Merge pull request 'typos and design chapter fixes' (#291 ) from book-design-update into main

Reviewed-on: #291
typos and design chapter fixes
2026-09-24 19:18:36 +02:00 · 2026-09-24 19:17:57 +02:00 · 2026-09-24 19:17:46 +02:00 · 2026-09-24 18:38:10 +02:00 · 2026-09-24 16:56:42 +02:00 · 2026-09-24 16:54:57 +02:00
254 changed files with 28971 additions and 159339 deletions
@@ -11,7 +11,12 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
-      - run: cargo check --release
+      - name: Install libudev-dev on Ubuntu
+        if: ${{ matrix.os == 'ubuntu-latest' }}
+        run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p satrs-example --no-default-features

  test:
    name: Run Tests
@@ -21,6 +26,7 @@ jobs:
      - uses: dtolnay/rust-toolchain@stable
      - name: Install nextest
        uses: taiki-e/install-action@nextest
+      - run: sudo apt update && sudo apt install -y libudev-dev
      - run: cargo nextest run --all-features
      - run: cargo test --doc --all-features

@@ -37,7 +43,7 @@ jobs:
      - uses: dtolnay/rust-toolchain@stable
        with:
          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
-      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features

  fmt:
    name: Check formatting
@@ -45,6 +51,8 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
      - run: cargo fmt --all -- --check

  docs:
@@ -53,7 +61,7 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@nightly
-      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+      - run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc -p satrs --all-features --no-deps

  clippy:
    name: Clippy
@@ -61,4 +69,7 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+      - run: sudo apt update && sudo apt install -y libudev-dev
      - run: cargo clippy -- -D warnings
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Check" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="check" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="false" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Clippy" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="clippy" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="true" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Clippy Fix" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="clippy --fix" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Docs" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="doc --all-features" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Doctest" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="test --doc" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Examples" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run --example test" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Format" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="fmt" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Run" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Run obsw example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run -p satrs-example --bin satrs-example" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Run obsw simple client" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run --package fsrc-example --bin client" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test" type="CargoCommandRunConfiguration" factoryName="Cargo Command" nameIsGenerated="true">
-    <option name="command" value="test" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="true" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test All" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="test -- --include-ignored" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test satrs-core" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="test -p satrs-core --all-features" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="true" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -4,11 +4,16 @@ members = [
    "satrs",
    "satrs-mib",
    "satrs-example",
-    "satrs-minisim",
+    "satrs-example/types",
+    "satrs-example/client",
+    "satrs-example/minisim",
    "satrs-shared",
+    "tmtc-utils",
+    "embedded-examples/embedded-client",
+    "embedded-examples/types",
 ]

 exclude = [
    "embedded-examples/stm32f3-disco-rtic",
-    "embedded-examples/stm32h7-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
@@ -1,9 +1,9 @@
 <p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>

-[![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/book/)
 [![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
 [![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
+[![matrix chat](https://img.shields.io/matrix/sat-rs%3Amatrix.org)](https://matrix.to/#/#sat-rs:matrix.org)

 sat-rs
 =========
@@ -11,8 +11,8 @@ sat-rs
 This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
-link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+link to the [more high-level sat-rs book](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/book/)
+at the [IRS software projects website](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/).

 This is early-stage software. Important features are missing. New releases
 with breaking changes are released regularly, with all changes documented inside respective
@@ -30,7 +30,7 @@ This project currently contains following crates:

 * [`satrs-book`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-book):
   Primary information resource in addition to the API documentation, hosted
-   [here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
+   [here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/book/). It can be useful to read
   this first before delving into the example application and the API documentation.
 * [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs):
   Primary crate.
@@ -38,7 +38,7 @@ This project currently contains following crates:
   Example of a simple example on-board software using various sat-rs components which can be run
   on a host computer or on any system with a standard runtime like a Raspberry Pi.
 * [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
-   Mini-Simulator based on [asynchronix](https://github.com/asynchronics/asynchronix) which
+   Mini-Simulator based on [nexosim](https://github.com/asynchronics/nexosim) which
   simulates some physical devices for the `satrs-example` application device handlers.
 * [`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.
@@ -61,6 +61,8 @@ Each project has its own `CHANGELOG.md`.
   packet protocol implementations. This repository is re-exported in the
   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
   crate.
+ * [`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp): CCSDS File Delivery Protocol
+   (CFDP) high-level library components.

 # Flight Heritage

@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open
@@ -0,0 +1,19 @@
+[package]
+name = "embedded-client"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+serialport = "4"
+toml = "0.9"
+serde = { version = "1", features = ["derive"] }
+spacepackets = { version = "0.18" }
+embedded-types = { path = "../types" }
+tmtc-utils = { path = "../../tmtc-utils" }
+postcard = { version = "1", features = ["alloc"] }
+anyhow = "1"
+cobs = "0.5"
+fern = "0.7"
+humantime = "2"
+log = "0.4"
@@ -0,0 +1,3 @@
+[interface]
+serial_port = "/dev/ttyUSB0"
+# udp_addr = "192.168.XXX.XX:7301"
@@ -0,0 +1,71 @@
+use std::time::Duration;
+
+use anyhow::bail;
+use clap::Parser;
+use cobs::CobsDecoderOwned;
+use embedded_client::setup_logger;
+use embedded_types::stm32f3;
+use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
+use tmtc_utils::transport::serial::PacketTransportSerialCobs;
+
+#[derive(Parser, Debug)]
+struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+
+    /// Set frequency in milliseconds.
+    #[arg(short, long)]
+    set_led_frequency: Option<u32>,
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger().expect("failed to initialize logger");
+    println!("-- STM32F3 TMTC client --");
+    let cli = Cli::parse();
+    let config = embedded_client::Config::new_from_file();
+
+    if config.interface.serial_port.is_none() {
+        bail!("Serial port not specified in configuration file.");
+    }
+    let serial_port = config.interface.serial_port.as_ref().unwrap();
+    let serial = serialport::new(serial_port, 115200)
+        .open()
+        .expect("opening serial port failed");
+    let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
+
+    if cli.ping {
+        let tc = create_stm32f3_tc(&embedded_types::stm32f3::Request::Ping);
+        log::info!(
+            "Sending ping request with TC ID: {:#010x}",
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    if let Some(freq_ms) = cli.set_led_frequency {
+        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}",
+            request,
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    log::info!("Waiting for response...");
+    loop {
+        transport
+            .receive(|packet: &[u8]| {
+                let reader = CcsdsPacketReader::new_with_checksum(packet);
+                log::info!("Received packet: {:?}", reader);
+            })
+            .unwrap();
+    }
+}
+
+fn create_stm32f3_tc(request: &stm32f3::Request) -> CcsdsPacketCreatorOwned {
+    let req_raw = postcard::to_allocvec(&request).unwrap();
+    let sp_header = SpHeader::new_from_apid(embedded_types::stm32f3::PUS_APID);
+    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
+}
@@ -0,0 +1,95 @@
+use std::{net::UdpSocket, time::Duration};
+
+use anyhow::{Context as _, bail};
+use clap::Parser;
+use embedded_client::setup_logger;
+use embedded_types::{TmHeader, stm32h7};
+use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
+use tmtc_utils::transport::udp::PacketTransportUdp;
+
+#[derive(Parser, Debug)]
+struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+
+    /// Set frequency in milliseconds.
+    #[arg(short, long)]
+    set_led_frequency: Option<u32>,
+
+    /// UDP address to bind to.
+    #[arg(short, long)]
+    udp_addr: Option<std::net::SocketAddr>,
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger().expect("failed to initialize logger");
+    println!("-- STM32H7 TMTC client --");
+    let cli = Cli::parse();
+    let config = embedded_client::Config::new_from_file();
+    let mut udp_addr = cli.udp_addr;
+    if udp_addr.is_none() {
+        udp_addr = config.interface.udp_addr;
+    }
+    if udp_addr.is_none() {
+        bail!("UDP address not specified in config.toml or via command line");
+    }
+    let udp_addr = udp_addr.unwrap();
+    log::info!("binding to UDP address: {}", udp_addr);
+    let local_socket = UdpSocket::bind("0.0.0.0:0").expect("failed to bind UDP socket");
+    let mut transport = PacketTransportUdp::new(local_socket, udp_addr)
+        .with_context(|| "crateing UDP transport failed")?;
+
+    if cli.ping {
+        let tc = create_stm32h7_tc(&embedded_types::stm32h7::Request::Ping);
+        log::info!(
+            "Sending ping request with TC ID: {:#010x}",
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    if let Some(freq_ms) = cli.set_led_frequency {
+        let request = stm32h7::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        let tc = create_stm32h7_tc(&request);
+        log::info!(
+            "Sending change blink frequency request {:?} with TC ID: {:#010x}",
+            request,
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    log::info!("Waiting for response...");
+    loop {
+        transport
+            .receive(|packet: &[u8]| {
+                let reader = CcsdsPacketReader::new_with_checksum(packet);
+                log::debug!("Received packet: {:?}", reader);
+                if let Ok(reader) = reader {
+                    let packet_data = reader.packet_data();
+                    let tm_header = postcard::take_from_bytes::<TmHeader>(packet_data);
+                    if let Ok((tm_header, remainder)) = tm_header {
+                        let response = postcard::from_bytes::<stm32h7::Response>(remainder);
+                        if let Ok(response) = response {
+                            log::info!(
+                                "Received TM with header: {:?} and response: {:?}",
+                                tm_header,
+                                response
+                            );
+                        } else {
+                            log::error!("Failed to deserialize response: {:?}", response.err());
+                        }
+                    } else {
+                        log::error!("Failed to deserialize TM header: {:?}", tm_header.err());
+                    }
+                }
+            })
+            .unwrap();
+    }
+}
+
+fn create_stm32h7_tc(request: &stm32h7::Request) -> CcsdsPacketCreatorOwned {
+    let req_raw = postcard::to_allocvec(&request).unwrap();
+    let sp_header = SpHeader::new_from_apid(embedded_types::stm32h7::PUS_APID);
+    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
+}
@@ -0,0 +1,43 @@
+use std::{fs::File, io::Read as _, net::SocketAddr, path::Path, time::SystemTime};
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Config {
+    pub interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Interface {
+    pub serial_port: Option<String>,
+    pub udp_addr: Option<SocketAddr>,
+}
+
+impl Config {
+    pub fn new_from_file() -> Self {
+        let mut config_file =
+            File::open(Path::new("config.toml")).expect("opening config.toml file failed");
+        let mut toml_str = String::new();
+        config_file
+            .read_to_string(&mut toml_str)
+            .expect("reading config.toml file failed");
+        let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
+        config
+    }
+}
+
+pub fn setup_logger() -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(log::LevelFilter::Info)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
@@ -34,4 +34,4 @@ rustflags = [
 target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)

 [env]
-DEFMT_LOG = "info"
+DEFMT_LOG = "info"
@@ -1,4 +1,4 @@
 /target
 /itm.txt
-/.cargo/config*
+/.cargo/config.toml
 /.vscode
@@ -7,52 +7,32 @@ default-run = "satrs-stm32f3-disco-rtic"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

 [dependencies]
+embedded-types = { path = "../types", features = ["defmt"] }
 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"] }
-embedded-hal = "0.2.7"
+defmt = "1"
+defmt-rtt = { version = "1" }
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-hal = "1"
 cortex-m-semihosting = "0.5.0"
+embassy-stm32 = { version = "0.6", features = ["defmt", "stm32f303vc", "memory-x", "unstable-pac", "time-driver-any"] }
+embassy-time = { version = "0.5", features = ["defmt", "generic-queue-16", "defmt-timestamp-uptime-ms"]}
 enumset = "1"
-heapless = "0.8"
+heapless = "0.9"
+embassy-sync = "0.8"
+spacepackets = { version = "0.18", default-features = false, features = ["defmt", "serde"] }
+static_cell = "2"
+cobs = { version = "0.5", default-features = false, features = ["defmt"] }
+postcard = { version = "1" }
+arbitrary-int = "2"
+thiserror = { version = "2", default-features = false }
+serde = { version = "1", default-features = false, features = ["derive"] }

-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
-
-[dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-branch = "all_features"
-default-features = false
-
-[dependencies.stm32f3xx-hal]
-git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.11.0-alpha.0"
-features = ["stm32f303xc", "rt", "enumset"]
-branch = "complete-dma-update"
-# Can be used in workspace to develop and update HAL
-# path = "../stm32f3xx-hal"
-
-[dependencies.stm32f3-discovery]
-git = "https://github.com/robamu/stm32f3-discovery"
-version = "0.8.0-alpha.0"
-branch = "complete-dma-update-hal"
-# Can be used in workspace to develop and update BSP
-# path = "../stm32f3-discovery"
-
-[dependencies.satrs]
-# path = "satrs"
-version = "0.2"
-default-features = false
-features = ["defmt"]
+rtic = { version = "2", features = ["thumbv7-backend"] }
+rtic-sync = { version = "1" }

 [dev-dependencies]
-defmt-test = "0.3"
+defmt-test = "0.5"

 # cargo test
 [profile.test]
@@ -1,10 +0,0 @@
-target extended-remote localhost:2331
-
-monitor reset
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-load
-
-continue
@@ -1,12 +0,0 @@
-# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
-
-# Depending on the hardware revision you got you'll have to pick ONE of these
-# interfaces. At any time only one interface should be commented out.
-
-# Revision C (newer revision)
-source [find interface/stlink.cfg]
-
-# Revision A and B (older revisions)
-# source [find interface/stlink-v2.cfg]
-
-source [find target/stm32f3x.cfg]
@@ -1,42 +0,0 @@
-target extended-remote :3333
-
-# print demangled symbols
-set print asm-demangle on
-
-# set backtrace limit to not have infinite backtrace loops
-set backtrace limit 32
-
-# detect unhandled exceptions, hard faults and panics
-break DefaultHandler
-break HardFault
-break rust_begin_unwind
-# # run the next few lines so the panic message is printed immediately
-# # the number needs to be adjusted for your panic handler
-# commands $bpnum
-# next 4
-# end
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-# monitor arm semihosting enable
-
-# # send captured ITM to the file itm.fifo
-# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin. This was added for newer
-# openocd versions like v0.12.0.
-# monitor tpiu config internal itm.txt uart off 8000000 2000000
-
-# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin
-# monitor tpiu config external uart off 8000000 2000000
-
-# # enable ITM port 0
-# monitor itm port 0 on
-
-load
-
-# start the process but immediately halt the processor
-stepi
@@ -1,33 +0,0 @@
-/* Linker script for the STM32F303VCT6 */
-MEMORY
-{
-  /* NOTE 1 K = 1 KiBi = 1024 bytes */
-  FLASH : ORIGIN = 0x08000000, LENGTH = 256K
-  RAM : ORIGIN = 0x20000000, LENGTH = 40K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* You may want to use this variable to locate the call stack and static
-   variables in different memory regions. Below is shown the default value */
-/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
-
-/* You can use this symbol to customize the location of the .text section */
-/* If omitted the .text section will be placed right after the .vector_table
-   section */
-/* This is required only on microcontrollers that store some configuration right
-   after the vector table */
-/* _stext = ORIGIN(FLASH) + 0x400; */
-
-/* Example of putting non-initialized variables into custom RAM locations. */
-/* This assumes you have defined a region RAM2 above, and in the Rust
-   sources added the attribute `#[link_section = ".ram2bss"]` to the data
-   you want to place there. */
-/* Note that the section will not be zero-initialized by the runtime! */
-/* SECTIONS {
-     .ram2bss (NOLOAD) : ALIGN(4) {
-       *(.ram2bss);
-       . = ALIGN(4);
-     } > RAM2
-   } INSERT AFTER .bss;
-*/
@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json
@@ -1,4 +0,0 @@
-{
-    "com_if": "serial_cobs",
-    "serial_baudrate": 115200
-}
@@ -1,305 +0,0 @@
-#!/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()
@@ -1,2 +0,0 @@
-tmtccmd == 8.0.1
-# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
@@ -1,76 +1,56 @@
-#![no_std]
 #![no_main]
-use satrs_stm32f3_disco_rtic as _;
+#![no_std]

-use stm32f3_discovery::leds::Leds;
-use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
-use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
+use panic_probe as _;
+use rtic::app;

-#[cortex_m_rt::entry]
-fn main() -> ! {
-    defmt::println!("STM32F3 Discovery Blinky");
-    let dp = pac::Peripherals::take().unwrap();
-    let mut rcc = dp.RCC.constrain();
-    let cp = cortex_m::Peripherals::take().unwrap();
-    let mut flash = dp.FLASH.constrain();
-    let clocks = rcc.cfgr.freeze(&mut flash.acr);
-    let mut delay = Delay::new(cp.SYST, clocks);
+#[app(device = embassy_stm32)]
+mod app {
+    use embassy_time::Timer;
+    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};

-    let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
-    let mut leds = Leds::new(
-        gpioe.pe8,
-        gpioe.pe9,
-        gpioe.pe10,
-        gpioe.pe11,
-        gpioe.pe12,
-        gpioe.pe13,
-        gpioe.pe14,
-        gpioe.pe15,
-        &mut gpioe.moder,
-        &mut gpioe.otyper,
-    );
-    let delay_ms = 200u16;
-    loop {
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
+    #[shared]
+    struct Shared {}

-        //explicit on/off
-        leds.ld4_nw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld4_nw.off().ok();
-        delay.delay_ms(delay_ms);
+    #[local]
+    struct Local {
+        leds: Leds,
+        current_dir: Direction,
+    }

-        leds.ld5_ne.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld5_ne.off().ok();
-        delay.delay_ms(delay_ms);
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());

-        leds.ld6_w.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld6_w.off().ok();
-        delay.delay_ms(delay_ms);
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");

-        leds.ld7_e.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7_e.off().ok();
-        delay.delay_ms(delay_ms);
+        let led_pin_set = LedPinSet {
+            pin_n: p.PE8,
+            pin_ne: p.PE9,
+            pin_e: p.PE10,
+            pin_se: p.PE11,
+            pin_s: p.PE12,
+            pin_sw: p.PE13,
+            pin_w: p.PE14,
+            pin_nw: p.PE15,
+        };
+        let leds = Leds::new(led_pin_set);

-        leds.ld8_sw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8_sw.off().ok();
-        delay.delay_ms(delay_ms);
+        blinky::spawn().expect("failed to spawn blinky task");
+        (
+            Shared {},
+            Local {
+                leds,
+                current_dir: Direction::North,
+            },
+        )
+    }

-        leds.ld9_se.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9_se.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld10_s.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld10_s.off().ok();
-        delay.delay_ms(delay_ms);
+    #[task(local = [leds, current_dir])]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            cx.local.leds.blink_next(cx.local.current_dir);
+            Timer::after_millis(200).await;
+        }
    }
 }
@@ -1,51 +1,145 @@
 #![no_main]
 #![no_std]

-use cortex_m_semihosting::debug;
-
-use defmt_brtt as _; // global logger
-
-use stm32f3xx_hal as _; // memory layout
-
+use defmt_rtt as _;
 use panic_probe as _;

