diff --git a/Cargo.toml b/Cargo.toml
index a28e17d..4773a5c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,4 +17,5 @@ members = [
 exclude = [
     "examples/stm32f3-disco-rtic",
     "examples/stm32h7-nucleo-rtic",
+    "examples/stm32h7-nucleo-embassy",
 ]
diff --git a/README.md b/README.md
index 2ac1b36..40b8a98 100644
--- a/README.md
+++ b/README.md
@@ -59,6 +59,9 @@ All examples and their helper crates are located inside the
    Simple example using sat-rs components on a bare-metal system with constrained resources.
    This example uses the [RTIC](https://github.com/rtic-rs/rtic) framework on the NUCLEO-H753ZI
    board.
+* [`stm32h7-nucleo-embassy`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/stm32h7-nucleo-embassy):
+   Same as `stm32h7-nucleo-rtic`, but using the [embassy](https://embassy.dev/) executor instead
+   of RTIC.
 * [`embedded-client`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/embedded-client) and
    [`embedded-types`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/embedded-types): Client and shared telecommand and telemetry
    definitions for the embedded examples.
diff --git a/examples/stm32f3-disco-rtic/src/main.rs b/examples/stm32f3-disco-rtic/src/main.rs
index bae2527..0654e80 100644
--- a/examples/stm32f3-disco-rtic/src/main.rs
+++ b/examples/stm32f3-disco-rtic/src/main.rs
@@ -281,7 +281,7 @@ async fn send_tm(
     response: stm32f3::Response,
     current_seq_count: u14,
 ) -> Result<(), TmSendError> {
-    let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
+    let sp_header = SpHeader::new_for_unseg_tm(stm32f3::PUS_APID, current_seq_count, 0);
     let tm_header = TmHeader {
         tc_packet_id: Some(tc_packet_id),
         uptime_millis: embassy_time::Instant::now().as_millis(),
diff --git a/examples/stm32h7-nucleo-embassy/.cargo/config.toml.template b/examples/stm32h7-nucleo-embassy/.cargo/config.toml.template
new file mode 100644
index 0000000..f01cbee
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/.cargo/config.toml.template
@@ -0,0 +1,29 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip STM32H753ZITx"
+# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
+
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+  # Can be useful for debugging.
+  # "-Clink-args=-Map=app.map"
+]
+
+[build]
+# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
+# target improves performance)
+# target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"    # Cortex-M3
+# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
+
+[env]
+DEFMT_LOG = "info"
diff --git a/examples/stm32h7-nucleo-embassy/.gitignore b/examples/stm32h7-nucleo-embassy/.gitignore
new file mode 100644
index 0000000..54f6671
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/.gitignore
@@ -0,0 +1,4 @@
+/target
+/.cargo/config.toml
+/.vscode
+/app.map
diff --git a/examples/stm32h7-nucleo-embassy/Cargo.lock b/examples/stm32h7-nucleo-embassy/Cargo.lock
new file mode 100644
index 0000000..ef8b69f
--- /dev/null
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+ "defmt 1.1.0",
+ "defmt-rtt",
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+ "embassy-executor",
+ "embassy-futures",
+ "embassy-net",
+ "embassy-stm32",
+ "embassy-sync",
+ "embassy-time",
+ "embedded-alloc",
+ "embedded-types",
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+ "tracing-log",
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+
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+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
+dependencies = [
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+[[package]]
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+[[package]]
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+checksum = "7781fa89eaf60850ac3d2da7af8e5242a5ea78d1a11c49bf2910bb5a73853eb5"
+dependencies = [
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+[[package]]
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+checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+dependencies = [
+ "windows-link",
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+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eed437bf9d6692032087e337407a86f04cd8d6a16a37199ed57949d415bd68e9"
+dependencies = [
+ "zerocopy-derive",
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+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.48"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "70e3cd084b1788766f53af483dd21f93881ff30d7320490ec3ef7526d203bad4"
+dependencies = [
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diff --git a/examples/stm32h7-nucleo-embassy/Cargo.toml b/examples/stm32h7-nucleo-embassy/Cargo.toml
new file mode 100644
index 0000000..3f37c13
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/Cargo.toml
@@ -0,0 +1,75 @@
+[package]
+name = "stm32h7-nucleo-embassy"
+edition = "2024"
+version = "0.1.0"
+default-run = "stm32h7-nucleo-embassy"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+embedded-types = { path = "../embedded-types", features = ["defmt"] }
+
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+arbitrary-int = "2"
+cortex-m-rt = "0.7"
+defmt = "1"
+defmt-rtt = "1"
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-alloc = "0.7"
+static_cell = "2"
+spacepackets = { version = "0.18", default-features = false, features = ["defmt"] }
+postcard = "1"
+
+embassy-stm32 = { version = "0.6", features = ["stm32h753zi", "memory-x", "defmt", "time-driver-any"] }
+embassy-executor = { version = "0.10", features = ["platform-cortex-m", "executor-thread", "defmt"] }
+embassy-time = { version = "0.5", features = ["defmt-timestamp-uptime-ms"] }
+embassy-net = { version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
+embassy-sync = "0.8"
+embassy-futures = "0.1"
+
+[dev-dependencies]
+defmt-test = "0.5"
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 's'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
diff --git a/examples/stm32h7-nucleo-embassy/LICENSE-APACHE b/examples/stm32h7-nucleo-embassy/LICENSE-APACHE
new file mode 100644
index 0000000..16fe87b
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/LICENSE-APACHE
@@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
+   "control" means (i) the power, direct or indirect, to cause the
+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
+   source, and configuration files.
