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
300 changed files with 49627 additions and 18897 deletions
@@ -0,0 +1,75 @@
+name: ci
+on: [push, pull_request]
+
+jobs:
+  check:
+    name: Check build
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install libudev-dev on Ubuntu
+        if: ${{ matrix.os == 'ubuntu-latest' }}
+        run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p satrs-example --no-default-features
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc --all-features
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features
+
+  fmt:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+      - run: cargo fmt --all -- --check
+
+  docs:
+    name: Check Documentation Build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+      - run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc -p satrs --all-features --no-deps
+
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    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
@@ -1,5 +1,10 @@
-/target
+target/
+
+output.log
 /Cargo.lock
+output.log
+
+output.log

 /.idea/*
 !/.idea/runConfigurations
@@ -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>
@@ -4,10 +4,16 @@ members = [
    "satrs",
    "satrs-mib",
    "satrs-example",
+    "satrs-example/types",
+    "satrs-example/client",
+    "satrs-example/minisim",
    "satrs-shared",
+    "tmtc-utils",
+    "embedded-examples/embedded-client",
+    "embedded-examples/types",
 ]

 exclude = [
-    "satrs-example-stm32f3-disco",
+    "embedded-examples/stm32f3-disco-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
-
@@ -1,13 +1,23 @@
-<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
+<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
+
+[![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
 =========

-This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
+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 documentation website](https://absatsw.irs.uni-stuttgart.de/sat-rs.html).
+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
+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
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
@@ -20,29 +30,54 @@ 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.
 * [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
   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 [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.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
-   Example of a simple example on-board software using sat-rs components on a bare-metal system
-   with constrained resources.
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic):
+   Example of a simple example using low-level sat-rs components on a bare-metal system
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32F3-Discovery device.
+* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32h7-nucleo-rtic):
+   Example of a simple example using sat-rs components on a bare-metal system
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32H743ZIT device.

 Each project has its own `CHANGELOG.md`.

 # Related projects
- 
+
 In addition to the crates in this repository, the sat-rs project also maintains other libraries.

 * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
   packet protocol implementations. This repository is re-exported in the
-   [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
+   [`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
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  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)
+  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).

 # Coverage

@@ -54,5 +89,5 @@ rustup component add llvm-tools-preview
 cargo install grcov --locked
 ```

-After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+After that, you can simply run `coverage.py` to test the `satrs` crate with coverage. You can
 optionally supply the `--open` flag to open the coverage report in your webbrowser.
@@ -33,6 +33,7 @@ pipeline {
    stage('Test') {
      steps {
        sh 'cargo nextest r --all-features'
+        sh 'cargo test --doc --all-features'
      }
    }
    stage('Check with all features') {
@@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
    out_path = "./target/debug/coverage"
    if format == "lcov":
        out_path = "./target/debug/lcov.info"
-    os.system(
+    grcov_cmd = (
        f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
        f"-o {out_path}"
    )
+    print(f"Running: {grcov_cmd}")
+    os.system(grcov_cmd)
    if format == "lcov":
-        os.system(
+        lcov_cmd = (
            "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
            "--legend ./target/debug/lcov.info"
        )
+        print(f"Running: {lcov_cmd}")
+        os.system(lcov_cmd)
    if open_report:
        coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
        webbrowser.open_new_tab(coverage_report_path)
@@ -43,8 +47,8 @@ def main():
    parser.add_argument(
        "-p",
        "--package",
-        choices=["satrs-core"],
-        default="satrs-core",
+        choices=["satrs", "satrs-minisim", "satrs-example"],
+        default="satrs",
        help="Choose project to generate coverage for",
    )
    parser.add_argument(
@@ -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(())
+}
@@ -0,0 +1,37 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+runner = "probe-rs run --chip STM32F303VCTx"
+
+rustflags = [
+  "-C", "linker=flip-link",
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-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",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# comment out the following line if you intend to run unit tests on host machine
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[env]
+DEFMT_LOG = "info"
@@ -0,0 +1,4 @@
+/target
+/itm.txt
+/.cargo/config.toml
+/.vscode
@@ -0,0 +1,64 @@
+[package]
+name = "satrs-stm32f3-disco-rtic"
+version = "0.1.0"
+edition = "2021"
+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 = "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 = "0.9"
+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"] }
+
+rtic = { version = "2", features = ["thumbv7-backend"] }
+rtic-sync = { version = "1" }
+
+[dev-dependencies]
+defmt-test = "0.5"
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = "s" # <-
+overflow-checks = true # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-
@@ -0,0 +1,114 @@
+sat-rs example for the STM32F3-Discovery board
+=======
+
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
+
+The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
+used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
+[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
+to embedded Rust.