-// same panicking *behavior* as `panic-probe` but doesn't print a panic message
-// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
-#[defmt::panic_handler]
-fn panic() -> ! {
-    cortex_m::asm::udf()
+use arbitrary_int::u11;
+use embassy_stm32::gpio::Output;
+
+pub const APID: u11 = u11::new(0x02);
+
+#[derive(defmt::Format, serde::Serialize, serde::Deserialize, PartialEq, Eq, Clone, Copy)]
+pub enum Direction {
+    North,
+    NorthEast,
+    East,
+    SouthEast,
+    South,
+    SouthWest,
+    West,
+    NorthWest,
 }

-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(debug::EXIT_SUCCESS);
+impl Direction {
+    pub fn switch_to_next(&mut self) -> (Self, Self) {
+        let curr = *self;
+        *self = match self {
+            Direction::North => Direction::NorthEast,
+            Direction::NorthEast => Direction::East,
+            Direction::East => Direction::SouthEast,
+            Direction::SouthEast => Direction::South,
+            Direction::South => Direction::SouthWest,
+            Direction::SouthWest => Direction::West,
+            Direction::West => Direction::NorthWest,
+            Direction::NorthWest => Direction::North,
+        };
+        (curr, *self)
    }
 }

-/// 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);
+pub struct Leds {
+    pub north: Output<'static>,
+    pub north_east: Output<'static>,
+    pub east: Output<'static>,
+    pub south_east: Output<'static>,
+    pub south: Output<'static>,
+    pub south_west: Output<'static>,
+    pub west: Output<'static>,
+    pub north_west: Output<'static>,
+}
+
+impl Leds {
+    pub fn blink_next(&mut self, current_dir: &mut Direction) {
+        let (prev, curr) = current_dir.switch_to_next();
+        self.set_dir_low(prev);
+        self.set_dir_high(curr);
+    }
+
+    pub fn set_dir(&mut self, dir: Direction, level: embassy_stm32::gpio::Level) {
+        match dir {
+            Direction::North => self.north.set_level(level),
+            Direction::NorthEast => self.north_east.set_level(level),
+            Direction::East => self.east.set_level(level),
+            Direction::SouthEast => self.south_east.set_level(level),
+            Direction::South => self.south.set_level(level),
+            Direction::SouthWest => self.south_west.set_level(level),
+            Direction::West => self.west.set_level(level),
+            Direction::NorthWest => self.north_west.set_level(level),
+        }
+    }
+
+    pub fn set_dir_low(&mut self, dir: Direction) {
+        self.set_dir(dir, embassy_stm32::gpio::Level::Low);
+    }
+
+    pub fn set_dir_high(&mut self, dir: Direction) {
+        self.set_dir(dir, embassy_stm32::gpio::Level::High);
    }
 }

-// 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;
+pub struct LedPinSet {
+    pub pin_n: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE8>,
+    pub pin_ne: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE9>,
+    pub pin_e: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE10>,
+    pub pin_se: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE11>,
+    pub pin_s: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE12>,
+    pub pin_sw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE13>,
+    pub pin_w: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE14>,
+    pub pin_nw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE15>,
+}

-    #[test]
-    fn it_works() {
-        assert!(true)
+impl Leds {
+    pub fn new(pin_set: LedPinSet) -> Self {
+        let led_n = Output::new(
+            pin_set.pin_n,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_ne = Output::new(
+            pin_set.pin_ne,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_e = Output::new(
+            pin_set.pin_e,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_se = Output::new(
+            pin_set.pin_se,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_s = Output::new(
+            pin_set.pin_s,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_sw = Output::new(
+            pin_set.pin_sw,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_w = Output::new(
+            pin_set.pin_w,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_nw = Output::new(
+            pin_set.pin_nw,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        Self {
+            north: led_n,
+            north_east: led_ne,
+            east: led_e,
+            south_east: led_se,
+            south: led_s,
+            south_west: led_sw,
+            west: led_w,
+            north_west: led_nw,
+        }
    }
 }
@@ -1,684 +1,336 @@
 #![no_std]
 #![no_main]
-use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
-};
-use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::EcssEnumU16;
-use satrs::spacepackets::CcsdsPacket;
-use satrs::spacepackets::{ByteConversionError, SpHeader};
-// global logger + panicking-behavior + memory layout
-use satrs_stm32f3_disco_rtic as _;
+use arbitrary_int::u14;
+use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embedded_types::{create_tm_packet, stm32f3, tm_size, TmHeader};
+use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
+
+use defmt_rtt as _; // global logger
+use panic_probe as _;

 use rtic::app;

-use heapless::{mpmc::Q8, Vec};
-#[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::ExtU32;
-use satrs::seq_count::SequenceCountProviderCore;
-use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
-use stm32f3xx_hal::dma::dma1;
-use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
-use stm32f3xx_hal::pac::USART2;
-use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
-
 const UART_BAUD: u32 = 115200;
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
-const TX_HANDLER_FREQ_MS: u32 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
-pub const PUS_APID: u16 = 0x02;
-
-type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
-type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type InstantFugit = TimerInstantU32<1000>;
-type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
-type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;

 // 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_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
-const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
+const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);

-const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
 const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;

-// This is a static buffer which should ONLY (!) be used as the TX DMA
-// transfer buffer.
-static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
-// This is a static buffer which should ONLY (!) be used as the RX DMA
-// transfer buffer.
-static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
+const TC_DMA_BUF_LEN: usize = 512;

-type TmPacket = Vec<u8, MAX_TM_LEN>;
-type TcPacket = Vec<u8, MAX_TC_LEN>;
+type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;

-static TM_REQUESTS: Q8<TmPacket> = Q8::new();
+static TM_QUEUE: embassy_sync::channel::Channel<CriticalSectionRawMutex, TmPacket, 16> =
+    embassy_sync::channel::Channel::new();

-use core::sync::atomic::{AtomicU16, Ordering};
-
-pub struct SeqCountProviderAtomicRef {
-    atomic: AtomicU16,
-    ordering: Ordering,
-}
-
-impl SeqCountProviderAtomicRef {
-    pub const fn new(ordering: Ordering) -> Self {
-        Self {
-            atomic: AtomicU16::new(0),
-            ordering,
-        }
-    }
-}
-
-impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
-    fn get(&self) -> u16 {
-        self.atomic.load(self.ordering)
-    }
-
-    fn increment(&self) {
-        self.atomic.fetch_add(1, self.ordering);
-    }
-
-    fn get_and_increment(&self) -> u16 {
-        self.atomic.fetch_add(1, self.ordering)
-    }
-}
-
-static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
-    SeqCountProviderAtomicRef::new(Ordering::Relaxed);
-
-pub struct TxIdle {
-    tx: TxType,
-    dma_channel: dma1::C7,
-}
-
-#[derive(Debug, defmt::Format)]
+#[derive(Debug, defmt::Format, thiserror::Error)]
 pub enum TmSendError {
-    ByteConversion(ByteConversionError),
+    #[error("packet creation error: {0}")]
+    PacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("queue error")]
    Queue,
 }

-impl From<ByteConversionError> for TmSendError {
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversion(value)
-    }
-}
-
-fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
-    if tm_creator.len_written() > MAX_TM_LEN {
-        return Err(ByteConversionError::ToSliceTooSmall {
-            expected: tm_creator.len_written(),
-            found: MAX_TM_LEN,
-        }
-        .into());
-    }
-    let mut tm_vec = TmPacket::new();
-    tm_vec
-        .resize(tm_creator.len_written(), 0)
-        .expect("vec resize failed");
-    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
-    defmt::info!(
-        "Sending TM[{},{}] with size {}",
-        tm_creator.service(),
-        tm_creator.subservice(),
-        tm_creator.len_written()
-    );
-    TM_REQUESTS
-        .enqueue(tm_vec)
-        .map_err(|_| TmSendError::Queue)?;
-    Ok(())
-}
-
-fn handle_tm_send_error(error: TmSendError) {
-    defmt::warn!("sending tm failed with error {}", error);
-}
-
-pub enum UartTxState {
-    // Wrapped in an option because we need an owned type later.
-    Idle(Option<TxIdle>),
-    // Same as above
-    Transmitting(Option<TxDmaTransferType>),
-}
-
-pub struct UartTxShared {
-    last_completed: Option<InstantFugit>,
-    state: UartTxState,
-}
-
-pub struct RequestWithToken {
-    token: VerificationToken<TcStateAccepted>,
-    request: Request,
-}
-
 #[derive(Debug, defmt::Format)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(u32),
+pub struct RequestWithTcId {
+    pub request: stm32f3::Request,
+    pub tc_id: CcsdsPacketIdAndPsc,
 }

-#[derive(Debug, defmt::Format)]
-pub enum RequestError {
-    InvalidApid = 1,
-    InvalidService = 2,
-    InvalidSubservice = 3,
-    NotEnoughAppData = 4,
-}
-
-pub fn convert_pus_tc_to_request(
-    tc: &PusTcReader,
-    verif_reporter: &mut VerificationReportCreator,
-    src_data_buf: &mut [u8],
-    timestamp: &[u8],
-) -> Result<RequestWithToken, RequestError> {
-    defmt::info!(
-        "Found PUS TC [{},{}] with length {}",
-        tc.service(),
-        tc.subservice(),
-        tc.len_packed()
-    );
-
-    let token = verif_reporter.add_tc(tc);
-    if tc.apid() != PUS_APID {
-        defmt::warn!("Received tc with unknown APID {}", tc.apid());
-        let result = send_tm(
-            verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    SEQ_COUNT_PROVIDER.get_and_increment(),
-                    0,
-                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        return Err(RequestError::InvalidApid);
-    }
-    let (tm_creator, accepted_token) = verif_reporter
-        .acceptance_success(
-            src_data_buf,
-            token,
-            SEQ_COUNT_PROVIDER.get_and_increment(),
-            0,
-            timestamp,
-        )
-        .unwrap();
-
-    if let Err(e) = send_tm(tm_creator) {
-        handle_tm_send_error(e);
-    }
-
-    if tc.service() == 17 && tc.subservice() == 1 {
-        if tc.subservice() == 1 {
-            return Ok(RequestWithToken {
-                request: Request::Ping,
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else if tc.service() == 8 {
-        if tc.subservice() == 1 {
-            if tc.user_data().len() < 4 {
-                return Err(RequestError::NotEnoughAppData);
-            }
-            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-            return Ok(RequestWithToken {
-                request: Request::ChangeBlinkFrequency(new_freq_ms),
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else {
-        return Err(RequestError::InvalidService);
-    }
-}
-
-#[app(device = stm32f3xx_hal::pac, peripherals = true)]
+#[app(device = embassy_stm32)]
 mod app {
-    use super::*;
-    use core::slice::Iter;
-    use rtic_monotonics::systick::Systick;
-    use rtic_monotonics::Monotonic;
-    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
-    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
-    #[allow(unused_imports)]
-    use stm32f3_discovery::leds::Direction;
-    use stm32f3_discovery::leds::Leds;
-    use stm32f3xx_hal::prelude::*;
+    use core::time::Duration;

-    use stm32f3_discovery::switch_hal::OutputSwitch;
-    use stm32f3xx_hal::Switch;
-    #[allow(dead_code)]
-    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
+    use super::*;
+    use arbitrary_int::u14;
+    use embassy_time::Timer;
+    use embedded_types::stm32f3::{Request, Response};
+    use rtic::Mutex;
+    use rtic_sync::{
+        channel::{Receiver, Sender},
+        make_channel,
+    };
+    use satrs_stm32f3_disco_rtic::LedPinSet;
+    use spacepackets::CcsdsPacketReader;
+
+    embassy_stm32::bind_interrupts!(struct Irqs {
+        USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
+        DMA1_CHANNEL6 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH6>;
+        DMA1_CHANNEL7 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH7>;
+    });

    #[shared]
    struct Shared {
-        blink_freq: MillisDurationU32,
-        tx_shared: UartTxShared,
-        rx_transfer: Option<RxDmaTransferType>,
+        blink_freq: Duration,
    }

    #[local]
    struct Local {
-        verif_reporter: VerificationReportCreator,
-        leds: Leds,
-        last_dir: Direction,
-        curr_dir: Iter<'static, Direction>,
+        leds: satrs_stm32f3_disco_rtic::Leds,
+        current_dir: satrs_stm32f3_disco_rtic::Direction,
+        seq_count: u14,
+        tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
+        rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
    }

    #[init]
-    fn init(cx: init::Context) -> (Shared, Local) {
-        let mut rcc = cx.device.RCC.constrain();
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
+            static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);

-        // 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, 8_000_000, systick_mono_token);
+        let p = embassy_stm32::init(Default::default());

-        let mut flash = cx.device.FLASH.constrain();
-        let clocks = rcc
-            .cfgr
-            .use_hse(8.MHz())
-            .sysclk(8.MHz())
-            .pclk1(8.MHz())
-            .freeze(&mut flash.acr);
+        let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);

-        // Set up monotonic timer.
-        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
+        defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
+        let led_pin_set = LedPinSet {
+            pin_n: p.PE8,
+            pin_ne: p.PE9,
+            pin_e: p.PE10,
+            pin_se: p.PE11,
+            pin_s: p.PE12,
+            pin_sw: p.PE13,
+            pin_w: p.PE14,
+            pin_nw: p.PE15,
+        };
+        let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);

-        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
+        let mut config = embassy_stm32::usart::Config::default();
+        config.baudrate = UART_BAUD;
+        let uart = embassy_stm32::usart::Uart::new(
+            p.USART2, p.PA3, p.PA2, p.DMA1_CH7, p.DMA1_CH6, Irqs, config,
+        )
+        .unwrap();

-        let leds = Leds::new(
-            gpioe.pe8,
-            gpioe.pe9,
-            gpioe.pe10,
-            gpioe.pe11,
-            gpioe.pe12,
-            gpioe.pe13,
-            gpioe.pe14,
-            gpioe.pe15,
-            &mut gpioe.moder,
-            &mut gpioe.otyper,
-        );
-        let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
-        // USART2 pins
-        let mut pins = (
-            // TX pin: PA2
-            gpioa
-                .pa2
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-            // RX pin: PA3
-            gpioa
-                .pa3
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-        );
-        pins.1.internal_pull_up(&mut gpioa.pupdr, true);
-        let mut usart2 = Serial::new(
-            cx.device.USART2,
-            pins,
-            UART_BAUD.Bd(),
-            clocks,
-            &mut rcc.apb1,
-        );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
-        // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
-
-        let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (mut tx_serial, mut rx_serial) = usart2.split();
-
-        // This interrupt is immediately triggered, clear it. It will only be reset
-        // by the hardware when data is received on RX (RXNE event)
-        rx_serial.clear_event(RxEvent::Idle);
-        // For some reason, this is also immediately triggered..
-        tx_serial.clear_event(TxEvent::TransmissionComplete);
-        let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
+        let (tx, rx) = uart.split();
        defmt::info!("Spawning tasks");
-        blink::spawn().unwrap();
+        blinky::spawn().unwrap();
        serial_tx_handler::spawn().unwrap();
-
-        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
+        serial_rx_handler::spawn(req_sender).unwrap();
+        req_handler::spawn(req_receiver).unwrap();

        (
            Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                tx_shared: UartTxShared {
-                    last_completed: None,
-                    state: UartTxState::Idle(Some(TxIdle {
-                        tx: tx_serial,
-                        dma_channel: dma1.ch7,
-                    })),
-                },
-                rx_transfer: Some(rx_transfer),
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
            },
            Local {
-                verif_reporter,
                leds,
-                last_dir: Direction::North,
-                curr_dir: Direction::iter(),
+                tx,
+                seq_count: u14::new(0),
+                rx: rx.into_ring_buffered(DMA_BUF.take()),
+                current_dir: satrs_stm32f3_disco_rtic::Direction::North,
            },
        )
    }

-    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
-    async fn blink(mut cx: blink::Context) {
-        let blink::LocalResources {
-            leds,
-            curr_dir,
-            last_dir,
-            ..
-        } = cx.local;
-        let mut toggle_leds = |dir: &Direction| {
-            let last_led = leds.for_direction(*last_dir);
-            last_led.off().ok();
-            let led = leds.for_direction(*dir);
-            led.on().ok();
-            *last_dir = *dir;
-        };
+    #[task(local = [leds, current_dir], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
        loop {
-            match curr_dir.next() {
-                Some(dir) => {
-                    toggle_leds(dir);
-                }
-                None => {
-                    *curr_dir = Direction::iter();
-                    toggle_leds(curr_dir.next().unwrap());
-                }
-            }
+            cx.local.leds.blink_next(cx.local.current_dir);
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
-        }
-    }
-
-    #[task(
-        shared = [tx_shared],
-    )]
-    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        loop {
-            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
-                if let UartTxState::Idle(_) = tx_shared.state {
-                    return true;
-                }
-                false
-            });
-            if is_idle {
-                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
-                if let Some(last_completed) = last_completed {
-                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
-                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
-                            .await;
-                    }
-                }
-            } else {
-                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
-                continue;
-            }
-            if let Some(vec) = TM_REQUESTS.dequeue() {
-                cx.shared
-                    .tx_shared
-                    .lock(|tx_shared| match &mut tx_shared.state {
-                        UartTxState::Idle(tx) => {
-                            let encoded_len;
-                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                            // Safety: We only copy the data into the TX DMA buffer in this task.
-                            // If the DMA is active, another branch will be taken.
-                            unsafe {
-                                // 0 sentinel value as start marker
-                                DMA_TX_BUF[0] = 0;
-                                encoded_len =
-                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
-                                // Should never panic, we accounted for the overhead.
-                                // Write into transfer buffer directly, no need for intermediate
-                                // encoding buffer.
-                                // 0 end marker
-                                DMA_TX_BUF[encoded_len + 1] = 0;
-                            }
-                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                            let tx_idle = tx.take().unwrap();
-                            // Transfer completion and re-scheduling of new TX transfers will be done
-                            // by the IRQ handler.
-                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
-                            let transfer = tx_idle.tx.write_all(
-                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
-                                tx_idle.dma_channel,
-                            );
-                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
-                            // The memory block is automatically returned to the pool when it is dropped.
-                        }
-                        UartTxState::Transmitting(_) => (),
-                    });
-                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
-                continue;
-            }
-            // Nothing to do, and we are idle.
-            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            Timer::after_millis(current_blink_freq.as_millis() as u64).await;
        }
    }

