diff --git a/embedded-examples/embedded-client/src/main.rs b/embedded-examples/embedded-client/src/main.rs
index d72bfeb..c05ae34 100644
--- a/embedded-examples/embedded-client/src/main.rs
+++ b/embedded-examples/embedded-client/src/main.rs
@@ -7,7 +7,7 @@ use std::{
 
 use clap::Parser;
 use cobs::CobsDecoderOwned;
-use embedded_models::Request;
+use embedded_models::stm32f3;
 use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
 use tmtc_utils::transport::serial::PacketTransportSerialCobs;
 
@@ -69,8 +69,7 @@ fn main() {
     let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
 
     if cli.ping {
-        let request = Request::Ping;
-        let tc = create_stm32f3_tc(&request);
+        let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
         log::info!(
             "Sending ping request with TC ID: {:#010x}",
             tc.ccsds_packet_id_and_psc().raw()
@@ -79,7 +78,7 @@ fn main() {
     }
 
     if let Some(freq_ms) = cli.set_led_frequency {
-        let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        let request = stm32f3::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
         let tc = create_stm32f3_tc(&request);
         log::info!(
             "Sending change blink frequency request {:?} with TC ID: {:#010x}",
@@ -100,7 +99,7 @@ fn main() {
     }
 }
 
-fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
+fn create_stm32f3_tc(request: &stm32f3::Request) -> CcsdsPacketCreatorOwned {
     let req_raw = postcard::to_allocvec(&request).unwrap();
     let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
     CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
diff --git a/embedded-examples/models/Cargo.toml b/embedded-examples/models/Cargo.toml
index b291e30..2ec7843 100644
--- a/embedded-examples/models/Cargo.toml
+++ b/embedded-examples/models/Cargo.toml
@@ -8,3 +8,4 @@ serde = { version = "1", default-features = false }
 defmt = { version = "1", optional = true }
 spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
 postcard = { version = "1", features = ["defmt"] }
+arbitrary-int = "2"
diff --git a/embedded-examples/models/src/lib.rs b/embedded-examples/models/src/lib.rs
index 0703ce8..e3d74b6 100644
--- a/embedded-examples/models/src/lib.rs
+++ b/embedded-examples/models/src/lib.rs
@@ -1,33 +1,60 @@
 #![no_std]
 
-use core::time::Duration;
-
 use spacepackets::{
     CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
     SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
 };
 
-#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(Duration),
+pub mod stm32f3 {
+    use arbitrary_int::u11;
+    use core::time::Duration;
+
+    pub const PUS_APID: u11 = u11::new(0x02);
+
+    #[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Request {
+        Ping,
+        ChangeBlinkFrequency(Duration),
+    }
+
+    #[derive(Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Response {
+        Ok,
+    }
 }
 
-#[derive(Debug, serde::Serialize, serde::Deserialize)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum Response {
-    CommandDone,
+/// This might look like a duplication, but we intentionally keep those separate so they can
+/// change independently.
+pub mod stm32h7 {
+    use arbitrary_int::u11;
+    use core::time::Duration;
+
+    pub const PUS_APID: u11 = u11::new(0x03);
+
+    #[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Request {
+        Ping,
+        ChangeBlinkFrequency(Duration),
+    }
+
+    #[derive(Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Response {
+        Ok,
+    }
 }
 
 #[derive(Debug, serde::Serialize, serde::Deserialize)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TmHeader {
     pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
-    pub uptime_millis: u32,
+    pub uptime_millis: u64,
 }
 
-pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
+pub fn tm_size<Response: serde::Serialize>(tm_header: &TmHeader, response: &Response) -> usize {
     ccsds_packet_len_for_user_data_len_with_checksum(
         postcard::experimental::serialized_size(tm_header).unwrap()
             + postcard::experimental::serialized_size(response).unwrap(),
@@ -35,7 +62,7 @@ pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
     .unwrap()
 }
 
