Merge remote-tracking branch 'origin/main' into serialization-prototyping

Cargo.toml

@@ -9,7 +9,8 @@ members = [
 ]
 
 exclude = [
-    "satrs-example-stm32f3-disco",
+    "embedded-examples/stm32f3-disco-rtic",
+    "embedded-examples/stm32h7-rtic",
     "serialization-prototyping",
 ]
 

README.md

@@ -39,14 +39,19 @@ This project currently contains following crates:
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32f3-disco-rtic):
    Example of a simple example using low-level sat-rs components on a bare-metal system
-   with constrained resources.
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32F3-Discovery device.
+* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32h7-nucleo-rtic):
+   Example of a 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 STM32H743ZIT device.
 
 Each project has its own `CHANGELOG.md`.
 
 # Related projects
- 
+
  In addition to the crates in this repository, the sat-rs project also maintains other libraries.
 
  * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS

embedded-examples/stm32f3-disco-rtic/Cargo.lock

@@ -22,9 +22,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.2.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
 [[package]]
 name = "bare-metal"
@@ -88,13 +88,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.37"
+version = "0.4.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
+checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
 dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "cobs"
 version = "0.2.3"
@@ -115,9 +121,9 @@ dependencies = [
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
 dependencies = [
  "cortex-m-rt-macros",
 ]
@@ -144,9 +150,9 @@ dependencies = [
 
 [[package]]
 name = "crc"
-version = "3.0.1"
+version = "3.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
+checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
 dependencies = [
  "crc-catalog",
 ]
@@ -165,9 +171,9 @@ checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "darling"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
+checksum = "83b2eb4d90d12bdda5ed17de686c2acb4c57914f8f921b8da7e112b5a36f3fe1"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -175,33 +181,33 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
+checksum = "622687fe0bac72a04e5599029151f5796111b90f1baaa9b544d807a5e31cd120"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
+checksum = "733cabb43482b1a1b53eee8583c2b9e8684d592215ea83efd305dd31bc2f0178"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
 name = "defmt"
-version = "0.3.6"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
 dependencies = [
  "bitflags",
  "defmt-macros",
@@ -219,15 +225,15 @@ dependencies = [
 
 [[package]]
 name = "defmt-macros"
-version = "0.3.7"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
 dependencies = [
  "defmt-parser",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -259,7 +265,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -273,6 +279,17 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "derive-new"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.65",
+]
+
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@@ -325,7 +342,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -409,9 +426,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.14.3"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
 [[package]]
 name = "heapless"
@@ -507,9 +524,9 @@ dependencies = [
 
 [[package]]
 name = "num-iter"
-version = "0.1.44"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
+checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -529,9 +546,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
 ]
@@ -553,14 +570,14 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
 name = "panic-probe"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
+checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
 dependencies = [
  "cortex-m",
  "defmt",
@@ -568,9 +585,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pin-project-lite"
@@ -610,18 +627,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.79"
+version = "1.0.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
+checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.35"
+version = "1.0.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
 dependencies = [
  "proc-macro2",
 ]
@@ -674,7 +691,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -717,16 +734,20 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.22",
+ "semver 1.0.23",
 ]
 
 [[package]]
 name = "satrs"
-version = "0.2.0-rc.0"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
  "crc",
+ "defmt",
  "delegate",
+ "derive-new",
  "num-traits",
  "num_enum",
  "paste",
@@ -736,10 +757,19 @@ dependencies = [
 ]
 
 [[package]]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-shared"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+dependencies = [
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
  "cortex-m",
  "cortex-m-rt",
  "cortex-m-semihosting",
@@ -757,13 +787,6 @@ dependencies = [
  "stm32f3xx-hal",
 ]
 
-[[package]]
-name = "satrs-shared"
-version = "0.1.3"
-dependencies = [
- "spacepackets",
-]
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -775,9 +798,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.22"
+version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
 
 [[package]]
 name = "semver-parser"
@@ -799,9 +822,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
 [[package]]
 name = "spacepackets"
-version = "0.11.0-rc.2"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
+checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
 dependencies = [
  "crc",
  "defmt",
@@ -899,9 +922,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.58"
+version = "2.0.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
+checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -910,22 +933,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
 