    #[task(
        local = [
-            verif_reporter,
+            tx,
+            encoded_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
+        ],
+        shared = [],
+    )]
+    async fn serial_tx_handler(cx: serial_tx_handler::Context) {
+        loop {
+            loop {
+                let vec = TM_QUEUE.receive().await;
+                let encoded_len =
+                    cobs::encode_including_sentinels(&vec[0..vec.len()], cx.local.encoded_buf);
+                defmt::debug!("sending {} bytes over UART", encoded_len);
+                cx.local
+                    .tx
+                    .write(&cx.local.encoded_buf[0..encoded_len])
+                    .await
+                    .unwrap();
+            }
+        }
+    }
+
+    #[task(
+        local = [
+            rx,
+            read_buf: [u8; 128] = [0; 128],
            decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
-            src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            timestamp: [u8; 7] = [0; 7],
        ],
        shared = [blink_freq]
    )]
    async fn serial_rx_handler(
-        mut cx: serial_rx_handler::Context,
-        received_packet: Vec<u8, MAX_TC_LEN>,
+        cx: serial_rx_handler::Context,
+        mut sender: Sender<'static, RequestWithTcId, 16>,
    ) {
-        cx.local.timestamp[0] = P_FIELD_BASE;
-        defmt::info!("Received packet with {} bytes", received_packet.len());
-        let decode_buf = cx.local.decode_buf;
-        let packet = received_packet.as_slice();
-        let mut start_idx = None;
-        for (idx, byte) in packet.iter().enumerate() {
-            if *byte != 0 {
-                start_idx = Some(idx);
-                break;
-            }
-        }
-        if start_idx.is_none() {
-            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
-            return;
-        }
-        let start_idx = start_idx.unwrap();
-        match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
-            Ok(len) => {
-                defmt::info!("Decoded packet length: {}", len);
-                let pus_tc = PusTcReader::new(decode_buf);
-                match pus_tc {
-                    Ok((tc, _tc_len)) => {
-                        match convert_pus_tc_to_request(
-                            &tc,
-                            cx.local.verif_reporter,
-                            cx.local.src_data_buf,
-                            cx.local.timestamp,
-                        ) {
-                            Ok(request_with_token) => {
-                                let started_token = handle_start_verification(
-                                    request_with_token.token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-
-                                match request_with_token.request {
-                                    Request::Ping => {
-                                        handle_ping_request(cx.local.timestamp);
+        let mut decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
+        loop {
+            match cx.local.rx.read(cx.local.read_buf).await {
+                Ok(bytes) => {
+                    defmt::debug!("received {} bytes over UART", bytes);
+                    for byte in cx.local.read_buf[0..bytes].iter() {
+                        match decoder.feed(*byte) {
+                            Ok(None) => (),
+                            Ok(Some(packet_size)) => {
+                                match CcsdsPacketReader::new_with_checksum(
+                                    &decoder.dest()[0..packet_size],
+                                ) {
+                                    Ok(packet) => {
+                                        let tc_packet_id =
+                                            CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet);
+                                        if let Ok(request) =
+                                            postcard::from_bytes::<Request>(packet.packet_data())
+                                        {
+                                            sender
+                                                .send(RequestWithTcId {
+                                                    request,
+                                                    tc_id: tc_packet_id,
+                                                })
+                                                .await
+                                                .unwrap();
+                                        }
                                    }
-                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
-                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
-                                        cx.shared.blink_freq.lock(|blink_freq| {
-                                            *blink_freq =
-                                                MillisDurationU32::from_ticks(new_freq_ms);
-                                        });
+                                    Err(e) => {
+                                        defmt::error!("error unpacking ccsds packet: {}", e);
                                    }
                                }
-                                handle_completion_verification(
-                                    started_token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
                            }
                            Err(e) => {
-                                // TODO: Error handling: Send verification failure based on request error.
-                                defmt::warn!("request error {}", e);
+                                defmt::error!("cobs decoding error: {}", e);
                            }
                        }
                    }
-                    Err(e) => {
-                        defmt::warn!("Error unpacking PUS TC: {}", e);
-                    }
+                }
+                Err(e) => {
+                    defmt::error!("uart read error: {}", e);
                }
            }
-            Err(_) => {
-                defmt::warn!("decoding error, can only process cobs encoded frames")
-            }
        }
    }

-    fn handle_ping_request(timestamp: &[u8]) {
-        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
-        let sp_header =
-            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
-        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
-        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
-        let mut tm_packet = TmPacket::new();
-        tm_packet
-            .resize(ping_reply.len_written(), 0)
-            .expect("vec resize failed");
-        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
-        if TM_REQUESTS.enqueue(tm_packet).is_err() {
-            defmt::warn!("TC queue full");
-            return;
-        }
-    }
-
-    fn handle_start_verification(
-        accepted_token: VerificationToken<TcStateAccepted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
-    ) -> VerificationToken<TcStateStarted> {
-        let (tm_creator, started_token) = verif_reporter
-            .start_success(
-                src_data_buf,
-                accepted_token,
-                SEQ_COUNT_PROVIDER.get(),
-                0,
-                &timestamp,
-            )
-            .unwrap();
-        let result = send_tm(tm_creator);
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        started_token
-    }
-
-    fn handle_completion_verification(
-        started_token: VerificationToken<TcStateStarted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
+    #[task(shared = [blink_freq], local = [seq_count])]
+    async fn req_handler(
+        mut cx: req_handler::Context,
+        mut receiver: Receiver<'static, RequestWithTcId, 16>,
    ) {
-        let result = send_tm(
-            verif_reporter
-                .completion_success(
-                    src_data_buf,
-                    started_token,
-                    SEQ_COUNT_PROVIDER.get(),
-                    0,
-                    timestamp,
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
+        loop {
+            match receiver.recv().await {
+                Ok(request_with_tc_id) => {
+                    let tm_send_result = match request_with_tc_id.request {
+                        Request::Ping => {
+                            handle_ping_request(&mut cx, request_with_tc_id.tc_id).await
+                        }
+                        Request::ChangeBlinkFrequency(duration) => {
+                            handle_change_blink_frequency_request(
+                                &mut cx,
+                                request_with_tc_id.tc_id,
+                                duration,
+                            )
+                            .await
+                        }
+                    };
+                    if let Err(e) = tm_send_result {
+                        defmt::error!("error sending TM response: {}", e);
+                    }
+                }
+                Err(_e) => defmt::error!("request receive error"),
+            }
        }
    }

-    #[task(binds = DMA1_CH6, shared = [rx_transfer])]
-    fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
-        let mut tc_packet = TcPacket::new();
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_ref = rx_transfer.as_ref().unwrap();
-            if rx_ref.is_complete() {
-                let uart_rx_owned = rx_transfer.take().unwrap();
-                let (buf, c, rx) = uart_rx_owned.stop();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
-                // to do this.
-                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
-                tc_packet.copy_from_slice(buf);
-
-                // Start the next transfer as soon as possible.
-                *rx_transfer = Some(rx.read_exact(buf, c));
-
-                // Send the vector to a regular task.
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
-                // If this happens, there is a high chance that the maximum packet length was
-                // exceeded. Circular mode is not used here, so data might be missed.
-                defmt::warn!(
-                    "rx transfer with maximum length {}, might miss data",
-                    TC_BUF_LEN
-                );
-            }
-        });
+    async fn handle_ping_request(
+        cx: &mut req_handler::Context<'_>,
+        tc_packet_id: CcsdsPacketIdAndPsc,
+    ) -> Result<(), TmSendError> {
+        defmt::info!("Received PUS ping telecommand, sending ping reply");
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count).await?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
    }

-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
-    fn serial_isr(mut cx: serial_isr::Context) {
+    async fn handle_change_blink_frequency_request(
+        cx: &mut req_handler::Context<'_>,
+        tc_packet_id: CcsdsPacketIdAndPsc,
+        duration: Duration,
+    ) -> Result<(), TmSendError> {
+        defmt::info!(
+            "Received ChangeBlinkFrequency request, new frequency: {} ms",
+            duration.as_millis()
+        );
        cx.shared
-            .tx_shared
-            .lock(|tx_shared| match &mut tx_shared.state {
-                UartTxState::Idle(_) => (),
-                UartTxState::Transmitting(transfer) => {
-                    let transfer_ref = transfer.as_ref().unwrap();
-                    if transfer_ref.is_complete() {
-                        let transfer = transfer.take().unwrap();
-                        let (_, dma_channel, mut tx) = transfer.stop();
-                        tx.clear_event(TxEvent::TransmissionComplete);
-                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
-                        // transferred packets.
-                        tx_shared.last_completed = Some(Systick::now());
-                    }
-                }
-            });
-        let mut tc_packet = TcPacket::new();
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_transfer_ref = rx_transfer.as_ref().unwrap();
-            // Received a partial packet.
-            if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
-                let rx_transfer_owned = rx_transfer.take().unwrap();
-                let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a stack
-                // allocated vector to do this.
-                tc_packet
-                    .resize(rx_len as usize, 0)
-                    .expect("vec resize failed");
-                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
-                rx.clear_event(RxEvent::Idle);
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
-                *rx_transfer = Some(rx.read_exact(buf, ch));
-            }
-        });
+            .blink_freq
+            .lock(|blink_freq| *blink_freq = duration);
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count).await?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
+    }
+}
+
+async fn send_tm(
+    tc_packet_id: CcsdsPacketIdAndPsc,
+    response: stm32f3::Response,
+    current_seq_count: u14,
+) -> Result<(), TmSendError> {
+    let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
+    let tm_header = TmHeader {
+        tc_packet_id: Some(tc_packet_id),
+        uptime_millis: embassy_time::Instant::now().as_millis(),
+    };
+    let mut tm_packet = TmPacket::new();
+    let tm_size = tm_size(&tm_header, &response);
+    tm_packet.resize(tm_size, 0).expect("vec resize failed");
+    create_tm_packet(&mut tm_packet, sp_header, tm_header, response)?;
+    TM_QUEUE.send(tm_packet).await;
+    Ok(())
+}
+
+// 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(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(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)
    }
 }
@@ -1,29 +0,0 @@
-[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"
@@ -1,5 +1,4 @@
 [package]
-authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
 name = "satrs-stm32h7-nucleo-rtic"
 edition = "2021"
 version = "0.1.0"
@@ -14,37 +13,28 @@ name = "integration"
 harness = false

 [dependencies]
+embedded-types = { path = "../types", features = ["defmt"] }
+
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+arbitrary-int = "2"
 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"] }
+defmt = "1"
+defmt-rtt = "1"
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-alloc = "0.7"
+static_cell = "2"
+rtic = { version = "2", features = ["thumbv7-backend"] }
+spacepackets = { version = "0.18", default-features = false, features = ["defmt"] }
+postcard = "1"

-[dependencies.smoltcp]
-version = "0.11.0"
-default-features = false
-features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
+embassy-stm32 =  { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}

-[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"]
+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" }

 [dev-dependencies]
-defmt-test = "0.3"
+defmt-test = "0.5"

 # cargo build/run
 [profile.dev]
@@ -0,0 +1,14 @@
+use std::path::PathBuf;
+use std::{env, fs};
+
+fn main() {
+    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
+    let cargo_dir = manifest_dir.parent().unwrap().join(".cargo");
+    let config = cargo_dir.join("config.toml");
+    let config_template = cargo_dir.join("config.toml.template");
+
+    if !config.exists() && config_template.exists() {
+        fs::create_dir_all(&cargo_dir).unwrap();
+        fs::copy(&config_template, &config).unwrap();
+    }
+}
@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json
@@ -1,4 +0,0 @@
-{
-    "com_if": "udp",
-    "tcpip_udp_port": 7301
-}
@@ -1,305 +0,0 @@
-#!/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()
@@ -1,2 +0,0 @@
-tmtccmd == 8.0.1
-# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
@@ -0,0 +1,2 @@
+[toolchain]
+targets = ["thumbv7em-none-eabihf"]
@@ -5,51 +5,53 @@

 #![no_std]
 #![no_main]
+use rtic::app;
 use satrs_stm32h7_nucleo_rtic as _;

-use stm32h7xx_hal::{block, prelude::*, timer::Timer};
+#[app(device = embassy_stm32, peripherals = false, dispatchers = [SPI1])]
+mod app {
+    use embassy_stm32::gpio;

-use cortex_m_rt::entry;
+    #[shared]
+    struct Shared {}

-#[entry]
-fn main() -> ! {
-    defmt::println!("starting stm32h7 blinky example");
+    #[local]
+    struct Local {}

-    // Get access to the device specific peripherals from the peripheral access crate
-    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());
+        defmt::info!("Hello World!");
+        // Configure gpio B pin 0 as a push-pull output.
+        let ld1 = gpio::Output::new(p.PB0, gpio::Level::High, gpio::Speed::Low);
+        let ld2 = gpio::Output::new(p.PB7, gpio::Level::High, gpio::Speed::Low);
+        let ld3 = gpio::Output::new(p.PB14, gpio::Level::High, gpio::Speed::Low);

-    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
-    let rcc = dp.RCC.constrain();
+        // Schedule the blinking task
+        blink::spawn(ld1, ld2, ld3).ok();

-    let pwr = dp.PWR.constrain();
-    let pwrcfg = pwr.freeze();
+        (Shared {}, Local {})
+    }

-    // 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);
+    #[task()]
+    async fn blink(
+        _cx: blink::Context,
+        mut ld1: gpio::Output<'static>,
+        mut ld2: gpio::Output<'static>,
+        mut ld3: gpio::Output<'static>,
+    ) {
+        loop {
+            defmt::info!("high");
+            ld1.set_high();
+            ld2.set_high();
+            ld3.set_high();
+            embassy_time::Timer::after_millis(500).await;

-    // 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();
+            defmt::info!("low");
+            ld1.set_low();
+            ld2.set_low();
+            ld3.set_low();
+            embassy_time::Timer::after_millis(500).await;
+        }
    }
 }
@@ -1,11 +1,13 @@
 #![no_main]
 #![no_std]

-use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;

 #[cortex_m_rt::entry]
 fn main() -> ! {
-    defmt::println!("Hello, world!");
-
-    satrs_stm32h7_nucleo_rtic::exit()
+    loop {
+        defmt::println!("Hello, world!");
+        cortex_m::asm::delay(100_000_000);
+    }
 }
@@ -1,13 +1,8 @@
 #![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 defmt_rtt as _;
+use embassy_stm32 as _;
 use panic_probe as _;

 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
@@ -17,14 +12,6 @@ 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
@@ -32,9 +19,7 @@ pub fn exit() -> ! {
 /// loop.
 #[cortex_m_rt::exception]
 unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(debug::EXIT_FAILURE);
-    }
+    panic!("unexpected hard fault");
 }

 // defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
@@ -3,427 +3,215 @@
 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 embassy_stm32::bind_interrupts;
 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;
+use embedded_alloc::LlffHeap as Heap;

 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,
-}
+const TC_QUEUE_DEPTH: usize = 32;
+const TM_QUEUE_DEPTH: usize = 32;

-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)]
+#[app(device = embassy_stm32, peripherals = false)]
 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;
+    use arbitrary_int::u14;
+    use embassy_net::udp::UdpSocket;
+    use embassy_net::StackResources;
+    use embassy_stm32::eth;
+    use embassy_stm32::gpio;
+    use embassy_stm32::peripherals;
+    use embassy_stm32::rng;
+    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+    use embassy_time::Duration;
+    use embassy_time::Timer;
+    use embassy_time::WithTimeout as _;
+    use embedded_types::create_tm_packet;
+    use embedded_types::stm32h7;
+    use embedded_types::tm_size;
+    use embedded_types::TmHeader;
+    use spacepackets::CcsdsPacketCreationError;
+    use spacepackets::CcsdsPacketIdAndPsc;
+    use spacepackets::CcsdsPacketReader;
+    use spacepackets::SpHeader;
+    use static_cell::StaticCell;
+
+    bind_interrupts!(struct Irqs {
+        ETH => eth::InterruptHandler;
+        RNG => rng::InterruptHandler<peripherals::RNG>;
+    });
+
+    type Device = eth::Ethernet<
+        'static,
+        peripherals::ETH,
+        eth::GenericPhy<eth::Sma<'static, peripherals::ETH_SMA>>,
+    >;

    struct BlinkyLeds {
-        led1: Pin<'B', 7, Output>,
-        led2: Pin<'B', 14, Output>,
+        led1: gpio::Output<'static>,
+        led2: gpio::Output<'static>,
    }

    #[local]
    struct Local {
+        net_runner: embassy_net::Runner<'static, Device>,
+        net_stack: embassy_net::Stack<'static>,
        leds: BlinkyLeds,
-        link_led: Pin<'B', 0, Output>,
-        net: Net,
-        udp: UdpNet,
-        tc_source_rx: TcSourceRx,
-        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+        link_led: gpio::Output<'static>,
+        tc_rx: embassy_sync::channel::Receiver<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TC_QUEUE_DEPTH,
+        >,
+        tc_tx: embassy_sync::channel::Sender<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TC_QUEUE_DEPTH,
+        >,
+        tm_rx: embassy_sync::channel::Receiver<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TM_QUEUE_DEPTH,
+        >,
+        tm_tx: embassy_sync::channel::Sender<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TM_QUEUE_DEPTH,
+        >,
    }

    #[shared]
    struct Shared {
-        blink_freq: MillisDurationU32,
-        eth_link_up: bool,
-        sockets: SocketSet<'static>,
-        shared_pool: SharedPool,
+        sequence_count: u14,
+        blink_freq: embassy_time::Duration,
    }

    #[init]
-    fn init(mut cx: init::Context) -> (Shared, Local) {
+    fn init(_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 mut config = embassy_stm32::Config::default();
+        {
+            use embassy_stm32::rcc::*;
+            config.rcc.hsi = Some(HSIPrescaler::Div1);
+            config.rcc.csi = true;
+            config.rcc.hsi48 = Some(Default::default()); // needed for RNG
+            config.rcc.pll1 = Some(Pll {
+                source: PllSource::Hsi,
+                prediv: PllPreDiv::Div4,
+                mul: PllMul::Mul50,
+                fracn: None,
+                divp: Some(PllDiv::Div2),
+                divq: None,
+                divr: None,
+            });
+            config.rcc.sys = Sysclk::Pll1P; // 400 Mhz
+            config.rcc.ahb_pre = AHBPrescaler::Div2; // 200 Mhz
+            config.rcc.apb1_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.apb2_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.apb3_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.apb4_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.voltage_scale = VoltageScale::Scale1;
+        }
+        let periphs = embassy_stm32::init(config);

-        let 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();
+        let link_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
+        let mut led1 = gpio::Output::new(periphs.PB7, gpio::Level::Low, gpio::Speed::Medium);
+        let mut led2 = gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium);

        // 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"
+        static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
+        // warning: Not all STM32H7 devices have the exact same pins here
+        // for STM32H747XIH, replace p.PB13 for PG12
+        let device = eth::Ethernet::new(
+            PACKETS.init(eth::PacketQueue::<4, 4>::new()),
+            periphs.ETH,
+            Irqs,
+            periphs.PA1,  // ref_clk
+            periphs.PA7,  // CRS_DV: Carrier Sense
+            periphs.PC4,  // RX_D0: Received Bit 0
+            periphs.PC5,  // RX_D1: Received Bit 1
+            periphs.PG13, // TX_D0: Transmit Bit 0
+            periphs.PB13, // TX_D1: Transmit Bit 1
+            periphs.PG11, // TX_EN: Transmit Enable
+            MAC_ADDRESS,
+            periphs.ETH_SMA,
+            periphs.PA2, // mdio
+            periphs.PC1, // mdc
        );

-        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");
+        let config = embassy_net::Config::dhcpv4(embassy_net::DhcpConfig::default());
+
+        // Generate random seed.
+        let mut rng = rng::Rng::new(periphs.RNG, Irqs);
+        let mut seed = [0; 8];
+        rng.fill_bytes(&mut seed);
+        let seed = u64::from_le_bytes(seed);
+
+        // Init network stack
+        static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+        let (stack, runner) =
+            embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);

        // 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) }
+        unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }

-        eth_link_check::spawn().expect("eth link check failed");
+        static TC_CHANNEL: static_cell::ConstStaticCell<
+            embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TC_QUEUE_DEPTH>,
+        > = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
+        let tc_channel = TC_CHANNEL.take();
+        let tc_sender = tc_channel.sender();
+        let tc_receiver = tc_channel.receiver();
+
+        static TM_CHANNEL: static_cell::ConstStaticCell<
+            embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TM_QUEUE_DEPTH>,
+        > = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
+        let tm_channel = TM_CHANNEL.take();
+        let tm_sender = tm_channel.sender();
+        let tm_receiver = tm_channel.receiver();
+
+        net_lib_task::spawn().expect("spawning net library task failed");
+        net_app_task::spawn().expect("spawning net application task 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");
+        tc_handler::spawn().expect("spawning TC handler task failed");

