128 - 1))
+            .unwrap();
+        assert_eq!(clock.inner().step, i64::MIN);
+    }
+
+    #[test]
+    fn rejects_non_finite_frequency() {
+        let mut clock = EmbassyClock::new(TestClock::default());
+
+        assert!(matches!(
+            clock.set_frequency(f64::NAN),
+            Err(EmbassyClockError::NonFiniteFrequency)
+        ));
+        assert_eq!(clock.inner().frequency, ScaledPpm::ZERO);
+    }
+
+    #[test]
+    fn propagates_driver_errors() {
+        #[cfg(feature = "defmt")]
+        fn assert_format<T: defmt::Format>() {}
+        #[cfg(feature = "defmt")]
+        assert_format::<EmbassyClockError<TestError>>();
+
+        let mut clock = EmbassyClock::new(TestClock {
+            fail: true,
+            ..Default::default()
+        });
+
+        assert!(matches!(
+            clock.set_frequency(0.0),
+            Err(EmbassyClockError::Clock(TestError))
+        ));
+    }
+}
diff --git a/statime-embassy-net/src/lib.rs b/statime-embassy-net/src/lib.rs
new file mode 100644
index 000000000..df0172080
--- /dev/null
+++ b/statime-embassy-net/src/lib.rs
@@ -0,0 +1,835 @@
+#![cfg_attr(not(test), no_std)]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
+
+mod embassy_clock;
+#[cfg(feature = "monitor")]
+mod monitor;
+mod storage;
+
+use core::num::NonZero;
+use embassy_futures::select::{Either3, select3};
+use embassy_net::{
+    IpAddress, IpEndpoint, Ipv4Address, MulticastError, Stack, TryError,
+    driver::{Timestamp, TxTimestamp},
+    udp,
+    udp::{UdpMetadata, UdpSocket},
+};
+use embassy_time::{Duration as EmbassyDuration, Instant, with_deadline};
+use rand_core::SeedableRng;
+use rand_xorshift::XorShiftRng;
+use statime::{
+    Clock, PtpInstance,
+    config::{
+        AcceptAnyMaster, ClockIdentity, ClockQuality, DelayMechanism, InstanceConfig, PortConfig,
+        PtpMinorVersion, TimePropertiesDS, TimeSource,
+    },
+    filters::{Filter, FixedWanderKalmanFilter},
+    observability::port::PortState,
+    port::{NoForwardedTLVs, PortAction, PortActionIterator, TimestampContext},
+    time::{Duration, Interval, Time},
+};
+
+#[cfg(feature = "defmt")]
+macro_rules! info {
+    ($($arg:tt)*) => { defmt::info!($($arg)*) };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! info {
+    ($format:literal $(, $arg:expr)* $(,)?) => {{
+        let _ = $format;
+        $(let _ = &$arg;)*
+    }};
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! warn {
+    ($($arg:tt)*) => { defmt::warn!($($arg)*) };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! warn {
+    ($format:literal $(, $arg:expr)* $(,)?) => {{
+        let _ = $format;
+        $(let _ = &$arg;)*
+    }};
+}
+
+pub use embassy_clock::{EmbassyClock, EmbassyClockError};
+#[cfg(feature = "monitor")]
+pub use monitor::{ClockState, PtpMonitor};
+pub use storage::PtpStorage;
+
+const EVENT_PORT: u16 = 319;
+const GENERAL_PORT: u16 = 320;
+const PRIMARY_MULTICAST: Ipv4Address = Ipv4Address::new(224, 0, 1, 129);
+const LINK_LOCAL_MULTICAST: Ipv4Address = Ipv4Address::new(224, 0, 0, 107);
+const TX_TIMESTAMP_TIMEOUT: EmbassyDuration = EmbassyDuration::from_millis(100);
+const TX_PENDING: usize = 4;
+const MSG_DELAY_REQ: u8 = 0x1;
+const MSG_PDELAY_REQ: u8 = 0x2;
+const MSG_PDELAY_RESP: u8 = 0x3;
+
+/// Error encountered while starting a [`Runner`].
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
+pub enum RunError {
+    /// The network stack could not join a required PTP multicast group.
+    Multicast {
+        /// Multicast address the runner tried to join.
+        address: Ipv4Address,
+        /// Error reported by the network stack.
+        source: MulticastError,
+    },
+    /// A PTP UDP socket could not be bound.
+    Bind {
+        /// UDP port the runner tried to bind.
+        port: u16,
+        /// Error reported by the socket.
+        source: udp::BindError,
+    },
+}
+
+impl core::fmt::Display for RunError {
+    fn fmt(&self, formatter: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::Multicast { address, source } => {
+                write!(formatter, "joining PTP multicast group {address}: {source}")
+            }
+            Self::Bind { port, source } => {
+                write!(formatter, "binding PTP UDP port {port}: {source:?}")
+            }
+        }
+    }
+}
+
+impl core::error::Error for RunError {
+    fn source(&self) -> Option<&(dyn core::error::Error + 'static)> {
+        match self {
+            Self::Multicast { source, .. } => Some(source),
+            Self::Bind { .. } => None,
+        }
+    }
+}
+
+/// Configuration for one PTP ordinary-clock runner.
+#[non_exhaustive]
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct Config {
+    /// Ethernet MAC address used to derive the PTP clock identity.
+    pub mac_address: [u8; 6],
+    /// Seed for statime's per-port random number generator.
+    pub rng_seed: u64,
+    /// PTP domain number accepted and transmitted by this ordinary clock.
+    pub domain_number: u8,
+    /// Best master clock algorithm priority1 value.
+    pub priority_1: u8,
+    /// Best master clock algorithm priority2 value.
+    pub priority_2: u8,
+    /// Keep this clock out of master state.
+    pub slave_only: bool,
+    /// Accuracy and stability advertised when this clock becomes master.
+    pub clock_quality: ClockQuality,
+    /// Logarithmic E2E delay request interval.
+    pub delay_request_interval: Interval,
+    /// Logarithmic announce interval.
+    pub announce_interval: Interval,
+    /// Logarithmic sync interval.
+    pub sync_interval: Interval,
+    /// Number of missed announces before announce receipt timeout.
+    pub announce_receipt_timeout: u8,
+    /// Static path delay asymmetry correction.
+    pub delay_asymmetry: Duration,
+    /// PTP v2 minor version used by the statime port.
+    pub minor_ptp_version: PtpMinorVersion,
+    /// Time properties advertised by this clock when it becomes master.
+    pub time_properties: TimePropertiesDS,
+    /// Maximum time to wait for a hardware transmit timestamp.
+    pub tx_timestamp_timeout: EmbassyDuration,
+}
+
+impl Config {
+    /// Create a slave-only ordinary-clock configuration for `mac_address`.
+    ///
+    /// The MAC address defines the clock identity and `rng_seed` seeds
+    /// statime's per-port random scheduling.
+    pub fn new(mac_address: [u8; 6], rng_seed: u64) -> Self {
+        Self {
+            mac_address,
+            rng_seed,
+            domain_number: 0,
+            priority_1: 128,
+            priority_2: 128,
+            slave_only: true,
+            clock_quality: ClockQuality::default(),
+            delay_request_interval: Interval::from_log_2(0),
+            announce_interval: Interval::from_log_2(0),
+            sync_interval: Interval::from_log_2(0),
+            announce_receipt_timeout: 3,
+            delay_asymmetry: Duration::ZERO,
+            minor_ptp_version: PtpMinorVersion::Zero,
+            time_properties: TimePropertiesDS::new_arbitrary_time(
+                false,
+                false,
+                TimeSource::InternalOscillator,
+            ),
+            tx_timestamp_timeout: TX_TIMESTAMP_TIMEOUT,
+        }
+    }
+}
+
+/// Single-port PTP ordinary-clock service.
+///
+/// Construct one runner per Ethernet port and call [`run`](Self::run) from a
+/// background task. Dropping the future is not a supported recovery path; this
+/// is intended to run for the lifetime of the network stack.
+///
+/// `F` selects the Statime measurement filter. Its [`Filter::Config`] is
+/// supplied to [`new`](Self::new), keeping filter policy outside the Embassy
+/// transport adapter.
+///
+/// The clock must control the same hardware time domain used for packet
+/// timestamps by the underlying network driver.
+pub struct Runner<'a, C, F: Filter = FixedWanderKalmanFilter> {
+    stack: Stack<'a>,
+    clock: C,
+    storage: &'a mut PtpStorage,
+    config: Config,
+    filter_config: F::Config,
+    #[cfg(feature = "monitor")]
+    monitor: Option<&'a PtpMonitor>,
+}
+
+struct ClockRef<'a, C> {
+    clock: &'a mut C,
+    #[cfg(feature = "monitor")]
+    monitor: Option<&'a PtpMonitor>,
+}
+
+impl<C: Clock> Clock for ClockRef<'_, C> {
+    type Error = C::Error;
+
+    fn now(&self) -> Time {
+        self.clock.now()
+    }
+
+    fn step_clock(&mut self, offset: Duration) -> Result<Time, Self::Error> {
+        let result = self.clock.step_clock(offset);
+        #[cfg(feature = "monitor")]
+        if result.is_ok()
+            && let Some(monitor) = self.monitor
+        {
+            monitor.unavailable();
+        }
+        result
+    }
+
+    fn set_frequency(&mut self, ppm: f64) -> Result<Time, Self::Error> {
+        self.clock.set_frequency(ppm)
+    }
+
+    fn set_properties(&mut self, time_properties_ds: &TimePropertiesDS) -> Result<(), Self::Error> {
+        let result = self.clock.set_properties(time_properties_ds);
+        #[cfg(feature = "monitor")]
+        if result.is_ok()
+            && let Some(monitor) = self.monitor
+        {
+            monitor.set_ptp_timescale(time_properties_ds.ptp_timescale);
+        }
+        result
+    }
+}
+
+impl<'a, C: Clock, F: Filter> Runner<'a, C, F> {
+    /// Bind the PTP service to an Embassy network stack, PTP clock, socket
+    /// storage, protocol configuration, and filter configuration.
+    pub fn new(
+        stack: Stack<'a>,
+        clock: C,
+        storage: &'a mut PtpStorage,
+        config: Config,
+        filter_config: F::Config,
+    ) -> Self {
+        Self {
+            stack,
+            clock,
+            storage,
+            config,
+            filter_config,
+            #[cfg(feature = "monitor")]
+            monitor: None,
+        }
+    }
+
+    /// Report clock tracking state through `monitor`.
+    #[cfg(feature = "monitor")]
+    pub fn with_monitor(mut self, monitor: &'a PtpMonitor) -> Self {
+        self.monitor = Some(monitor);
+        self
+    }
+
+    /// Run the PTP service until cancelled, or return an initialization error.
+    ///
+    /// Transient link or IP-configuration loss does not return an error. The
+    /// runner retains its sockets and protocol state and resumes when the
+    /// network stack becomes usable again.
+    pub async fn run(&mut self) -> Result<(), RunError> {
+        let stack = self.stack;
+        let clock = ClockRef {
+            clock: &mut self.clock,
+            #[cfg(feature = "monitor")]
+            monitor: self.monitor,
+        };
+        let storage = &mut *self.storage;
+        let config = self.config;
+        let filter_config = self.filter_config.clone();
+
+        info!("ptp: waiting for network configuration");
+        stack.wait_config_up().await;
+        stack
+            .join_multicast_group(PRIMARY_MULTICAST)
+            .map_err(|source| RunError::Multicast {
+                address: PRIMARY_MULTICAST,
+                source,
+            })?;
+        info!("ptp: joined primary multicast group");
+        stack
+            .join_multicast_group(LINK_LOCAL_MULTICAST)
+            .map_err(|source| RunError::Multicast {
+                address: LINK_LOCAL_MULTICAST,
+                source,
+            })?;
+        info!("ptp: joined link-local multicast group");
+
+        let event_socket = UdpSocket::new(
+            stack,
+            &mut storage.event.rx_meta,
+            &mut storage.event.rx_buffer,
+            &mut storage.event.tx_meta,
+            &mut storage.event.tx_buffer,
+        );
+        let general_socket = UdpSocket::new(
+            stack,
+            &mut storage.general.rx_meta,
+            &mut storage.general.rx_buffer,
+            &mut storage.general.tx_meta,
+            &mut storage.general.tx_buffer,
+        );
+        let mut io = PortIo::new(event_socket, general_socket, config.tx_timestamp_timeout)?;
+
+        let clock_identity = clock_identity_from_mac(config.mac_address);
+        info!(
+            "ptp: clock identity {=u64:#020x}",
+            u64::from_be_bytes(clock_identity.0),
+        );
+
+        let instance = PtpInstance::<F>::new(
+            InstanceConfig {
+                clock_identity,
+                priority_1: config.priority_1,
+                priority_2: config.priority_2,
+                domain_number: config.domain_number,
+                sdo_id: Default::default(),
+                slave_only: config.slave_only,
+                path_trace: false,
+                clock_quality: config.clock_quality,
+            },
+            config.time_properties,
+        );
+        let port = instance.add_port(
+            PortConfig {
+                acceptable_master_list: AcceptAnyMaster,
+                delay_mechanism: DelayMechanism::E2E {
+                    interval: config.delay_request_interval,
+                },
+                announce_interval: config.announce_interval,
+                announce_receipt_timeout: config.announce_receipt_timeout,
+                sync_interval: config.sync_interval,
+                master_only: false,
+                delay_asymmetry: config.delay_asymmetry,
+                minor_ptp_version: config.minor_ptp_version,
+            },
+            filter_config,
+            clock,
+            XorShiftRng::seed_from_u64(config.rng_seed),
+        );
+        let (mut port, actions) = port.end_bmca();
+
+        let mut forwarded_tlvs = NoForwardedTLVs;
+        let mut bmca = deadline_from_now(instance.bmca_interval());
+        let mut tx_timestamp: Option<TxTimestamp> = None;
+
+        io.handle(
+            actions,
+            #[cfg(feature = "monitor")]
+            self.monitor,
+        )
+        .await;
+        info!("ptp: task started");
+
+        loop {
+            if Instant::now() >= bmca {
+                bmca = deadline_from_now(instance.bmca_interval());
+                let old_state = port.port_ds().port_state;
+                let mut bmca_port = port.start_bmca();
+                instance.bmca(&mut [&mut bmca_port]);
+                let (running_port, actions) = bmca_port.end_bmca();
+                port = running_port;
+                let new_state = port.port_ds().port_state;
+                #[cfg(feature = "monitor")]
+                if new_state != PortState::Slave
+                    && let Some(monitor) = self.monitor
+                {
+                    monitor.holdover();
+                }
+                if new_state != old_state {
+                    info!(
+                        "ptp: state {} -> {}",
+                        state_name(old_state),
+                        state_name(new_state)
+                    );
+                }
+                io.handle(
+                    actions,
+                    #[cfg(feature = "monitor")]
+                    self.monitor,
+                )
+                .await;
+                continue;
+            }
+
+            let actions = if let Some(timestamp) = tx_timestamp.take() {
+                match io.pending_tx.take(timestamp.id) {
+                    Some(context) => {
+                        port.handle_send_timestamp(context, time_from(timestamp.timestamp))
+                    }
+                    None => PortActionIterator::empty(),
+                }
+            } else if let Some(timer) = io.timers.take_due() {
+                match timer {
+                    StatimeTimer::Announce => port.handle_announce_timer(&mut forwarded_tlvs),
+                    StatimeTimer::Sync => port.handle_sync_timer(),
+                    StatimeTimer::DelayRequest => port.handle_delay_request_timer(),
+                    StatimeTimer::AnnounceReceipt => port.handle_announce_receipt_timer(),
+                    StatimeTimer::FilterUpdate => {
+                        #[cfg(feature = "monitor")]
+                        if let Some(monitor) = self.monitor {
+                            monitor.holdover();
+                        }
+                        port.handle_filter_update_timer()
+                    }
+                }
+            } else {
+                let receive_delay_requests = port.port_ds().port_state == PortState::Master;
+                match io.receive(&mut storage.packet, receive_delay_requests) {
+                    Incoming::Event(packet, timestamp) => {
+                        port.handle_event_receive(packet, time_from(timestamp))
+                    }
+                    Incoming::General(packet) => port.handle_general_receive(packet),
+                    Incoming::None => PortActionIterator::empty(),
+                }
+            };
+            io.pending_tx.expire();
+
+            io.handle(
+                actions,
+                #[cfg(feature = "monitor")]
+                self.monitor,
+            )
+            .await;
+
+            let next = io.next_deadline(bmca);
+            tx_timestamp = io.wait(stack, next).await;
+        }
+    }
+}
+
+struct PortIo<'a> {
+    event: UdpSocket<'a>,
+    general: UdpSocket<'a>,
+    timers: Timers,
+    packet_id: PacketIdGenerator,
+    pending_tx: PendingTxQueue,
+}
+
+impl<'a> PortIo<'a> {
+    fn new(
+        mut event: UdpSocket<'a>,
+        mut general: UdpSocket<'a>,
+        tx_timestamp_timeout: EmbassyDuration,
+    ) -> Result<Self, RunError> {
+        event.bind(EVENT_PORT).map_err(|source| RunError::Bind {
+            port: EVENT_PORT,
+            source,
+        })?;
+        general
+            .bind(GENERAL_PORT)
+            .map_err(|source| RunError::Bind {
+                port: GENERAL_PORT,
+                source,
+            })?;
+        Ok(Self {
+            event,
+            general,
+            timers: Timers::default(),
+            packet_id: PacketIdGenerator::new(),
+            pending_tx: PendingTxQueue::new(tx_timestamp_timeout),
+        })
+    }
+
+    async fn handle(
+        &mut self,
+        actions: PortActionIterator<'_>,
+        #[cfg(feature = "monitor")] monitor: Option<&PtpMonitor>,
+    ) {
+        for action in actions {
+            match action {
+                PortAction::SendEvent {
+                    context,
+                    data,
+                    link_local,
+                } => {
+                    let metadata = UdpMetadata {
+                        endpoint: multicast_endpoint(EVENT_PORT, link_local),
+                        meta: self.packet_id.next(),