+
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
+## Preparing Rust and the repository
+
+Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
+If you have not installed it yet, you can do so with
+
+```sh
+rustup target add thumbv7em-none-eabihf
+```
+
+A default `.cargo` config file is provided for this project, but needs to be copied to have
+the correct name. This is so that the config file can be updated or edited for custom needs
+without being tracked by git.
+
+```sh
+cp def_config.toml config.toml
+```
+
+The configuration file will also set the target so it does not always have to be specified with
+the `--target` argument.
+
+## Building
+
+After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
+you can simply build the application with
+
+```sh
+cargo build
+```
+
+## Flashing from the command line
+
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32F303VCTx
+```
+
+## Debugging with VS Code
+
+The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
+
+Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
+to automatically rebuild and flash your application.
+
+The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
+the folder in VS code or adding it to a workspace.
+
+## Commanding with Python
+
+When the SW is running on the Discovery board, you can command the MCU via a serial interface,
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+You can configure the blinky frequency using
+
+```sh
+./main.py -p /change_blink_freq
+```
+
+All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
+format as the packet framing format.
@@ -0,0 +1,56 @@
+#![no_main]
+#![no_std]
+
+use panic_probe as _;
+use rtic::app;
+
+#[app(device = embassy_stm32)]
+mod app {
+    use embassy_time::Timer;
+    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        leds: Leds,
+        current_dir: Direction,
+    }
+
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());
+
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using 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 = Leds::new(led_pin_set);
+
+        blinky::spawn().expect("failed to spawn blinky task");
+        (
+            Shared {},
+            Local {
+                leds,
+                current_dir: Direction::North,
+            },
+        )
+    }
+
+    #[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;
+        }
+    }
+}
@@ -0,0 +1,145 @@
+#![no_main]
+#![no_std]
+
+use defmt_rtt as _;
+use panic_probe as _;
+
+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,
+}
+
+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)
+    }
+}
+
+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);
+    }
+}
+
+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>,
+}
+
+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,
+        }
+    }
+}
@@ -0,0 +1,336 @@
+#![no_std]
+#![no_main]
+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;
+
+const UART_BAUD: u32 = 115200;
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const MAX_TC_LEN: usize = 128;
+const MAX_TM_LEN: usize = 128;
+
+// This is the predictable maximum overhead of the COBS encoding scheme.
+// It is simply the maximum packet lenght dividied by 254 rounded up.
+const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
+
+const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
+
+const TC_DMA_BUF_LEN: usize = 512;
+
+type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
+
+static TM_QUEUE: embassy_sync::channel::Channel<CriticalSectionRawMutex, TmPacket, 16> =
+    embassy_sync::channel::Channel::new();
+
+#[derive(Debug, defmt::Format, thiserror::Error)]
+pub enum TmSendError {
+    #[error("packet creation error: {0}")]
+    PacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("queue error")]
+    Queue,
+}
+
+#[derive(Debug, defmt::Format)]
+pub struct RequestWithTcId {
+    pub request: stm32f3::Request,
+    pub tc_id: CcsdsPacketIdAndPsc,
+}
+
+#[app(device = embassy_stm32)]
+mod app {
+    use core::time::Duration;
+
+    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: Duration,
+    }
+
+    #[local]
+    struct Local {
+        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) {
+        static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
+            static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
+
+        let p = embassy_stm32::init(Default::default());
+
+        let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
+
+        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);
+
+        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 (tx, rx) = uart.split();
+        defmt::info!("Spawning tasks");
+        blinky::spawn().unwrap();
+        serial_tx_handler::spawn().unwrap();
+        serial_rx_handler::spawn(req_sender).unwrap();
+        req_handler::spawn(req_receiver).unwrap();
+
+        (
+            Shared {
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+            },
+            Local {
+                leds,
+                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, current_dir], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        loop {
+            cx.local.leds.blink_next(cx.local.current_dir);
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Timer::after_millis(current_blink_freq.as_millis() as u64).await;
+        }
+    }
+
+    #[task(
+        local = [
+            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],
+        ],
+        shared = [blink_freq]
+    )]
+    async fn serial_rx_handler(
+        cx: serial_rx_handler::Context,
+        mut sender: Sender<'static, RequestWithTcId, 16>,
+    ) {
+        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();
+                                        }
+                                    }
+                                    Err(e) => {
+                                        defmt::error!("error unpacking ccsds packet: {}", e);
+                                    }