        (
            Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                eth_link_up: false,
-                sockets,
-                shared_pool,
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+                sequence_count: u14::new(0),
            },
            Local {
                link_led,
                leds,
-                net,
-                udp,
-                tc_source_rx,
-                phy: lan8742a,
+                net_runner: runner,
+                net_stack: stack,
+                tc_tx: tc_sender,
+                tc_rx: tc_receiver,
+                tm_tx: tm_sender,
+                tm_rx: tm_receiver,
            },
        )
    }
@@ -435,94 +223,164 @@ mod app {
            leds.led1.toggle();
            leds.led2.toggle();
            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
+            Timer::after_millis(current_blink_freq.as_millis()).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;
+    #[task(local=[net_runner])]
+    async fn net_lib_task(cx: net_lib_task::Context) {
+        cx.local.net_runner.run().await;
+    }
+
+    #[task(local = [net_stack, link_led, tc_tx, tm_rx])]
+    async fn net_app_task(cx: net_app_task::Context) {
+        pub const MTU: usize = 1500;
+
+        // Ensure those are in the data section by making them static.
+        static RX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
+            static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
+        static TX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
+            static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
+        static TX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
+            static_cell::ConstStaticCell::new([0; MTU]);
+        static RX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
+            static_cell::ConstStaticCell::new([0; MTU]);
+
+        let rx_udp_meta = RX_UDP_META.take();
+        let rx_udp_bufs = RX_UDP_BUFS.take();
+        let tx_udp_meta = TX_UDP_META.take();
+        let tx_udp_bufs = TX_UDP_BUFS.take();
+
+        let mut rx_buffer = [0; MTU];
+
        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");
+            cx.local.net_stack.wait_link_up().await;
+            cx.local.link_led.set_high();
+            defmt::info!("Network link is up");
+
+            // Ensure DHCP configuration is up before trying connect
+            cx.local.net_stack.wait_config_up().await;
+
+            let config = cx.local.net_stack.config_v4();
+            defmt::info!("Network task initialized, config: {}", config);
+
+            let mut udp = UdpSocket::new(
+                cx.local.net_stack.clone(),
+                rx_udp_meta,
+                rx_udp_bufs,
+                tx_udp_meta,
+                tx_udp_bufs,
+            );
+            defmt::info!("UDP socket bound to port {}", PORT);
+            udp.bind(PORT).expect("failed to bind UDP socket");
+            let mut remote_endpoint = None;
+            loop {
+                if !cx.local.net_stack.is_link_up() {
+                    defmt::warn!("Network link is down");
+                    cx.local.link_led.set_low();
+                    break;
                }
-            } 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);
-                            }
+                match udp
+                    .recv_from(&mut rx_buffer)
+                    .with_timeout(Duration::from_millis(200))
+                    .await
+                {
+                    Ok(result) => match result {
+                        Ok((data, meta)) => {
+                            remote_endpoint = Some(meta.endpoint);
+                            defmt::debug!("UDP RX {}, Meta: {}", data, meta);
+                            cx.local.tc_tx.send(rx_buffer[0..data].to_vec()).await;
                        }
-                    });
+                        Err(e) => {
+                            defmt::warn!("udp receive error: {}", e);
+                            Timer::after_millis(100).await;
+                        }
+                    },
+                    Err(_e) => (),
                }
-                Err(e) => {
-                    defmt::warn!("TC source reception error: {}", e);
+                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)
+                            }
+                            Err(e) => defmt::warn!("udp send error: {}", e),
+                        }
+                    }
                }
-            };
+            }
        }
    }
+
+    #[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 => {
+                                defmt::info!("Received Ping request");
+                                stm32h7::Response::Ok
+                            }
+                            stm32h7::Request::ChangeBlinkFrequency(duration) => {
+                                defmt::info!(
+                                    "Received blinky frequency change request: {} ms",
+                                    duration.as_millis()
+                                );
+                                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(())
+    }
 }
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]

-use stm32h7_testapp as _; // memory layout + panic handler
+use satrs_stm32h7_nucleo_rtic as _; // memory layout + panic handler

 // See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
 // feature)
@@ -1,2 +0,0 @@
-/settings.json
-/.cortex-debug.*
@@ -1,12 +0,0 @@
-{
-	// 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": []
-}
@@ -1,22 +0,0 @@
-{
-  "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"
-        }
-      ]
-    }
-  ]
-}
@@ -1,20 +0,0 @@
-{
-    // 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
-            }
-        },
-
-    ]
-}
@@ -0,0 +1,11 @@
+[package]
+name = "embedded-types"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+serde = { version = "1", default-features = false }
+defmt = { version = "1", optional = true }
+spacepackets = { version = "0.18", default-features = false, features = ["defmt", "serde"] }
+postcard = { version = "1", features = ["defmt"] }
+arbitrary-int = "2"
@@ -0,0 +1,84 @@
+#![no_std]
+
+use spacepackets::{
+    CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
+    SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
+};
+
+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,
+    }
+}
+
+/// 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: u64,
+}
+
+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(),
+    )
+    .unwrap()
+}
+
+pub fn create_tm_packet<Response: serde::Serialize>(
+    buf: &mut [u8],
+    sp_header: SpacePacketHeader,
+    tm_header: TmHeader,
+    response: Response,
+) -> Result<usize, CcsdsPacketCreationError> {
+    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
+        + postcard::experimental::serialized_size(&response).unwrap();
+    let mut creator =
+        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
+
+    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
+        .unwrap()
+        .len();
+    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
+    Ok(creator.finish())
+}
+
+#[cfg(test)]
+mod tests {}
@@ -0,0 +1,8 @@
+[package]
+name = "satrs-gen"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+toml = "0.8"
+heck = "0.5"
@@ -0,0 +1,34 @@
+[apid]
+Sched = 1
+GenericPus = 2
+Acs = 3
+Cfdp = 4
+Tmtc = 5
+Eps = 6
+
+
+[ids]
+[ids.Eps]
+Pcdu = 0
+Subsystem = 1
+
+[ids.Tmtc]
+UdpServer = 0
+TcpServer = 1
+
+[ids.GenericPus]
+PusEventManagement = 0
+PusRouting = 1
+PusTest = 2
+PusAction = 3
+PusMode = 4
+PusHk = 5
+
+[ids.Sched]
+PusSched = 0
+
+[ids.Acs]
+Subsystem = 1
+Assembly = 2
+Mgm0 = 3
+Mgm1 = 4
@@ -0,0 +1,91 @@
+use heck::{ToShoutySnakeCase, ToSnakeCase};
+use std::{
+    collections::BTreeMap,
+    fs::{self, File},
+    io::{self, Write},
+};
+
+use toml::{Value, map::Map};
+
+fn main() -> io::Result<()> {
+    // Read the configuration file
+    let config_str = fs::read_to_string("components.toml").expect("Unable to read file");
+    let config: Value = toml::from_str(&config_str).expect("Unable to parse TOML");
+
+    let mut output = File::create("../satrs-example/src/ids.rs")?;
+
+    generate_rust_code(&config, &mut output);
+    Ok(())
+}
+
+fn sort_enum_table(table_map: &Map<String, Value>) -> BTreeMap<u64, &str> {
+    // Collect entries into a BTreeMap to sort them by key
+    let mut sorted_entries: BTreeMap<u64, &str> = BTreeMap::new();
+
+    for (key, value) in table_map {
+        if let Some(value) = value.as_integer() {
+            if !(0..=0x7FF).contains(&value) {
+                panic!("Invalid APID value: {}", value);
+            }
+            sorted_entries.insert(value as u64, key);
+        }
+    }
+    sorted_entries
+}
+
+fn generate_rust_code(config: &Value, writer: &mut impl Write) {
+    writeln!(
+        writer,
+        "//! This is an auto-generated configuration module."
+    )
+    .unwrap();
+    writeln!(writer, "use satrs::request::UniqueApidTargetId;").unwrap();
+    writeln!(writer).unwrap();
+
+    // Generate the main module
+    writeln!(
+        writer,
+        "#[derive(Debug, Copy, Clone, PartialEq, Eq, strum::EnumIter)]"
+    )
+    .unwrap();
+    writeln!(writer, "pub enum Apid {{").unwrap();
+
+    // Generate constants for the main module
+    if let Some(apid_table) = config.get("apid").and_then(Value::as_table) {
+        let sorted_entries = sort_enum_table(apid_table);
+        // Write the sorted entries to the writer
+        for (value, key) in sorted_entries {
+            writeln!(writer, "    {} = {},", key, value).unwrap();
+        }
+    }
+    writeln!(writer, "}}").unwrap();
+
+    // Generate ID tables.
+    if let Some(id_tables) = config.get("ids").and_then(Value::as_table) {
+        for (mod_name, table) in id_tables {
+            let mod_name_as_snake = mod_name.to_snake_case();
+            writeln!(writer).unwrap();
+            writeln!(writer, "pub mod {} {{", mod_name_as_snake).unwrap();
+            let sorted_entries = sort_enum_table(table.as_table().unwrap());
+            writeln!(writer, "    #[derive(Debug, Copy, Clone, PartialEq, Eq)]").unwrap();
+            writeln!(writer, "    pub enum Id {{").unwrap();
+            // Write the sorted entries to the writer
+            for (value, key) in &sorted_entries {
+                writeln!(writer, "        {} = {},", key, value).unwrap();
+            }
+            writeln!(writer, "    }}").unwrap();
+            writeln!(writer).unwrap();
+
+            for (_value, key) in sorted_entries {
+                let key_shouting = key.to_shouty_snake_case();
+                writeln!(
+                    writer,
+                    "    pub const {}: super::UniqueApidTargetId = super::UniqueApidTargetId::new(super::Apid::{} as u16, Id::{} as u32);",
+                key_shouting, mod_name, key
+                ).unwrap();
+            }
+
+            writeln!(writer, "}}").unwrap();
+        }
+    }
+}
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:java="http://www.yworks.com/xml/yfiles-common/1.0/java" xmlns:sys="http://www.yworks.com/xml/yfiles-common/markup/primitives/2.0" xmlns:x="http://www.yworks.com/xml/yfiles-common/markup/2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:y="http://www.yworks.com/xml/graphml" xmlns:yed="http://www.yworks.com/xml/yed/3" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd">
-  <!--Created by yEd 3.23.2-->
+  <!--Created by yEd 3.25.1-->
  <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
  <key for="port" id="d1" yfiles.type="portgraphics"/>
  <key for="port" id="d2" yfiles.type="portgeometry"/>
@@ -15,7 +15,6 @@
  <graph edgedefault="directed" id="G">
    <data key="d0" xml:space="preserve"/>
    <node id="n0">
-      <data key="d5"/>
      <data key="d6">
        <y:ShapeNode>
          <y:Geometry height="360.0" width="479.0" x="771.3047672479152" y="458.0"/>
@@ -39,7 +38,7 @@
          <y:Geometry height="177.64799999999997" width="200.75199999999973" x="1037.5527672479152" y="470.15200000000027"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="67.919921875" x="13.264464667588754" xml:space="preserve" y="8.302185845943427">Simulation<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.433926114471642" nodeRatioY="-0.45326608886143704" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="64.25241088867188" x="13.264464667588754" xml:space="preserve" y="8.302185845943427">Simulation<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.433926114471642" nodeRatioY="-0.45326608886143704" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -50,7 +49,7 @@
          <y:Geometry height="34.0" width="84.39999999999986" x="1068.8351781652768" y="508.2800000000002"/>
          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="37.638671875" x="23.380664062499818" xml:space="preserve" y="8.015625">PCDU<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="36.37623596191406" x="24.011882019042787" xml:space="preserve" y="6.827942848205566">PCDU<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -61,7 +60,7 @@
          <y:Geometry height="34.0" width="120.39999999999986" x="1068.8351781652768" y="550.4800000000001"/>
          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="92.453125" x="13.973437499999818" xml:space="preserve" y="8.015625">Magnetometer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="94.56465148925781" x="12.917674255370912" xml:space="preserve" y="6.827942848205566">Magnetometers<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -72,7 +71,7 @@
          <y:Geometry height="34.0" width="120.39999999999986" x="1068.8351781652768" y="594.9000000000001"/>
          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="88.83203125" x="15.783984374999818" xml:space="preserve" y="8.015625">Magnetorquer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="86.24858093261719" x="17.075709533691224" xml:space="preserve" y="6.827942848205566">Magnetorquer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -83,7 +82,7 @@
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          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="85.931640625" x="17.234179687499932" xml:space="preserve" y="8.015625">SimController<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="81.62857055664062" x="19.38571472167962" xml:space="preserve" y="6.827942848205566">SimController<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -94,7 +93,7 @@
          <y:Geometry height="34.0" width="120.39999999999986" x="840.5407126611072" y="677.8000000000002"/>
          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="105.05078125" x="7.674609374999932" xml:space="preserve" y="8.015625">UDP TC Receiver<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="96.96467590332031" x="11.717662048339776" xml:space="preserve" y="6.827942848205566">UDP TC Receiver<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -105,7 +104,7 @@
          <y:Geometry height="34.0" width="120.39999999999986" x="1005.2814253222144" y="677.8000000000002"/>
          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.111328125" x="11.644335937499932" xml:space="preserve" y="8.015625">UDP TM Sender<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="92.46463012695312" x="13.96768493652337" xml:space="preserve" y="6.827942848205566">UDP TM Sender<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -116,7 +115,18 @@
          <y:Geometry height="34.0" width="120.39999999999986" x="931.6174253222144" y="775.5920000000002"/>
          <y:Fill color="#FFCC00" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="38.740234375" x="40.82988281249993" xml:space="preserve" y="8.015625">Client<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="36.292236328125" x="42.05388183593743" xml:space="preserve" y="6.827942848205566">Client<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n9">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="1074.8237583924094" y="555.3663917525774"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="94.56465148925781" x="12.917674255370912" xml:space="preserve" y="6.827942848205566">Magnetometers<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
      </data>
@@ -153,7 +163,7 @@
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.955078125" x="12.686124396959713" xml:space="preserve" y="-22.50440429687478">schedule_event<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="13.519999999999978" distanceToCenter="true" position="left" ratio="0.11621274698385183" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="91.06060791015625" x="13.086737058292329" xml:space="preserve" y="-23.692086448669215">schedule_event<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="13.519999999999978" distanceToCenter="true" position="left" ratio="0.11621274698385183" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
@@ -167,7 +177,7 @@
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="75.923828125" x="-87.89792405764274" xml:space="preserve" y="-40.606550292968564">SimRequest<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="49.935999999999936" distanceToCenter="true" position="left" ratio="0.5" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="70.78047180175781" x="-85.32624589602165" xml:space="preserve" y="-42.388073520660214">SimRequest<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="49.935999999999936" distanceToCenter="true" position="left" ratio="0.5" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
@@ -185,10 +195,10 @@
        </y:PolyLineEdge>
      </data>
    </edge>
-    <edge id="e5" source="n3" target="n7">
+    <edge id="e5" source="n9" target="n7">
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        <y:PolyLineEdge>
-          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0">
+          <y:Path sx="57.449660948066594" sy="-4.88639175257731" tx="0.0" ty="0.0">
            <y:Point x="1223.8814253222142" y="567.4800000000001"/>
            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
          </y:Path>
@@ -207,7 +217,7 @@
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="60.4140625" x="-2.4087265765670054" xml:space="preserve" y="145.1356018470808">SimReply<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="17.97817989120062" distanceToCenter="true" position="right" ratio="0.679561684469248" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.73236083984375" x="-1.658628279667937" xml:space="preserve" y="143.94791969528637">SimReply<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="17.97817989120062" distanceToCenter="true" position="right" ratio="0.679561684469248" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
          <y:BendStyle smoothed="false"/>
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      </data>
@@ -221,7 +231,7 @@
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="119.751953125" x="-132.27600022951788" xml:space="preserve" y="-32.03587548828091">SimRequest in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="20.73181250000017" distanceToCenter="true" position="left" ratio="0.9386993050513424" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="112.32476806640625" x="-128.562407700221" xml:space="preserve" y="-33.22355764007534">SimRequest in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="20.73181250000017" distanceToCenter="true" position="left" ratio="0.9386993050513424" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
          <y:BendStyle smoothed="false"/>
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@@ -235,7 +245,7 @@
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          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="104.2421875" x="-62.15307370122309" xml:space="preserve" y="34.80927001953137">SimReply in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="23.81218750000005" distanceToCenter="true" position="left" ratio="0.12769857433808468" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.27665710449219" x="-58.67030850346919" xml:space="preserve" y="33.62158786773705">SimReply in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="23.81218750000005" distanceToCenter="true" position="left" ratio="0.12769857433808468" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
@@ -248,7 +258,7 @@
          </y:Path>
          <y:LineStyle color="#000000" type="line" width="1.0"/>
          <y:Arrows source="none" target="standard"/>
-          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.95703125" x="73.38950633588263" xml:space="preserve" y="-62.699758016200235">step<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="11.126187499999986" distanceToCenter="true" position="left" ratio="0.5889387894625147" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.344114303588867" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="28.228179931640625" x="74.7630257963599" xml:space="preserve" y="-63.88744016799478">step<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="11.126187499999986" distanceToCenter="true" position="left" ratio="0.5889387894625147" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
          <y:BendStyle smoothed="false"/>
        </y:PolyLineEdge>
      </data>
@@ -0,0 +1,46 @@
+all: check build embedded test check-fmt clippy docs
+
+check:
+  cargo check
+  cargo check -p satrs-example --no-default-features
+
+build:
+  cargo build
+
+test:
+  cargo nextest run --all-features
+  cargo test --doc --all-features
+
+embedded: embedded-stm32h7 embedded-stm32f3
+  cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
+
+[working-directory:"embedded-examples/stm32h7-nucleo-rtic"]
+embedded-stm32h7:
+  cargo build --target=thumbv7em-none-eabihf --release
+
+[working-directory:"embedded-examples/stm32f3-disco-rtic"]
+embedded-stm32f3:
+  cargo build --target=thumbv7em-none-eabihf --release
+
+check-fmt:
+  cargo fmt --all -- --check
+
+fmt:
+  cargo fmt --all
+
+clippy:
+  cargo clippy -- -D warnings
+
+docs-satrs:
+  RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p satrs --all-features
+
+docs: docs-satrs
+
+[working-directory:"satrs-book"]
+book *args:
+  mdbook build {{args}}
+
+# Pass --dry-run to preview the changes first.
+[working-directory:"satrs-book"]
+deploy-book *args: book
+  rsync -avz --delete {{args}} book/html/ numalfix@documentation.irs.uni-stuttgart.de:/home/numalfix/www/projects/sat-rs/book/
@@ -1,7 +1,7 @@
 sat-rs book
 =========

-High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+High-level documentation of the [sat-rs project](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/).