+
+   "Object" form shall mean any form resulting from mechanical
+   transformation or translation of a Source form, including but
+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
+   Object form, made available under the License, as indicated by a
+   copyright notice that is included in or attached to the work
+   (an example is provided in the Appendix below).
+
+   "Derivative Works" shall mean any work, whether in Source or Object
+   form, that is based on (or derived from) the Work and for which the
+   editorial revisions, annotations, elaborations, or other modifications
+   represent, as a whole, an original work of authorship. For the purposes
+   of this License, Derivative Works shall not include works that remain
+   separable from, or merely link (or bind by name) to the interfaces of,
+   the Work and Derivative Works thereof.
+
+   "Contribution" shall mean any work of authorship, including
+   the original version of the Work and any modifications or additions
+   to that Work or Derivative Works thereof, that is intentionally
+   submitted to Licensor for inclusion in the Work by the copyright owner
+   or by an individual or Legal Entity authorized to submit on behalf of
+   the copyright owner. For the purposes of this definition, "submitted"
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diff --git a/examples/stm32h7-nucleo-embassy/README.md b/examples/stm32h7-nucleo-embassy/README.md
new file mode 100644
index 0000000..c34753f
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/README.md
@@ -0,0 +1,109 @@
+sat-rs embassy example for the STM32H753ZI-Nucleo board
+=======
+
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses the [embassy](https://embassy.dev/) executor as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
+
+This is the embassy variant of the
+[`stm32h7-nucleo-rtic`](../stm32h7-nucleo-rtic) example. Both provide the same functionality.
+
+The STM32H753ZIT device was picked because it is one of the more powerful Cortex-M based STM32
+devices. It has more RAM available and allows commanding via Ethernet. The example is written for
+the NUCLEO-H753ZI board, which uses the MB1364 Nucleo-144 board layout.
+
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
+## Preparing Rust and the repository
+
+Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
+If you have not installed it yet, you can do so with
+
+```sh
+rustup target add thumbv7em-none-eabihf
+```
+
+A default `.cargo` config file is provided as `.cargo/config.toml.template`. The build script
+copies it to `.cargo/config.toml` if that file does not exist yet. The copy is not tracked by git,
+so you can change settings like the runner for your setup.
+
+Cargo reads the configuration before the build script runs, so the very first build on a fresh
+checkout does not use it yet and might fail. Simply run the build again, or copy the file
+manually beforehand:
+
+```sh
+cp .cargo/config.toml.template .cargo/config.toml
+```
+
+The configuration file also sets the target so it does not always have to be specified with
+the `--target` argument.
+
+## Building
+
+After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
+you can simply build the application with
+
+```sh
+cargo build
+```
+
+## Flashing from the command line
+
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32H753ZITx
+```
+
+## Debugging with VS Code
+
+The Nucleo board comes with an on-board ST-Link so all that is required to flash and debug
+the board is a USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+## Commanding the board
+
+The board is commanded via UDP on port 7301. It gets its IP address via DHCP, so it needs to be
+connected to a network with a DHCP server. The network configuration including the IP address is
+logged after startup. According to the board user manual UM2407, jumper JP6 and solder bridge SB72
+must be ON when using Ethernet. The telecommands are CCSDS space packets with a
+[`postcard`](https://docs.rs/postcard) serialized payload.