+                        local_address: None,
+                    };
+                    match self.event.send_to(data, metadata).await {
+                        Ok(()) => self.pending_tx.push(context, metadata.meta.id),
+                        Err(error) => warn!("ptp: event send failed: {}", &error),
+                    }
+                }
+                PortAction::SendGeneral { data, link_local } => {
+                    let metadata = UdpMetadata {
+                        endpoint: multicast_endpoint(GENERAL_PORT, link_local),
+                        meta: udp::PacketMeta::default(),
+                        local_address: None,
+                    };
+                    if let Err(error) = self.general.send_to(data, metadata).await {
+                        warn!("ptp: general send failed: {}", error);
+                    }
+                }
+                PortAction::ResetAnnounceTimer { duration } => {
+                    self.timers.reset(StatimeTimer::Announce, duration)
+                }
+                PortAction::ResetSyncTimer { duration } => {
+                    self.timers.reset(StatimeTimer::Sync, duration)
+                }
+                PortAction::ResetDelayRequestTimer { duration } => {
+                    self.timers.reset(StatimeTimer::DelayRequest, duration)
+                }
+                PortAction::ResetAnnounceReceiptTimer { duration } => {
+                    self.timers.reset(StatimeTimer::AnnounceReceipt, duration)
+                }
+                PortAction::ResetFilterUpdateTimer { duration } => {
+                    #[cfg(feature = "monitor")]
+                    if let Some(monitor) = monitor {
+                        monitor.tracking();
+                    }
+                    self.timers.reset(StatimeTimer::FilterUpdate, duration)
+                }
+                PortAction::ForwardTLV { .. } => {}
+            }
+        }
+    }
+
+    fn receive<'b>(&self, packet: &'b mut [u8], receive_delay_requests: bool) -> Incoming<'b> {
+        match self.event.try_recv_from(packet) {
+            Ok((n, meta)) => {
+                let packet = &packet[..n];
+                return rx_event_timestamp(packet, meta.meta, receive_delay_requests)
+                    .map_or(Incoming::None, |timestamp| {
+                        Incoming::Event(packet, timestamp)
+                    });
+            }
+            Err(TryError::Other(udp::RecvError::Truncated)) => {
+                warn!("ptp: truncated event packet");
+                return Incoming::None;
+            }
+            Err(TryError::WouldBlock) => {}
+        }
+
+        match self.general.try_recv_from(packet) {
+            Ok((n, _)) if ptp_message_type(&packet[..n]).is_some() => {
+                Incoming::General(&packet[..n])
+            }
+            Ok(_) | Err(TryError::WouldBlock) => Incoming::None,
+            Err(TryError::Other(udp::RecvError::Truncated)) => {
+                warn!("ptp: truncated general packet");
+                Incoming::None
+            }
+        }
+    }
+
+    fn next_deadline(&self, deadline: Instant) -> Instant {
+        [
+            self.timers.next_deadline(),
+            self.pending_tx.next_timeout_deadline(),
+        ]
+        .into_iter()
+        .flatten()
+        .fold(deadline, Ord::min)
+    }
+
+    async fn wait(&self, stack: Stack<'_>, deadline: Instant) -> Option<TxTimestamp> {
+        match with_deadline(
+            deadline,
+            select3(
+                stack.poll_tx_timestamps(),
+                self.event.wait_recv_ready(),
+                self.general.wait_recv_ready(),
+            ),
+        )
+        .await
+        {
+            Ok(Either3::First(timestamp)) => Some(timestamp),
+            _ => None,
+        }
+    }
+}
+
+enum Incoming<'a> {
+    Event(&'a [u8], Timestamp),
+    General(&'a [u8]),
+    None,
+}
+
+fn rx_event_timestamp(
+    packet: &[u8],
+    meta: udp::PacketMeta,
+    receive_delay_requests: bool,
+) -> Option<Timestamp> {
+    let message_type = ptp_message_type(packet)?;
+    if matches!(message_type, MSG_PDELAY_REQ | MSG_PDELAY_RESP)
+        || message_type == MSG_DELAY_REQ && !receive_delay_requests
+    {
+        return None;
+    }
+    let timestamp = meta.timestamp;
+    if timestamp.is_none() {
+        warn!(
+            "ptp: missing rx timestamp packet_id={=u32} message_type={=u8}",
+            meta.id, message_type
+        );
+    }
+    timestamp
+}
+
+fn ptp_message_type(packet: &[u8]) -> Option<u8> {
+    packet.get(..34)?;
+    Some(packet[0] & 0x0f)
+}
+
+#[derive(Default)]
+struct Timers([Option<Instant>; StatimeTimer::ALL.len()]);
+
+impl Timers {
+    fn reset(&mut self, timer: StatimeTimer, duration: core::time::Duration) {
+        self.0[timer as usize] = Some(deadline_from_now(duration));
+    }
+
+    fn take_due(&mut self) -> Option<StatimeTimer> {
+        let now = Instant::now();
+        StatimeTimer::ALL.into_iter().find(|&timer| {
+            self.0[timer as usize]
+                .take_if(|deadline| now >= *deadline)
+                .is_some()
+        })
+    }
+
+    fn next_deadline(&self) -> Option<Instant> {
+        self.0.into_iter().flatten().min()
+    }
+}
+
+#[repr(usize)]
+#[derive(Clone, Copy)]
+enum StatimeTimer {
+    Announce,
+    Sync,
+    DelayRequest,
+    AnnounceReceipt,
+    FilterUpdate,
+}
+
+impl StatimeTimer {
+    const ALL: [Self; 5] = [
+        Self::Announce,
+        Self::Sync,
+        Self::DelayRequest,
+        Self::AnnounceReceipt,
+        Self::FilterUpdate,
+    ];
+}
+
+struct PendingTx {
+    context: TimestampContext,
+    packet_id: u32,
+    started: Instant,
+}
+
+struct PendingTxQueue {
+    slots: [Option<PendingTx>; TX_PENDING],
+    timeout: EmbassyDuration,
+}
+
+impl PendingTxQueue {
+    fn new(timeout: EmbassyDuration) -> Self {
+        Self {
+            slots: Default::default(),
+            timeout,
+        }
+    }
+
+    fn push(&mut self, context: TimestampContext, packet_id: u32) {
+        if let Some(slot) = self.slots.iter_mut().find(|slot| slot.is_none()) {
+            *slot = Some(PendingTx {
+                context,
+                packet_id,
+                started: Instant::now(),
+            });
+        } else {
+            warn!("ptp: tx timestamp queue full packet_id={=u32}", packet_id);
+        }
+    }
+
+    fn take(&mut self, packet_id: u32) -> Option<TimestampContext> {
+        self.slots
+            .iter_mut()
+            .find_map(|slot| slot.take_if(|pending| pending.packet_id == packet_id))
+            .map(|pending| pending.context)
+    }
+
+    fn expire(&mut self) {
+        for slot in self.slots.iter_mut() {
+            if let Some(pending) = slot.take_if(|pending| pending.started.elapsed() >= self.timeout)
+            {
+                warn!(
+                    "ptp: missing tx timestamp packet_id={=u32}",
+                    pending.packet_id
+                );
+            }
+        }
+    }
+
+    fn next_timeout_deadline(&self) -> Option<Instant> {
+        self.slots
+            .iter()
+            .filter_map(|slot| slot.as_ref().map(|pending| pending.started + self.timeout))
+            .min()
+    }
+}
+
+struct PacketIdGenerator(NonZero<u32>);
+
+impl PacketIdGenerator {
+    const fn new() -> Self {
+        Self(NonZero::<u32>::MIN)
+    }
+
+    fn next(&mut self) -> udp::PacketMeta {
+        let id = self.0;
+        self.0 = self.0.checked_add(1).unwrap_or(NonZero::<u32>::MIN);
+        let mut meta = udp::PacketMeta::default();
+        meta.id = id.get();
+        meta.request_timestamp = true;
+        meta
+    }
+}
+
+fn clock_identity_from_mac(mac: [u8; 6]) -> ClockIdentity {
+    // Use the IEEE EUI-64 expansion, not statime's zero-padded helper.
+    ClockIdentity([mac[0], mac[1], mac[2], 0xff, 0xfe, mac[3], mac[4], mac[5]])
+}
+
+pub(crate) fn time_from(timestamp: Timestamp) -> Time {
+    time_from_parts(timestamp.seconds, timestamp.quarter_nanos)
+}
+
+// Packet and adjustable-clock timestamps deliberately belong to independent
+// Embassy driver crates. Convert their shared representation only here.
+pub(crate) fn time_from_parts(seconds: u32, quarter_nanos: u32) -> Time {
+    let nanos = u64::from(seconds) * 1_000_000_000 + u64::from(quarter_nanos >> 2);
+    Time::from_nanos_subnanos(nanos, (quarter_nanos & 3) << 30)
+}
+
+fn multicast_endpoint(port: u16, link_local: bool) -> IpEndpoint {
+    let address = if link_local {
+        LINK_LOCAL_MULTICAST
+    } else {
+        PRIMARY_MULTICAST
+    };
+    IpEndpoint::new(IpAddress::Ipv4(address), port)
+}
+
+fn deadline_from_now(duration: core::time::Duration) -> Instant {
+    let nanos = u64::try_from(duration.as_nanos()).unwrap_or(u64::MAX);
+    Instant::now() + EmbassyDuration::from_nanos(nanos)
+}
+
+fn state_name(state: PortState) -> &'static str {
+    match state {
+        PortState::Initializing => "initializing",
+        PortState::Faulty => "faulty",
+        PortState::Disabled => "disabled",
+        PortState::Listening => "listening",
+        PortState::PreMaster => "pre_master",
+        PortState::Master => "master",
+        PortState::Passive => "passive",
+        PortState::Uncalibrated => "uncalibrated",
+        PortState::Slave => "slave",
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn init_logging() {
+        static INIT: std::sync::Once = std::sync::Once::new();
+        INIT.call_once(defmt2log::init_from_current_exe);
+    }
+
+    #[test]
+    fn preserves_quarter_nanoseconds() {
+        init_logging();
+        for (quarter_nanos, subnanos) in [(40, 0), (41, 1 << 30), (42, 1 << 31), (43, 3 << 30)] {
+            assert_eq!(
+                time_from(Timestamp {
+                    seconds: 2,
+                    quarter_nanos,
+                }),
+                Time::from_nanos_subnanos(2_000_000_010, subnanos),
+            );
+        }
+    }
+
+    #[test]
+    fn accepts_delay_requests_only_for_a_master() {
+        init_logging();
+        let mut packet = [0; 34];
+        packet[0] = MSG_DELAY_REQ;
+        let timestamp = Timestamp::from_seconds_and_nanos(2, 10);
+        let mut meta = udp::PacketMeta::default();
+        meta.timestamp = Some(timestamp);
+
+        assert_eq!(rx_event_timestamp(&packet, meta, false), None);
+        assert_eq!(rx_event_timestamp(&packet, meta, true), Some(timestamp));
+    }
+
+    #[test]
+    fn ignores_peer_delay_messages() {
+        init_logging();
+        let timestamp = Timestamp::from_seconds_and_nanos(2, 10);
+        let mut meta = udp::PacketMeta::default();
+        meta.timestamp = Some(timestamp);
+
+        for message_type in [MSG_PDELAY_REQ, MSG_PDELAY_RESP] {
+            let mut packet = [0; 34];
+            packet[0] = message_type;
+            assert_eq!(rx_event_timestamp(&packet, meta, true), None);
+        }
+    }
+}
diff --git a/statime-embassy-net/src/monitor.rs b/statime-embassy-net/src/monitor.rs
new file mode 100644
index 000000000..17b9c1259
--- /dev/null
+++ b/statime-embassy-net/src/monitor.rs
@@ -0,0 +1,111 @@
+use core::sync::atomic::{AtomicU8, Ordering};
+
+/// Quality of the PHC's relation to its selected PTP master.
+#[repr(u8)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum ClockState {
+    /// No successful servo update has established the clock relation yet.
+    Unavailable,
+    /// The servo is receiving measurements and disciplining the PHC.
+    Tracking,
+    /// Measurements stopped; the PHC retains its last applied rate.
+    Holdover,
+}
+
+/// Lock-free observation of state that cannot be reconstructed from PTP time.
+pub struct PtpMonitor {
+    state: AtomicU8,
+}
+
+impl PtpMonitor {
+    const STATE_MASK: u8 = 0x3;
+    const PTP_TIMESCALE: u8 = 0x4;
+
+    /// Create an unavailable monitor with no engine history.
+    pub const fn new() -> Self {
+        Self {
+            state: AtomicU8::new(ClockState::Unavailable as u8),
+        }
+    }
+
+    /// Read the current TAI clock-relation state.
+    pub fn state(&self) -> ClockState {
+        let state = self.state.load(Ordering::Relaxed);
+        if state & Self::PTP_TIMESCALE == 0 {
+            ClockState::Unavailable
+        } else {
+            match state & Self::STATE_MASK {
+                1 => ClockState::Tracking,
+                2 => ClockState::Holdover,
+                _ => ClockState::Unavailable,
+            }
+        }
+    }
+
+    pub(crate) fn tracking(&self) {
+        let state = self.state.load(Ordering::Relaxed);
+        if state & Self::PTP_TIMESCALE != 0 {
+            self.state.store(
+                Self::PTP_TIMESCALE | ClockState::Tracking as u8,
+                Ordering::Relaxed,
+            );
+        }
+    }
+
+    pub(crate) fn holdover(&self) {
+        let state = self.state.load(Ordering::Relaxed);
+        if state & Self::STATE_MASK == ClockState::Tracking as u8 {
+            self.state.store(
+                state & !Self::STATE_MASK | ClockState::Holdover as u8,
+                Ordering::Relaxed,
+            );
+        }
+    }
+
+    pub(crate) fn unavailable(&self) {
+        let state = self.state.load(Ordering::Relaxed);
+        self.state
+            .store(state & !Self::STATE_MASK, Ordering::Relaxed);
+    }
+
+    pub(crate) fn set_ptp_timescale(&self, enabled: bool) {
+        let state = self.state.load(Ordering::Relaxed);
+        self.state.store(
+            if enabled {
+                state | Self::PTP_TIMESCALE
+            } else {
+                ClockState::Unavailable as u8
+            },
+            Ordering::Relaxed,
+        );
+    }
+}
+
+impl Default for PtpMonitor {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn state_requires_ptp_timescale_and_continuous_update() {
+        let monitor = PtpMonitor::new();
+        monitor.set_ptp_timescale(true);
+        assert_eq!(monitor.state(), ClockState::Unavailable);
+        monitor.tracking();
+        assert_eq!(monitor.state(), ClockState::Tracking);
+        monitor.holdover();
+        assert_eq!(monitor.state(), ClockState::Holdover);
+        monitor.unavailable();
+        assert_eq!(monitor.state(), ClockState::Unavailable);
+        monitor.tracking();
+        assert_eq!(monitor.state(), ClockState::Tracking);
+        monitor.set_ptp_timescale(false);
+        assert_eq!(monitor.state(), ClockState::Unavailable);
+    }
+}
diff --git a/statime-embassy-net/src/storage.rs b/statime-embassy-net/src/storage.rs
new file mode 100644
index 000000000..09b55fa24
--- /dev/null
+++ b/statime-embassy-net/src/storage.rs
@@ -0,0 +1,73 @@
+use embassy_net::udp::PacketMetadata;
+
+const PACKET_BYTES: usize = 256;
+const EVENT_RX_PACKETS: usize = 4;
+const EVENT_TX_PACKETS: usize = 2;
+const GENERAL_RX_PACKETS: usize = 4;
+const GENERAL_TX_PACKETS: usize = 1;
+
+type EventStorage = SocketStorage<
+    EVENT_RX_PACKETS,
+    EVENT_TX_PACKETS,
+    { PACKET_BYTES * EVENT_RX_PACKETS },
+    { PACKET_BYTES * EVENT_TX_PACKETS },
+>;
+type GeneralStorage = SocketStorage<
+    GENERAL_RX_PACKETS,
+    GENERAL_TX_PACKETS,
+    { PACKET_BYTES * GENERAL_RX_PACKETS },
+    { PACKET_BYTES * GENERAL_TX_PACKETS },
+>;
+
+/// Static packet and socket storage for one [`crate::Runner`].
+///
+/// Datagram storage is deliberately limited to 256 bytes. This covers the
+/// ordinary E2E messages emitted by the runner; larger, TLV-heavy messages are
+/// discarded as truncated.
+pub struct PtpStorage {
+    pub(super) event: EventStorage,
+    pub(super) general: GeneralStorage,
+    pub(super) packet: [u8; PACKET_BYTES],
+}
+
+impl PtpStorage {
+    /// Create empty PTP socket storage.
+    pub const fn new() -> Self {
+        Self {
+            event: SocketStorage::new(),
+            general: SocketStorage::new(),
+            packet: [0; PACKET_BYTES],
+        }
+    }
+}
+
+impl Default for PtpStorage {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+pub(super) struct SocketStorage<
+    const RX_PACKETS: usize,
+    const TX_PACKETS: usize,
+    const RX_BYTES: usize,
+    const TX_BYTES: usize,
+> {
+    pub(super) rx_meta: [PacketMetadata; RX_PACKETS],
+    pub(super) tx_meta: [PacketMetadata; TX_PACKETS],
+    pub(super) rx_buffer: [u8; RX_BYTES],
+    pub(super) tx_buffer: [u8; TX_BYTES],
+}
+
+impl<const RX_PACKETS: usize, const TX_PACKETS: usize, const RX_BYTES: usize, const TX_BYTES: usize>
+    SocketStorage<RX_PACKETS, TX_PACKETS, RX_BYTES, TX_BYTES>
+{
+    const fn new() -> Self {
+        Self {
+            rx_meta: [PacketMetadata::EMPTY; RX_PACKETS],
+            tx_meta: [PacketMetadata::EMPTY; TX_PACKETS],
+            rx_buffer: [0; RX_BYTES],
+            tx_buffer: [0; TX_BYTES],
+        }
+    }
+}
diff --git a/statime/src/filters/fixed_wander.rs b/statime/src/filters/fixed_wander.rs
new file mode 100644
index 000000000..5209f2363
--- /dev/null
+++ b/statime/src/filters/fixed_wander.rs
@@ -0,0 +1,532 @@
+//! A compact Kalman clock servo for systems with a characterized oscillator.
+//!
+//! Unlike [`super::KalmanFilter`], this filter uses one estimator and a fixed,
+//! configured oscillator-wander model. It still estimates network measurement
+//! noise online. This removes the second estimator and its convergence state,
+//! but makes the quality of `frequency_wander` part of the application tuning.
+//!
+//! The [noise-estimation design used by Statime][paper] needs its second,
+//! temporarily open-loop estimator specifically because network noise obscures
+//! oscillator wander at short intervals. Omitting that estimator is justified
+//! when oscillator wander has instead been characterized or conservatively
+//! bounded for the target and environment; it is not a generally equivalent
+//! replacement for online wander estimation.
+//!
+//! [paper]: https://tweedegolf.nl/images/estimating-noise-for-clock-synchronizing-kalman-filters-copyright.pdf
+
+use super::{kalman::InnerFilter, Filter, FilterEstimate, FilterUpdate};
+use crate::{
+    port::Measurement,
+    time::{Duration, Time},
+    Clock,
+};
+
+const ERROR_SAMPLES: usize = 32;
+
+fn sqr(value: f64) -> f64 {
+    value * value
+}
+
+/// Configuration for [`FixedWanderKalmanFilter`].
+///
+/// The defaults are a reference preset for an embedded ordinary clock with an
+/// uncompensated crystal oscillator, hardware packet timestamps, and one-Hz