 ## Building

@@ -1,9 +1,16 @@
 [book]
 authors = ["Robin Mueller"]
 language = "en"
-multilingual = false
 src = "src"
 title = "The sat-rs book"

 [output.html]
+additional-js = ["mermaid.min.js", "mermaid-init.js"]
+
 [output.linkcheck]
+command = "mdbook-linkcheck2"
+
+[preprocessor]
+
+[preprocessor.mermaid]
+command = "mdbook-mermaid"
@@ -0,0 +1,39 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+(() => {
+    const darkThemes = ['ayu', 'navy', 'coal'];
+    const lightThemes = ['light', 'rust'];
+
+    const classList = document.getElementsByTagName('html')[0].classList;
+
+    let lastThemeWasLight = true;
+    for (const cssClass of classList) {
+        if (darkThemes.includes(cssClass)) {
+            lastThemeWasLight = false;
+            break;
+        }
+    }
+
+    const theme = lastThemeWasLight ? 'default' : 'dark';
+    mermaid.initialize({ startOnLoad: true, theme });
+
+    // Simplest way to make mermaid re-render the diagrams in the new theme is via refreshing the page
+
+    for (const darkTheme of darkThemes) {
+        document.getElementById('mdbook-theme-' + darkTheme).addEventListener('click', () => {
+            if (lastThemeWasLight) {
+                window.location.reload();
+            }
+        });
+    }
+
+    for (const lightTheme of lightThemes) {
+        document.getElementById('mdbook-theme-' + lightTheme).addEventListener('click', () => {
+            if (!lastThemeWasLight) {
+                window.location.reload();
+            }
+        });
+    }
+})();
@@ -1,17 +1,22 @@
 # Summary

 - [Introduction](./introduction.md)
- [Design](./design.md)

 # Basic concepts and components

 - [Communication with Space Systems](./communication.md)
+- [TMTC modelling](./tmtc-modelling.md)
 - [Working with Constrained Systems](./constrained-systems.md)
 - [Actions](./actions.md)
 - [Modes and Health](./modes-and-health.md)
 - [Housekeeping Data](./housekeeping.md)
 - [Events](./events.md)

+# Architecture
+
+- [System View](./system-view.md)
+- [Design](./design.md)
+
 # Example project

 - [The satrs-example application](./example.md)
@@ -7,3 +7,7 @@
 - [Modelling space systems](./modelling-space-systems.md)
 - [Ground Segments](./ground-segments.md)

+Refer to new sections in the system view page:
+
+- [Fault Detection, Isolation and Recovery (FDIR)](./fdir.md)
+- and the [mode tree](./mode-tree.md)
@@ -3,40 +3,9 @@
 Space systems generally need to be commanded regularly. This can include commands periodically
 required to ensure a healthy system, or commands to reach the mission goals.

-These commands can be modelled using the concept of Actions. the ECSS PUS standard also provides
-the PUS service 8 for actions, but provides few concrete subservices and specification on how
-action commanding could look like.
-
-`sat-rs` proposes two recommended ways to perform action commanding:
-
-1. Target ID and Action ID based. The target ID is a 32-bit unsigned ID for an OBSW object entity
-   which can also accept Actions. The action ID is a 32-bit unsigned ID for each action that a
-   target is able to perform.
-2. Target ID and Action String based. The target ID is the same as in the first proposal, but
-   the unique action is identified by a string.
-
-The library provides an `ActionRequest` abstraction to model both of these cases.
-
-## Commanding with ECSS PUS 8
-
-`sat-rs` provides a generic ECSS PUS 8 action command handler. This handler can convert PUS 8
-telecommands which use the commanding scheme 1 explained above to an `ActionRequest` which is
-then forwarded to the target specified by the Target ID.
-
-There are 3 requirements for the PUS 8 telecommand:
-
-1. The subservice 128 must be used
-2. Bytes 0 to 4 of application data must contain the target ID in `u32` big endian format.
-3. Bytes 4 to 8 of application data must contain the action ID in `u32` big endian format.
-4. The rest of the application data are assumed to be command specific additional parameters. They
-   will be added to an IPC store and the corresponding store address will be sent as part of the
-   `ActionRequest`.
-
-## Sending back telemetry
-
-There are some cases where the regular verification provided by PUS in response to PUS action
-commands is not sufficient and some additional telemetry needs to be sent to ground. In that
-case, it is recommended to chose some custom subservice for action TM data and then send the
-telemetry using the same scheme as shown above, where the first 8 bytes of the application
-data is reserved for the target ID and action ID.
+These commands can be modelled using the concept of Actions. If you have not read the 
+[TMTC modelling](./tmtc-modelling.md) chapter yet, it is recommended to read it first.

+For a low number of actions, it is recommended to add the actions as `enum` variants of your
+`Request` type. For a higher number of actions, you can create a dedicated `ActionRequest`
+structure.
@@ -2,25 +2,20 @@

 # Communication with sat-rs based software

-Communication is a vital topic for remote system which are usually not (directly)
+Communication is a vital topic for remote systems which are usually not (directly)
 connected to the internet and only have 1-2 communication links during nominal operation. However,
-most of these systems have internet access during development cycle. There are various standards
-provided by CCSDS and ECSS which can be useful to determine how to communicate with the satellite
+most of these systems have internet access during the development cycle. There are various standards
+provided by CCSDS which can be useful to determine how to communicate with the satellite
 and the primary On-Board Software.

-# Application layer
-
 Most communication with space systems is usually packet based. For example, the CCSDS space
-packet standard only specifies a 6 byte header with at least 1 byte payload. The PUS packet
-standard is a subset of the space packet standard, which adds some fields and a 16 bit CRC, but
-it is still centered around small packets. `sat-rs` provides support for these ECSS and CCSDS
-standards and also attempts to fill the gap to the internet protocol by providing the following
-components.
+packet standard only specifies a 6 byte header with at least 1 byte payload. The `sat-rs` library
+provides some support for the [CCSDS space packet protocol](https://ccsds.org/Pubs/133x0b2e2.pdf).

 1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
   UDP is already packet based which makes it an excellent fit for exchanging space packets.
 2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
-   TCP is a stream based protocol, so the library provides building blocks to parse telemetry
+   TCP is a stream based protocol, so the library provides building blocks to parse telecommands
   from an arbitrary bytestream. Two concrete implementations are provided:
    - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
      to parse tightly packed CCSDS Spacepackets.
@@ -31,28 +26,70 @@ components.
 # Working with telemetry and telecommands (TMTC)

 The commands sent to a space system are commonly called telecommands (TC) while the data received
-from it are called telemetry (TM). Keeping in mind the previous section, the concept of a TC source
-and a TM sink can be applied to most satellites. The TM sink is the one entity where all generated
-telemetry arrives in real-time. The most important task of the TM sink usually is to send all
-arriving telemetry to the ground segment of a satellite mission immediately. Another important
-task might be to store all arriving telemetry persistently. This is especially important for
-space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
+from it are called telemetry (TM). One way to model the packet handling, which can be applied to most
+satellites, is to introduce the concept of a TC source and a TM sink. The TM sink is the one entity where
+all generated telemetry arrives in real-time. The most important task of the TM sink usually is to
+send all arriving telemetry to the ground segment of a satellite mission immediately.
+
+Another important task might be to store all arriving telemetry persistently. This is especially
+important for space systems which do not have permanent contact like low-earth-orbit (LEO)
+satellites.
+
+The diagram below shows one concrete example of what this could look like.
+
+```mermaid
+flowchart LR
+    Dev[Device Handlers] --> Sink[TM Sink]
+    Sub[Subsystem Handlers] --> Sink
+    Sink --> Ground[Ground Link]
+    Sink --> Store[Persistent Storage]
+    Sink --> Udp[UDP Server]
+    Sink --> Tcp[TCP Server]
+```

 The most important task of a TC source is to deliver the telecommands to the correct recipients.
-For component oriented software using message passing, this usually includes staged demultiplexing
-components to determine where a command needs to be sent.
+For component oriented software using message passing, this usually includes demultiplexing
+to determine where a command needs to be sent.
+
+The diagram below shows one concrete example of what this could look like.
+
+```mermaid
+flowchart LR
+    Udp[UDP Server] --> Source[TC Source]
+    Tcp[TCP Server] --> Source
+    Radio[Radio Handler] --> Source
+    Source --> Dev[Device Handlers]
+    Source --> Sub[Subsystem Handlers]
+    Source --> File[File Service Handler]
+```

 Using a generic concept of a TC source and a TM sink as part of the software design simplifies
-the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
+the flexibility of the TMTC infrastructure: Newly added TM generators and TC receivers only have to
 forward their generated or received packets to those handler objects.

-# Low-level protocols and the bridge to the communcation subsystem
+# Packet format
+
+We talked about some basic support for the CCSDS space packet protocol. This is a really simple
+protocol which just specifies a header that every exchanged TMTC packet has:
+
+![Space Packet Header](./images/space-packet-standard.png)
+
+This is a protocol which already provides us with some useful fields:
+
+- ID field provided by the Application Process Identifier (APID). This can also be useful for packet
+  multiplexing
+- Basic sequence counter which can be used to determine missed packets
+
+However, what does the actual payload that we want to send to or from the satellite actually look
+like? We recommend a payload format which is created with the excellent [`serde`](https://serde.rs/)
+library. The [TMTC modelling](./tmtc-modelling.md) chapter provides more information.
+
+# Low-level protocols and the bridge to the communication subsystem

 Many satellite systems usually use the lower levels of the OSI layer in addition to the application
-layer covered by the PUS standard or the CCSDS space packets standard. This oftentimes requires
-special hardware like dedicated FPGAs to handle forward error correction fast enough. `sat-rs`
-might provide components to handle standard like the Unified Space Data Link Standard (USLP) in
+layer. This oftentimes requires special hardware like dedicated FPGAs to handle forward error
+correction fast enough. `sat-rs`
+might provide components to handle standards like the Unified Space Data Link Protocol (USLP) in
 software but most of the time the handling of communication is performed through custom
 software and hardware. Still, connecting this custom software and hardware to `sat-rs` can mostly
 be done by using the concept of TC sources and TM sinks mentioned previously.
-
@@ -3,20 +3,26 @@
 Software for space systems oftentimes has different requirements than the software for host
 systems or servers. Currently, most space systems are considered embedded systems.

-For these systems, the computation power and the available heap are the most important resources
-which are constrained. This might make completeley heap based memory management schemes which
-are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
-heap allocations might make software development unnecessarilly difficult, especially in a
+For these systems, the computation power and the available memory are important resources
+which are also constrained. This might make completely heap based memory management schemes which
+are oftentimes used on host and server based systems infeasible. Still, completely forbidding
+heap allocations might make software development unnecessarily difficult, especially in a
 time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.

-A useful pattern used commonly in space systems is to limit heap allocations to program
+A useful pattern commonly used in space systems is to limit heap allocations to program
 initialization time and avoid frequent run-time allocations. This prevents issues like
 running out of memory (something even Rust can not protect from) or heap fragmentation on systems
-without a MMU.
+without an MMU.
+
+# Using an embedded allocator
+
+The [`embedded-alloc`](https://github.com/rust-embedded/embedded-alloc) library provides
+a global allocator based on statically sized memory blocks. It also exposes an API
+which allows run-time tracking of the memory usage.

 # Using pre-allocated pool structures

-A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+A candidate for heap allocations is the TMTC handling. TC, TMs and IPC data are all
 candidates where the data size might vary greatly. The regular solution for host systems
 might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
 another solution to avoid run-time allocations by offering pre-allocated static
@@ -27,8 +33,8 @@ For example, a very small telecommand (TC) pool might look like this:

 The core of the pool abstractions is the
 [PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
-This trait specifies the general API a pool structure should have without making assumption
-of how the data is stored.
+This trait specifies the general API a pool structure should have without making assumptions
+about how the data is stored.

 This trait is implemented by a static memory pool implementation.
 The code to generate this static pool would look like this:
@@ -2,38 +2,43 @@

 Satellites and space systems in general are complex systems with a wide range of requirements for
 both the hardware and the software. Consequently, the general design of the library is centered
-around many light-weight components which try to impose as few restrictions as possible on how to
-solve certain problems. This is also the reason why sat-rs is explicitely called a library
-instead of a framework.
+around many light-weight components and a toolbox principle where you assemble everything
+you need instead of plugging something into a larger framework. This approach allows the largest
+amount of flexibility, including the operating system and platform choice. For example, `sat-rs`
+can be used both in `async` and regular synchronous platforms.

 There are still a lot of common patterns and architectures across these systems where guidance
 of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
 which were already solved and to avoid boilerplate code. This library tries to provide this
 structure and guidance the following way:

-1. Providing this book which explains the architecture and design patterns in respect to common
+1. Providing this book which explains the architecture and design patterns with respect to common
   issues and requirements of space systems.
 2. Providing an example application. Space systems still commonly have large monolithic
-   primary On-Board Softwares, so the choice was made to provide one example software which
+   primary On-Board Software, so the choice was made to provide one example software which
   contains the various features provided by sat-rs.
-3. Providing a good test suite. This includes both unittests and integration tests. The integration
+3. Providing a good test suite. This includes both unit tests and integration tests. The integration
   tests can also serve as smaller usage examples than the large `satrs-example` application.

-This library has special support for standards used in the space industry. This especially
-includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
-Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
-but it is always recommended to use some sort of standard for interoperability.
+This library has special support for standards used in the space industry. The recommended
+standards are provided by the Consultative Committee for Space Data Systems (CCSDS):
+
+- The CCSDS Space Packet Protocol as the basic packet format for telecommands and telemetry.
+- The CCSDS File Delivery Protocol (CFDP) for file transfers.
+
+The library does not enforce using any of those standards, but it is always recommended to use
+some sort of standard for interoperability.

 A lot of the modules and design considerations are based on the Flight Software Framework (FSFW).
 The FSFW has its own [documentation](https://documentation.irs.uni-stuttgart.de/fsfw/), which
 will be referred to when applicable. The FSFW was developed over a period of 10 years for the
 Flying Laptop Project by the University of Stuttgart with Airbus Defence and Space GmbH.
-It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
+It has flight heritage through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
 library.
 FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
-which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
+which allowed building a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
 shorter development cycle and was built using cheaper COTS components. This library also tries
 to accumulate the knowledge of developing the OBSW and operating the satellite for both these
 different systems and provide a solution for a wider range of small satellite systems.
@@ -43,16 +48,15 @@ engineering to provide a reliable and robust basis for space On-Board Software.
 of using the Rust programming language was made for the following reasons:

 1. Rust has safety guarantees which are a perfect fit for space systems which generally have high
-   robustness and reliablity guarantees.
+   robustness and reliability guarantees.
 2. Rust is suitable for embedded systems. It can also be run on smaller embedded systems like the
   STM32 which have also become common in the space sector. All space systems are embedded systems,
   which makes using large languages like Python challenging even for OBCs with more performance.
 3. Rust has support for linking C APIs through its excellent FFI support. This is especially
-   important because many vendor provided libaries are still C based.
-4. Modern tooling like a package managers and various development helper, which can further reduce
+   important because many vendor provided libraries are still C based.
+4. Modern tooling like a package manager and various development helpers, which can further reduce
   development cycles for space systems. `cargo` provides tools like auto-formatters and linters
   which can immediately ensure a high software quality throughout each development cycle.
 5. A large ecosystem with excellent libraries which also leverages the excellent tooling provided
   previously. Integrating these libraries is a lot easier compared to languages like C/C++ where
   there is still no standardized way to use packages.
-
@@ -1,24 +1,96 @@
 # Events

 Events are an important mechanism used for remote systems to monitor unexpected
-or expected anomalies and events occuring on these systems. 
+or expected anomalies and events occurring on these systems. 
+They can improve the observability of a system significantly and provide a
+"paper trail" of what is happening or has happened on a satellite where regular
+housekeeping packets might not be sufficient. They can also be used for fault
+detection, isolation and recovery (FDIR) purposes. For example, higher level
+system objects can listen on certain high criticality events to initiate
+custom system responses.

-One common use case for events on remote systems is to offer a light-weight publish-subscribe
-mechanism and IPC mechanism for software and hardware events which are also packaged as telemetry
-(TM) or can trigger a system response. They can also be tied to
-Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.

-The PUS Service 5 standardizes how the ground interface for events might look like, but does not
-specify how other software components might react to those events. There is the PUS Service 19,
-which might be used for that purpose, but the event components recommended by this framework do not
-rely on the present of this service.
+## Event Severity

-The following images shows how the flow of events could look like in a system where components
-can generate events, and where other system components might be interested in those events:
+Generally, it also makes sense to classify events according to a severity system
+so operators can quickly judge the importance of an event. `sat-rs` does not
+constrain the severity classes or enforce their usage, but a severity
+classification like this can make sense:

-![Event flow](images/events/event_man_arch.png)
+- INFO
+- LOW ERROR
+- MEDIUM ERROR
+- HIGH ERROR

-For the concrete implementation of your own event management and/or event routing system, you
-can have a look at the event management documentation inside the
-[API documentation](https://docs.rs/satrs/latest/satrs/event_man/index.html) where you can also
-find references to all examples.
+## Modelling Events with Rust
+
+Usually, events will be associated with certain software objects or handlers.
+Oftentimes, developers and operators want to supply parameters or metadata
+associated with an event. This can all be done using the Rust `enum` type. 
+
+Let's start with an example: a camera device
+handler might have the following events:
+
+- Image taken event
+- Communication error event including an error classifier
+- Communication timeout event with the configured timeout
+- Overheating event
+
+You can model these events using the following data structure, also including
+a `severity` method.
+
+```rust
+#[derive(Debug, serde::Serialize, serde::Deserialize, Clone)]
+pub enum Event {
+    ImageTaken,
+    CommunicationError(ErrorType),
+    CommunicationTimeout(core::time::Duration),
+    Overheating
+}
+
+impl Event {
+    pub fn severity(&self) -> Severity {
+        match self {
+            Event::ImageTaken => Severity::Info,
+            Event::CommunicationError(_) => Severity::Low,
+            Event::CommunicationTimeout(_) => Severity::Low,
+            Event::Overheating => Severity::High,
+        } 
+    }
+}
+```
+
+Depending on the requirements of your system, you might want to filter which
+events are packaged and sent as telemetry. This requires an identification
+system. A simple scheme would be to add something like this:
+
+```rust
+impl Event {
+    pub fn id(&self) -> u32 {
+        match self {
+            Event::ImageTaken => 0,
+            Event::CommunicationError(_) => 1,
+            Event::CommunicationTimeout(_) => 2,
+            Event::Overheating => 3,
+        } 
+    }
+}
+
+```
+
+## Handling events
+
+When an event occurs in the system, you want to trigger the event.
+This usually includes sending the event to a centralized event funnel. The funnel
+takes care of packing the event into a telemetry packet as well as forwarding
+the event to any other objects which are interested in the event. A message
+queue system is the best solution for this. For example, on an embedded Linux
+system, you might have an event sender handle like this inside your camera
+device handler:
+
+```rust
+pub struct CameraHandler {
+    // (...)
+    event_sender: std::sync::mpsc::SyncSender<Event>
+}
+```
@@ -12,10 +12,59 @@ The example project contains components which could also be expected to be part
 On-Board Software. A structural diagram of the example application is given to provide
 a brief high-level view of the components used inside the example application:

-![satrs-example component structure](images/satrs-example/satrs-example-structure.png)
+```mermaid
+flowchart TD
+    subgraph TMTC[TMTC Infrastructure]
+        subgraph TMTCRow1[ ]
+            direction LR
+            Udp[UDP Server]
+            Tcp[TCP Server]
+        end
+        subgraph TMTCRow2[ ]
+            direction LR
+            Source[TC Source]
+            Sink[TM Sink]
+        end
+    end

-The dotted lines are used to denote optional components. In this case, the static pool components
-are optional because the heap can be used as a simpler mechanism to store TMTC packets as well.
+    subgraph AOCS[AOCS Stack]
+        subgraph AOCSRow1[ ]
+            direction LR
+            Mgm0[MGM 0 Handler]
+            Mgm1[MGM 1 Handler]
+            Assy[MGM Assembly]
+        end
+        subgraph AOCSRow2[ ]
+            direction LR
+            AcsCtrl[ACS Controller]
+            Mgt[MGT Handler]
+            AcsSub[ACS Subsystem]
+        end
+    end
+
+    subgraph EPS[EPS Stack]
+        Pcdu[PCDU Handler]
+    end
+
+    subgraph Core[Core]
+        direction LR
+        Ctrl[Core Controller]
+        Evt[Event Manager]
+    end
+
+    Sim[Sim Client]:::optional
+
+    TMTC ~~~ EPS
+    AOCS ~~~ Core
+    Core ~~~ Sim
+
+    classDef optional stroke-dasharray: 5 5;
+    classDef invisible fill:none,stroke:none;
+    class TMTCRow1,TMTCRow2,AOCSRow1,AOCSRow2 invisible;
+```
+
+The dotted lines are used to denote optional components. In this case, the simulation client is
+optional because a dummy interface can be used instead to run the example without the simulator.
 Some additional explanation is provided for the various components.