-pub fn create_tm_packet(
+pub fn create_tm_packet<Response: serde::Serialize>(
     buf: &mut [u8],
     sp_header: SpacePacketHeader,
     tm_header: TmHeader,
@@ -52,5 +79,6 @@ pub fn create_tm_packet(
     postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
     Ok(creator.finish())
 }
+
 #[cfg(test)]
 mod tests {}
diff --git a/embedded-examples/stm32f3-disco-rtic/Cargo.lock b/embedded-examples/stm32f3-disco-rtic/Cargo.lock
index 5bce602..0a27024 100644
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.lock
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.lock
@@ -596,6 +596,7 @@ dependencies = [
 name = "embedded-models"
 version = "0.1.0"
 dependencies = [
+ "arbitrary-int 2.0.0",
  "defmt 1.0.1",
  "postcard",
  "serde",
diff --git a/embedded-examples/stm32f3-disco-rtic/src/main.rs b/embedded-examples/stm32f3-disco-rtic/src/main.rs
index 186b72c..6022a0b 100644
--- a/embedded-examples/stm32f3-disco-rtic/src/main.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/main.rs
@@ -1,8 +1,8 @@
 #![no_std]
 #![no_main]
-use arbitrary_int::{u11, u14};
+use arbitrary_int::u14;
 use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
-use embedded_models::{create_tm_packet, tm_size, Response, TmHeader};
+use embedded_models::{create_tm_packet, stm32f3, tm_size, TmHeader};
 use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
 
 use defmt_rtt as _; // global logger
@@ -23,8 +23,6 @@ const TX_HANDLER_FREQ_MS: u32 = 20;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
 
-pub const PUS_APID: u11 = u11::new(0x02);
-
 // This is the predictable maximum overhead of the COBS encoding scheme.
 // It is simply the maximum packet lenght dividied by 254 rounded up.
 const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
@@ -47,7 +45,7 @@ pub enum TmSendError {
 
 #[derive(Debug, defmt::Format)]
 pub struct RequestWithTcId {
-    pub request: embedded_models::Request,
+    pub request: stm32f3::Request,
     pub tc_id: CcsdsPacketIdAndPsc,
 }
 
@@ -57,7 +55,7 @@ mod app {
 
     use super::*;
     use arbitrary_int::u14;
-    use embedded_models::{Request, Response};
+    use embedded_models::stm32f3::{Request, Response};
     use rtic::Mutex;
     use rtic_sync::{
         channel::{Receiver, Sender},
@@ -264,7 +262,7 @@ mod app {
         tc_packet_id: CcsdsPacketIdAndPsc,
     ) -> Result<(), TmSendError> {
         defmt::info!("Received PUS ping telecommand, sending ping reply");
-        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
         *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
         Ok(())
     }
@@ -281,7 +279,7 @@ mod app {
         cx.shared
             .blink_freq
             .lock(|blink_freq| *blink_freq = duration);
-        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
         *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
         Ok(())
     }
@@ -289,13 +287,13 @@ mod app {
 
 fn send_tm(
     tc_packet_id: CcsdsPacketIdAndPsc,
-    response: Response,
+    response: stm32f3::Response,
     current_seq_count: u14,
 ) -> Result<(), TmSendError> {
-    let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
+    let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
     let tm_header = TmHeader {
         tc_packet_id: Some(tc_packet_id),
-        uptime_millis: Mono::now().duration_since_epoch().to_millis(),
+        uptime_millis: Mono::now().duration_since_epoch().to_millis() as u64,
     };
     let mut tm_packet = TmPacket::new();
     let tm_size = tm_size(&tm_header, &response);
diff --git a/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock b/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
index be43123..65f18f6 100644
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
@@ -20,6 +20,22 @@ dependencies = [
  "as-slice",
 ]
 
+[[package]]
+name = "arbitrary-int"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "825297538d77367557b912770ca3083f778a196054b3ee63b22673c4a3cae0a5"
+
+[[package]]
+name = "arbitrary-int"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "993a810118f8f37e9c4411c86f1c4c940a09a7ab34b7bf2d88d06f50c553fab7"
+dependencies = [
+ "defmt 1.1.0",
+ "serde",
+]
+
 [[package]]
 name = "as-slice"
 version = "0.2.1"
@@ -29,6 +45,15 @@ dependencies = [
  "stable_deref_trait",
 ]
 
+[[package]]
+name = "atomic-polyfill"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "autocfg"
 version = "1.5.0"
@@ -41,7 +66,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version",
+ "rustc_version 0.2.3",
 ]
 
 [[package]]
@@ -62,6 +87,18 @@ version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1e4b40c7323adcfc0a41c4b88143ed58346ff65a288fc144329c5c45e05d70c6"
 