+                                }
+                            }
+                            Err(e) => {
+                                defmt::error!("cobs decoding error: {}", e);
+                            }
+                        }
+                    }
+                }
+                Err(e) => {
+                    defmt::error!("uart read error: {}", e);
+                }
+            }
+        }
+    }
+
+    #[task(shared = [blink_freq], local = [seq_count])]
+    async fn req_handler(
+        mut cx: req_handler::Context,
+        mut receiver: Receiver<'static, RequestWithTcId, 16>,
+    ) {
+        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"),
+            }
+        }
+    }
+
+    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(())
+    }
+
+    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
+            .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)
+    }
+}
@@ -5,8 +5,8 @@
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
 		"rust-lang.rust",
-		"marus25.cortex-debug",
+		"probe-rs.probe-rs-debugger"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": []
-}
+}
@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32F303VCTx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
+          "rttEnabled": true,
+          "svdFile": "STM32F303.svd"
+        }
+      ]
+    }
+  ]
+}
@@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
    # Alternative option: Pipe ITM output into itm.txt file
    # tpiu config internal itm.txt uart off $CDCPUFreqHz

-    # Default option so SWO display of VS code works.
+    # Default option so SWO display of VS code works. Please note that this might not be required
+    # anymore starting at openocd v0.12.0
    tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
    itm port 0 on
 }
@@ -1,3 +1,4 @@
 /target
-/itm.txt
 /.cargo/config*
+/.vscode
+/app.map
@@ -0,0 +1,75 @@
+[package]
+name = "satrs-stm32h7-nucleo-rtic"
+edition = "2021"
+version = "0.1.0"
+default-run = "satrs-stm32h7-nucleo-rtic"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+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 = "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"
+
+embassy-stm32 =  { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
+
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
+embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
+
+[dev-dependencies]
+defmt-test = "0.5"
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 's'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
@@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+
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+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
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+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
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+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
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+   and charge a fee for, acceptance of support, warranty, indemnity,
+   or other liability obligations and/or rights consistent with this
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+   of any other Contributor, and only if You agree to indemnify,
+   defend, and hold each Contributor harmless for any liability
+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS
+
+APPENDIX: How to apply the Apache License to your work.
+
+   To apply the Apache License to your work, attach the following
+   boilerplate notice, with the fields enclosed by brackets "[]"
+   replaced with your own identifying information. (Don't include
+   the brackets!)  The text should be enclosed in the appropriate
+   comment syntax for the file format. We also recommend that a
+   file or class name and description of purpose be included on the
+   same "printed page" as the copyright notice for easier
+   identification within third-party archives.
+
+Copyright [yyyy] [name of copyright owner]
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+	http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
@@ -0,0 +1,118 @@
+sat-rs example for the STM32H73ZI-Nucleo board
+=======
+
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
+
+The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
+available for STM with which also has a little bit more RAM available and also allows commanding
+via TCP/IP.
+
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
+## Preparing Rust and the repository
+
+Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
+If you have not installed it yet, you can do so with
+
+```sh
+rustup target add thumbv7em-none-eabihf
+```
+
+A default `.cargo` config file is provided for this project, but needs to be copied to have
+the correct name. This is so that the config file can be updated or edited for custom needs
+without being tracked by git.
+
+```sh
+cp def_config.toml config.toml
+```
+
+The configuration file will also set the target so it does not always have to be specified with
+the `--target` argument.
+
+## Building
+
+After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
+you can simply build the application with
+
+```sh
+cargo build
+```
+
+## Flashing from the command line
+
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32H743ZITx
+```
+
+## Debugging with VS Code
+
+The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
+
+Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
+to automatically rebuild and flash your application.
+
+The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
+the folder in VS code or adding it to a workspace.
+
+## Commanding with Python
+
+When the SW is running on the Discovery board, you can command the MCU via a serial interface,
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+You can configure the blinky frequency using
+
+```sh
+./main.py -p /change_blink_freq
+```
+
+All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
+format as the packet framing format.