+
+The [`embedded-client`](../embedded-client) application is used to command the board. Set the
+address of the board inside `embedded-client/config.toml`, for example:
+
+```toml
+[interface]
+udp_addr = "192.168.1.50:7301"
+```
+
+Then run the client from inside the `embedded-client` directory. For example, you can send a ping
+to the MCU using
+
+```sh
+cargo run --bin stm32h7-client -- --ping
+```
+
+and set the LED blink frequency to 500 ms using
+
+```sh
+cargo run --bin stm32h7-client -- --set-led-frequency 500
+```
+
+You can also pass the board address with `--udp-addr` instead of setting it inside the
+configuration file.
+
+## Resources
+
+- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
+- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)
diff --git a/examples/stm32h7-nucleo-embassy/build.rs b/examples/stm32h7-nucleo-embassy/build.rs
new file mode 100644
index 0000000..93b7aa1
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/build.rs
@@ -0,0 +1,14 @@
+use std::path::PathBuf;
+use std::{env, fs};
+
+fn main() {
+    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
+    let cargo_dir = manifest_dir.join(".cargo");
+    let config = cargo_dir.join("config.toml");
+    let config_template = cargo_dir.join("config.toml.template");
+
+    if !config.exists() && config_template.exists() {
+        fs::create_dir_all(&cargo_dir).unwrap();
+        fs::copy(&config_template, &config).unwrap();
+    }
+}
diff --git a/examples/stm32h7-nucleo-embassy/rust-toolchain.toml b/examples/stm32h7-nucleo-embassy/rust-toolchain.toml
new file mode 100644
index 0000000..f66f701
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+targets = ["thumbv7em-none-eabihf"]
diff --git a/examples/stm32h7-nucleo-embassy/src/bin/blinky.rs b/examples/stm32h7-nucleo-embassy/src/bin/blinky.rs
new file mode 100644
index 0000000..ec3427f
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/src/bin/blinky.rs
@@ -0,0 +1,43 @@
+//! Blinks an LED
+//!
+//! This assumes that LD1 (green) is connected to PB0, LD2 (yellow) to PE1 and LD3 (red) to
+//! PB14. This assumption is true for the MB1364 Nucleo-144 board, for example the
+//! NUCLEO-H753ZI.
+
+#![no_std]
+#![no_main]
+use embassy_executor::Spawner;
+use embassy_stm32::gpio;
+use stm32h7_nucleo_embassy as _;
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_stm32::init(Default::default());
+    defmt::info!("Hello World!");
+    let ld1 = gpio::Output::new(p.PB0, gpio::Level::High, gpio::Speed::Low);
+    let ld2 = gpio::Output::new(p.PE1, gpio::Level::High, gpio::Speed::Low);
+    let ld3 = gpio::Output::new(p.PB14, gpio::Level::High, gpio::Speed::Low);
+
+    spawner.spawn(blink(ld1, ld2, ld3).expect("spawning blink task failed"));
+}
+
+#[embassy_executor::task]
+async fn blink(
+    mut ld1: gpio::Output<'static>,
+    mut ld2: gpio::Output<'static>,
+    mut ld3: gpio::Output<'static>,
+) {
+    loop {
+        defmt::info!("high");
+        ld1.set_high();
+        ld2.set_high();
+        ld3.set_high();
+        embassy_time::Timer::after_millis(500).await;
+
+        defmt::info!("low");
+        ld1.set_low();
+        ld2.set_low();
+        ld3.set_low();
+        embassy_time::Timer::after_millis(500).await;
+    }
+}
diff --git a/examples/stm32h7-nucleo-embassy/src/bin/hello.rs b/examples/stm32h7-nucleo-embassy/src/bin/hello.rs
new file mode 100644
index 0000000..4fd2388
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/src/bin/hello.rs
@@ -0,0 +1,13 @@
+#![no_main]
+#![no_std]
+
+// global logger + panicking-behavior + memory layout
+use stm32h7_nucleo_embassy as _;
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    loop {
+        defmt::println!("Hello, world!");
+        cortex_m::asm::delay(100_000_000);
+    }
+}
diff --git a/examples/stm32h7-nucleo-embassy/src/lib.rs b/examples/stm32h7-nucleo-embassy/src/lib.rs
new file mode 100644