+[[package]]
+name = "bitbybit"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec187a89ab07e209270175faf9e07ceb2755d984954e58a2296e325ddece2762"
+dependencies = [
+ "arbitrary-int 1.3.0",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+]
+
 [[package]]
 name = "bitfield"
 version = "0.13.2"
@@ -101,6 +138,25 @@ version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
+[[package]]
+name = "chrono"
+version = "0.4.44"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c673075a2e0e5f4a1dde27ce9dee1ea4558c7ffe648f576438a20ca1d2acc4b0"
+dependencies = [
+ "num-traits",
+ "serde",
+]
+
+[[package]]
+name = "cobs"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
+dependencies = [
+ "thiserror",
+]
+
 [[package]]
 name = "const-default"
 version = "1.0.0"
@@ -140,6 +196,21 @@ dependencies = [
  "syn 2.0.117",
 ]
 
+[[package]]
+name = "crc"
+version = "3.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5eb8a2a1cd12ab0d987a5d5e825195d372001a4094a0376319d5a0ad71c1ba0d"
+dependencies = [
+ "crc-catalog",
+]
+
+[[package]]
+name = "crc-catalog"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "217698eaf96b4a3f0bc4f3662aaa55bdf913cd54d7204591faa790070c6d0853"
+
 [[package]]
 name = "critical-section"
 version = "1.2.0"
@@ -219,6 +290,17 @@ dependencies = [
  "syn 2.0.117",
 ]
 
+[[package]]
+name = "delegate"
+version = "0.13.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "780eb241654bf097afb00fc5f054a09b687dad862e485fdcf8399bb056565370"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+]
+
 [[package]]
 name = "document-features"
 version = "0.2.12"
@@ -288,7 +370,7 @@ dependencies = [
  "embassy-time",
  "embedded-io-async",
  "embedded-nal-async",
- "heapless",
+ "heapless 0.9.3",
  "managed",
  "smoltcp",
 ]
@@ -337,7 +419,7 @@ dependencies = [
  "embedded-storage",
  "embedded-storage-async",
  "futures-util",
- "heapless",
+ "heapless 0.9.3",
  "nb 1.1.0",
  "proc-macro2",
  "quote",
@@ -366,7 +448,7 @@ dependencies = [
  "embedded-io-async",
  "futures-core",
  "futures-sink",
- "heapless",
+ "heapless 0.9.3",
 ]
 
 [[package]]
@@ -400,7 +482,7 @@ version = "0.3.2"
 source = "git+https://github.com/embassy-rs/embassy.git?rev=dd8e4c14e53f088bae27c5d841ab7a4fa338a52c#dd8e4c14e53f088bae27c5d841ab7a4fa338a52c"
 dependencies = [
  "embassy-executor-timer-queue",
- "heapless",
+ "heapless 0.9.3",
 ]
 
 [[package]]
@@ -500,6 +582,17 @@ dependencies = [
  "embedded-io",
 ]
 
+[[package]]
+name = "embedded-models"
+version = "0.1.0"
+dependencies = [
+ "arbitrary-int 2.1.1",
+ "defmt 1.1.0",
+ "postcard",
+ "serde",
+ "spacepackets",
+]
+
 [[package]]
 name = "embedded-nal"
 version = "0.9.0"
@@ -584,6 +677,15 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hash32"
 version = "0.3.1"
@@ -599,6 +701,20 @@ version = "0.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a"
 
+[[package]]
+name = "heapless"
+version = "0.7.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
+ "rustc_version 0.4.1",
+ "serde",
+ "spin",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heapless"
 version = "0.9.3"
@@ -606,7 +722,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "25ba4bd83f9415b58b4ed8dc5714c76e626a105be4646c02630ad730ad3b5aa4"
 dependencies = [
  "defmt 1.1.0",
- "hash32",
+ "hash32 0.3.1",
  "stable_deref_trait",
 ]
 
@@ -644,6 +760,15 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "11d3d7f243d5c5a8b9bb5d6dd2b1602c0cb0b9db1621bafc7ed66e35ff9fe092"
 
+[[package]]
+name = "lock_api"
+version = "0.4.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+dependencies = [
+ "scopeguard",
+]
+
 [[package]]
 name = "managed"
 version = "0.8.0"
@@ -681,6 +806,27 @@ dependencies = [
  "libm",
 ]
 
