diff --git a/embedded-examples/stm32h7-rtic/Cargo.lock b/embedded-examples/stm32h7-rtic/Cargo.lock
index 107b689..862eb61 100644
--- a/embedded-examples/stm32h7-rtic/Cargo.lock
+++ b/embedded-examples/stm32h7-rtic/Cargo.lock
@@ -2,6 +2,21 @@
 # It is not intended for manual editing.
 version = 3
 
+[[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 = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+
 [[package]]
 name = "bare-metal"
 version = "0.2.5"
@@ -29,12 +44,30 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
 [[package]]
 name = "cast"
 version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -44,7 +77,7 @@ dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
  "critical-section",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
@@ -77,6 +110,21 @@ dependencies = [
  "cortex-m",
 ]
 
+[[package]]
+name = "crc"
+version = "3.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
+dependencies = [
+ "crc-catalog",
+]
+
+[[package]]
+name = "crc-catalog"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+
 [[package]]
 name = "critical-section"
 version = "1.1.2"
@@ -93,6 +141,16 @@ dependencies = [
  "defmt-macros",
 ]
 
+[[package]]
+name = "defmt-brtt"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
+dependencies = [
+ "critical-section",
+ "defmt",
+]
+
 [[package]]
 name = "defmt-macros"
 version = "0.3.9"
@@ -115,16 +173,6 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "defmt-rtt"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bab697b3dbbc1750b7c8b821aa6f6e7f2480b47a99bc057a2ed7b170ebef0c51"
-dependencies = [
- "critical-section",
- "defmt",
-]
-
 [[package]]
 name = "defmt-test"
 version = "0.3.2"
@@ -148,6 +196,28 @@ dependencies = [
  "syn 2.0.64",
 ]
 
+[[package]]
+name = "delegate"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "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 2.0.64",
+]
+
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@@ -167,12 +237,24 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
 [[package]]
 name = "embedded-storage"
 version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
 
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
 [[package]]
 name = "fugit"
 version = "0.3.7"
@@ -182,12 +264,52 @@ dependencies = [
  "gcd",
 ]
 
+[[package]]
+name = "futures-core"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
 [[package]]
 name = "gcd"
 version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
+[[package]]
+name = "hashbrown"
+version = "0.14.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+
+[[package]]
+name = "indexmap"
+version = "2.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+dependencies = [
+ "equivalent",
+ "hashbrown",
+]
+
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -203,6 +325,35 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
+[[package]]
+name = "num-traits"
+version = "0.2.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "num_enum"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+dependencies = [
+ "num_enum_derive",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
 [[package]]
 name = "panic-probe"
 version = "0.3.2"
@@ -219,6 +370,18 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
+[[package]]
+name = "pin-project-lite"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
 [[package]]
 name = "proc-macro-error"
 version = "1.0.4"
@@ -261,6 +424,73 @@ dependencies = [
  "proc-macro2",
 ]
 
+[[package]]
+name = "rtic"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "rtic-core"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
+
+[[package]]
+name = "rtic-macros"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+dependencies = [
+ "indexmap",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "cortex-m",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
+]
+
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -270,6 +500,34 @@ dependencies = [
  "semver",
 ]
 
+[[package]]
+name = "satrs"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
+dependencies = [
+ "cobs",
+ "crc",
+ "defmt",
+ "delegate",
+ "derive-new",
+ "num-traits",
+ "num_enum",
+ "paste",
+ "satrs-shared",
+ "smallvec",
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-shared"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+dependencies = [
+ "spacepackets",
+]
+
 [[package]]
 name = "satrs-stm32h7-rtic"
 version = "0.1.0"
@@ -278,9 +536,12 @@ dependencies = [
  "cortex-m-rt",
  "cortex-m-semihosting",
  "defmt",
- "defmt-rtt",
+ "defmt-brtt",
  "defmt-test",
  "panic-probe",
+ "rtic",
+ "rtic-monotonics",
+ "satrs",
  "stm32h7xx-hal",
 ]
 
@@ -299,6 +560,26 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
+[[package]]
+name = "smallvec"
+version = "1.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "spacepackets"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
+dependencies = [
+ "crc",
+ "defmt",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "zerocopy",
+]
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@@ -327,7 +608,7 @@ dependencies = [
  "cast",
  "cortex-m",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-storage",
  "fugit",
  "nb 1.1.0",
@@ -410,3 +691,24 @@ checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
diff --git a/embedded-examples/stm32h7-rtic/Cargo.toml b/embedded-examples/stm32h7-rtic/Cargo.toml
index 4b21fab..d9d2bd6 100644
--- a/embedded-examples/stm32h7-rtic/Cargo.toml
+++ b/embedded-examples/stm32h7-rtic/Cargo.toml
@@ -17,11 +17,25 @@ harness = false
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 defmt = "0.3"
-defmt-rtt = "0.4"
+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"] }
 
+[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"]
+
 [dev-dependencies]
 defmt-test = "0.3"
 
diff --git a/embedded-examples/stm32h7-rtic/docs/um1974-stm32-nucleo144-boards-mb1137-stmicroelectronics.pdf b/embedded-examples/stm32h7-rtic/docs/um1974-stm32-nucleo144-boards-mb1137-stmicroelectronics.pdf
new file mode 100644
index 0000000..57d4957
Binary files /dev/null and b/embedded-examples/stm32h7-rtic/docs/um1974-stm32-nucleo144-boards-mb1137-stmicroelectronics.pdf differ
diff --git a/embedded-examples/stm32h7-rtic/src/lib.rs b/embedded-examples/stm32h7-rtic/src/lib.rs
index b20492b..f539b89 100644
--- a/embedded-examples/stm32h7-rtic/src/lib.rs
+++ b/embedded-examples/stm32h7-rtic/src/lib.rs
@@ -3,7 +3,7 @@
 
 use cortex_m_semihosting::debug;
 
-use defmt_rtt as _; // global logger
+use defmt_brtt as _; // global logger
 
 // TODO(5) adjust HAL import
 use stm32h7xx_hal as _; // memory layout
diff --git a/embedded-examples/stm32h7-rtic/src/main.rs b/embedded-examples/stm32h7-rtic/src/main.rs
index 7bc9992..2bc7ab2 100644
--- a/embedded-examples/stm32h7-rtic/src/main.rs
+++ b/embedded-examples/stm32h7-rtic/src/main.rs
@@ -1,11 +1,25 @@
 #![no_main]
 #![no_std]
 
-use satrs_stm32h7_rtic as _; // global logger + panicking-behavior + memory layout
+use rtic::app;
+use satrs_stm32h7_rtic as _;
 
-#[cortex_m_rt::entry]
-fn main() -> ! {
-    defmt::println!("Hello, world!");
+#[app(device = stm32h7xx_hal::pac)]
+mod app {
+    use cortex_m_semihosting::debug;
 
-    satrs_stm32h7_rtic::exit()
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local) {
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+        (Shared {}, Local {})
+    }
+
+    //#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
+    //async fn blink(mut cx: blink::Context) {}
 }