 [[package]]
@@ -975,9 +998,9 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
 dependencies = [
  "byteorder",
  "zerocopy-derive",
@@ -985,11 +1008,11 @@ dependencies = [
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

embedded-examples/stm32f3-disco-rtic/Cargo.toml

@@ -1,8 +1,8 @@
 [package]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 edition = "2021"
-default-run = "satrs-example-stm32f3-disco"
+default-run = "satrs-stm32f3-disco-rtic"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
@@ -46,7 +46,8 @@ branch = "complete-dma-update-hal"
 # path = "../stm32f3-discovery"
 
 [dependencies.satrs]
-path = "../satrs"
+# path = "satrs"
+version = "0.2"
 default-features = false
 features = ["defmt"]
 

embedded-examples/stm32f3-disco-rtic/README.md

@@ -1,10 +1,10 @@
 sat-rs example for the STM32F3-Discovery board
 =======
 
-This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
+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 [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
 [defmt](https://defmt.ferrous-systems.com/) framework for logging.
 
 The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also

embedded-examples/stm32f3-disco-rtic/pyclient/main.py

@@ -9,7 +9,7 @@ from prompt_toolkit.history import FileHistory, History
 from spacepackets.ecss.tm import CdsShortTimestamp
 
 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 
@@ -43,7 +43,7 @@ from tmtccmd.tmtc import (
     DefaultPusQueueHelper,
 )
 from tmtccmd.pus.s5_fsfw_event import Service5Tm
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
 _LOGGER = logging.getLogger()
@@ -53,7 +53,7 @@ EXAMPLE_PUS_APID = 0x02
 
 class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
@@ -111,9 +111,10 @@ class PusHandler(SpecificApidHandlerBase):
         self.verif_wrapper = verif_wrapper
 
     def handle_tm(self, packet: bytes, _user_args: Any):
-        time_reader = CdsShortTimestamp.empty()
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
@@ -122,7 +123,7 @@ class PusHandler(SpecificApidHandlerBase):
         tm_packet = None
         if service == 1:
             tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(time_reader, 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -139,16 +140,16 @@ class PusHandler(SpecificApidHandlerBase):
         if service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
                 _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
         if service == 5:
-            tm_packet = Service5Tm.unpack(packet, time_reader)
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
         if service == 17:
-            tm_packet = Service17Tm.unpack(packet, time_reader)
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
             if tm_packet.subservice == 2:
                 _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
@@ -159,7 +160,7 @@ class PusHandler(SpecificApidHandlerBase):
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(packet, time_reader)
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
         self.raw_logger.log_tm(pus_tm)
 
 
@@ -203,15 +204,15 @@ class TcHandler(TcHandlerBase):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_def_procedure()
+            def_proc = info.to_tree_commanding_procedure()
             _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_def_procedure()
+            def_proc = info.to_tree_commanding_procedure()
             cmd_path = def_proc.cmd_path
             if cmd_path == "/ping":
                 q.add_log_cmd("Sending PUS ping telecommand")

embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 8.0.0rc.0
+tmtccmd == 8.0.1
 # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs

@@ -1,6 +1,6 @@
 #![no_std]
 #![no_main]
-use satrs_example_stm32f3_disco as _;
+use satrs_stm32f3_disco_rtic as _;
 
 use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::stm32f3xx_hal::delay::Delay;

embedded-examples/stm32f3-disco-rtic/src/main.rs

@@ -9,7 +9,7 @@ use satrs::spacepackets::ecss::EcssEnumU16;
 use satrs::spacepackets::CcsdsPacket;
 use satrs::spacepackets::{ByteConversionError, SpHeader};
 // global logger + panicking-behavior + memory layout
-use satrs_example_stm32f3_disco as _;
+use satrs_stm32f3_disco_rtic as _;
 
 use rtic::app;
 

embedded-examples/stm32f3-disco-rtic/vscode/launch.json

@@ -12,11 +12,11 @@
       "chip": "STM32F303VCTx",
       "coreConfigs": [
         {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
           "rttEnabled": true,
           "svdFile": "STM32F303.svd"
         }
       ]
     }
   ]
-}
+}

embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml

@@ -0,0 +1,29 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip STM32H743ZITx"
+# 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"

embedded-examples/stm32h7-nucleo-rtic/.gitignore

@@ -0,0 +1,4 @@
+/target
+/.cargo/config*
+/.vscode
+/app.map

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embedded-examples/stm32h7-nucleo-rtic/Cargo.toml