index 0000000..b5b3332
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/src/lib.rs
@@ -0,0 +1,34 @@
+#![no_main]
+#![no_std]
+
+use defmt_rtt as _;
+use embassy_stm32 as _;
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    panic!("unexpected hard fault");
+}
+
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}
diff --git a/examples/stm32h7-nucleo-embassy/src/main.rs b/examples/stm32h7-nucleo-embassy/src/main.rs
new file mode 100644
index 0000000..f00bc79
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/src/main.rs
@@ -0,0 +1,296 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use core::mem::MaybeUninit;
+use core::sync::atomic::{AtomicU32, Ordering};
+
+use alloc::vec::Vec;
+use arbitrary_int::u14;
+use embassy_executor::Spawner;
+use embassy_futures::select::{Either3, select3};
+use embassy_net::StackResources;
+use embassy_net::udp::{PacketMetadata, UdpSocket};
+use embassy_stm32::{bind_interrupts, eth, gpio, peripherals, rng};
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::channel::{Channel, Receiver, Sender};
+use embassy_time::Timer;
+use embedded_alloc::LlffHeap as Heap;
+use embedded_types::{TmHeader, create_tm_packet, stm32h7, tm_size};
+use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, CcsdsPacketReader, SpHeader};
+use static_cell::{ConstStaticCell, StaticCell};
+// global logger + panicking-behavior + memory layout
+use stm32h7_nucleo_embassy as _;
+
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const PORT: u16 = 7301;
+const MTU: usize = 1500;
+
+const HEAP_SIZE: usize = 131_072;
+
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+/// Locally administered MAC address
+const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+const TC_QUEUE_DEPTH: usize = 32;
+const TM_QUEUE_DEPTH: usize = 32;
+
+static BLINK_FREQ_MS: AtomicU32 = AtomicU32::new(DEFAULT_BLINK_FREQ_MS);
+
+bind_interrupts!(struct Irqs {
+    ETH => eth::InterruptHandler;
+    HASH_RNG => rng::InterruptHandler<peripherals::RNG>;
+});
+
+type Device = eth::Ethernet<
+    'static,
+    peripherals::ETH,
+    eth::GenericPhy<eth::Sma<'static, peripherals::ETH_SMA>>,
+>;
+
+type TcSender = Sender<'static, NoopRawMutex, Vec<u8>, TC_QUEUE_DEPTH>;
+type TcReceiver = Receiver<'static, NoopRawMutex, Vec<u8>, TC_QUEUE_DEPTH>;
+type TmSender = Sender<'static, NoopRawMutex, Vec<u8>, TM_QUEUE_DEPTH>;
+type TmReceiver = Receiver<'static, NoopRawMutex, Vec<u8>, TM_QUEUE_DEPTH>;
+
+struct BlinkyLeds {
+    led1: gpio::Output<'static>,
+    led2: gpio::Output<'static>,
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    defmt::println!("Starting sat-rs demo application for the STM32H753ZIT");
+
+    static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+    unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
+
+    let mut config = embassy_stm32::Config::default();
+    {
+        use embassy_stm32::rcc::*;
+        config.rcc.hsi = Some(HSIPrescaler::DIV1);
+        config.rcc.csi = true;
+        config.rcc.hsi48 = Some(Default::default()); // needed for RNG
+        config.rcc.pll1 = Some(Pll {
+            source: PllSource::HSI,
+            prediv: PllPreDiv::DIV4,
+            mul: PllMul::MUL50,
+            divp: Some(PllDiv::DIV2),
+            divq: None,
+            divr: None,
+        });
+        config.rcc.sys = Sysclk::PLL1_P; // 400 Mhz
+        config.rcc.ahb_pre = AHBPrescaler::DIV2; // 200 Mhz
+        config.rcc.apb1_pre = APBPrescaler::DIV2; // 100 Mhz
+        config.rcc.apb2_pre = APBPrescaler::DIV2; // 100 Mhz
+        config.rcc.apb3_pre = APBPrescaler::DIV2; // 100 Mhz
+        config.rcc.apb4_pre = APBPrescaler::DIV2; // 100 Mhz
+        config.rcc.voltage_scale = VoltageScale::Scale1;
+    }
+    let periphs = embassy_stm32::init(config);
+
+    let link_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
+    // Criss-cross pattern looks cooler.