+[[package]]
+name = "num_enum"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5d0bca838442ec211fa11de3a8b0e0e8f3a4522575b5c4c06ed722e005036f26"
+dependencies = [
+ "num_enum_derive",
+ "rustversion",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "680998035259dcfcafe653688bf2aa6d3e2dc05e98be6ab46afb089dc84f1df8"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+]
+
 [[package]]
 name = "panic-probe"
 version = "1.0.0"
@@ -691,6 +837,12 @@ dependencies = [
  "defmt 1.1.0",
 ]
 
+[[package]]
+name = "paste"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
+
 [[package]]
 name = "pin-project-lite"
 version = "0.2.17"
@@ -703,6 +855,18 @@ version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c33a9471896f1c69cecef8d20cbe2f7accd12527ce60845ff44c153bb2a21b49"
 
+[[package]]
+name = "postcard"
+version = "1.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
+dependencies = [
+ "cobs",
+ "defmt 1.1.0",
+ "heapless 0.7.17",
+ "serde",
+]
+
 [[package]]
 name = "proc-macro-error-attr2"
 version = "2.0.0"
@@ -842,7 +1006,16 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver",
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
+dependencies = [
+ "semver 1.0.28",
 ]
 
 [[package]]
@@ -855,6 +1028,7 @@ checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
 name = "satrs-stm32h7-nucleo-rtic"
 version = "0.1.0"
 dependencies = [
+ "arbitrary-int 2.1.1",
  "cortex-m",
  "cortex-m-rt",
  "defmt 1.1.0",
@@ -865,11 +1039,20 @@ dependencies = [
  "embassy-sync",
  "embassy-time",
  "embedded-alloc",
+ "embedded-models",
  "panic-probe",
+ "postcard",
  "rtic",
+ "spacepackets",
  "static_cell",
 ]
 
+[[package]]
+name = "scopeguard"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
+
 [[package]]
 name = "sdio-host"
 version = "0.9.0"
@@ -891,12 +1074,48 @@ dependencies = [
  "semver-parser",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a7852d02fc848982e0c167ef163aaff9cd91dc640ba85e263cb1ce46fae51cd"
+
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
+[[package]]
+name = "serde"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+dependencies = [
+ "serde_core",
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+]
+
 [[package]]
 name = "smoltcp"
 version = "0.13.1"
@@ -907,10 +1126,39 @@ dependencies = [
  "byteorder",
  "cfg-if",
  "defmt 0.3.100",
- "heapless",
+ "heapless 0.9.3",
  "managed",
 ]
 
+[[package]]
+name = "spacepackets"
+version = "0.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94979a990b4333f43667cba9fe9e72b9c4e9ada82e09fbe8fb250844358590cc"
+dependencies = [
+ "arbitrary-int 2.1.1",
+ "bitbybit",
+ "chrono",
+ "crc",
+ "defmt 1.1.0",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "paste",
+ "serde",
+ "thiserror",
+ "zerocopy",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.1"
@@ -1069,3 +1317,23 @@ checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
+
+[[package]]
+name = "zerocopy"
+version = "0.8.48"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eed437bf9d6692032087e337407a86f04cd8d6a16a37199ed57949d415bd68e9"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.48"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "70e3cd084b1788766f53af483dd21f93881ff30d7320490ec3ef7526d203bad4"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+]
diff --git a/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml b/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
index 7235c67..7e0788b 100644
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
@@ -14,41 +14,25 @@ name = "integration"
 harness = false
 
 [dependencies]
+embedded-models = { path = "../models", 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"
-# defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
 panic-probe = { version = "1", features = ["print-defmt"] }
-# cortex-m-semihosting = "0.5.0"
-# TODO: Replace with embassy-hal.
-# stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.7"
+static_cell = "2"
+rtic = { version = "2", features = ["thumbv7-backend"] }
+spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
+postcard = "1"
+
 embassy-stm32 =  { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
+
 embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
 embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
 embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
-embedded-alloc = "0.7"
-static_cell = "2"
-# rtic-sync = { version = "1", features = ["defmt-03"] }
-rtic = { version = "2", features = ["thumbv7-backend"] }
-
-# [dependencies.smoltcp]
-# version = "0.13"
-# 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 = "2"
-# features = ["cortex-m-systick"]
-
-# [dependencies.satrs]
-# path = "../../satrs"
-# default-features = false
-# features = ["defmt", "heapless"]
 