@@ -0,0 +1,85 @@
+[package]
+authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
+name = "satrs-stm32h7-nucleo-rtic"
+edition = "2021"
+version = "0.1.0"
+default-run = "satrs-stm32h7-nucleo-rtic"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+cortex-m-semihosting = "0.5.0"
+stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.5"
+rtic-sync = { version = "1", features = ["defmt-03"] }
+
+[dependencies.smoltcp]
+version = "0.11.0"
+default-features = false
+features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
+
+[dependencies.satrs]
+path = "../../satrs"
+version = "0.2"
+default-features = false
+features = ["defmt", "heapless"]
+
+[dev-dependencies]
+defmt-test = "0.3"
+
+# 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  # <-

embedded-examples/stm32h7-nucleo-rtic/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
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+   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,
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+   "Work" shall mean the work of authorship, whether in Source or
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embedded-examples/stm32h7-nucleo-rtic/README.md

@@ -0,0 +1,118 @@
+sat-rs example for the STM32F3-Discovery 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 [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
+
+The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
+available for STM with which also has a little bit more RAM available and also allows commanding
+via TCP/IP.
+
+## 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 for this project, but needs to be copied to have
+the correct name. This is so that the config file can be updated or edited for custom needs
+without being tracked by git.
+
+```sh
+cp def_config.toml config.toml
+```
+
+The configuration file will also set 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 STM32H743ZITx
+```
+
+## Debugging with VS Code
+
+The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
+the board is a Mini-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.
+
+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 with Python
+
+When the SW is running on the Discovery board, you can command the MCU via a serial interface,
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+You can configure the blinky frequency using
+
+```sh
+./main.py -p /change_blink_freq
+```
+
+All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
+format as the packet framing format.
+
+## 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)

embedded-examples/stm32h7-nucleo-rtic/memory.x

@@ -0,0 +1,119 @@
+/* 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
+
+};

embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore

@@ -0,0 +1,8 @@
+/venv
+/.tmtc-history.txt
+/log
+/.idea/*
+!/.idea/runConfigurations
+
+/seqcnt.txt
+/tmtc_conf.json

embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json

@@ -0,0 +1,4 @@
+{
+    "com_if": "udp",
+    "tcpip_udp_port": 7301
+}

embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py

@@ -0,0 +1,305 @@
+#!/usr/bin/env python3
+"""Example client for the sat-rs example application"""
+import struct
+import logging
+import sys
+import time
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
+
+import tmtccmd
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
+from spacepackets.ecss.pus_17_test import Service17Tm
+from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
+
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.com import ComInterface
+from tmtccmd.config import (
+    CmdTreeNode,
+    default_json_path,
+    SetupParams,
+    HookBase,
+    params_to_procedure_conversion,
+)
+from tmtccmd.config.com import SerialCfgWrapper
+from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
+from tmtccmd.logging.pus import (
+    RegularTmtcLogWrapper,
+    RawTmtcTimedLogWrapper,
+    TimedLogWhen,
+)
+from tmtccmd.tmtc import (
+    TcQueueEntryType,
+    ProcedureWrapper,
+    TcProcedureType,
+    FeedWrapper,
+    SendCbParams,
+    DefaultPusQueueHelper,
+)
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
+from tmtccmd.util.obj_id import ObjectIdDictT
+
+_LOGGER = logging.getLogger()
+
+EXAMPLE_PUS_APID = 0x02
+
+
+class SatRsConfigHook(HookBase):
+    def __init__(self, json_cfg_path: str):
+        super().__init__(json_cfg_path)
+
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
+            create_com_interface_default,
+            create_com_interface_cfg_default,
+        )
+
+        assert self.cfg_path is not None
+        cfg = create_com_interface_cfg_default(
+            com_if_key=com_if_key,
+            json_cfg_path=self.cfg_path,
+            space_packet_ids=None,
+        )
+        if cfg is None:
+            raise ValueError(
+                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
+            )
+        if cfg.com_if_key == "serial_cobs":
+            cfg = cast(SerialCfgWrapper, cfg)
+            cfg.serial_cfg.serial_timeout = 0.5
+        return create_com_interface_default(cfg)
+
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
+
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
+
+    def get_object_ids(self) -> ObjectIdDictT:
+        from tmtccmd.config.objects import get_core_object_ids
+
+        return get_core_object_ids()
+
+
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
+class PusHandler(SpecificApidHandlerBase):
+    def __init__(
+        self,
+        file_logger: logging.Logger,
+        verif_wrapper: VerificationWrapper,
+        raw_logger: RawTmtcTimedLogWrapper,
+    ):
+        super().__init__(EXAMPLE_PUS_APID, None)
+        self.file_logger = file_logger
+        self.raw_logger = raw_logger
+        self.verif_wrapper = verif_wrapper
+
+    def handle_tm(self, packet: bytes, _user_args: Any):
+        try:
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+        except ValueError as e:
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            raise e
+        service = pus_tm.service
+        tm_packet = None
+        if service == 1:
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
+            )
+            res = self.verif_wrapper.add_tm(tm_packet)
+            if res is None:
+                _LOGGER.info(
+                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
+                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
+                )
+                _LOGGER.warning(
+                    f"No matching telecommand found for {tm_packet.tc_req_id}"
+                )
+            else:
+                self.verif_wrapper.log_to_console(tm_packet, res)
+                self.verif_wrapper.log_to_file(tm_packet, res)
+        if service == 3:
+            _LOGGER.info("No handling for HK packets implemented")
+            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+            if pus_tm.subservice == 25:
+                if len(pus_tm.source_data) < 8:
+                    raise ValueError("No addressable ID in HK packet")
+                json_str = pus_tm.source_data[8:]
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
+        if service == 5:
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        if service == 17:
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+            if tm_packet.subservice == 2:
+                _LOGGER.info("Received Ping Reply TM[17,2]")
+            else:
+                _LOGGER.info(
+                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
+                )
+        if tm_packet is None:
+            _LOGGER.info(
+                f"The service {service} is not implemented in Telemetry Factory"
+            )
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        self.raw_logger.log_tm(pus_tm)
+
+
+def make_addressable_id(target_id: int, unique_id: int) -> bytes:
+    byte_string = bytearray(struct.pack("!I", target_id))
+    byte_string.extend(struct.pack("!I", unique_id))
+    return byte_string
+
+
+class TcHandler(TcHandlerBase):
+    def __init__(
+        self,
+        seq_count_provider: FileSeqCountProvider,
+        verif_wrapper: VerificationWrapper,
+    ):
+        super(TcHandler, self).__init__()
+        self.seq_count_provider = seq_count_provider
+        self.verif_wrapper = verif_wrapper
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=7,
+            seq_cnt_provider=seq_count_provider,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
+        )
+
+    def send_cb(self, send_params: SendCbParams):
+        entry_helper = send_params.entry
+        if entry_helper.is_tc:
+            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
+                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                pus_tc_wrapper.pus_tc.seq_count = (
+                    self.seq_count_provider.get_and_increment()
+                )
+                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
+                raw_tc = pus_tc_wrapper.pus_tc.pack()
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                send_params.com_if.send(raw_tc)
+        elif entry_helper.entry_type == TcQueueEntryType.LOG:
+            log_entry = entry_helper.to_log_entry()
+            _LOGGER.info(log_entry.log_str)
+
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
+
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
+        q = self.queue_helper
+        q.queue_wrapper = wrapper.queue_wrapper
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
+                q.add_log_cmd("Sending PUS ping telecommand")
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
+
+
+def main():
+    add_colorlog_console_logger(_LOGGER)
+    tmtccmd.init_printout(False)
+    hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
+    parser_wrapper = PreArgsParsingWrapper()
+    parser_wrapper.create_default_parent_parser()
+    parser_wrapper.create_default_parser()
+    parser_wrapper.add_def_proc_args()
+    params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
+    proc_wrapper = ProcedureParamsWrapper()
+    if post_args_wrapper.use_gui:
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
+    else:
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    params.apid = EXAMPLE_PUS_APID
+    setup_args = SetupWrapper(
+        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
+    )
+    # Create console logger helper and file loggers
+    tmtc_logger = RegularTmtcLogWrapper()
+    file_logger = tmtc_logger.logger
+    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
+    verificator = PusVerificator()
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
+    # Create primary TM handler and add it to the CCSDS Packet Handler
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
+    ccsds_handler = CcsdsTmHandler(generic_handler=None)
+    ccsds_handler.add_apid_handler(tm_handler)
+
+    # Create TC handler
+    seq_count_provider = PusFileSeqCountProvider()
+    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
+    tmtccmd.setup(setup_args=setup_args)
+    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
+    tmtc_backend = tmtccmd.create_default_tmtc_backend(
+        setup_wrapper=setup_args,
+        tm_handler=ccsds_handler,
+        tc_handler=tc_handler,
+        init_procedure=init_proc,
+    )
+    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
+    try:
+        while True:
+            state = tmtc_backend.periodic_op(None)
+            if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                sys.exit(0)
+            elif state.request == BackendRequest.DELAY_IDLE:
+                _LOGGER.info("TMTC Client in IDLE mode")
+                time.sleep(3.0)
+            elif state.request == BackendRequest.DELAY_LISTENER:
+                time.sleep(0.8)
+            elif state.request == BackendRequest.DELAY_CUSTOM:
+                if state.next_delay.total_seconds() <= 0.4:
+                    time.sleep(state.next_delay.total_seconds())
+                else:
+                    time.sleep(0.4)
+            elif state.request == BackendRequest.CALL_NEXT:
+                pass
+    except KeyboardInterrupt:
+        sys.exit(0)
+
+
+if __name__ == "__main__":
+    main()

embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt

@@ -0,0 +1,2 @@
+tmtccmd == 8.0.1
+# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs

@@ -0,0 +1,55 @@
+//! Blinks an LED
+//!
+//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
+//! to pb14. This assumption is true for the nucleo-h743zi board.
+
+#![no_std]
+#![no_main]
+use satrs_stm32h7_nucleo_rtic as _;
+
+use stm32h7xx_hal::{block, prelude::*, timer::Timer};
+
+use cortex_m_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    defmt::println!("starting stm32h7 blinky example");
+
+    // Get access to the device specific peripherals from the peripheral access crate
+    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
+
+    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
+    let rcc = dp.RCC.constrain();
+
+    let pwr = dp.PWR.constrain();
+    let pwrcfg = pwr.freeze();
+
+    // Freeze the configuration of all the clocks in the system and
+    // retrieve the Core Clock Distribution and Reset (CCDR) object
+    let rcc = rcc.use_hse(8.MHz()).bypass_hse();
+    let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
+
+    // Acquire the GPIOB peripheral
+    let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
+
+    // Configure gpio B pin 0 as a push-pull output.
+    let mut ld1 = gpiob.pb0.into_push_pull_output();
+
+    // Configure gpio B pin 7 as a push-pull output.
+    let mut ld2 = gpiob.pb7.into_push_pull_output();
+
+    // Configure gpio B pin 14 as a push-pull output.
+    let mut ld3 = gpiob.pb14.into_push_pull_output();
+
+    // Configure the timer to trigger an update every second
+    let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
+    timer.start(1.Hz());
+
+    // Wait for the timer to trigger an update and change the state of the LED
+    loop {
+        ld1.toggle();
+        ld2.toggle();
+        ld3.toggle();
+        block!(timer.wait()).unwrap();
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs

@@ -0,0 +1,11 @@
+#![no_main]
+#![no_std]
+
+use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    defmt::println!("Hello, world!");
+
+    satrs_stm32h7_nucleo_rtic::exit()
+}

embedded-examples/stm32h7-nucleo-rtic/src/lib.rs

@@ -0,0 +1,52 @@
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::debug;
+
+use defmt_brtt as _; // global logger
+
+// TODO(5) adjust HAL import
+use stm32h7xx_hal as _; // memory layout
+
+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()
+}
+
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
+
+/// 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) -> ! {
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
+    }
+}
+
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/src/main.rs