 ### TCP/IP server components
@@ -37,116 +86,35 @@ telecommands from the client.
 The most important components of the TMTC infrastructure include the following components:

 - A TC source component which demultiplexes and routes telecommands based on parameters like
-  packet APID or PUS service and subservice type.
- A TM sink sink component which is the target of all sent telemetry and sends it to downlink
+  packet APID and a target ID which is part of the packet payload.
+- A TM sink component which is the target of all sent telemetry and sends it to downlink
   handlers like the UDP and TCP server.

 You can read the [Communications chapter](./communication.md) for more
 background information on the chosen TMTC infrastructure approach.

-### PUS Service Components
-
-A PUS service stack is provided which exposes some functionality conformant with the ECSS PUS
-services. This currently includes the following services:
-
- Service 1 for telecommand verification. The verification handling is handled locally: Each
-  component which generates verification telemetry in some shape or form receives a
-  [reporter](https://docs.rs/satrs/latest/satrs/pus/verification/struct.VerificationReporterWithSender.html)
-  object which can be used to send PUS 1 verification telemetry to the TM funnel.
- Service 3 for housekeeping telemetry handling.
- Service 5 for management and downlink of on-board events.
- Service 8 for handling on-board actions.
- Service 11 for scheduling telecommands to be released at a specific time. This component
-  uses the [PUS scheduler class](https://docs.rs/satrs/latest/satrs/pus/scheduler/alloc_mod/struct.PusScheduler.html)
-  which performs the core logic of scheduling telecommands. All telecommands released by the
-  scheduler are sent to the central TC source using a message.
- Service 17 for test purposes like pings.
-
-### Event Management Component
-
-An event manager based on the sat-rs
-[event manager component](https://docs.rs/satrs/latest/satrs/event_man/index.html)
-is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
-telemetry by the
-[PUS event dispatcher](https://docs.rs/satrs/latest/satrs/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
-
-You can read the [events](./events.md) chapter for more in-depth information about event management.
-
-### Sample Application Components
-
-These components are example mission specific. They provide an idea how mission specific modules
-would look like the sat-rs context. It currently includes the following components:
-
- An Attitute and Orbit Control (AOCS) example task which can also process some PUS commands.
-
 ## Dataflow

-The interaction of the various components is provided in the following diagram:
+### TMTC component group

-![satrs-example dataflow diagram](images/satrs-example/satrs-example-dataflow.png)
-
-It should be noted that an arrow coming out of a component group refers to multiple components
-in that group. An explanation for important component groups will be given.
-
-#### TMTC component group
-
-This groups is the primary interface for clients to communicate with the on-board software
-using a standardized TMTC protocol. The example uses the
-[ECSS PUS protocol](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
+This group is the primary interface for clients to communicate with the on-board software
+using the combination of CCSDS space packets and `serde` serialized payloads.
 In the future, this might be extended with the
 [CCSDS File Delivery Protocol](https://public.ccsds.org/Pubs/727x0b5.pdf).

-A client can connect to the UDP or TCP server to send these PUS packets to the on-board software.
-These servers then forward the telecommads to a centralized TC source component using a dedicated
-message abstraction.
+A client can connect to the UDP or TCP server to send telecommands to the on-board software.
+These servers forward all telecommands to a centralized TC source component, which demultiplexes
+them and routes each one to its target component.

-This TC source component then demultiplexes the message and forwards it to the relevant components.
-Right now, it forwards all PUS requests to the respective PUS service handlers using the PUS
-receiver component. The individual PUS services are running in a separate thread. In the future,
-additional forwarding to components like a CFDP handler might be added as well. It should be noted
-that PUS11 commands might contain other PUS commands which should be scheduled in the future.
-These wrapped commands are forwarded to the PUS11 handler. When the schedule releases those
-commands, it forwards the released commands to the TC source again. This allows the scheduler
-and the TC source to run in separate threads and keeps them cleanly separated.
+All telemetry generated by the on-board software is sent to a centralized TM sink. The core
+controller also forwards events to the event manager, which converts them into telemetry and
+sends it to the TM sink as well. The TM sink performs a demultiplexing step to forward all
+telemetry to the relevant recipients, which in the example case are the last connected UDP
+client and any connected TCP client.

-All telemetry generated by the on-board software is sent to a centralized TM funnel. This component
-also performs a demultiplexing step to forward all telemetry to the relevant TM recipients.
-In the example case, this is the last UDP client, or a connected TCP client. In the future,
-forwarding to a persistent telemetry store and a simulated communication component might be
-added here as well. The centralized TM funnel also takes care of some packet processing steps which
-need to be applied for each ECSS PUS packet, for example CCSDS specific APID incrementation and
-PUS specific message counter incrementation.
+### Application Group

-#### Application Group
+The application group contains some components you might also find in a real satellite software.
+This includes an AOCS stack with various device handlers and system level objects.

-The application components generally do not receive raw PUS packets directly, even though
-this is certainly possible. Instead, they receive internalized messages from the PUS service
-handlers. For example, instead of receiving a PUS 8 Action Telecommand directly, an application
-component will receive a special `ActionRequest` message type reduced to the basic important
-information required to execute a request. These special requests are denoted by the blue arrow
-in the diagram.
-
-It should be noted that the arrow pointing towards the event manager points in both directions.
-This is because the application components might be interested in events generated by other
-components as well. This mechanism is oftentimes used to implement the FDIR functionality on system
-and component level.
-
-#### Shared components and functional interfaces
-
-It should be noted that sometimes, a functional interface is used instead of a message. This
-is used for the generation of verification telemetry. The verification reporter is a clonable
-component which generates and sends PUS1 verification telemetry directly to the TM funnel. This
-introduces a loose coupling to the PUS standard but was considered the easiest solution for
-a project which utilizes PUS as the main communication protocol. In the future, a generic
-verification abstraction might be introduced to completely decouple the application layer from
-PUS.
-
-The same concept is applied if the backing store of TMTC packets are shared pools. Every
-component which needs to read telecommands inside that shared pool or generate new telemetry
-into that shared pool will received a clonable shared handle to that pool.
-
-The same concept could be extended to power or thermal handling. For example, a shared power helper
-component might be used to retrieve power state information and send power switch commands through
-a functional interface. The actual implementation of the functional interface might still use
-shared memory and/or messages, but the functional interface makes using and testing the interaction
-with these components easier.
+### Shared components and functional interfaces
@@ -1 +1 @@
-# Fault Detecion, Isolation And Recovery (FDIR)
+# Fault Detection, Isolation And Recovery (FDIR)
@@ -1,24 +1,107 @@
 # Housekeeping Data

-Remote systems like satellites and rovers oftentimes generate data autonomously and periodically.
-The most common example for this is temperature or attitude data. Data like this is commonly
-referred to as housekeeping data, and is usually one of the most important and most resource heavy
-data sources received from a satellite. Standards like the PUS Service 3 make recommendation how to
-expose housekeeping data, but the applicability of the interface offered by PUS 3 has proven to be
-partially difficult and clunky for modular systems.
+If you have not read [the TMTC modelling chapter](./tmtc-modelling.md) yet, it is recommended to
+do that first.

-First, we are going to list some assumption and requirements about Housekeeping (HK) data:
+Remote systems like satellites and rovers oftentimes generate data autonomously and periodically.
+An example for this could be temperature or attitude data. Data like this is commonly
+referred to as housekeeping data, and is usually one of the most important and most resource heavy
+data sources received from a satellite.
+
+First, we are going to list some assumptions and requirements about Housekeeping (HK) data:

 1. HK data is generated periodically by various system components throughout the
-   systems.
+   system.
 2. An autonomous and periodic sampling of that HK data to be stored and sent to Ground is generally
   required. A minimum interface consists of requesting a one-shot sample of HK, enabling and
   disabling the periodic autonomous generation of samples and modifying the collection interval
   of the periodic autonomous generation.
-3. HK data often needs to be shared to other software components. For example, a thermal controller
+3. HK data often needs to be shared with other software components. For example, a thermal controller
   wants to read the data samples of all sensor components.

-A commonly required way to model HK data in a clean way is also to group related HK data into sets,
-which can then dumped via a similar interface.
+## Modelling our data

-TODO: Write down `sat-rs` recommendations how to expose and work with HK data.
+Generally, it makes sense to model the data with Rust data structures for various reasons. For
+example, the sensor data received from a 3-axis magnetometer might be modelled like this:
+
+```rust
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub struct MgmData {
+    pub x: i16,
+    pub y: i16,
+    pub z: i16,
+}
+```
+
+You can then re-use this data structure for various purposes. Also note the `serde` implementations,
+which are useful for generating the housekeeping data sent to ground.
+
+We can model the housekeeping requests for a handler with a single data set like this:
+
+```rust
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum HkRequest {
+    OneShot,
+    EnablePeriodic,
+    DisablePeriodic,
+    ModifyInterval(core::time::Duration)
+
+}
+```
+
+which might then be a part of a top level request type, e.g.
+
+```rust
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum Request {
+    Ping,
+    Hk(HkRequest)
+}
+```
+
+A corresponding `Response` type might just include a HK data variant:
+
+```rust
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum Response {
+    Ok,
+    Hk(MgmData)
+}
+```
+
+If the software object managed multiple data sets, you could model it like this:
+
+```rust
+/// Example set ID.
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum SetId {
+    Data,
+    Config
+}
+
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum Request {
+    Ping,
+    Hk {
+        set_id: SetId,
+        request: HkRequest
+    }
+}
+```
+
+Sometimes, you need to share the generated data as well. Furthermore, it might make sense to
+decouple the HK generation from the data acquisition and only return the latest snapshot
+of the data. In this case, you can put the `MgmData` inside an appropriate lock structure for your
+platform/runtime to share it safely with other software components. For example, in a `std` system,
+you might simply use an `Arc<Mutex<MgmData>>` or an `Arc<RwLock<MgmData>>` for this.
+
+Now, you can update that shared data structure when acquiring new data, and other software objects
+or the HK generation routine can safely read from it.
+
+## Helper components
+
+You need some application logic to track whether periodic data generation is enabled, what
+the current generation interval is and whether a HK set needs to be generated if the interval
+period has elapsed.
+
+`sat-rs` provides some simple helper components for this inside the [`hk`](https://docs.rs/satrs/latest/satrs/hk/index.html) module. The module documentation contains more information.
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+</mxfile>
@@ -4,8 +4,8 @@ The sat-rs book
 This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
 in addition to the regular API documentation. It contains the following resources:

-1. Architecture informations and consideration which would exceeds the scope of the regular API.
-2. General information on how to build on-board Software and how `sat-rs` can help to fulfill
+1. Architecture information and considerations which would exceed the scope of the regular API.
+2. General information on how to build on-board software and how `sat-rs` can help to fulfill
   the unique requirements of writing software for remote systems.

 # Introduction
@@ -14,23 +14,22 @@ The primary goal of the sat-rs library is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems.

-It should be noted that sat-rs is early-stage software. Important features are missing. New releases
-with breaking changes are released regularly, with all changes documented inside respective
-changelog files. You should only use this library if your are willing to work in this
-environment.
-
-A lot of the architecture and general design considerations are based on the
+Some architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).

+However, `sat-rs` has a significantly reduced scope compared to those frameworks. Rust provides
+a great ecosystem and a powerful standard library which reduces the need for large and complex
+frameworks.
+
 # Getting started with the example

 The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 provides various practical usage examples of the `sat-rs` framework. If you are more interested in
 the practical application of `sat-rs` inside an application, it is recommended to have a look at
-the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
-applicatin complements the example application and can be used to simulate some physical devices
+the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/minisim)
+application complements the example application and can be used to simulate some physical devices
 for the `satrs-example` device handlers.

 # Flight Heritage
@@ -45,5 +44,5 @@ Currently this library has the following flight heritage:
  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
 - Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
  alongside a Flight System Simulator in the context of a
-  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
+  [Bachelor's thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
@@ -5,9 +5,9 @@ system reasoning for both system operators and OBSW developers. They also provid
 the behaviour of a component and also provide observability of a system. A few examples of how to
 model the mode of different components within a space system with modes will be given.

-## Pyhsical device component with modes
+## Physical device component with modes

-The following simple mode scheme with the following three mode
+The following simple mode scheme with the following three modes

 - `OFF`
 - `ON`
@@ -18,10 +18,10 @@ sensors.

 1. `OFF` means that a device is physically switched off, and the corresponding software component
 does not poll the device regularly.
-2. `ON` means that a device is pyhsically switched on, but the device is not polled perically.
+2. `ON` means that a device is physically switched on, but the device is not polled periodically.
 3. `NORMAL` means that a device is powered on and polled periodically.

-If a devices is `OFF`, the device handler will deny commands which include physical communication
+If a device is `OFF`, the device handler will deny commands which include physical communication
 with the connected devices. In `NORMAL` mode, it will autonomously perform periodic polling
 of a connected physical device in addition to handling remote commands by the operator.
 Using these three basic modes, there are two important transitions which need to be taken care of
@@ -73,8 +73,6 @@ In summary, a component which has modes has to expose the following 4 capabiliti
 3. Announce the mode
 4. Announce the mode recursively

-## Using ECSS PUS to perform mode commanding
-
 # Health

 Health is an important concept for systems and components which might fail.
@@ -94,10 +92,8 @@ use-cases:
 2. `FAULTY` means that a component does not work properly. This might also impact other system
 components, so the passivation and isolation of that component is desirable for FDIR purposes.
 3. `NEEDS RECOVERY` is used to attempt a recovery of a component. For example, a simple sensor
-could be power-cycled if there were multiple communication issues in the last time.
+could be power-cycled if there were multiple communication issues recently.
 4. `EXTERNAL CONTROL` is used to isolate an individual component from the rest of the system. For
-   example, on operator might be interested in testing a component in isolation, and the interference
+   example, an operator might be interested in testing a component in isolation, and the interference
   of the system is not desired. In that case, the `EXTERNAL CONTROL` health state might be used
   to prevent mode commands from the system while allowing external mode commands.
-
-
@@ -1 +0,0 @@
-# Serialization
@@ -0,0 +1,55 @@
+# System View
+
+This chapter gives a system level view of how a typical flight software built with `sat-rs`,
+[`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets) and
+[`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp) is layered. It complements the previous
+chapters, which focus on individual components, by showing how those components fit together
+and where the line between application and platform is usually drawn.
+
+## Generic layering
+
+Flight software built with `sat-rs` is generally structured into three layers.
+
+![Generic architecture](./images/satrs-arch-generic.drawio.png)
+
+- **Application**: The mission specific logic. This is the code a developer writes for a
+  particular mission.
+- **System / platform**: The set of services the application is built on. This covers
+  concepts like logging, serialization, IPC, task and memory management, hardware
+  access, filesystem access and time. Most of these components are provided by external libraries
+  and APIs.
+- **Hardware**: The physical target the software runs on.
+
+The application layer stays largely the same across missions and targets. The system / platform
+layer is where the target environment determines which concrete crates and mechanisms are used.
+
+The book has dedicated chapters for some of the topics:
+
+- [TMTC handling and Serialization](./tmtc-modelling.md)
+- [Events](./events.md)
+- [Modes](./modes-and-health.md)
+
+## Embedded Linux
+
+On an embedded Linux target, the platform layer is provided by the Rust standard library and a
+small set of additional crates.
+
+![Linux architecture](./images/satrs-arch-linux.drawio.png)
+
+The application layer uses `sat-rs` together with `spacepackets` for CCSDS packet handling
+and `cfdp` for file transfer. The platform layer relies on `std` for tasks, IPC, memory, time and
+filesystem access, `serde` and `postcard` for serialization and `log`/`fern` for logging. Hardware
+access typically goes through Linux mechanisms like `uio`.
+
+## Embedded async targets (Embassy / RTIC)
+
+On smaller microcontrollers without an operating system, the platform layer looks quite
+different, even though the application layer stays the same.
+
+![Embassy/RTIC architecture](./images/satrs-arch-embassy.drawio.png)
+
+Here the platform layer is built around an async-centric executor, either
+[Embassy](https://embassy.dev/) or [RTICv2](https://rtic.rs/). `no_std` crates like
+`heapless` and `embedded-alloc` replace `std` collections and allocation, `defmt` replaces `log`
+for logging and hardware access goes through a board support package (BSP), a hardware
+abstraction layer (HAL) and a peripheral access crate (PAC) instead of the OS.
@@ -0,0 +1,86 @@
+# TMTC modelling using Rust
+
+Before we talk about how to model telecommand and telemetry data using Rust, we are going
+to present some basic concepts and useful libraries first.
+
+## Serialization
+
+Serialization and deserialization is the process of converting (Rust) data structures into
+some format which can be stored or transmitted. We can use this system for generating the payload
+of our telecommand and telemetry packets. This allows us to model our payloads with Rust data
+structures, fits perfectly into the data-driven approach that Rust programs tend to favor and
+allows us to use the excellent type system.
+
+The Rust ecosystem provides the [`serde`](https://serde.rs/) library for this task. The library
+makes it trivial to add serialization support to custom data structures by providing a
+[`derive`](https://serde.rs/derive.html) macro. In almost all cases, you can just add this derive
+macro to a data structure to make it serializable with any `serde` compatible serializer.
+
+There are various serializers available which are well suited to the requirements of space systems.
+
+- Generally, we try to minimize the payload size to save data bandwidth.
+- The data does not necessarily have to be human-readable
+
+We recommend the [`postcard`](https://github.com/jamesmunns/postcard) serializer, which fulfills
+these requirements and also works well for embedded systems.
+
+## Modelling telecommands and telemetry
+
+Using a serializer library like `serde` allows us to do some interesting things. For example,
+let's assume you have a `Camera` object in software that you want to send some commands to.
+This object should have the following capabilities:
+
+- Process a ping command
+- Capture an image
+- Send back configuration data
+
+You can now model a request to your `Camera` object using the following data structure
+
+```rust
+#[derive(Debug, serde::Serialize, serde::Deserialize)]
+pub enum CameraRequest {
+    Ping,
+    CaptureImage,
+    RequestConfig,
+}
+```
+
+This data structure models all the requests that the `Camera` provides.
+On the telemetry side, you would have a similar object
+
+```rust
+#[derive(Debug, serde::Serialize, serde::Deserialize)]
+pub enum CameraResponse {
+    Ok,
+    Config(ConfigStructure)
+}
+```
+
+where `ConfigStructure` would be some other wrapped configuration structure, and the `Ok` response
+would be the reply for successful execution for all other commands which do not have additional
+telemetry information.
+
+Rust makes it trivial to move components into a new shared library. You can now put these data
+structures in a shared `types` or `data` library which can be re-used by both a ground system
+library and by the on-board software.
+
+On the ground system, you could use a function like [`postcard::to_allocvec`](https://docs.rs/postcard/latest/postcard/fn.to_allocvec.html)
+to generate the byte representation of a `CameraRequest`, which is then sent as the payload
+inside a CCSDS space packet. On the on-board software side, you can use
+[`postcard::from_bytes`](https://docs.rs/postcard/latest/postcard/fn.from_bytes.html) to deserialize
+the `CameraRequest` from the raw payload bytes. In both cases, you do not need to hand-write
+the serialization and deserialization code anymore. The only trade-off is that you need a Rust
+conversion layer if you want to create your telecommands in another language like Python.
+
+Using Rust structures like this also has other advantages. Once you have the `CameraRequest`
+structure, you can `match` on it to cover **all** commands that the device handler needs to cover.
+If you add a new variant, you have to handle it as well and you can not forget to handle a
+variant.
+
+One trade-off to keep in mind is that a Rust `enum` will always have the size of its largest variant
+in memory. If you need to send large payloads to and from the on-board software, you can also
+add this data as a secondary data blob behind the primary `serde` payload, and still send something
+like small metadata as part of the payload. `postcard` can tell you the size of the deserialized
+payload which helps with determining the size of any additional payload data.
+
+We recommend this approach for all TMTC definitions where you control all sides of the communication.
@@ -1,8 +1,7 @@
 [package]
 name = "satrs-example"
 version = "0.1.1"
-edition = "2021"
-authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
+edition = "2024"
 default-run = "satrs-example"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
@@ -18,25 +17,24 @@ csv = "1"
 num_enum = "0.7"
 thiserror = "2"
 lazy_static = "1"
-strum = { version = "0.26", features = ["derive"] }
+strum = { version = "0.28", features = ["derive"] }
 derive-new = "0.7"
+cfg-if = "1"
+arbitrary-int = "2"
+bitbybit = "2"
+postcard = "1"
+ctrlc = "3"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"