+    let leds = BlinkyLeds {
+        led1: gpio::Output::new(periphs.PE1, gpio::Level::High, gpio::Speed::Medium),
+        led2: gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium),
+    };
+
+    static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
+    // warning: Not all STM32H7 devices have the exact same pins here
+    // for STM32H747XIH, replace p.PB13 for PG12
+    let device = eth::Ethernet::new(
+        PACKETS.init(eth::PacketQueue::<4, 4>::new()),
+        periphs.ETH,
+        Irqs,
+        periphs.PA1,  // ref_clk
+        periphs.PA7,  // CRS_DV: Carrier Sense
+        periphs.PC4,  // RX_D0: Received Bit 0
+        periphs.PC5,  // RX_D1: Received Bit 1
+        periphs.PG13, // TX_D0: Transmit Bit 0
+        periphs.PB13, // TX_D1: Transmit Bit 1
+        periphs.PG11, // TX_EN: Transmit Enable
+        MAC_ADDRESS,
+        periphs.ETH_SMA,
+        periphs.PA2, // mdio
+        periphs.PC1, // mdc
+    );
+
+    let net_config = embassy_net::Config::dhcpv4(embassy_net::DhcpConfig::default());
+
+    // Generate random seed.
+    let mut rng = rng::Rng::new(periphs.RNG, Irqs);
+    let mut seed = [0; 8];
+    rng.fill_bytes(&mut seed);
+    let seed = u64::from_le_bytes(seed);
+
+    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+    let (stack, runner) = embassy_net::new(
+        device,
+        net_config,
+        RESOURCES.init(StackResources::new()),
+        seed,
+    );
+
+    static TC_CHANNEL: ConstStaticCell<Channel<NoopRawMutex, Vec<u8>, TC_QUEUE_DEPTH>> =
+        ConstStaticCell::new(Channel::new());
+    let tc_channel = TC_CHANNEL.take();
+    static TM_CHANNEL: ConstStaticCell<Channel<NoopRawMutex, Vec<u8>, TM_QUEUE_DEPTH>> =
+        ConstStaticCell::new(Channel::new());
+    let tm_channel = TM_CHANNEL.take();
+
+    spawner.spawn(net_stack_task(runner).expect("spawning net stack task failed"));
+    spawner.spawn(
+        udp_task(stack, link_led, tc_channel.sender(), tm_channel.receiver())
+            .expect("spawning UDP task failed"),
+    );
+    spawner.spawn(blinky(leds).expect("spawning blinky task failed"));
+    spawner.spawn(
+        tc_handler(tc_channel.receiver(), tm_channel.sender())
+            .expect("spawning TC handler task failed"),
+    );
+}
+
+#[embassy_executor::task]
+async fn blinky(mut leds: BlinkyLeds) {
+    loop {
+        leds.led1.toggle();
+        leds.led2.toggle();
+        Timer::after_millis(BLINK_FREQ_MS.load(Ordering::Relaxed) as u64).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn net_stack_task(mut runner: embassy_net::Runner<'static, Device>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::task]
+async fn udp_task(
+    stack: embassy_net::Stack<'static>,
+    mut link_led: gpio::Output<'static>,
+    tc_tx: TcSender,
+    tm_rx: TmReceiver,
+) {
+    // Task futures are allocated statically, so these buffers do not live on the stack.
+    let mut rx_udp_meta = [PacketMetadata::EMPTY; 8];
+    let mut tx_udp_meta = [PacketMetadata::EMPTY; 8];
+    let mut rx_udp_buf = [0; MTU];
+    let mut tx_udp_buf = [0; MTU];
+    let mut rx_buffer = [0; MTU];
+
+    loop {
+        stack.wait_link_up().await;
+        link_led.set_high();
+        defmt::info!("Network link is up");
+
+        // Ensure DHCP configuration is up before trying connect
+        stack.wait_config_up().await;
+        defmt::info!("Network task initialized, config: {}", stack.config_v4());
+
+        let mut udp = UdpSocket::new(
+            stack,
+            &mut rx_udp_meta,
+            &mut rx_udp_buf,
+            &mut tx_udp_meta,
+            &mut tx_udp_buf,
+        );
+        defmt::info!("UDP socket bound to port {}", PORT);
+        udp.bind(PORT).expect("failed to bind UDP socket");
+        let mut remote_endpoint = None;
+        loop {
+            match select3(
+                udp.recv_from(&mut rx_buffer),
+                tm_rx.receive(),
+                stack.wait_link_down(),
+            )
+            .await
+            {
+                Either3::First(Ok((len, meta))) => {
+                    remote_endpoint = Some(meta.endpoint);
+                    defmt::debug!("UDP RX {}, Meta: {}", len, meta);
+                    tc_tx.send(rx_buffer[0..len].to_vec()).await;
+                }
+                Either3::First(Err(e)) => {
+                    defmt::warn!("udp receive error: {}", e);
+                    Timer::after_millis(100).await;
+                }
+                // TM is only generated as a response to a TC, so the endpoint is usually known.