@@ -0,0 +1,528 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+use rtic_monotonics::systick::Systick;
+use rtic_monotonics::Monotonic;
+use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
+use satrs::static_subpool;
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;
+use smoltcp::socket::udp::UdpMetadata;
+use smoltcp::socket::{dhcpv4, udp};
+
+use core::mem::MaybeUninit;
+use embedded_alloc::Heap;
+use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
+use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
+use stm32h7xx_hal::ethernet;
+
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const PORT: u16 = 7301;
+
+const HEAP_SIZE: usize = 131_072;
+
+const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
+pub type SharedPool = StaticHeaplessMemoryPool<3>;
+pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+// We place the memory pool buffers inside the larger AXISRAM.
+pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
+pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
+pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
+pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
+pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
+pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
+
+// This data will be held by Net through a mutable reference
+pub struct NetStorageStatic<'a> {
+    socket_storage: [SocketStorage<'a>; 8],
+}
+// MaybeUninit allows us write code that is correct even if STORE is not
+// initialised by the runtime
+static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
+
+static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_RX: [u8; 2048] = [0; 2048];
+static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_TX: [u8; 2048] = [0; 2048];
+
+/// Locally administered MAC address
+const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+pub struct Net {
+    iface: Interface,
+    ethdev: ethernet::EthernetDMA<4, 4>,
+    dhcp_handle: SocketHandle,
+}
+
+impl Net {
+    pub fn new(
+        sockets: &mut SocketSet<'static>,
+        mut ethdev: ethernet::EthernetDMA<4, 4>,
+        ethernet_addr: HardwareAddress,
+    ) -> Self {
+        let config = Config::new(ethernet_addr);
+        let mut iface = Interface::new(
+            config,
+            &mut ethdev,
+            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
+        );
+        // Create sockets
+        let dhcp_socket = dhcpv4::Socket::new();
+        iface.update_ip_addrs(|addrs| {
+            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
+        });
+
+        let dhcp_handle = sockets.add(dhcp_socket);
+        Net {
+            iface,
+            ethdev,
+            dhcp_handle,
+        }
+    }
+
+    /// Polls on the ethernet interface. You should refer to the smoltcp
+    /// documentation for poll() to understand how to call poll efficiently
+    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
+        let uptime = Systick::now() - Systick::ZERO;
+        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
+
+        self.iface.poll(timestamp, &mut self.ethdev, sockets)
+    }
+
+    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
+        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
+        if let Some(event) = &opt_event {
+            match event {
+                dhcpv4::Event::Deconfigured => {
+                    defmt::info!("DHCP lost configuration");
+                    self.iface.update_ip_addrs(|addrs| addrs.clear());
+                    self.iface.routes_mut().remove_default_ipv4_route();
+                }
+                dhcpv4::Event::Configured(config) => {
+                    defmt::info!("DHCP configuration acquired");
+                    defmt::info!("IP address: {}", config.address);
+                    self.iface.update_ip_addrs(|addrs| {
+                        addrs.clear();
+                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
+                    });
+
+                    if let Some(router) = config.router {
+                        defmt::debug!("Default gateway: {}", router);
+                        self.iface
+                            .routes_mut()
+                            .add_default_ipv4_route(router)
+                            .unwrap();
+                    } else {
+                        defmt::debug!("Default gateway: None");
+                        self.iface.routes_mut().remove_default_ipv4_route();
+                    }
+                }
+            }
+        }
+        opt_event
+    }
+}
+
+pub struct UdpNet {
+    udp_handle: SocketHandle,
+    last_client: Option<UdpMetadata>,
+    tc_source_tx: TcSourceTx,
+}
+
+impl UdpNet {
+    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
+        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
+        let udp_rx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
+                &mut UDP_RX[..]
+            });
+        let udp_tx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
+                &mut UDP_TX[..]
+            });
+        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
+
+        let udp_handle = sockets.add(udp_socket);
+        Self {
+            udp_handle,
+            last_client: None,
+            tc_source_tx,
+        }
+    }
+
+    pub fn poll<'sockets>(
+        &mut self,
+        sockets: &'sockets mut SocketSet,
+        shared_pool: &mut SharedPool,
+    ) {
+        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
+        if !socket.is_open() {
+            if let Err(e) = socket.bind(PORT) {
+                defmt::warn!("binding UDP socket failed: {}", e);
+            }
+        }
+        loop {
+            match socket.recv() {
+                Ok((data, client)) => {
+                    match shared_pool.add(data) {
+                        Ok(store_addr) => {
+                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
+                                defmt::warn!("TC source channel is full: {}", e);
+                            }
+                        }
+                        Err(e) => {
+                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
+                        }
+                    }
+                    self.last_client = Some(client);
+                    // TODO: Implement packet wiretapping.
+                }
+                Err(e) => match e {
+                    udp::RecvError::Exhausted => {
+                        break;
+                    }
+                    udp::RecvError::Truncated => {