 [dev-dependencies]
 defmt-test = "0.5"
diff --git a/embedded-examples/stm32h7-nucleo-rtic/src/main.rs b/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
index fb99c22..3c2fa73 100644
--- a/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
@@ -28,6 +28,7 @@ const TM_QUEUE_DEPTH: usize = 32;
 mod app {
 
     use super::*;
+    use arbitrary_int::u14;
     use embassy_net::udp::UdpSocket;
     use embassy_net::StackResources;
     use embassy_stm32::eth;
@@ -38,6 +39,14 @@ mod app {
     use embassy_time::Duration;
     use embassy_time::Timer;
     use embassy_time::WithTimeout as _;
+    use embedded_models::create_tm_packet;
+    use embedded_models::stm32h7;
+    use embedded_models::tm_size;
+    use embedded_models::TmHeader;
+    use spacepackets::CcsdsPacketCreationError;
+    use spacepackets::CcsdsPacketIdAndPsc;
+    use spacepackets::CcsdsPacketReader;
+    use spacepackets::SpHeader;
     use static_cell::StaticCell;
 
     bind_interrupts!(struct Irqs {
@@ -90,6 +99,7 @@ mod app {
 
     #[shared]
     struct Shared {
+        sequence_count: u14,
         blink_freq: embassy_time::Duration,
     }
 
@@ -191,6 +201,7 @@ mod app {
         (
             Shared {
                 blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+                sequence_count: u14::new(0),
             },
             Local {
                 link_led,
@@ -290,7 +301,9 @@ mod app {
                 if let Some(endpoint) = remote_endpoint {
                     while let Ok(packet) = cx.local.tm_rx.try_receive() {
                         match udp.send_to(&packet, endpoint).await {
-                            Ok(_) => defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint),
+                            Ok(_) => {
+                                defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint)
+                            }
                             Err(e) => defmt::warn!("udp send error: {}", e),
                         }
                     }
@@ -299,11 +312,70 @@ mod app {
         }
     }
 
-    #[task(local = [tc_rx])]
-    async fn tc_handler(cx: tc_handler::Context) {
+    #[task(local = [tc_rx, tm_tx], shared=[sequence_count, blink_freq])]
+    async fn tc_handler(mut cx: tc_handler::Context) {
         loop {
             let tc = cx.local.tc_rx.receive().await;
+
+            match CcsdsPacketReader::new_with_checksum(&tc) {
+                Ok(packet) => {
+                    let packet_id = packet.packet_id();
+                    let psc = packet.psc();
+                    let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
+                    if let Ok(request) =
+                        postcard::from_bytes::<stm32h7::Request>(packet.packet_data())
+                    {
+                        let response = match request {
+                            stm32h7::Request::Ping => {
+                                stm32h7::Response::Ok
+                            }
+                            stm32h7::Request::ChangeBlinkFrequency(duration) => {
+                                cx.shared.blink_freq.lock(|current| {
+                                    *current = Duration::from_millis(duration.as_millis() as u64)
+                                });
+                                stm32h7::Response::Ok
+                            }
+                        };
+                        let sequence_count = cx.shared.sequence_count.lock(|v| {
+                            let current = *v;
+                            *v = v.wrapping_add(u14::new(1));
+                            current
+                        });
+
+                        // Send Pong/OK response immediately.
+                        if let Err(e) =
+                            send_tm(tc_packet_id, response, sequence_count, cx.local.tm_tx).await
+                        {
+                            defmt::warn!("Failed to send TM response: {}", e);
+                        }
+                    }
+                }
+                Err(e) => defmt::warn!("Failed to parse received TC packet: {}", e,),
+            }
             defmt::info!("Received from UDP client: {}", tc.as_slice());
         }
     }
+
+    async fn send_tm(
+        tc_packet_id: CcsdsPacketIdAndPsc,
+        response: stm32h7::Response,
+        current_seq_count: u14,
+        sender: &embassy_sync::channel::Sender<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TM_QUEUE_DEPTH,
+        >,
+    ) -> Result<(), CcsdsPacketCreationError> {
+        let sp_header = SpHeader::new_for_unseg_tc(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(),
+        };
+        let tm_size = tm_size(&tm_header, &response);
+        let mut packet = alloc::vec![0; tm_size];
+        create_tm_packet(&mut packet, sp_header, tm_header, response)?;
+        sender.send(packet).await;
+        Ok(())
+    }
 }