+/// Sync. They deliberately favor conservative startup over trusting the first
+/// few network observations. Applications with oscillator characterization
+/// should override `frequency_wander`.
+#[derive(Clone, Copy, Debug, PartialEq)]
+pub struct FixedWanderKalmanConfig {
+    /// Offset above which the clock is stepped instead of slewed.
+    pub step_threshold: Duration,
+    /// Time over which an estimated offset is removed by frequency steering.
+    pub steer_time: Duration,
+    /// Maximum phase-removal frequency correction, in ppm.
+    pub max_steer: f64,
+    /// Maximum total clock frequency correction, in ppm.
+    pub max_frequency: f64,
+    /// Initial one-sigma fractional-frequency uncertainty.
+    ///
+    /// The 100 ppm default covers the initial tolerance of common XOs without
+    /// immediately saturating the default clock-actuator range.
+    pub initial_frequency_uncertainty: f64,
+    /// Initial one-sigma timestamp-measurement uncertainty.
+    ///
+    /// This conservative value is used until four closely paired Sync and
+    /// DelayReq observations allow measurement noise to be estimated online.
+    pub initial_measurement_uncertainty: Duration,
+    /// Fractional-frequency random-walk variance per second.
+    ///
+    /// This is the `A` term in the process covariance. In the cited paper, an
+    /// Intel I210 oscillator measured independently and estimated online under
+    /// good network conditions both gave approximately `6.25e-18`. The default
+    /// is the next, four-times-larger estimator bin as a conservative reference;
+    /// it is not a substitute for target and environment characterization.
+    pub frequency_wander: f64,
+    /// Relative path-delay random-walk variance per second.
+    ///
+    /// The default grows an initially exact delay estimate to one-percent
+    /// standard uncertainty after one hour without further observations.
+    pub delay_wander: f64,
+}
+
+impl Default for FixedWanderKalmanConfig {
+    fn default() -> Self {
+        Self {
+            step_threshold: Duration::from_seconds(1e-3),
+            steer_time: Duration::from_seconds(2.0),
+            max_steer: 200.0,
+            max_frequency: 400.0,
+            initial_frequency_uncertainty: 100e-6,
+            initial_measurement_uncertainty: Duration::from_seconds(1e-3),
+            frequency_wander: 2.5e-17,
+            delay_wander: 1e-4 / 3600.0,
+        }
+    }
+}
+
+#[derive(Clone, Copy, Debug, Default)]
+struct MeasurementNoise {
+    data: [f64; ERROR_SAMPLES],
+    next: usize,
+    len: usize,
+    last_sync: Option<(Time, Duration)>,
+    last_delay: Option<(Time, Duration)>,
+    peer_delay: bool,
+}
+
+impl MeasurementNoise {
+    const RANGE_SAMPLES: usize = 4;
+    const VARIANCE_SAMPLES: usize = 8;
+
+    fn observe(&mut self, measurement: Measurement, frequency: f64) {
+        if let Some(sync) = measurement.raw_sync_offset {
+            if let Some((time, delay)) = self.last_delay.take() {
+                if (measurement.event_time - time).abs() < Duration::from_millis(200) {
+                    self.push(
+                        sync.seconds() - delay.seconds()
+                            + (time - measurement.event_time).seconds() * frequency,
+                    );
+                } else {
+                    self.last_sync = Some((measurement.event_time, sync));
+                }
+            } else {
+                self.last_sync = Some((measurement.event_time, sync));
+            }
+        }
+
+        if let Some(delay) = measurement.raw_delay_offset {
+            if let Some((time, sync)) = self.last_sync.take() {
+                if (measurement.event_time - time).abs() < Duration::from_millis(200) {
+                    self.push(
+                        sync.seconds() - delay.seconds()
+                            + (measurement.event_time - time).seconds() * frequency,
+                    );
+                } else {
+                    self.last_delay = Some((measurement.event_time, delay));
+                }
+            } else {
+                self.last_delay = Some((measurement.event_time, delay));
+            }
+        }
+
+        if let Some(delay) = measurement.peer_delay {
+            self.last_sync = None;
+            self.last_delay = None;
+            self.peer_delay = true;
+            self.push(delay.seconds());
+        }
+    }
+
+    fn push(&mut self, value: f64) {
+        self.data[self.next] = value;
+        self.next = (self.next + 1) % self.data.len();
+        self.len = (self.len + 1).min(self.data.len());
+    }
+
+    fn variance(&self, config: &FixedWanderKalmanConfig) -> f64 {
+        if self.len < Self::RANGE_SAMPLES {
+            sqr(config.initial_measurement_uncertainty.seconds())
+        } else if self.len < Self::VARIANCE_SAMPLES {
+            let values = &self.data[..self.len];
+            let (min, max) = values
+                .iter()
+                .copied()
+                .fold((f64::INFINITY, f64::NEG_INFINITY), |(min, max), value| {
+                    (min.min(value), max.max(value))
+                });
+            sqr(max - min)
+        } else {
+            let values = &self.data[..self.len];
+            let mean = values.iter().sum::<f64>() / self.len as f64;
+            // Sync-minus-DelayReq contains two independent one-way errors, so
+            // its sample variance is twice either observation's variance.
+            values.iter().map(|value| sqr(value - mean)).sum::<f64>()
+                / (2.0 * (self.len - 1) as f64)
+        }
+    }
+}
+
+/// Three-state Kalman clock servo with fixed oscillator-wander covariance.
+///
+/// The filter estimates local-minus-master phase, residual fractional
+/// frequency, and mean path delay. It uses one estimator and specialized scalar
+/// algebra, making it smaller than [`super::KalmanFilter`], which runs a second
+/// estimator to learn oscillator wander.
+///
+/// Use this filter when the oscillator and its operating environment are known
+/// well enough to configure [`FixedWanderKalmanConfig::frequency_wander`], or
+/// when deterministic memory, code size, and startup behavior matter more than
+/// adapting across unknown hardware. A poor wander value can make the filter
+/// either sluggish and overconfident (too small) or noisy (too large); prefer
+/// [`super::KalmanFilter`] for general-purpose systems without that knowledge.
+pub struct FixedWanderKalmanFilter {
+    config: FixedWanderKalmanConfig,
+    estimate: Option<InnerFilter>,
+    noise: MeasurementNoise,
+    frequency: Option<f64>,
+}
+
+impl Filter for FixedWanderKalmanFilter {
+    type Config = FixedWanderKalmanConfig;
+
+    fn new(config: Self::Config) -> Self {
+        Self {
+            config,
+            estimate: None,
+            noise: MeasurementNoise::default(),
+            frequency: None,
+        }
+    }
+
+    fn measurement<C: Clock>(&mut self, measurement: Measurement, clock: &mut C) -> FilterUpdate {
+        if let Some(estimate) = self.estimate.as_ref() {
+            if measurement.event_time < estimate.time() {
+                return FilterUpdate::default();
+            }
+        }
+
+        self.noise.observe(
+            measurement,
+            self.estimate.as_ref().map_or(0.0, InnerFilter::frequency),
+        );
+        let variance =
+            self.noise.variance(&self.config) * if self.noise.peer_delay { 2.0 } else { 1.0 };
+
+        if measurement.raw_sync_offset.is_some() || measurement.raw_delay_offset.is_some() {
+            self.ensure_frequency(clock);
+        }
+
+        let estimate = self.estimate.get_or_insert_with(|| {
+            InnerFilter::new(
+                0.0,
+                measurement.event_time,
+                self.config.step_threshold,
+                self.config.initial_frequency_uncertainty,
+            )
+        });
+        estimate.progress_filtertime(
+            measurement.event_time,
+            self.config.frequency_wander,
+            self.config.delay_wander,
+        );
+        if let Some(value) = measurement.raw_sync_offset {
+            let value = value.seconds();
+            if (value - estimate.offset()).abs() > self.config.step_threshold.seconds() {
+                *estimate = InnerFilter::new(
+                    value,
+                    estimate.time(),
+                    self.config.step_threshold,
+                    self.config.initial_frequency_uncertainty,
+                );
+            } else {
+                estimate.absorb_sync_offset(value, variance);
+            }
+        }
+        if let Some(value) = measurement.raw_delay_offset {
+            let value = value.seconds();
+            if (value - estimate.offset()).abs() > self.config.step_threshold.seconds() {
+                *estimate = InnerFilter::new(
+                    value,
+                    estimate.time(),
+                    self.config.step_threshold,
+                    self.config.initial_frequency_uncertainty,
+                );
+            } else {
+                estimate.absorb_delay_offset(value, variance);
+            }
+        }
+        if let Some(value) = measurement.peer_delay {
+            estimate.absorb_peer_delay(value.seconds(), variance);
+        }
+
+        self.steer(clock)
+    }
+
+    fn update<C: Clock>(&mut self, clock: &mut C) -> FilterUpdate {
+        self.change_frequency(0.0, clock);
+        FilterUpdate {
+            next_update: None,
+            mean_delay: self.mean_delay(),
+        }
+    }
+
+    fn demobilize<C: Clock>(mut self, clock: &mut C) {
+        self.change_frequency(0.0, clock);
+    }
+
+    fn current_estimates(&self) -> FilterEstimate {
+        FilterEstimate {
+            offset_from_master: Duration::from_seconds(
+                self.estimate.as_ref().map_or(0.0, InnerFilter::offset),
+            ),
+            mean_delay: self.mean_delay().unwrap_or(Duration::ZERO),
+        }
+    }
+}
+
+impl FixedWanderKalmanFilter {
+    fn ensure_frequency<C: Clock>(&mut self, clock: &mut C) {
+        if self.frequency.is_none() && clock.set_frequency(0.0).is_ok() {
+            self.frequency = Some(0.0);
+        }
+    }
+
+    fn change_frequency<C: Clock>(&mut self, target: f64, clock: &mut C) {
+        let (Some(current), Some(estimate)) = (self.frequency, self.estimate.as_mut()) else {
+            return;
+        };
+        let requested = target - estimate.frequency() * 1e6;
+        let next =
+            (current + requested).clamp(-self.config.max_frequency, self.config.max_frequency);
+        let applied = next - current;
+        if let Ok(time) = clock.set_frequency(next) {
+            self.frequency = Some(next);
+            estimate.absorb_frequency_steer(
+                applied,
+                time,
+                self.config.frequency_wander,
+                self.config.delay_wander,
+            );
+        }
+    }
+
+    fn steer<C: Clock>(&mut self, clock: &mut C) -> FilterUpdate {
+        let Some(estimate) = self.estimate.as_ref() else {
+            return FilterUpdate::default();
+        };
+        let offset = estimate.offset();
+        if offset.abs() < self.config.step_threshold.seconds() {
+            let target = (-offset * 1e6 / self.config.steer_time.seconds())
+                .clamp(-self.config.max_steer, self.config.max_steer);
+            self.change_frequency(target, clock);
+            FilterUpdate {
+                next_update: Some(core::time::Duration::from_secs_f64(
+                    self.config.steer_time.seconds(),
+                )),
+                mean_delay: self.mean_delay(),
+            }
+        } else {
+            if clock.step_clock(Duration::from_seconds(-offset)).is_ok() {
+                if let Some(estimate) = self.estimate.as_mut() {
+                    estimate.absorb_offset_steer(-offset);
+                }
+            }
+            FilterUpdate {
+                next_update: None,
+                mean_delay: self.mean_delay(),
+            }
+        }
+    }
+
+    fn mean_delay(&self) -> Option<Duration> {
+        self.estimate
+            .as_ref()
+            .map(|estimate| Duration::from_seconds(estimate.delay()))
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::config::TimePropertiesDS;
+
+    #[derive(Debug)]
+    struct TestError;
+
+    struct TestClock {
+        time: Time,
+        frequency: f64,
+        last_step: Option<Duration>,
+        fail_frequency: bool,
+    }
+
+    impl Clock for TestClock {
+        type Error = TestError;
+
+        fn now(&self) -> Time {
+            self.time
+        }
+
+        fn step_clock(&mut self, offset: Duration) -> Result<Time, Self::Error> {
+            self.last_step = Some(offset);
+            self.time += offset;
+            Ok(self.time)
+        }
+
+        fn set_frequency(&mut self, ppm: f64) -> Result<Time, Self::Error> {
+            if self.fail_frequency {
+                return Err(TestError);
+            }
+            self.frequency = ppm;
+            Ok(self.time)
+        }
+
+        fn set_properties(&mut self, _: &TimePropertiesDS) -> Result<(), Self::Error> {
+            Ok(())
+        }
+    }
+
+    fn test_clock(time: Time) -> TestClock {
+        TestClock {
+            time,
+            frequency: 0.0,
+            last_step: None,
+            fail_frequency: false,
+        }
+    }
+
+    fn assert_close(actual: f64, expected: f64) {
+        assert!((actual - expected).abs() < 1e-12 * expected.abs().max(1.0));
+    }
+
+    #[test]
+    fn measurement_noise_uses_startup_range_then_ring_variance() {
+        let config = FixedWanderKalmanConfig {
+            initial_measurement_uncertainty: Duration::from_seconds(0.5),
+            ..Default::default()
+        };
+        let mut noise = MeasurementNoise::default();
+
+        for value in 0..3 {
+            noise.push(value as f64);
+        }
+        assert_close(noise.variance(&config), 0.25);
+
+        noise.push(3.0);
+        assert_close(noise.variance(&config), 9.0);
+
+        for value in 4..8 {
+            noise.push(value as f64);
+        }
+        assert_close(noise.variance(&config), 3.0);
+
+        for value in 8..33 {
+            noise.push(value as f64);
+        }
+        // The ring now contains 1..=32. Their sample variance is 88, and
+        // Sync-minus-DelayReq variance is twice the one-way variance.
+        assert_close(noise.variance(&config), 44.0);
+    }
+
+    #[test]
+    fn measurement_noise_pairs_sync_and_delay_with_frequency_correction() {
+        let mut noise = MeasurementNoise::default();
+        noise.observe(
+            Measurement {
+                event_time: Time::from_nanos(1_000_000_000),
+                raw_sync_offset: Some(Duration::from_nanos(10)),
+                ..Measurement::default()
+            },
+            1e-6,
+        );
+        noise.observe(
+            Measurement {
+                event_time: Time::from_nanos(1_100_000_000),
+                raw_delay_offset: Some(Duration::from_nanos(2)),
+                ..Measurement::default()
+            },
+            1e-6,
+        );
+
+        assert_eq!(noise.len, 1);
+        assert_close(noise.data[0], 108e-9);
+    }
+
+    #[test]
+    fn positive_local_phase_error_commands_negative_frequency() {
+        let time = Time::from_nanos(1_000_000_000);
+        let mut clock = test_clock(time);
+        let mut filter = FixedWanderKalmanFilter::new(FixedWanderKalmanConfig::default());
+        filter.measurement(
+            Measurement {
+                event_time: time,
+                raw_sync_offset: Some(Duration::from_nanos(100)),
+                ..Measurement::default()
+            },
+            &mut clock,
+        );
+        assert!(clock.frequency < 0.0);
+    }
+
+    #[test]
+    fn frequency_command_respects_actuator_limit() {
+        let time = Time::from_nanos(1_000_000_000);
+        let mut clock = test_clock(time);
+        let mut filter = FixedWanderKalmanFilter::new(FixedWanderKalmanConfig {
+            max_frequency: 5.0,
+            ..Default::default()
+        });
+
+        filter.measurement(
+            Measurement {
+                event_time: time,
+                raw_sync_offset: Some(Duration::from_micros(100)),
+                ..Measurement::default()
+            },
+            &mut clock,
+        );
+
+        assert_eq!(clock.frequency, -5.0);
+    }
+
+    #[test]
+    fn large_phase_error_steps_the_clock() {
+        let time = Time::from_nanos(1_000_000_000);
+        let mut clock = test_clock(time);
+        let mut filter = FixedWanderKalmanFilter::new(FixedWanderKalmanConfig::default());
+
+        filter.measurement(
+            Measurement {
+                event_time: time,
+                raw_sync_offset: Some(Duration::from_millis(2)),
+                ..Measurement::default()
+            },
+            &mut clock,
+        );
+
+        assert!(
+            (clock.last_step.unwrap() - Duration::from_millis(-2)).abs() < Duration::from_nanos(1)
+        );
+        assert!(filter.current_estimates().offset_from_master.abs() < Duration::from_nanos(1));
+    }
+
+    #[test]
+    fn failed_frequency_initialization_is_not_assumed_applied() {
+        let time = Time::from_nanos(1_000_000_000);
+        let mut clock = test_clock(time);
+        clock.fail_frequency = true;
+        let mut filter = FixedWanderKalmanFilter::new(FixedWanderKalmanConfig::default());
+
+        filter.measurement(
+            Measurement {
+                event_time: time,
+                raw_sync_offset: Some(Duration::from_nanos(100)),
+                ..Measurement::default()
+            },
+            &mut clock,
+        );
+
+        assert_eq!(filter.frequency, None);
+        assert_eq!(clock.frequency, 0.0);
+    }
+}
diff --git a/statime/src/filters/kalman.rs b/statime/src/filters/kalman.rs
index 8f9a047e1..1e2fa34a0 100644
--- a/statime/src/filters/kalman.rs
+++ b/statime/src/filters/kalman.rs
@@ -1,7 +1,4 @@
-use super::{
-    matrix::{Matrix, Vector},
-    FilterEstimate,
-};
+use super::FilterEstimate;
 #[allow(unused_imports)]
 use crate::float_polyfill::FloatPolyfill;
 use crate::{
@@ -236,131 +233,185 @@ impl MeasurementErrorEstimator {
     }
 }
 