+
+## Resources
+
+- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
+- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)
@@ -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();
+    }
+}
@@ -0,0 +1,119 @@
+/* Taken from https://github.com/stm32-rs/stm32h7xx-hal/pull/299, adapted slightly to work with */
+/* flip-link */
+MEMORY
+{
+  /* This file is intended for parts in the STM32H743/743v/753/753v families (RM0433), */
+  /* with the exception of the STM32H742/742v parts which have a different RAM layout. */
+  /* - FLASH and RAM are mandatory memory sections.                                    */
+  /* - The sum of all non-FLASH sections must add to 1060K total device RAM.           */
+  /* - The FLASH section size must match your device, see table below.                 */
+
+  /* FLASH */
+  /* Flash is divided in two independent banks (except 750xB). */
+  /* Select the appropriate FLASH size for your device.        */
+  /* - STM32H750xB                          128K (only FLASH1) */
+  /* - STM32H750xB                            1M (512K + 512K) */
+  /* - STM32H743xI/753xI                      2M (  1M +   1M) */
+  FLASH1 : ORIGIN = 0x08000000, LENGTH = 1M
+  FLASH2  : ORIGIN = 0x08100000, LENGTH = 1M
+
+  /* Data TCM  */
+  /* - Two contiguous 64KB RAMs.                                     */
+  /* - Used for interrupt handlers, stacks and general RAM.          */
+  /* - Zero wait-states.                                             */
+  /* - The DTCM is taken as the origin of the base ram. (See below.) */
+  /*   This is also where the interrupt table and such will live,    */
+  /*   which is required for deterministic performance.              */
+  /* Need a region called RAM */
+  /* DTCM : ORIGIN = 0x20000000, LENGTH = 128K */
+  RAM : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* Instruction TCM */
+  /* - Used for latency-critical interrupt handlers etc. */
+  /* - Zero wait-states.                                 */
+  ITCM    : ORIGIN = 0x00000000, LENGTH = 64K
+
+  /* AXI SRAM */
+  /* - AXISRAM is in D1 and accessible by all system masters except BDMA. */
+  /* - Suitable for application data not stored in DTCM.                  */
+  /* - Zero wait-states.                                                  */
+  AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
+
+  /* AHB SRAM */
+  /* - SRAM1-3 are in D2 and accessible by all system masters except BDMA.   */
+  /*   Suitable for use as DMA buffers.                                      */
+  /* - SRAM4 is in D3 and additionally accessible by the BDMA. Used for BDMA */
+  /*   buffers, for storing application data in lower-power modes.           */
+  /* - Zero wait-states.                                                     */
+  SRAM1   : ORIGIN = 0x30000000, LENGTH = 128K
+  SRAM2   : ORIGIN = 0x30020000, LENGTH = 128K
+  SRAM3   : ORIGIN = 0x30040000, LENGTH = 32K
+  SRAM4   : ORIGIN = 0x38000000, LENGTH = 64K
+
+  /* Backup SRAM */
+  BSRAM   : ORIGIN = 0x38800000, LENGTH = 4K
+}
+
+/*
+/* Assign the memory regions defined above for use. */
+/*
+
+/* Provide the mandatory FLASH and RAM definitions for cortex-m-rt's linker script. */
+/* These do not work with flip-link */
+REGION_ALIAS(FLASH, FLASH1);
+/* REGION_ALIAS(RAM,   DTCM); */
+
+/* The location of the stack can be overridden using the `_stack_start` symbol. */
+/* - Set the stack location at the end of RAM, using all remaining space.       */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+
+/* The location of the .text section can be overridden using the  */
+/* `_stext` symbol. By default it will place after .vector_table. */
+/* _stext = ORIGIN(FLASH) + 0x40c; */
+
+/* Define sections for placing symbols into the extra memory regions above.   */
+/* This makes them accessible from code.                                      */
+/* - ITCM, DTCM and AXISRAM connect to a 64-bit wide bus -> align to 8 bytes. */
+/* - All other memories     connect to a 32-bit wide bus -> align to 4 bytes. */
+SECTIONS {
+  .flash2 (NOLOAD) : ALIGN(4) {
+    *(.flash2 .flash2.*);
+    . = ALIGN(4);
+    } > FLASH2
+
+  .itcm (NOLOAD) : ALIGN(8) {
+    *(.itcm .itcm.*);
+    . = ALIGN(8);
+    } > ITCM
+
+  .axisram (NOLOAD) : ALIGN(8) {
+    *(.axisram .axisram.*);
+    . = ALIGN(8);
+    } > AXISRAM
+
+  .sram1 (NOLOAD) : ALIGN(8) {
+    *(.sram1 .sram1.*);
+    . = ALIGN(4);
+    } > SRAM1
+
+  .sram2 (NOLOAD) : ALIGN(8) {
+    *(.sram2 .sram2.*);
+    . = ALIGN(4);
+    } > SRAM2
+
+  .sram3 (NOLOAD) : ALIGN(4) {
+    *(.sram3 .sram3.*);
+    . = ALIGN(4);
+    } > SRAM3
+
+  .sram4 (NOLOAD) : ALIGN(4) {
+    *(.sram4 .sram4.*);
+    . = ALIGN(4);
+    } > SRAM4
+
+  .bsram (NOLOAD) : ALIGN(4) {
+    *(.bsram .bsram.*);
+    . = ALIGN(4);
+    } > BSRAM
+
+};
@@ -0,0 +1,2 @@
+[toolchain]
+targets = ["thumbv7em-none-eabihf"]
@@ -0,0 +1,57 @@
+//! Blinks an LED
+//!