-[dependencies.satrs]
-path = "../satrs"
-features = ["test_util"]
-
-[dependencies.satrs-minisim]
-path = "../satrs-minisim"
-
-[dependencies.satrs-mib]
-version = "0.1.1"
-path = "../satrs-mib"
+satrs = { path = "../satrs", features = ["test_util"] }
+types = { path = "./types" }
+satrs-minisim = { path = "./minisim" }
+satrs-mib = { path = "../satrs-mib" }

 [features]
-dyn_tmtc = []
-default = ["dyn_tmtc"]
+# default = ["heap_tmtc"]
+# heap_tmtc = []

 [dev-dependencies]
 env_logger = "0.11"
@@ -5,7 +5,7 @@ This crate contains an example application which simulates an on-board software.
 It uses various components provided by the sat-rs framework to do this. As such, it shows how
 a more complex real on-board software could be built from these components. It is recommended to
 read the dedicated
-[example chapters](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
+[example chapters](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
 the sat-rs book.

 The application opens a UDP and a TCP server on port 7301 to receive telecommands.
@@ -14,7 +14,7 @@ You can run the application using `cargo run`.

 # Features

-The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
 TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
 stores.

@@ -26,58 +26,21 @@ cargo run --no-default-features

 # Interacting with the sat-rs example

-## Simple Client
-
-The `simpleclient` binary target sends a
-ping telecommand and then verifies the telemetry generated by the example application.
-It can be run like this:
-
-```rs
-cargo run --bin simpleclient
-```
-
-This repository also contains a more complex client using the
-[Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
-
-## <a id="tmtccmd"></a> Using the tmtccmd Python client
-
-The python client requires a valid installation of the
-[tmtccmd package](https://github.com/robamu-org/tmtccmd).
-
-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 interactively:
+The `client` crate is a command line client which sends telecommands to the example application
+and prints the received telemetry. For example, you can ping the application or switch MGM 0
+to normal mode like this:

 ```sh
-pip install -e .
+cargo run -p client -- --ping
+cargo run -p client -- mgm0 -m normal
 ```

-Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also
-install it manually with
-
-```sh
-pip install -e .
-pip install tmtccmd[gui]
-```
-
-After setting up the dependencies, you can simply run the `main.py` script to send commands
-to the OBSW example and to view and handle incoming telemetry. The script and the `tmtccmd`
-framework it uses allow to easily add and expose additional telecommand and telemetry handling
-as Python code. For example, you can use the following command to send a ping like done with
-the `simpleclient`:
-
-```sh
-./main.py -p /test/ping
-```
-
-You can also simply call the script without any arguments to view the command tree.
+Use `cargo run -p client -- --help` to list all available commands.

 ## Adding the mini simulator application

 This example application features a few device handlers. The
-[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
+[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/minisim)
 can be used to simulate the physical devices managed by these device handlers.

 The example application will attempt communication with the mini simulator on UDP port 7303.
@@ -0,0 +1,22 @@
+[package]
+name = "client"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+log = "0.4"
+fern = "0.7"
+humantime = "2"
+serde = { version = "1" }
+serde_json = "1"
+satrs = { path = "../../satrs" }
+satrs-example = { path = ".." }
+satrs-minisim = { path = "../minisim" }
+types = { path = "../types" }
+spacepackets = { version = "0.18", default-features = false }
+bitbybit = "2"
+arbitrary-int = "2"
+ctrlc = { version = "3.5" }
+postcard = { version = "1" }
+anyhow = "1"
@@ -0,0 +1,789 @@
+use anyhow::{Context as _, bail};
+use arbitrary_int::u11;
+use clap::Parser as _;
+use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
+use satrs_minisim::{
+    SimCtrlReply, SimCtrlRequest, SimReply, SimRequest, SimRequestWithTime, acs::mgm,
+    udp::SIM_CTRL_PORT,
+};
+use spacepackets::{CcsdsPacketIdAndPsc, SpacePacketHeader};
+use std::{
+    net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket},
+    sync::{
+        Arc,
+        atomic::{AtomicBool, Ordering},
+    },
+    time::{Duration, SystemTime},
+};
+use types::{Apid, Message as _, MessageType, TcHeader, acs::mgm::request::HkRequest};
+
+#[derive(clap::Parser)]
+pub struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    test_event: bool,
+
+    #[command(subcommand)]
+    commands: Option<Commands>,
+}
+
+#[derive(clap::Subcommand)]
+enum Commands {
+    Mgm0(MgmArgs),
+    Mgm1(MgmArgs),
+    MgmAssy(MgmAssemblyArgs),
+    Mgt(MgtArgs),
+    AcsSubsystem(SubsystemArgs),
+    EventManager(EventManagerArgs),
+}
+
+#[derive(clap::Parser)]
+struct EventManagerArgs {
+    #[command(subcommand)]
+    action: EventFilterAction,
+}
+
+#[derive(clap::Subcommand)]
+enum EventFilterAction {
+    /// Enable event TM generation.
+    Enable(EventFilterArgs),
+    /// Disable event TM generation.
+    Disable(EventFilterArgs),
+}
+
+#[derive(clap::Args)]
+struct EventFilterArgs {
+    #[arg(value_enum)]
+    component: EventSenderSelect,
+    /// Raw event ID. Without it, the filter applies to all events of the component.
+    #[arg(short, long)]
+    event_id: Option<u16>,
+}
+
+/// Components which emit events.
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum EventSenderSelect {
+    Controller,
+    Mgm0,
+    Mgm1,
+    MgmAssy,
+    Mgt,
+    Pcdu,
+    UdpServer,
+    TcpServer,
+    Ground,
+}
+
+impl From<EventSenderSelect> for types::ComponentId {
+    fn from(sender: EventSenderSelect) -> Self {
+        match sender {
+            EventSenderSelect::Controller => types::ComponentId::Controller,
+            EventSenderSelect::Mgm0 => types::ComponentId::AcsMgm0,
+            EventSenderSelect::Mgm1 => types::ComponentId::AcsMgm1,
+            EventSenderSelect::Mgt => types::ComponentId::AcsMgt,
+            EventSenderSelect::MgmAssy => types::ComponentId::AcsMgmAssembly,
+            EventSenderSelect::Pcdu => types::ComponentId::EpsPcdu,
+            EventSenderSelect::UdpServer => types::ComponentId::UdpServer,
+            EventSenderSelect::TcpServer => types::ComponentId::TcpServer,
+            EventSenderSelect::Ground => types::ComponentId::Ground,
+        }
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum FaultMode {
+    None,
+    /// SPI communication is all zeroes, modelling an unconnected sensor.
+    AllZeros,
+    /// SPI communication is all ones, modelling a broken sensor.
+    AllOnes,
+}
+
+impl From<FaultMode> for mgm::SpiFaultMode {
+    fn from(mode: FaultMode) -> Self {
+        match mode {
+            FaultMode::None => mgm::SpiFaultMode::None,
+            FaultMode::AllZeros => mgm::SpiFaultMode::AllZeros,
+            FaultMode::AllOnes => mgm::SpiFaultMode::AllOnes,
+        }
+    }
+}
+
+#[derive(Debug, Default, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum FaultKind {
+    /// Cleared when the device is switched off, so a power cycle recovers from it.
+    Transient,
+    /// Survives power cycles.
+    #[default]
+    Permanent,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum HkSelect {
+    OneShot,
+    EnablePeriodic,
+    DisablePeriodic,
+    ModifyInterval,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum HealthStateSelect {
+    Healthy,
+    Faulty,
+    PermanentFaulty,
+    ExternalControl,
+    NeedsRecovery,
+}
+
+impl From<HealthStateSelect> for satrs::health::HealthState {
+    fn from(state: HealthStateSelect) -> Self {
+        match state {
+            HealthStateSelect::Healthy => satrs::health::HealthState::Healthy,
+            HealthStateSelect::Faulty => satrs::health::HealthState::Faulty,
+            HealthStateSelect::PermanentFaulty => satrs::health::HealthState::PermanentFaulty,
+            HealthStateSelect::ExternalControl => satrs::health::HealthState::ExternalControl,
+            HealthStateSelect::NeedsRecovery => satrs::health::HealthState::NeedsRecovery,
+        }
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgmArgs {
+    #[arg(short, long)]
+    ping: bool,
+    /// Housekeeping request for the sensor data set.
+    #[arg(long, value_enum)]
+    hk: Option<HkSelect>,
+    /// Periodic HK interval. Required for `modify-interval`, optional for `enable-periodic`.
+    #[arg(long)]
+    hk_interval_ms: Option<u64>,
+    #[arg(short, long)]
+    mode: Option<DeviceModeSelect>,
+    /// Inject (or clear) an SPI bus failure on the simulated device, bypassing the OBSW.
+    #[arg(long, value_enum)]
+    fault: Option<FaultMode>,
+    /// Whether a power cycle clears the injected SPI fault.
+    #[arg(long, value_enum, default_value_t)]
+    fault_kind: FaultKind,
+    /// Override the device's FDIR health state, for example to clear a `Faulty` state set by
+    /// the handler after the underlying issue has been fixed or worked around.
+    #[arg(long, value_enum)]
+    health: Option<HealthStateSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgtArgs {
+    #[arg(short, long)]
+    ping: bool,
+    /// Housekeeping request for the status data set.
+    #[arg(long, value_enum)]
+    hk: Option<HkSelect>,
+    /// Periodic HK interval. Required for `modify-interval`, optional for `enable-periodic`.
+    #[arg(long)]
+    hk_interval_ms: Option<u64>,
+    #[arg(short, long)]
+    mode: Option<DeviceModeSelect>,
+    /// Apply a dipole, given as `x,y,z`. Only accepted in normal mode.
+    #[arg(long, value_name = "X,Y,Z", value_parser = parse_dipole, allow_hyphen_values = true)]
+    torque: Option<types::acs::mgt::Dipole>,
+    #[arg(long, default_value_t = 1000)]
+    torque_duration_ms: u64,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgmAssemblyArgs {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    mode: Option<AssemblyModeSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct SubsystemArgs {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    mode: Option<SubsystemModeSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum DeviceModeSelect {
+    Off,
+    Normal,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum AssemblyModeSelect {
+    NoModeKeeping,
+    Off,
+    Normal,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum SubsystemModeSelect {
+    Off,
+    Safe,
+}
+
+fn hk_request_type(
+    hk: HkSelect,
+    hk_interval_ms: Option<u64>,
+) -> anyhow::Result<types::HkRequestType> {
+    let opt_interval = hk_interval_ms.map(Duration::from_millis);
+    Ok(match hk {
+        HkSelect::OneShot => types::HkRequestType::OneShot,
+        HkSelect::EnablePeriodic => types::HkRequestType::EnablePeriodic(opt_interval),
+        HkSelect::DisablePeriodic => types::HkRequestType::DisablePeriodic,
+        HkSelect::ModifyInterval => types::HkRequestType::ModifyInterval(
+            opt_interval.context("--hk-interval-ms is required for modify-interval")?,
+        ),
+    })
+}
+
+fn parse_dipole(value: &str) -> Result<types::acs::mgt::Dipole, String> {
+    let axes: Vec<i16> = value
+        .split(',')
+        .map(|axis| axis.trim().parse::<i16>().map_err(|e| e.to_string()))
+        .collect::<Result<_, _>>()?;
+    let [x, y, z] = axes[..] else {
+        return Err(format!("expected 3 values, got {}", axes.len()));
+    };
+    Ok(types::acs::mgt::Dipole { x, y, z })
+}
+
+fn send_mgt_request(
+    client: &UdpSocket,
+    addr: SocketAddr,
+    request: types::acs::mgt::request::Request,
+) {
+    let packet = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+        TcHeader::new(types::ComponentId::AcsMgt, request.message_type()),
+        request,
+    );
+    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
+    log::info!(
+        "sending MGT request {:?} with TC ID {:#010x}",
+        request,
+        sent_tc_id.raw()
+    );
+    client.send_to(&packet.to_vec(), addr).unwrap();
+}
+
+fn handle_mgt_command(client: &UdpSocket, addr: SocketAddr, args: MgtArgs) -> anyhow::Result<()> {
+    use types::acs::mgt::request::{ModeRequest, Request};
+
+    if args.ping {
+        send_mgt_request(client, addr, Request::Ping);
+    }
+    if let Some(hk) = args.hk {
+        let req_type = hk_request_type(hk, args.hk_interval_ms)?;
+        send_mgt_request(client, addr, Request::Hk(req_type));
+    }
+    if let Some(mode) = args.mode {
+        let mode = match mode {
+            DeviceModeSelect::Off => types::DeviceMode::Off,
+            DeviceModeSelect::Normal => types::DeviceMode::Normal,
+        };
+        send_mgt_request(client, addr, Request::Mode(ModeRequest::SetMode(mode)));
+    }
+    if let Some(dipole) = args.torque {
+        let request = Request::ApplyTorque {
+            dipole,
+            duration: Duration::from_millis(args.torque_duration_ms),
+        };
+        send_mgt_request(client, addr, request);
+    }
+    Ok(())
+}
+
+fn handle_mgm_command(
+    client: &UdpSocket,
+    addr: SocketAddr,
+    target_id: types::ComponentId,
+    args: MgmArgs,
+) -> anyhow::Result<()> {
+    if let Some(mode) = args.fault {
+        inject_mgm_failure(
+            target_id,
+            mgm::SpiFault {
+                mode: mode.into(),
+                cleared_by_power_cycle: args.fault_kind == FaultKind::Transient,
+            },
+        )?;
+    }
+    if args.ping {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Ping),
+            types::acs::mgm::request::Request::Ping,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} ping request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(hk) = args.hk {
+        let req_type = hk_request_type(hk, args.hk_interval_ms)?;
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Hk),
+            types::acs::mgm::request::Request::Hk(HkRequest {
+                id: types::acs::mgm::request::HkId::Sensor,
+                req_type,
+            }),
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} HK request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(mode) = args.mode {
+        let dev_mode = match mode {
+            DeviceModeSelect::Off => types::DeviceMode::Off,
+            DeviceModeSelect::Normal => types::DeviceMode::Normal,
+        };
+
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Mode),
+            types::acs::mgm::request::Request::Mode(
+                types::acs::mgm::request::ModeRequest::SetMode(dev_mode),
+            ),
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} HK request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(health) = args.health {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Health),
+            types::acs::mgm::request::Request::Health(
+                types::acs::mgm::request::HealthRequest::SetHealth(health.into()),
+            ),
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} set-health request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    Ok(())
+}
+
+fn handle_event_manager_command(client: &UdpSocket, addr: SocketAddr, args: EventManagerArgs) {
+    use types::event_manager::request::Request;
+
+    let request = match args.action {
+        EventFilterAction::Enable(filter) => match filter.event_id {
+            Some(event_id) => Request::EnableEvent {
+                sender_id: filter.component.into(),
+                event_id,
+            },
+            None => Request::EnableComponent(filter.component.into()),
+        },
+        EventFilterAction::Disable(filter) => match filter.event_id {
+            Some(event_id) => Request::DisableEvent {
+                sender_id: filter.component.into(),
+                event_id,
+            },
+            None => Request::DisableComponent(filter.component.into()),
+        },
+    };
+    let request_packet = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+        SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+        TcHeader::new(types::ComponentId::EventManager, MessageType::Event),
+        request,
+    );
+    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request_packet.sp_header);
+    log::info!(
+        "sending event manager request {:?} with TC ID {:#010x}",
+        request,
+        sent_tc_id.raw()
+    );
+    client.send_to(&request_packet.to_vec(), addr).unwrap();
+}
+
+fn setup_logger(level: log::LevelFilter) -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(level)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger(log::LevelFilter::Debug).unwrap();
+    let kill_signal = Arc::new(AtomicBool::new(false));
+    let ctrl_kill_signal = kill_signal.clone();
+    ctrlc::set_handler(move || ctrl_kill_signal.store(true, Ordering::Relaxed)).unwrap();
+    let cli = Cli::parse();
+
+    let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
+    client.set_nonblocking(true)?;
+    client.set_read_timeout(Some(Duration::from_millis(200)))?;
+
+    if cli.ping {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+            TcHeader::new(types::ComponentId::Controller, types::MessageType::Ping),
+            types::control::request::Request::Ping,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!("sending ping request with TC ID {:#010x}", sent_tc_id.raw());
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if cli.test_event {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+            TcHeader::new(types::ComponentId::Controller, types::MessageType::Event),
+            types::control::request::Request::TestEvent,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending event request with TC ID {:#010x}",
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(cmd) = cli.commands {
+        match cmd {
+            Commands::Mgm0(args) => {
+                handle_mgm_command(&client, addr, types::ComponentId::AcsMgm0, args)?
+            }
+            Commands::Mgm1(args) => {
+                handle_mgm_command(&client, addr, types::ComponentId::AcsMgm1, args)?
+            }
+            Commands::Mgt(args) => handle_mgt_command(&client, addr, args)?,
+            Commands::MgmAssy(mgm_assembly_args) => {
+                let target_id = types::ComponentId::AcsMgmAssembly;
+                if mgm_assembly_args.ping {
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Ping),
+                        types::acs::mgm::request::Request::Ping,
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} ping request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if let Some(mode) = mgm_assembly_args.mode {
+                    let assembly_mode = match mode {
+                        AssemblyModeSelect::NoModeKeeping => {
+                            types::acs::mgm_assembly::Mode::NoModeKeeping
+                        }
+                        AssemblyModeSelect::Off => {
+                            types::acs::mgm_assembly::Mode::Device(types::DeviceMode::Off)
+                        }
+                        AssemblyModeSelect::Normal => {
+                            types::acs::mgm_assembly::Mode::Device(types::DeviceMode::Normal)
+                        }
+                    };
+
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Mode),
+                        types::acs::mgm_assembly::request::Request::Mode(
+                            types::acs::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
+                        ),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} HK request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+            }
+            Commands::AcsSubsystem(subsystem_args) => {
+                let target_id = types::ComponentId::AcsSubsystem;
+                if subsystem_args.ping {
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Ping),
+                        types::acs::subsystem::request::Request::Ping,
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} ping request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if let Some(mode) = subsystem_args.mode {
+                    let subsystem_mode = match mode {
+                        SubsystemModeSelect::Off => types::acs::subsystem::Mode::Off,
+                        SubsystemModeSelect::Safe => types::acs::subsystem::Mode::Safe,
+                    };
+
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Mode),
+                        types::acs::subsystem::request::Request::Mode(
+                            types::acs::subsystem::request::ModeRequest::SetMode(subsystem_mode),
+                        ),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} mode request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+            }
+            Commands::EventManager(args) => handle_event_manager_command(&client, addr, args),
+        }
+    }
+
+    let mut recv_buf: Box<[u8; 2048]> = Box::new([0; 2048]);
+    log::info!("entering listening loop");
+    loop {
+        if kill_signal.load(std::sync::atomic::Ordering::Relaxed) {
+            log::info!("received kill signal, exiting");
+            break;
+        }
+        match client.recv(recv_buf.as_mut_slice()) {
+            Ok(received_bytes) => handle_raw_tm_packet(&recv_buf.as_slice()[0..received_bytes])?,
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::WouldBlock
+                    || e.kind() == std::io::ErrorKind::TimedOut
+                {
+                    continue;
+                }
+                log::warn!("UDP reception error: {}", e)
+            }
+        }
+    }
+    Ok(())
+}
+
+/// Injects the given SPI fault directly into minisim's MGM model, bypassing the OBSW.
+///
+/// Confirms the simulator is actually reachable first (same ping/pong check the OBSW's own
+/// internal sim client does, see `SimClientUdp::attempt_connection`), since a fire-and-forget
+/// UDP send would otherwise silently do nothing if minisim is not running.
+fn inject_mgm_failure(target_id: types::ComponentId, fault: mgm::SpiFault) -> anyhow::Result<()> {
+    let sim_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), SIM_CTRL_PORT);
+    let sim_socket = UdpSocket::bind("127.0.0.1:0")?;
+    sim_socket.set_read_timeout(Some(Duration::from_millis(200)))?;
+
+    let mut reply_buf = [0u8; 4096];
+    let ping = SimRequestWithTime::new_with_epoch_time(SimCtrlRequest::Ping);
+    sim_socket.send_to(&serde_json::to_vec(&ping)?, sim_addr)?;
+    match sim_socket.recv(&mut reply_buf) {
+        Ok(len) => {
+            let reply: SimReply = serde_json::from_slice(&reply_buf[..len])?;
+            if reply != SimReply::SimCtrl(SimCtrlReply::Pong) {
+                bail!("unexpected reply while checking minisim connectivity: {reply:?}");
+            }
+        }
+        Err(e)
+            if matches!(
+                e.kind(),
+                std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut
+            ) =>
+        {
+            bail!("minisim not reachable at {sim_addr} (ping timed out) - is it running?");
+        }
+        Err(e) => return Err(e.into()),
+    }
+
+    let id = match target_id {
+        types::ComponentId::AcsMgm0 => mgm::Id::Mgm0,
+        types::ComponentId::AcsMgm1 => mgm::Id::Mgm1,
+        _ => bail!("SPI fault injection is not supported for {target_id:?}"),
+    };
+    let request = SimRequestWithTime::new_with_epoch_time(SimRequest::Mgm {
+        id,
+        request: mgm::Request::SetSpiFault(fault),
+    });
+    sim_socket.send_to(&serde_json::to_vec(&request)?, sim_addr)?;
+    log::info!("injected SPI fault {fault:?} into minisim {target_id:?}");
+    Ok(())
+}
+
+/// Each component has its own event type, so the sender ID determines how to decode the event.
+fn handle_event(sender_id: types::ComponentId, data: &[u8]) {
+    fn log_event<E: serde::de::DeserializeOwned + core::fmt::Debug>(
+        sender_id: types::ComponentId,
+        data: &[u8],
+    ) {
+        match postcard::from_bytes::<E>(data) {
+            Ok(event) => log::info!("Received event from {:?}: {:?}", sender_id, event),
+            Err(e) => log::warn!("Failed to deserialize event from {:?}: {}", sender_id, e),
+        }
+    }
+    match sender_id {
+        types::ComponentId::Controller => log_event::<types::Event>(sender_id, data),
+        types::ComponentId::AcsMgm0 | types::ComponentId::AcsMgm1 => {
+            log_event::<types::acs::mgm::Event>(sender_id, data)
+        }
+        types::ComponentId::AcsMgmAssembly => {
+            log_event::<types::acs::mgm_assembly::Event>(sender_id, data)
+        }
+        types::ComponentId::AcsMgt => log_event::<types::acs::mgt::Event>(sender_id, data),
+        types::ComponentId::EpsPcdu => log_event::<types::pcdu::Event>(sender_id, data),
+        // TC source events are sent with the ID of the packet source.
+        types::ComponentId::UdpServer
+        | types::ComponentId::TcpServer
+        | types::ComponentId::Ground => log_event::<types::tmtc::Event>(sender_id, data),
+        _ => log::warn!(
+            "Received event from {:?} with unknown event type",
+            sender_id
+        ),
+    }
+}
+
+fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
+    match spacepackets::CcsdsPacketReader::new_with_checksum(data) {
+        Ok(packet) => {
+            let tm_header_result = postcard::take_from_bytes::<types::TmHeader>(packet.user_data());
+            if let Err(e) = tm_header_result {
+                bail!("Failed to deserialize TM header: {}", e);
+            }
+            let (tm_header, remainder) = tm_header_result.unwrap();
+            if let Some(tc_id) = tm_header.tc_id {
+                log::info!(
+                    "Received TM with APID {} and from sender {:?} for TC ID {:#010x}",
+                    packet.apid(),
+                    tm_header.sender_id,
+                    tc_id.raw()
+                );
+            }
+            if tm_header.message_type == MessageType::Event {
+                handle_event(tm_header.sender_id, remainder);
+                return Ok(());
+            }
+            match tm_header.sender_id {
+                types::ComponentId::EpsPcdu => {
+                    let response =
+                        postcard::from_bytes::<types::pcdu::response::Response>(remainder);
+                    log::info!("Received response from PCDU: {:?}", response.unwrap());
+                }
+                types::ComponentId::Controller => {
+                    let response =
+                        postcard::from_bytes::<types::control::response::Response>(remainder);
+                    log::info!("Received response from controller: {:?}", response.unwrap());
+                }
+                types::ComponentId::AcsMgmAssembly => {
+                    let response = postcard::from_bytes::<
+                        types::acs::mgm_assembly::response::Response,
+                    >(remainder);
+                    log::info!(
+                        "Received response from MGM Assembly: {:?}",
+                        response.unwrap()
+                    );
+                }
+                types::ComponentId::AcsMgm0 => {
+                    let response =
+                        postcard::from_bytes::<types::acs::mgm::response::Response>(remainder);
+                    log::info!("Received response from MGM0: {:?}", response.unwrap());
+                }
+                types::ComponentId::AcsMgm1 => {
+                    let response =
+                        postcard::from_bytes::<types::acs::mgm::response::Response>(remainder);
+                    log::info!("Received response from MGM1: {:?}", response.unwrap());
+                }
+                types::ComponentId::AcsSubsystem => {
+                    let response = postcard::from_bytes::<types::acs::subsystem::response::Response>(
+                        remainder,
+                    );
+                    log::info!(
+                        "Received response from ACS subsystem: {:?}",
+                        response.unwrap()
+                    );
+                }
+                types::ComponentId::EpsSubsystem => todo!(),
+                types::ComponentId::UdpServer => todo!(),
+                types::ComponentId::TcpServer => todo!(),
+                types::ComponentId::Ground => todo!(),
+                types::ComponentId::EventManager => {
+                    let response =
+                        postcard::from_bytes::<types::event_manager::response::Response>(remainder);
+                    log::info!(
+                        "Received response from event manager: {:?}",
+                        response.unwrap()
+                    );
+                }
+                types::ComponentId::AcsController => todo!(),
+                types::ComponentId::AcsMgt => {
+                    let response =
+                        postcard::from_bytes::<types::acs::mgt::response::Response>(remainder);
+                    log::info!("Received response from MGT: {:?}", response.unwrap());
+                }
+            }
+        }
+        Err(_) => todo!(),
+    }
+    Ok(())
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_parse_dipole() {
+        assert_eq!(
+            parse_dipole("-200, 200,1000"),
+            Ok(types::acs::mgt::Dipole {
+                x: -200,
+                y: 200,
+                z: 1000
+            })
+        );
+        assert!(parse_dipole("1,2").is_err());
+        assert!(parse_dipole("1,2,3,4").is_err());
+    }
+
+    #[test]
+    fn test_negative_torque_argument() {
+        let cli = Cli::try_parse_from(["client", "mgt", "--torque", "-200,200,1000"]).unwrap();
+        let Some(Commands::Mgt(args)) = cli.commands else {
+            panic!("expected mgt subcommand");
+        };
+        assert_eq!(args.torque.map(|dipole| dipole.x), Some(-200));
+    }
+}
@@ -11,18 +11,14 @@ serde_json = "1"
 log = "0.4"
 thiserror = "2"
 fern = "0.7"
-strum = { version = "0.26", features = ["derive"] }
+strum = { version = "0.28", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
+tai-time = { version = "0.3", features = ["serde"] }
+nexosim = "1"