+/// State `x = [offset, residual fractional frequency, mean path delay]`.
+#[derive(Clone, Copy, Debug)]
+struct State {
+    offset: f64,
+    frequency: f64,
+    delay: f64,
+}
+
+/// Independent entries of the symmetric covariance `P` for [`State`].
+#[derive(Clone, Copy, Debug)]
+struct Covariance {
+    offset: f64,
+    offset_frequency: f64,
+    offset_delay: f64,
+    frequency: f64,
+    frequency_delay: f64,
+    delay: f64,
+}
+
 #[derive(Clone, Debug)]
-struct InnerFilter {
-    state: Vector<3>,
-    uncertainty: Matrix<3, 3>,
+pub(super) struct InnerFilter {
+    state: State,
+    uncertainty: Covariance,
     filter_time: Time,
 }
 
 impl InnerFilter {
-    const MEASUREMENT_SYNC: Matrix<1, 3> = Matrix::new([[1.0, 0.0, 1.0]]);
-    const MEASUREMENT_DELAY: Matrix<1, 3> = Matrix::new([[1.0, 0.0, -1.0]]);
-    const MEASUREMENT_PEER_DELAY: Matrix<1, 3> = Matrix::new([[0.0, 0.0, 1.0]]);
-
-    fn new(initial_offset: f64, time: Time, config: &KalmanConfiguration) -> Self {
+    pub(super) fn new(
+        initial_offset: f64,
+        time: Time,
+        initial_offset_uncertainty: Duration,
+        initial_frequency_uncertainty: f64,
+    ) -> Self {
         Self {
-            state: Vector::new_vector([initial_offset, 0.0, 0.0]),
-            uncertainty: Matrix::new([
-                [sqr(config.step_threshold.seconds()), 0.0, 0.0],
-                [0.0, sqr(config.initial_frequency_uncertainty), 0.0],
-                [0.0, 0.0, sqr(config.step_threshold.seconds())],
-            ]),
+            state: State {
+                offset: initial_offset,
+                frequency: 0.0,
+                delay: 0.0,
+            },
+            uncertainty: Covariance {
+                offset: sqr(initial_offset_uncertainty.seconds()),
+                offset_frequency: 0.0,
+                offset_delay: 0.0,
+                frequency: sqr(initial_frequency_uncertainty),
+                frequency_delay: 0.0,
+                delay: sqr(initial_offset_uncertainty.seconds()),
+            },
             filter_time: time,
         }
     }
 