+                Either3::Second(packet) => match remote_endpoint {
+                    Some(endpoint) => match udp.send_to(&packet, endpoint).await {
+                        Ok(_) => defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint),
+                        Err(e) => defmt::warn!("udp send error: {}", e),
+                    },
+                    None => defmt::warn!("dropping TM, no remote endpoint known"),
+                },
+                Either3::Third(()) => {
+                    defmt::warn!("Network link is down");
+                    link_led.set_low();
+                    break;
+                }
+            }
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn tc_handler(tc_rx: TcReceiver, tm_tx: TmSender) {
+    let mut sequence_count = u14::new(0);
+    loop {
+        let tc = tc_rx.receive().await;
+        defmt::info!("Received from UDP client: {}", tc.as_slice());
+        let packet = match CcsdsPacketReader::new_with_checksum(&tc) {
+            Ok(packet) => packet,
+            Err(e) => {
+                defmt::warn!("Failed to parse received TC packet: {}", e);
+                continue;
+            }
+        };
+        let tc_packet_id = CcsdsPacketIdAndPsc {
+            packet_id: packet.packet_id(),
+            psc: packet.psc(),
+        };
+        let Ok(request) = postcard::from_bytes::<stm32h7::Request>(packet.packet_data()) else {
+            defmt::warn!("Failed to deserialize TC request");
+            continue;
+        };
+        let response = match request {
+            stm32h7::Request::Ping => {
+                defmt::info!("Received Ping request");
+                stm32h7::Response::Ok
+            }
+            stm32h7::Request::ChangeBlinkFrequency(duration) => {
+                defmt::info!(
+                    "Received blinky frequency change request: {} ms",
+                    duration.as_millis()
+                );
+                let freq_ms = u32::try_from(duration.as_millis()).unwrap_or(u32::MAX);
+                BLINK_FREQ_MS.store(freq_ms, Ordering::Relaxed);
+                stm32h7::Response::Ok
+            }
+        };
+        if let Err(e) = send_tm(tc_packet_id, response, sequence_count, &tm_tx).await {
+            defmt::warn!("Failed to send TM response: {}", e);
+        }
+        sequence_count = sequence_count.wrapping_add(u14::new(1));
+    }
+}
+
+async fn send_tm(
+    tc_packet_id: CcsdsPacketIdAndPsc,
+    response: stm32h7::Response,
+    sequence_count: u14,
+    sender: &TmSender,
+) -> Result<(), CcsdsPacketCreationError> {
+    let sp_header = SpHeader::new_for_unseg_tm(stm32h7::PUS_APID, sequence_count, 0);
+    let tm_header = TmHeader {
+        tc_packet_id: Some(tc_packet_id),
+        uptime_millis: embassy_time::Instant::now().as_millis(),
+    };
+    let mut packet = alloc::vec![0; tm_size(&tm_header, &response)];
+    create_tm_packet(&mut packet, sp_header, tm_header, response)?;
+    sender.send(packet).await;
+    Ok(())
+}
diff --git a/examples/stm32h7-nucleo-embassy/tests/integration.rs b/examples/stm32h7-nucleo-embassy/tests/integration.rs
new file mode 100644
index 0000000..2228c66
--- /dev/null
+++ b/examples/stm32h7-nucleo-embassy/tests/integration.rs
@@ -0,0 +1,16 @@
+#![no_std]
+#![no_main]
+
+use stm32h7_nucleo_embassy as _; // memory layout + panic handler
+
+// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
+// feature)
+#[defmt_test::tests]
+mod tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}
diff --git a/examples/stm32h7-nucleo-rtic/README.md b/examples/stm32h7-nucleo-rtic/README.md
index 35bba02..360507b 100644
--- a/examples/stm32h7-nucleo-rtic/README.md
+++ b/examples/stm32h7-nucleo-rtic/README.md
@@ -68,15 +68,6 @@ the board is a USB cable. The code in this repository was debugged using [`probe
 and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
 Make sure to install this plugin first.
 
-Sample configuration files are provided inside the `vscode` folder.
-Use `cp vscode .vscode -r` to use them for your project.
-
-Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
-to automatically rebuild and flash your application.
-
-The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
-the folder in VS code or adding it to a workspace.