+                        defmt::warn!("UDP packet was truncacted");
+                    }
+                },
+            };
+        }
+    }
+}
+
+#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
+mod app {
+    use core::ptr::addr_of_mut;
+
+    use super::*;
+    use rtic_monotonics::systick::fugit::MillisDurationU32;
+    use rtic_monotonics::systick::Systick;
+    use satrs::spacepackets::ecss::tc::PusTcReader;
+    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
+    use stm32h7xx_hal::gpio::{Output, Pin};
+    use stm32h7xx_hal::prelude::*;
+    use stm32h7xx_hal::stm32::Interrupt;
+
+    struct BlinkyLeds {
+        led1: Pin<'B', 7, Output>,
+        led2: Pin<'B', 14, Output>,
+    }
+
+    #[local]
+    struct Local {
+        leds: BlinkyLeds,
+        link_led: Pin<'B', 0, Output>,
+        net: Net,
+        udp: UdpNet,
+        tc_source_rx: TcSourceRx,
+        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+    }
+
+    #[shared]
+    struct Shared {
+        blink_freq: MillisDurationU32,
+        eth_link_up: bool,
+        sockets: SocketSet<'static>,
+        shared_pool: SharedPool,
+    }
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
+
+        let pwr = cx.device.PWR.constrain();
+        let pwrcfg = pwr.freeze();
+
+        let rcc = cx.device.RCC.constrain();
+        // Try to keep the clock configuration similar to one used in STM examples:
+        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
+        let ccdr = rcc
+            .sys_ck(400.MHz())
+            .hclk(200.MHz())
+            .use_hse(8.MHz())
+            .bypass_hse()
+            .pclk1(100.MHz())
+            .pclk2(100.MHz())
+            .pclk3(100.MHz())
+            .pclk4(100.MHz())
+            .freeze(pwrcfg, &cx.device.SYSCFG);
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(
+            cx.core.SYST,
+            ccdr.clocks.sys_ck().to_Hz(),
+            systick_mono_token,
+        );
+
+        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
+        // good for.
+        cx.core.SCB.enable_icache();
+        cx.core.DWT.enable_cycle_counter();
+
+        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
+        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
+        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
+        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
+
+        let link_led = gpiob.pb0.into_push_pull_output();
+        let mut led1 = gpiob.pb7.into_push_pull_output();
+        let mut led2 = gpiob.pb14.into_push_pull_output();
+
+        // Criss-cross pattern looks cooler.
+        led1.set_high();
+        led2.set_low();
+        let leds = BlinkyLeds { led1, led2 };
+
+        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
+        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
+        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
+        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
+        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
+        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
+        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
+        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
+        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
+
+        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
+
+        /// Ethernet descriptor rings are a global singleton
+        #[link_section = ".sram3.eth"]
+        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+
+        let (eth_dma, eth_mac) = ethernet::new(
+            cx.device.ETHERNET_MAC,
+            cx.device.ETHERNET_MTL,
+            cx.device.ETHERNET_DMA,
+            (
+                rmii_ref_clk,
+                rmii_mdio,
+                rmii_mdc,
+                rmii_crs_dv,
+                rmii_rxd0,
+                rmii_rxd1,
+                rmii_tx_en,
+                rmii_txd0,
+                rmii_txd1,
+            ),
+            // SAFETY: We do not move the returned DMA struct across thread boundaries, so this
+            // should be safe according to the docs.
+            unsafe { DES_RING.assume_init_mut() },
+            mac_addr,
+            ccdr.peripheral.ETH1MAC,
+            &ccdr.clocks,
+        );
+        // Initialise ethernet PHY...
+        let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
+        lan8742a.phy_reset();
+        lan8742a.phy_init();
+
+        unsafe {
+            ethernet::enable_interrupt();
+            cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
+            cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
+        }
+
+        // unsafe: mutable reference to static storage, we only do this once
+        let store = unsafe {
+            let store_ptr = STORE.as_mut_ptr();
+
+            // Initialise the socket_storage field. Using `write` instead of
+            // assignment via `=` to not call `drop` on the old, uninitialised
+            // value
+            addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
+
+            // Now that all fields are initialised we can safely use
+            // assume_init_mut to return a mutable reference to STORE
+            STORE.assume_init_mut()
+        };
+
+        let (tc_source_tx, tc_source_rx) =
+            rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
+
+        let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
+        let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
+        let udp = UdpNet::new(&mut sockets, tc_source_tx);
+
+        let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
+        static_subpool!(
+            SUBPOOL_SMALL,
+            SUBPOOL_SMALL_SIZES,
+            SUBPOOL_SMALL_NUM_BLOCKS as usize,
+            SUBPOOL_SMALL_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_MEDIUM,
+            SUBPOOL_MEDIUM_SIZES,
+            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
+            SUBPOOL_MEDIUM_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_LARGE,
+            SUBPOOL_LARGE_SIZES,
+            SUBPOOL_LARGE_NUM_BLOCKS as usize,
+            SUBPOOL_LARGE_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_SMALL.assume_init_mut() },
+                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+                SUBPOOL_SMALL_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
+                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_LARGE.assume_init_mut() },