-    fn progress_filtertime(&mut self, time: Time, wander: f64, config: &KalmanConfiguration) {
+    pub(super) fn progress_filtertime(&mut self, time: Time, wander: f64, delay_wander: f64) {
         debug_assert!(time >= self.filter_time);
         if time < self.filter_time {
             return;
         }
 
         let delta_t = (time - self.filter_time).seconds();
-        let update = Matrix::new([[1.0, delta_t, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]);
-        let process_noise = Matrix::new([
-            [
-                wander * delta_t * delta_t * delta_t / 3.,
-                wander * delta_t * delta_t / 2.,
-                0.,
-            ],
-            [wander * delta_t * delta_t / 2., wander * delta_t, 0.],
-            [
-                0.,
-                0.,
-                config.delay_wander * delta_t * sqr(self.state.ventry(2)),
-            ],
-        ]);
-
-        self.state = update * self.state;
-        self.uncertainty = update * self.uncertainty * update.transpose() + process_noise;
+        let delta_t2 = delta_t * delta_t;
+
+        // Expand F P F^T + Q for F=[[1,dt,0],[0,1,0],[0,0,1]].
+        self.state.offset += delta_t * self.state.frequency;
+        self.uncertainty.offset += 2.0 * delta_t * self.uncertainty.offset_frequency
+            + delta_t2 * self.uncertainty.frequency
+            + wander * delta_t2 * delta_t / 3.0;
+        self.uncertainty.offset_frequency +=
+            delta_t * self.uncertainty.frequency + wander * delta_t2 / 2.0;
+        self.uncertainty.offset_delay += delta_t * self.uncertainty.frequency_delay;
+        self.uncertainty.frequency += wander * delta_t;
+        self.uncertainty.delay += delay_wander * delta_t * sqr(self.state.delay);
         self.filter_time = time;
     }
 