-[dependencies.asynchronix]
-version = "0.2.2"
-# git = "https://github.com/asynchronics/asynchronix.git"
-# branch = "main"
-features = ["serde"]
-
-[dependencies.satrs]
-path = "../satrs"
+satrs = { path = "../../satrs" }
+types = { path = "../types" }

 [dev-dependencies]
 delegate = "0.13"
@@ -2,7 +2,7 @@ sat-rs minisim
 ======

 This crate contains a mini-simulator based on the open-source discrete-event simulation framework
-[asynchronix](https://github.com/asynchronics/asynchronix).
+[nexosim](https://github.com/asynchronics/nexosim).

 Right now, this crate is primarily used together with the
 [`satrs-example` application](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
@@ -29,4 +29,4 @@ still have similar device handlers.

 The following graph shows the high-level architecture of the mini-simulator.

-<img src="../images/minisim-arch/minisim-arch.png" alt="Mini simulator architecture" width="500" class="center"/>
+<img src="../../images/minisim-arch/minisim-arch.png" alt="Mini simulator architecture" width="500" class="center"/>
@@ -0,0 +1,227 @@
+use std::f32::consts::PI;
+
+use nexosim::{
+    model::{Context, Model},
+    ports::Output,
+};
+use satrs_minisim::{acs::mgm, SimReply};
+use serde::{Deserialize, Serialize};
+use types::pcdu::SwitchStateBinary;
+
+use crate::time::current_millis;
+// Earth magnetic field varies between roughly -30 uT and 30 uT
+const AMPLITUDE_MGM_UT: f32 = 30.0;
+// Lets start with a simple frequency here.
+const FREQUENCY_MGM: f32 = 1.0;
+const PHASE_X: f32 = 0.0;
+// Different phases to have different values on the other axes.
+const PHASE_Y: f32 = 0.1;
+const PHASE_Z: f32 = 0.2;
+
+/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
+///
+/// An ideal sensor would sample the magnetic field at a high fixed rate. This might not be
+/// possible for a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms)
+/// might still be possible and is probably sufficient for many OBSW needs.
+#[derive(Serialize, Deserialize)]
+pub struct MgmModel {
+    id: mgm::Id,
+    switch_state: SwitchStateBinary,
+    external_mag_field: Option<mgm::SensorValuesMicroTesla>,
+    spi_fault: mgm::SpiFault,
+    pub reply: Output<SimReply>,
+}
+
+#[Model]
+impl MgmModel {
+    pub fn new(mgm_id: mgm::Id) -> Self {
+        Self {
+            id: mgm_id,
+            switch_state: SwitchStateBinary::Off,
+            external_mag_field: None,
+            spi_fault: mgm::SpiFault::default(),
+            reply: Output::new(),
+        }
+    }
+
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+        if switch_state == SwitchStateBinary::Off && self.spi_fault.cleared_by_power_cycle {
+            self.spi_fault = mgm::SpiFault::default();
+        }
+    }
+
+    /// Force (or clear) a stuck-bus SPI fault, for FDIR testing purposes.
+    pub async fn set_spi_fault(&mut self, fault: mgm::SpiFault) {
+        self.spi_fault = fault;
+    }
+
+    pub async fn send_sensor_values(&mut self, _: (), cx: &Context<Self>) {
+        let reply = SimReply::Mgm {
+            id: self.id,
+            reply: mgm::Reply::new(
+                self.switch_state,
+                self.calculate_current_mgm_tuple(current_millis(cx.time())),
+                self.spi_fault.mode,
+            ),
+        };
+        self.reply.send(reply).await;
+    }
+
+    // Devices like magnetorquers generate a strong magnetic field which overrides the default
+    // model for the measured magnetic field.
+    pub async fn apply_external_magnetic_field(&mut self, field: mgm::SensorValuesMicroTesla) {
+        self.external_mag_field = Some(field);
+    }
+
+    pub async fn clear_external_magnetic_field(&mut self, _: ()) {
+        self.external_mag_field = None;
+    }
+
+    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> mgm::SensorValuesMicroTesla {
+        if SwitchStateBinary::On == self.switch_state {
+            if let Some(ext_field) = self.external_mag_field {
+                return ext_field;
+            }
+            let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
+            return mgm::SensorValuesMicroTesla {
+                x: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_X).sin(),
+                y: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Y).sin(),
+                z: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Z).sin(),
+            };
+        }
+        mgm::SensorValuesMicroTesla {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::time::Duration;
+
+    use satrs_minisim::{acs::mgm, SimReply, SimRequest};
+    use types::pcdu::{SwitchId, SwitchStateBinary};
+
+    use crate::{
+        eps::tests::{switch_device_off, switch_device_on},
+        test_helpers::SimTestbench,
+    };
+
+    fn request_sensor_data(sim_testbench: &mut SimTestbench, id: mgm::Id) -> mgm::Reply {
+        let sim_reply = sim_testbench
+            .request_reply(SimRequest::Mgm {
+                id,
+                request: mgm::Request::RequestSensorData,
+            })
+            .expect("no MGM reply received");
+        let SimReply::Mgm {
+            id: reply_id,
+            reply,
+        } = sim_reply
+        else {
+            panic!("unexpected reply {sim_reply:?}");
+        };
+        assert_eq!(reply_id, id);
+        reply
+    }
+
+    fn inject_spi_fault(sim_testbench: &mut SimTestbench, cleared_by_power_cycle: bool) {
+        sim_testbench.send_and_step(SimRequest::Mgm {
+            id: mgm::Id::Mgm0,
+            request: mgm::Request::SetSpiFault(mgm::SpiFault {
+                mode: mgm::SpiFaultMode::AllOnes,
+                cleared_by_power_cycle,
+            }),
+        });
+    }
+
+    fn is_stuck_bus_reply(reply: &mgm::Reply) -> bool {
+        reply.raw.x == -1 && reply.raw.y == -1 && reply.raw.z == -1
+    }
+
+    #[test]
+    fn test_basic_mgm_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        assert_eq!(reply.switch_state, SwitchStateBinary::Off);
+        assert_eq!(reply.sensor_values.x, 0.0);
+        assert_eq!(reply.sensor_values.y, 0.0);
+        assert_eq!(reply.sensor_values.z, 0.0);
+    }
+
+    #[test]
+    fn test_mgm_spi_fault_injection_all_ones() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+        inject_spi_fault(&mut sim_testbench, false);
+
+        let reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        // Even though the device is switched on, the injected fault forces a stuck-bus reply.
+        assert_eq!(reply.switch_state, SwitchStateBinary::On);
+        assert!(is_stuck_bus_reply(&reply));
+    }
+
+    #[test]
+    fn test_mgm_spi_fault_cleared_by_power_cycle() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+        inject_spi_fault(&mut sim_testbench, true);
+        let reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        assert!(is_stuck_bus_reply(&reply));
+
+        switch_device_off(&mut sim_testbench, SwitchId::Mgm0);
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+        sim_testbench.step_until(Duration::from_millis(50)).unwrap();
+        let reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        assert!(!is_stuck_bus_reply(&reply));
+    }
+
+    #[test]
+    fn test_mgm_spi_fault_persists_after_power_cycle() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+        inject_spi_fault(&mut sim_testbench, false);
+
+        switch_device_off(&mut sim_testbench, SwitchId::Mgm0);
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+        let reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        assert_eq!(reply.switch_state, SwitchStateBinary::On);
+        assert!(is_stuck_bus_reply(&reply));
+    }
+
+    #[test]
+    fn test_basic_mgm_request_switched_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+
+        let first_reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        sim_testbench.step_until(Duration::from_millis(50)).unwrap();
+        let second_reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+
+        let to_microtesla = |raw: i16| {
+            raw as f32 * mgm::FIELD_LSB_PER_GAUSS_4_SENS * mgm::GAUSS_TO_MICROTESLA_FACTOR as f32
+        };
+        let values = second_reply.sensor_values;
+        let raw = second_reply.raw;
+        for (value, raw) in [(values.x, raw.x), (values.y, raw.y), (values.z, raw.z)] {
+            let diff = (value - to_microtesla(raw)).abs();
+            assert!(diff < 0.01, "raw value conversion diff too large: {diff}");
+        }
+        // Check that the values are changing.
+        assert_ne!(first_reply, second_reply);
+    }
+
+    #[test]
+    fn test_mgm_1_request_switched_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm1);
+
+        let mgm_0_reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm0);
+        assert_eq!(mgm_0_reply.switch_state, SwitchStateBinary::Off);
+        let mgm_1_reply = request_sensor_data(&mut sim_testbench, mgm::Id::Mgm1);
+        assert_eq!(mgm_1_reply.switch_state, SwitchStateBinary::On);
+    }
+}