+//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
+//! to pb14. This assumption is true for the nucleo-h743zi board.
+
+#![no_std]
+#![no_main]
+use rtic::app;
+use satrs_stm32h7_nucleo_rtic as _;
+
+#[app(device = embassy_stm32, peripherals = false, dispatchers = [SPI1])]
+mod app {
+    use embassy_stm32::gpio;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[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);
+
+        // Schedule the blinking task
+        blink::spawn(ld1, ld2, ld3).ok();
+
+        (Shared {}, Local {})
+    }
+
+    #[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;
+
+            defmt::info!("low");
+            ld1.set_low();
+            ld2.set_low();
+            ld3.set_low();
+            embassy_time::Timer::after_millis(500).await;
+        }
+    }
+}
@@ -0,0 +1,13 @@
+#![no_main]
+#![no_std]
+
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    loop {
+        defmt::println!("Hello, world!");
+        cortex_m::asm::delay(100_000_000);
+    }
+}
@@ -0,0 +1,37 @@
+#![no_main]
+#![no_std]
+
+use defmt_rtt as _;
+use embassy_stm32 as _;
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    panic!("unexpected hard fault");
+}
+
+// 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)
+    }
+}
@@ -0,0 +1,386 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+// global logger + panicking-behavior + memory layout
+use embassy_stm32::bind_interrupts;
+use satrs_stm32h7_nucleo_rtic as _;
+
+use core::mem::MaybeUninit;
+use embedded_alloc::LlffHeap as Heap;
+
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const PORT: u16 = 7301;
+
+const HEAP_SIZE: usize = 131_072;
+
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+/// Locally administered MAC address
+const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+const TC_QUEUE_DEPTH: usize = 32;
+const TM_QUEUE_DEPTH: usize = 32;
+
+#[app(device = embassy_stm32, peripherals = false)]
+mod app {
+
+    use super::*;
+    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: 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: 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 {
+        sequence_count: u14,
+        blink_freq: embassy_time::Duration,
+    }
+
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
+
+        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 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 };
+
+        static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
+        // warning: Not all STM32H7 devices have the exact same pins here
+        // for STM32H747XIH, replace p.PB13 for PG12
+        let device = eth::Ethernet::new(
+            PACKETS.init(eth::PacketQueue::<4, 4>::new()),
+            periphs.ETH,
+            Irqs,
+            periphs.PA1,  // ref_clk
+            periphs.PA7,  // CRS_DV: Carrier Sense
+            periphs.PC4,  // RX_D0: Received Bit 0
+            periphs.PC5,  // RX_D1: Received Bit 1
+            periphs.PG13, // TX_D0: Transmit Bit 0
+            periphs.PB13, // TX_D1: Transmit Bit 1
+            periphs.PG11, // TX_EN: Transmit Enable
+            MAC_ADDRESS,
+            periphs.ETH_SMA,
+            periphs.PA2, // mdio
+            periphs.PC1, // mdc
+        );
+
+        let 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(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
+
+        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");
+        tc_handler::spawn().expect("spawning TC handler task failed");
+
+        (
+            Shared {
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+                sequence_count: u14::new(0),
+            },
+            Local {
+                link_led,
+                leds,
+                net_runner: runner,
+                net_stack: stack,
+                tc_tx: tc_sender,
+                tc_rx: tc_receiver,
+                tm_tx: tm_sender,
+                tm_rx: tm_receiver,
+            },
+        )
+    }
+
+    #[task(local = [leds], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        let leds = cx.local.leds;
+        loop {
+            leds.led1.toggle();
+            leds.led2.toggle();
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Timer::after_millis(current_blink_freq.as_millis()).await;
+        }
+    }
+
+    #[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 {
+            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;
+                }
+                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) => (),
+                }
+                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(())
+    }
+}
@@ -0,0 +1,16 @@
+#![no_std]
+#![no_main]
+
+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)
+#[defmt_test::tests]
+mod tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(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();
+        }
+    }
+}
@@ -0,0 +1,270 @@
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@@ -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 framework 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.