-
 ## Commanding the board
 
 The board is commanded via UDP on port 7301. It gets its IP address via DHCP, so it needs to be
diff --git a/examples/stm32h7-nucleo-rtic/memory.x.tmp b/examples/stm32h7-nucleo-rtic/memory.x.tmp
deleted file mode 100644
index 76ce2ce..0000000
--- a/examples/stm32h7-nucleo-rtic/memory.x.tmp
+++ /dev/null
@@ -1,119 +0,0 @@
-/* Taken from https://github.com/stm32-rs/stm32h7xx-hal/pull/299, adapted slightly to work with */
-/* flip-link */
-MEMORY
-{
-  /* This file is intended for parts in the STM32H743/743v/753/753v families (RM0433), */
-  /* with the exception of the STM32H742/742v parts which have a different RAM layout. */
-  /* - FLASH and RAM are mandatory memory sections.                                    */
-  /* - The sum of all non-FLASH sections must add to 1060K total device RAM.           */
-  /* - The FLASH section size must match your device, see table below.                 */
-
-  /* FLASH */
-  /* Flash is divided in two independent banks (except 750xB). */
-  /* Select the appropriate FLASH size for your device.        */
-  /* - STM32H750xB                          128K (only FLASH1) */
-  /* - STM32H750xB                            1M (512K + 512K) */
-  /* - STM32H743xI/753xI                      2M (  1M +   1M) */
-  FLASH1 : ORIGIN = 0x08000000, LENGTH = 1M
-  FLASH2  : ORIGIN = 0x08100000, LENGTH = 1M
-
-  /* Data TCM  */
-  /* - Two contiguous 64KB RAMs.                                     */
-  /* - Used for interrupt handlers, stacks and general RAM.          */
-  /* - Zero wait-states.                                             */
-  /* - The DTCM is taken as the origin of the base ram. (See below.) */
-  /*   This is also where the interrupt table and such will live,    */
-  /*   which is required for deterministic performance.              */
-  /* Need a region called RAM */
-  /* DTCM : ORIGIN = 0x20000000, LENGTH = 128K */
-  RAM : ORIGIN = 0x20000000, LENGTH = 128K
-
-  /* Instruction TCM */
-  /* - Used for latency-critical interrupt handlers etc. */
-  /* - Zero wait-states.                                 */
-  ITCM    : ORIGIN = 0x00000000, LENGTH = 64K
-
-  /* AXI SRAM */
-  /* - AXISRAM is in D1 and accessible by all system masters except BDMA. */
-  /* - Suitable for application data not stored in DTCM.                  */
-  /* - Zero wait-states.                                                  */
-  AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
-
-  /* AHB SRAM */
-  /* - SRAM1-3 are in D2 and accessible by all system masters except BDMA.   */
-  /*   Suitable for use as DMA buffers.                                      */
-  /* - SRAM4 is in D3 and additionally accessible by the BDMA. Used for BDMA */
-  /*   buffers, for storing application data in lower-power modes.           */
-  /* - Zero wait-states.                                                     */
-  SRAM1   : ORIGIN = 0x30000000, LENGTH = 128K
-  SRAM2   : ORIGIN = 0x30020000, LENGTH = 128K
-  SRAM3   : ORIGIN = 0x30040000, LENGTH = 32K
-  SRAM4   : ORIGIN = 0x38000000, LENGTH = 64K
-
-  /* Backup SRAM */
-  BSRAM   : ORIGIN = 0x38800000, LENGTH = 4K
-}
-
-/*
-/* Assign the memory regions defined above for use. */
-/*
-
-/* Provide the mandatory FLASH and RAM definitions for cortex-m-rt's linker script. */
-/* These do not work with flip-link */
-REGION_ALIAS(FLASH, FLASH1);
-/* REGION_ALIAS(RAM,   DTCM); */
-
-/* The location of the stack can be overridden using the `_stack_start` symbol. */
-/* - Set the stack location at the end of RAM, using all remaining space.       */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);
-
-/* The location of the .text section can be overridden using the  */
-/* `_stext` symbol. By default it will place after .vector_table. */
-/* _stext = ORIGIN(FLASH) + 0x40c; */
-
-/* Define sections for placing symbols into the extra memory regions above.   */
-/* This makes them accessible from code.                                      */
-/* - ITCM, DTCM and AXISRAM connect to a 64-bit wide bus -> align to 8 bytes. */
-/* - All other memories     connect to a 32-bit wide bus -> align to 4 bytes. */
-SECTIONS {