-    fn absorb_sync_offset(&mut self, sync_offset: f64, variance: f64) {
-        let measurement_vec = Vector::new_vector([sync_offset]);
-        let measurement_noise = Matrix::new([[variance]]);
-        self.absorb_measurement(measurement_vec, Self::MEASUREMENT_SYNC, measurement_noise);
+    pub(super) fn absorb_sync_offset(&mut self, sync_offset: f64, variance: f64) {
+        // h = [1, 0, 1].
+        let projected = [
+            self.uncertainty.offset + self.uncertainty.offset_delay,
+            self.uncertainty.offset_frequency + self.uncertainty.frequency_delay,
+            self.uncertainty.offset_delay + self.uncertainty.delay,
+        ];
+        self.absorb_measurement(
+            sync_offset - self.state.offset - self.state.delay,
+            variance + projected[0] + projected[2],
+            projected,
+        );
     }
 
-    fn absorb_delay_offset(&mut self, delay_offset: f64, variance: f64) {
-        let measurement_vec = Vector::new_vector([delay_offset]);
-        let measurement_noise = Matrix::new([[variance]]);
-        self.absorb_measurement(measurement_vec, Self::MEASUREMENT_DELAY, measurement_noise);
+    pub(super) fn absorb_delay_offset(&mut self, delay_offset: f64, variance: f64) {
+        // h = [1, 0, -1].
+        let projected = [
+            self.uncertainty.offset - self.uncertainty.offset_delay,
+            self.uncertainty.offset_frequency - self.uncertainty.frequency_delay,
+            self.uncertainty.offset_delay - self.uncertainty.delay,
+        ];
+        self.absorb_measurement(
+            delay_offset - self.state.offset + self.state.delay,
+            variance + projected[0] - projected[2],
+            projected,
+        );
     }
 
-    fn absorb_peer_delay(&mut self, peer_delay: f64, variance: f64) {
-        let measurement_vec = Vector::new_vector([peer_delay]);
-        let measurement_noise = Matrix::new([[variance]]);
+    pub(super) fn absorb_peer_delay(&mut self, peer_delay: f64, variance: f64) {
+        // h = [0, 0, 1].
+        let projected = [
+            self.uncertainty.offset_delay,
+            self.uncertainty.frequency_delay,
+            self.uncertainty.delay,
+        ];
         self.absorb_measurement(
-            measurement_vec,
-            Self::MEASUREMENT_PEER_DELAY,
-            measurement_noise,
-        )
+            peer_delay - self.state.delay,
+            variance + projected[2],
+            projected,
+        );
     }
 
     fn absorb_measurement(
         &mut self,
-        measurement_vec: Vector<1>,
-        measurement_transform: Matrix<1, 3>,
-        measurement_noise: Matrix<1, 1>,
+        innovation: f64,
+        innovation_variance: f64,
+        projected: [f64; 3],
     ) {
-        let (prediction, uncertainty) = self.predict(measurement_transform);
-
-        let difference = measurement_vec - prediction;
-        let difference_covariance = uncertainty + measurement_noise;
-        let update_strength =
-            self.uncertainty * measurement_transform.transpose() * difference_covariance.inverse();
-        self.state = self.state + update_strength * difference;
-        self.uncertainty = ((Matrix::unit() - update_strength * measurement_transform)
-            * self.uncertainty)
-            .symmetrize();
+        // With u=P h^T and S=h u+R: x+=u*innovation/S and P-=u u^T/S.
+        let scale = 1.0 / innovation_variance;
+        self.state.offset += projected[0] * innovation * scale;
+        self.state.frequency += projected[1] * innovation * scale;
+        self.state.delay += projected[2] * innovation * scale;
+
+        self.uncertainty.offset -= projected[0] * projected[0] * scale;
+        self.uncertainty.offset_frequency -= projected[0] * projected[1] * scale;
+        self.uncertainty.offset_delay -= projected[0] * projected[2] * scale;
+        self.uncertainty.frequency -= projected[1] * projected[1] * scale;
+        self.uncertainty.frequency_delay -= projected[1] * projected[2] * scale;
+        self.uncertainty.delay -= projected[2] * projected[2] * scale;
     }
 
-    fn absorb_frequency_steer(
+    pub(super) fn absorb_frequency_steer(
         &mut self,
         steer: f64,
         time: Time,
         wander: f64,
-        config: &KalmanConfiguration,
+        delay_wander: f64,
     ) {
-        self.progress_filtertime(time, wander, config);
-        self.state = self.state + Vector::new_vector([0., steer * 1e-6, 0.]);
+        self.progress_filtertime(time, wander, delay_wander);
+        self.state.frequency += steer * 1e-6;
     }
 
-    fn absorb_offset_steer(&mut self, steer: f64) {
-        self.state = self.state + Vector::new_vector([steer, 0., 0.]);
+    pub(super) fn absorb_offset_steer(&mut self, steer: f64) {
+        self.state.offset += steer;
         self.filter_time += Duration::from_seconds(steer);
     }
 