+                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+                SUBPOOL_LARGE_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+
+        // Set up global allocator. Use AXISRAM for the heap.
+        #[link_section = ".axisram"]
+        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
+
+        eth_link_check::spawn().expect("eth link check failed");
+        blinky::spawn().expect("spawning blink task failed");
+        udp_task::spawn().expect("spawning UDP task failed");
+        tc_source_task::spawn().expect("spawning TC source task failed");
+
+        (
+            Shared {
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                eth_link_up: false,
+                sockets,
+                shared_pool,
+            },
+            Local {
+                link_led,
+                leds,
+                net,
+                udp,
+                tc_source_rx,
+                phy: lan8742a,
+            },
+        )
+    }
+
+    #[task(local = [leds], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        let leds = cx.local.leds;
+        loop {
+            leds.led1.toggle();
+            leds.led2.toggle();
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Systick::delay(current_blink_freq).await;
+        }
+    }
+
+    /// This task checks for the network link.
+    #[task(local=[link_led, phy], shared=[eth_link_up])]
+    async fn eth_link_check(mut cx: eth_link_check::Context) {
+        let phy = cx.local.phy;
+        let link_led = cx.local.link_led;
+        loop {
+            let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
+            if phy.poll_link() {
+                if !link_was_up {
+                    link_led.set_high();
+                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
+                    defmt::info!("Ethernet link up");
+                }
+            } else if link_was_up {
+                link_led.set_low();
+                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
+                defmt::info!("Ethernet link down");
+            }
+            Systick::delay(100.millis()).await;
+        }
+    }
+
+    #[task(binds=ETH, local=[net], shared=[sockets])]
+    fn eth_isr(mut cx: eth_isr::Context) {
+        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
+        unsafe {
+            ethernet::interrupt_handler();
+        }
+        // Check and process ETH frames and DHCP. UDP is checked in a different task.
+        cx.shared.sockets.lock(|sockets| {
+            cx.local.net.poll(sockets);
+            cx.local.net.poll_dhcp(sockets);
+        });
+    }
+
+    /// This task routes UDP packets.
+    #[task(local=[udp], shared=[sockets, shared_pool])]
+    async fn udp_task(mut cx: udp_task::Context) {
+        loop {
+            cx.shared.sockets.lock(|sockets| {
+                cx.shared.shared_pool.lock(|pool| {
+                    cx.local.udp.poll(sockets, pool);
+                })
+            });
+            Systick::delay(40.millis()).await;
+        }
+    }
+
+    /// This task handles all the incoming telecommands.
+    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
+    async fn tc_source_task(mut cx: tc_source_task::Context) {
+        loop {
+            let recv_result = cx.local.tc_source_rx.recv().await;
+            match recv_result {
+                Ok(pool_addr) => {
+                    cx.shared.shared_pool.lock(|pool| {
+                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
+                            Ok(packet_len) => {
+                                defmt::info!("received {} bytes in the TC source task", packet_len);
+                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
+                                    Ok((packet, _tc_len)) => {
+                                        // TODO: Handle packet here or dispatch to dedicated PUS
+                                        // handler? Dispatching could simplify some things and make
+                                        // the software more scalable..
+                                        defmt::info!("received PUS packet: {}", packet);
+                                    }
+                                    Err(e) => {
+                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
+                                    }
+                                }
+                                if let Err(e) = pool.delete(pool_addr) {
+                                    defmt::warn!("deleting TC data failed: {}", e);
+                                }
+                            }
+                            Err(e) => {
+                                defmt::warn!("TC packet read failed: {}", e);
+                            }
+                        }
+                    });
+                }
+                Err(e) => {
+                    defmt::warn!("TC source reception error: {}", e);
+                }
+            };
+        }
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs

@@ -0,0 +1,16 @@
+#![no_std]
+#![no_main]
+
+use stm32h7_testapp 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)
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore

@@ -0,0 +1,2 @@
+/settings.json
+/.cortex-debug.*

embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json

@@ -0,0 +1,12 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"rust-lang.rust",
+		"probe-rs.probe-rs-debugger"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": []
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32H743ZITx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
+          "rttEnabled": true,
+          "svdFile": "STM32H743.svd"
+        }
+      ]
+    }
+  ]
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/tasks.json

@@ -0,0 +1,20 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558 
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "cargo build",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        },
+
+    ]
+}

satrs/src/pus/scheduler.rs

@@ -396,6 +396,9 @@ pub mod alloc_mod {
     #[derive(Debug)]
     pub struct PusScheduler {
         // TODO: Use MonotonicTime from tai-time crate instead of UnixTime and cache leap seconds.
+        // TODO: Introduce optional limit of commands stored in the TC map. If a limit is set,
+        // there will be a check for each insertion whether the map is full, making the memory
+        // usage of the scheduler more deterministic.
         tc_map: BTreeMap<UnixTime, Vec<TcInfo>>,
         pub(crate) current_time: UnixTime,
         time_margin: Duration,