-  .flash2 (NOLOAD) : ALIGN(4) {
-    *(.flash2 .flash2.*);
-    . = ALIGN(4);
-    } > FLASH2
-
-  .itcm (NOLOAD) : ALIGN(8) {
-    *(.itcm .itcm.*);
-    . = ALIGN(8);
-    } > ITCM
-
-  .axisram (NOLOAD) : ALIGN(8) {
-    *(.axisram .axisram.*);
-    . = ALIGN(8);
-    } > AXISRAM
-
-  .sram1 (NOLOAD) : ALIGN(8) {
-    *(.sram1 .sram1.*);
-    . = ALIGN(4);
-    } > SRAM1
-
-  .sram2 (NOLOAD) : ALIGN(8) {
-    *(.sram2 .sram2.*);
-    . = ALIGN(4);
-    } > SRAM2
-
-  .sram3 (NOLOAD) : ALIGN(4) {
-    *(.sram3 .sram3.*);
-    . = ALIGN(4);
-    } > SRAM3
-
-  .sram4 (NOLOAD) : ALIGN(4) {
-    *(.sram4 .sram4.*);
-    . = ALIGN(4);
-    } > SRAM4
-
-  .bsram (NOLOAD) : ALIGN(4) {
-    *(.bsram .bsram.*);
-    . = ALIGN(4);
-    } > BSRAM
-
-};
diff --git a/examples/stm32h7-nucleo-rtic/src/main.rs b/examples/stm32h7-nucleo-rtic/src/main.rs
index 6176f29..4c5b487 100644
--- a/examples/stm32h7-nucleo-rtic/src/main.rs
+++ b/examples/stm32h7-nucleo-rtic/src/main.rs
@@ -371,7 +371,7 @@ mod app {
             TM_QUEUE_DEPTH,
         >,
     ) -> Result<(), CcsdsPacketCreationError> {
-        let sp_header = SpHeader::new_for_unseg_tc(stm32h7::PUS_APID, current_seq_count, 0);
+        let sp_header = SpHeader::new_for_unseg_tm(stm32h7::PUS_APID, current_seq_count, 0);
         let tm_header = TmHeader {
             tc_packet_id: Some(tc_packet_id),
             uptime_millis: embassy_time::Instant::now().as_millis(),
diff --git a/justfile b/justfile
index 7e0999a..06f5633 100644
--- a/justfile
+++ b/justfile
@@ -11,13 +11,17 @@ test:
   cargo nextest run --all-features
   cargo test --doc --all-features
 
-embedded: embedded-stm32h7 embedded-stm32f3
+embedded: embedded-stm32h7 embedded-stm32h7-embassy embedded-stm32f3
   cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
 
 [working-directory:"examples/stm32h7-nucleo-rtic"]
 embedded-stm32h7:
   cargo build --target=thumbv7em-none-eabihf --release
 
+[working-directory:"examples/stm32h7-nucleo-embassy"]
+embedded-stm32h7-embassy:
+  cargo build --target=thumbv7em-none-eabihf --release
+
 [working-directory:"examples/stm32f3-disco-rtic"]
 embedded-stm32f3:
   cargo build --target=thumbv7em-none-eabihf --release
diff --git a/satrs/src/legacy/event_man.rs b/satrs/src/legacy/event_man.rs
index 58f8bc6..c7dbab7 100644
--- a/satrs/src/legacy/event_man.rs
+++ b/satrs/src/legacy/event_man.rs
@@ -39,12 +39,8 @@
 //!
 //! # Examples
 //!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
-//! for a concrete example using multi-threading where events are routed to
-//! different threads.
-//!
 //! The [example-std](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std)
-//! also contains a full event manager instance and exposes a test event via the PUS test service.
+//! contains a full event manager instance and exposes a test event via the PUS test service.
 //! The [PUS event](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std/src/legacy/pus/event.rs)
 //! module and the generic [events module](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std/src/legacy/events.rs)
 //! show how the event management modules can be integrated into a more complex software.
diff --git a/satrs/src/legacy/event_man_legacy.rs b/satrs/src/legacy/event_man_legacy.rs
index e743b71..0958747 100644
--- a/satrs/src/legacy/event_man_legacy.rs
+++ b/satrs/src/legacy/event_man_legacy.rs
@@ -41,12 +41,8 @@
 //!
 //! # Examples
 //!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
-//! for a concrete example using multi-threading where events are routed to
-//! different threads.
-//!
 //! The [example-std](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std)
-//! also contains a full event manager instance and exposes a test event via the PUS test service.
+//! contains a full event manager instance and exposes a test event via the PUS test service.
 //! The [PUS event](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std/src/legacy/pus/event.rs)
 //! module and the generic [events module](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std/src/legacy/events.rs)
 //! show how the event management modules can be integrated into a more complex software.