-    fn predict<const N: usize>(
-        &self,
-        measurement_transform: Matrix<N, 3>,
-    ) -> (Vector<N>, Matrix<N, N>) {
-        let prediction = measurement_transform * self.state;
-        let uncertainty =
-            measurement_transform * self.uncertainty * measurement_transform.transpose();
-        (prediction, uncertainty)
-    }
-
     fn predict_sync_offset(&self) -> (f64, f64) {
-        let (prediction, uncertainty) = self.predict(Self::MEASUREMENT_SYNC);
-        (prediction.entry(0, 0), uncertainty.entry(0, 0))
+        (
+            self.state.offset + self.state.delay,
+            self.uncertainty.offset + 2.0 * self.uncertainty.offset_delay + self.uncertainty.delay,
+        )
     }
 
     fn predict_delay_offset(&self) -> (f64, f64) {
-        let (prediction, uncertainty) = self.predict(Self::MEASUREMENT_DELAY);
-        (prediction.entry(0, 0), uncertainty.entry(0, 0))
+        (
+            self.state.offset - self.state.delay,
+            self.uncertainty.offset - 2.0 * self.uncertainty.offset_delay + self.uncertainty.delay,
+        )
+    }
+
+    pub(super) fn offset(&self) -> f64 {
+        self.state.offset
+    }
+
+    pub(super) fn frequency(&self) -> f64 {
+        self.state.frequency
+    }
+
+    pub(super) fn delay(&self) -> f64 {
+        self.state.delay
+    }
+
+    pub(super) fn time(&self) -> Time {
+        self.filter_time
     }
 }
 
@@ -374,8 +425,15 @@ impl BaseFilter {
 
     fn progress_filtertime(&mut self, time: Time, wander: f64, config: &KalmanConfiguration) {
         match &mut self.0 {
-            Some(inner) => inner.progress_filtertime(time, wander, config),
-            None => self.0 = Some(InnerFilter::new(0.0, time, config)),
+            Some(inner) => inner.progress_filtertime(time, wander, config.delay_wander),
+            None => {
+                self.0 = Some(InnerFilter::new(
+                    0.0,
+                    time,
+                    config.step_threshold,
+                    config.initial_frequency_uncertainty,
+                ))
+            }
         }
     }
 
@@ -386,9 +444,14 @@ impl BaseFilter {
         config: &KalmanConfiguration,
     ) {
         if let Some(inner) = &mut self.0 {
-            if (sync_offset - inner.state.ventry(0)).abs() > config.step_threshold.seconds() {
+            if (sync_offset - inner.state.offset).abs() > config.step_threshold.seconds() {
                 log::info!("Measurement too far from state, resetting");
-                *inner = InnerFilter::new(sync_offset, inner.filter_time, config);
+                *inner = InnerFilter::new(
+                    sync_offset,
+                    inner.filter_time,
+                    config.step_threshold,
+                    config.initial_frequency_uncertainty,
+                );
             } else {
                 inner.absorb_sync_offset(sync_offset, variance)
             }
@@ -402,9 +465,14 @@ impl BaseFilter {
         config: &KalmanConfiguration,
     ) {
         if let Some(inner) = &mut self.0 {
-            if (delay_offset - inner.state.ventry(0)).abs() > config.step_threshold.seconds() {
+            if (delay_offset - inner.state.offset).abs() > config.step_threshold.seconds() {
                 log::info!("Measurement too far from state, resetting");
-                *inner = InnerFilter::new(delay_offset, inner.filter_time, config);
+                *inner = InnerFilter::new(
+                    delay_offset,
+                    inner.filter_time,
+                    config.step_threshold,
+                    config.initial_frequency_uncertainty,
+                );
             } else {
                 inner.absorb_delay_offset(delay_offset, variance)
             }
@@ -425,8 +493,15 @@ impl BaseFilter {
         config: &KalmanConfiguration,
     ) {
         match &mut self.0 {
-            Some(inner) => inner.absorb_frequency_steer(steer, time, wander, config),
-            None => self.0 = Some(InnerFilter::new(0.0, time, config)),
+            Some(inner) => inner.absorb_frequency_steer(steer, time, wander, config.delay_wander),
+            None => {
+                self.0 = Some(InnerFilter::new(
+                    0.0,
+                    time,
+                    config.step_threshold,
+                    config.initial_frequency_uncertainty,
+                ))
+            }
         }
     }
 
@@ -439,42 +514,42 @@ impl BaseFilter {
     fn offset(&self) -> f64 {
         self.0
             .as_ref()
-            .map(|inner| inner.state.ventry(0))
+            .map(|inner| inner.state.offset)
             .unwrap_or(0.0)
     }
 
     fn offset_uncertainty(&self, config: &KalmanConfiguration) -> f64 {
         self.0
             .as_ref()
-            .map(|inner| inner.uncertainty.entry(0, 0).sqrt())
+            .map(|inner| inner.uncertainty.offset.sqrt())
             .unwrap_or(config.step_threshold.seconds())
     }
 
     fn freq_offset(&self) -> f64 {
         self.0
             .as_ref()
-            .map(|inner| inner.state.ventry(1))
+            .map(|inner| inner.state.frequency)
             .unwrap_or(0.0)
     }
 
     fn freq_offset_uncertainty(&self, config: &KalmanConfiguration) -> f64 {
         self.0
             .as_ref()
-            .map(|inner| inner.uncertainty.entry(1, 1).sqrt())
+            .map(|inner| inner.uncertainty.frequency.sqrt())
             .unwrap_or(config.initial_frequency_uncertainty)
     }
 
     fn mean_delay(&self) -> f64 {
         self.0
             .as_ref()
-            .map(|inner| inner.state.ventry(2))
+            .map(|inner| inner.state.delay)
             .unwrap_or(0.0)
     }
 
     fn mean_delay_uncertainty(&self, config: &KalmanConfiguration) -> f64 {
         self.0
             .as_ref()
-            .map(|inner| inner.uncertainty.entry(2, 2).sqrt())
+            .map(|inner| inner.uncertainty.delay.sqrt())
             .unwrap_or(config.step_threshold.seconds())
     }
 
@@ -790,11 +865,329 @@ impl KalmanFilter {
     }
 }
 
+#[cfg(test)]
+#[rustfmt::skip]
+mod dense_reference {
+    use super::*;
+    use crate::filters::matrix::{Matrix, Vector};
+
+    // This is the previous matrix implementation, retained verbatim as the
+    // executable reference for the specialized scalar algebra.
+    #[derive(Clone, Debug)]
+    struct InnerFilter {
+        state: Vector<3>,
+        uncertainty: Matrix<3, 3>,
+        filter_time: Time,
+    }
+
+    impl InnerFilter {
+        const MEASUREMENT_SYNC: Matrix<1, 3> = Matrix::new([[1.0, 0.0, 1.0]]);
+        const MEASUREMENT_DELAY: Matrix<1, 3> = Matrix::new([[1.0, 0.0, -1.0]]);
+        const MEASUREMENT_PEER_DELAY: Matrix<1, 3> = Matrix::new([[0.0, 0.0, 1.0]]);
+
+        fn new(initial_offset: f64, time: Time, config: &KalmanConfiguration) -> Self {
+            Self {
+                state: Vector::new_vector([initial_offset, 0.0, 0.0]),
+                uncertainty: Matrix::new([
+                    [sqr(config.step_threshold.seconds()), 0.0, 0.0],
+                    [0.0, sqr(config.initial_frequency_uncertainty), 0.0],
+                    [0.0, 0.0, sqr(config.step_threshold.seconds())],
+                ]),
+                filter_time: time,
+            }
+        }
+
+        fn progress_filtertime(&mut self, time: Time, wander: f64, config: &KalmanConfiguration) {
+            debug_assert!(time >= self.filter_time);
+            if time < self.filter_time {
+                return;
+            }
+
+            let delta_t = (time - self.filter_time).seconds();
+            let update = Matrix::new([[1.0, delta_t, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]);
+            let process_noise = Matrix::new([
+                [
+                    wander * delta_t * delta_t * delta_t / 3.,
+                    wander * delta_t * delta_t / 2.,
+                    0.,
+                ],
+                [wander * delta_t * delta_t / 2., wander * delta_t, 0.],
+                [
+                    0.,
+                    0.,
+                    config.delay_wander * delta_t * sqr(self.state.ventry(2)),
+                ],
+            ]);
+
+            self.state = update * self.state;
+            self.uncertainty = update * self.uncertainty * update.transpose() + process_noise;
+            self.filter_time = time;
+        }
+
+        fn absorb_sync_offset(&mut self, sync_offset: f64, variance: f64) {
+            let measurement_vec = Vector::new_vector([sync_offset]);
+            let measurement_noise = Matrix::new([[variance]]);
+            self.absorb_measurement(measurement_vec, Self::MEASUREMENT_SYNC, measurement_noise);
+        }
+
+        fn absorb_delay_offset(&mut self, delay_offset: f64, variance: f64) {
+            let measurement_vec = Vector::new_vector([delay_offset]);
+            let measurement_noise = Matrix::new([[variance]]);
+            self.absorb_measurement(measurement_vec, Self::MEASUREMENT_DELAY, measurement_noise);
+        }
+
+        fn absorb_peer_delay(&mut self, peer_delay: f64, variance: f64) {
+            let measurement_vec = Vector::new_vector([peer_delay]);
+            let measurement_noise = Matrix::new([[variance]]);
+            self.absorb_measurement(
+                measurement_vec,
+                Self::MEASUREMENT_PEER_DELAY,
+                measurement_noise,
+            )
+        }
+
+        fn absorb_measurement(
+            &mut self,
+            measurement_vec: Vector<1>,
+            measurement_transform: Matrix<1, 3>,
+            measurement_noise: Matrix<1, 1>,
+        ) {
+            let (prediction, uncertainty) = self.predict(measurement_transform);
+
+            let difference = measurement_vec - prediction;
+            let difference_covariance = uncertainty + measurement_noise;
+            let update_strength =
+                self.uncertainty * measurement_transform.transpose() * difference_covariance.inverse();
+            self.state = self.state + update_strength * difference;
+            self.uncertainty = ((Matrix::unit() - update_strength * measurement_transform)
+                * self.uncertainty)
+                .symmetrize();
+        }
+
+        fn absorb_frequency_steer(
+            &mut self,
+            steer: f64,
+            time: Time,
+            wander: f64,
+            config: &KalmanConfiguration,
+        ) {
+            self.progress_filtertime(time, wander, config);
+            self.state = self.state + Vector::new_vector([0., steer * 1e-6, 0.]);
+        }
+
+        fn absorb_offset_steer(&mut self, steer: f64) {
+            self.state = self.state + Vector::new_vector([steer, 0., 0.]);
+            self.filter_time += Duration::from_seconds(steer);
+        }
+
+        fn predict<const N: usize>(
+            &self,
+            measurement_transform: Matrix<N, 3>,
+        ) -> (Vector<N>, Matrix<N, N>) {
+            let prediction = measurement_transform * self.state;
+            let uncertainty =
+                measurement_transform * self.uncertainty * measurement_transform.transpose();
+            (prediction, uncertainty)
+        }
+
+        fn predict_sync_offset(&self) -> (f64, f64) {
+            let (prediction, uncertainty) = self.predict(Self::MEASUREMENT_SYNC);
+            (prediction.entry(0, 0), uncertainty.entry(0, 0))
+        }
+
+        fn predict_delay_offset(&self) -> (f64, f64) {
+            let (prediction, uncertainty) = self.predict(Self::MEASUREMENT_DELAY);
+            (prediction.entry(0, 0), uncertainty.entry(0, 0))
+        }
+    }
+
+    struct TestRng(u64);
+
+    impl TestRng {
+        fn next(&mut self) -> u64 {
+            self.0 ^= self.0 << 13;
+            self.0 ^= self.0 >> 7;
+            self.0 ^= self.0 << 17;
+            self.0
+        }
+
+        fn unit(&mut self) -> f64 {
+            (self.next() >> 11) as f64 / (1_u64 << 53) as f64
+        }
+
+        fn signed(&mut self) -> f64 {
+            2.0 * self.unit() - 1.0
+        }
+    }
+
+    fn assert_close(actual: f64, expected: f64) {
+        let scale = actual.abs().max(expected.abs()).max(1.0);
+        assert!(
+            (actual - expected).abs() <= 1e-12 * scale,
+            "actual {actual:e}, expected {expected:e}"
+        );
+    }
+
+    fn assert_equivalent(actual: &super::InnerFilter, expected: &InnerFilter) {
+        let actual_state = [
+            actual.state.offset,
+            actual.state.frequency,
+            actual.state.delay,
+        ];
+        let actual_covariance = [
+            [
+                actual.uncertainty.offset,
+                actual.uncertainty.offset_frequency,
+                actual.uncertainty.offset_delay,
+            ],
+            [
+                actual.uncertainty.offset_frequency,
+                actual.uncertainty.frequency,
+                actual.uncertainty.frequency_delay,
+            ],
+            [
+                actual.uncertainty.offset_delay,
+                actual.uncertainty.frequency_delay,
+                actual.uncertainty.delay,
+            ],
+        ];
+
+        for (i, (actual_state, actual_covariance)) in
+            actual_state.iter().zip(&actual_covariance).enumerate()
+        {
+            assert_close(*actual_state, expected.state.ventry(i));
+            for (j, actual_covariance) in actual_covariance.iter().enumerate() {
+                assert_close(*actual_covariance, expected.uncertainty.entry(i, j));
+            }
+        }
+        assert_eq!(actual.filter_time, expected.filter_time);
+    }
+
+    #[test]
+    fn scalar_algebra_matches_previous_matrix_implementation() {
+        let mut rng = TestRng(0x4d59_5df4_d0f3_3173);
+
+        for _ in 0..128 {
+            let state = [rng.signed(), rng.signed() * 1e-3, rng.signed()];
+            let factor: [[f64; 3]; 3] =
+                core::array::from_fn(|_| core::array::from_fn(|_| rng.signed()));
+            let covariance = core::array::from_fn::<_, 3, _>(|i| {
+                core::array::from_fn::<_, 3, _>(|j| {
+                    (0..3).map(|k| factor[i][k] * factor[j][k]).sum::<f64>()
+                        + if i == j { 0.1 } else { 0.0 }
+                })
+            });
+            let timebase = Time::from_nanos(0);
+            let mut actual = super::InnerFilter {
+                state: State {
+                    offset: state[0],
+                    frequency: state[1],
+                    delay: state[2],
+                },
+                uncertainty: Covariance {
+                    offset: covariance[0][0],
+                    offset_frequency: covariance[0][1],
+                    offset_delay: covariance[0][2],
+                    frequency: covariance[1][1],
+                    frequency_delay: covariance[1][2],
+                    delay: covariance[2][2],
+                },
+                filter_time: timebase,
+            };
+            let mut expected = InnerFilter {
+                state: Vector::new_vector(state),
+                uncertainty: Matrix::new(covariance),
+                filter_time: timebase,
+            };
+            let config = KalmanConfiguration {
+                delay_wander: rng.unit() * 1e-3,
+                ..Default::default()
+            };
+            let wander = rng.unit() * 1e-6;
+            let time = Time::from_nanos(1 + rng.next() % 10_000_000_000);
+
+            actual.progress_filtertime(time, wander, config.delay_wander);
+            expected.progress_filtertime(time, wander, &config);
+            assert_equivalent(&actual, &expected);
+
+            for (actual_prediction, expected_prediction) in [
+                (actual.predict_sync_offset(), expected.predict_sync_offset()),
+                (
+                    actual.predict_delay_offset(),
+                    expected.predict_delay_offset(),
+                ),
+            ] {
+                assert_close(actual_prediction.0, expected_prediction.0);
+                assert_close(actual_prediction.1, expected_prediction.1);
+            }
+
+            let value = rng.signed();
+            let variance = 0.1 + rng.unit();
+            actual.absorb_sync_offset(value, variance);
+            expected.absorb_sync_offset(value, variance);
+            assert_equivalent(&actual, &expected);
+
+            let value = rng.signed();
+            let variance = 0.1 + rng.unit();
+            actual.absorb_delay_offset(value, variance);
+            expected.absorb_delay_offset(value, variance);
+            assert_equivalent(&actual, &expected);
+
+            let value = rng.signed();
+            let variance = 0.1 + rng.unit();
+            actual.absorb_peer_delay(value, variance);
+            expected.absorb_peer_delay(value, variance);
+            assert_equivalent(&actual, &expected);
+
+            let next_time = time + Duration::from_fixed_nanos(rng.unit() * 1e9);
+            let steer = rng.signed() * 100.0;
+            actual.absorb_frequency_steer(steer, next_time, wander, config.delay_wander);
+            expected.absorb_frequency_steer(steer, next_time, wander, &config);
+            assert_equivalent(&actual, &expected);
+
+            let steer = rng.signed() * 1e-3;
+            actual.absorb_offset_steer(steer);
+            expected.absorb_offset_steer(steer);
+            assert_equivalent(&actual, &expected);
+        }
+
+        // Keep the constructor in the reference coverage as well.
+        let config = KalmanConfiguration::default();
+        let actual = super::InnerFilter::new(
+            0.25,
+            Time::from_nanos(42),
+            config.step_threshold,
+            config.initial_frequency_uncertainty,
+        );
+        let expected = InnerFilter::new(0.25, Time::from_nanos(42), &config);
+        assert_equivalent(&actual, &expected);
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
     use crate::Clock;
 
+    fn inner_filter(time: Time) -> InnerFilter {
+        InnerFilter {
+            state: State {
+                offset: 0.0,
+                frequency: 0.0,
+                delay: 0.0,
+            },
+            uncertainty: Covariance {
+                offset: 1e-17,
+                offset_frequency: 0.0,
+                offset_delay: 0.0,
+                frequency: 1e-16,
+                frequency_delay: 0.0,
+                delay: 1e-18,
+            },
+            filter_time: time,
+        }
+    }
+
     #[derive(Default)]
     struct TestClock {
         last_freq: Option<f64>,
@@ -832,11 +1225,7 @@ mod tests {
                 max_freq_offset: 10.0,
                 ..Default::default()
             },
-            running_filter: BaseFilter(Some(InnerFilter {
-                state: Vector::new_vector([0.0, 0.0, 0.0]),
-                uncertainty: Matrix::new([[1e-17, 0.0, 0.0], [0.0, 1e-16, 0.0], [0.0, 0.0, 1e-18]]),
-                filter_time: timebase,
-            })),
+            running_filter: BaseFilter(Some(inner_filter(timebase))),
             wander_filter: BaseFilter(None),
             wander_score: 0,
             wander: KalmanConfiguration::default().initial_wander,
@@ -858,11 +1247,7 @@ mod tests {
                 max_freq_offset: 10.0,
                 ..Default::default()
             },
-            running_filter: BaseFilter(Some(InnerFilter {
-                state: Vector::new_vector([0.0, 0.0, 0.0]),
-                uncertainty: Matrix::new([[1e-17, 0.0, 0.0], [0.0, 1e-16, 0.0], [0.0, 0.0, 1e-18]]),
-                filter_time: timebase,
-            })),
+            running_filter: BaseFilter(Some(inner_filter(timebase))),
             wander_filter: BaseFilter(None),
             wander_score: 0,
             wander: KalmanConfiguration::default().initial_wander,
@@ -884,11 +1269,7 @@ mod tests {
                 max_freq_offset: 10.0,
                 ..Default::default()
             },
-            running_filter: BaseFilter(Some(InnerFilter {
-                state: Vector::new_vector([0.0, 0.0, 0.0]),
-                uncertainty: Matrix::new([[1e-17, 0.0, 0.0], [0.0, 1e-16, 0.0], [0.0, 0.0, 1e-18]]),
-                filter_time: timebase,
-            })),
+            running_filter: BaseFilter(Some(inner_filter(timebase))),
             wander_filter: BaseFilter(None),
             wander_score: 0,
             wander: KalmanConfiguration::default().initial_wander,
@@ -906,11 +1287,7 @@ mod tests {
                 max_freq_offset: 10.0,
                 ..Default::default()
             },
-            running_filter: BaseFilter(Some(InnerFilter {
-                state: Vector::new_vector([0.0, 0.0, 0.0]),
-                uncertainty: Matrix::new([[1e-17, 0.0, 0.0], [0.0, 1e-16, 0.0], [0.0, 0.0, 1e-18]]),
-                filter_time: timebase,
-            })),
+            running_filter: BaseFilter(Some(inner_filter(timebase))),
             wander_filter: BaseFilter(None),
             wander_score: 0,
             wander: KalmanConfiguration::default().initial_wander,
diff --git a/statime/src/filters/mod.rs b/statime/src/filters/mod.rs
index 7102ba4f5..32117758f 100644
--- a/statime/src/filters/mod.rs
+++ b/statime/src/filters/mod.rs
@@ -1,10 +1,13 @@
 //! Definitions and implementations for the abstracted measurement filters
 
 mod basic;
+mod fixed_wander;
 mod kalman;
+#[cfg(test)]
 mod matrix;
 
 pub use basic::BasicFilter;
+pub use fixed_wander::{FixedWanderKalmanConfig, FixedWanderKalmanFilter};
 pub use kalman::{KalmanConfiguration, KalmanFilter};
 
 use crate::{port::Measurement, time::Duration, Clock};