@@ -2,53 +2,94 @@

 # 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-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html).
+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-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/index.html).
-   TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
+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 telecommands
   from an arbitrary bytestream. Two concrete implementations are provided:
-    - [TCP spacepackets server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+    - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
      to parse tightly packed CCSDS Spacepackets.
-    - [TCP COBS server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
+    - [TCP COBS server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
      to parse generic frames wrapped with the
      [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).

 # 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 modern 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.

-# Low-level protocols and the bridge to the communcation subsystem
+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 receivers only have to
+forward their generated or received packets to those handler objects.
+
+# 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
@@ -26,15 +32,17 @@ For example, a very small telecommand (TC) pool might look like this:
 ![Example Pool](images/pools/static-pools.png)

 The core of the pool abstractions is the
-[PoolProvider trait](https://docs.rs/satrs-core/0.1.0-alpha.3/satrs_core/pool/trait.PoolProvider.html).
-This trait specifies the general API a pool structure should have without making assumption
-of how the data is stored.
+[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 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:

-```rust
-use satrs_core::pool::{StaticMemoryPool, StaticPoolConfig};
+<!-- Would be nice to test this code sample, but need to wait
+for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
+```rust, ignore
+use satrs::pool::{StaticMemoryPool, StaticPoolConfig};

 let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
    (6, 16),
@@ -52,8 +60,8 @@ inter-process communication (IPC) data.

 You can read

- [`StaticPoolConfig` API](https://docs.rs/satrs-core/0.1.0-alpha.3/satrs_core/pool/struct.StaticPoolConfig.html)
- [`StaticMemoryPool` API](https://docs.rs/satrs-core/0.1.0-alpha.3/satrs_core/pool/struct.StaticMemoryPool.html)
+- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
+- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)

 for more details.

@@ -1,39 +1,45 @@
-# Framework Design
+# Library Design

 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 framework is centered
-around many light-weight components which try to impose as few restrictions as possible on how to
-solve certain problems.
+both the hardware and the software. Consequently, the general design of the library is centered
+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 framework tries to provide this
+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 framework 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`
-framework.
+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
-shorter development cycle and was built using cheaper COTS components. This framework also tries
+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.

@@ -42,16 +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.
-
@@ -1,16 +1,96 @@
 # Events

-Events can be an extremely important mechanism used for remote systems to monitor unexpected
-or expected anomalies and events occuring on these systems. They are oftentimes tied to
-Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
+Events are an important mechanism used for remote systems to monitor unexpected
+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.

-Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
-also observable for the Ground segment. 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 really need this service.

-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:
+## Event Severity

-![Event flow](images/events/event_man_arch.png)
+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:
+
+- INFO
+- LOW ERROR
+- MEDIUM ERROR
+- HIGH ERROR
+
+## 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>
+}
+```
@@ -1,6 +1,6 @@
 # sat-rs Example Application

-The `sat-rs` framework includes a monolithic example application which can be found inside
+The `sat-rs` library includes a monolithic example application which can be found inside
 the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 subdirectory of the repository. The primary purpose of this example application is to show how
 the various components of the sat-rs framework could be used as part of a larger on-board
@@ -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
@@ -23,11 +72,11 @@ Some additional explanation is provided for the various components.
 The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
 might be an optional component for an OBSW which is only used during the development phase on
 ground. The UDP server is strongly based on the
-[UDP TC server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/udp_server/struct.UdpTcServer.html).
+[UDP TC server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/struct.UdpTcServer.html).
 This server component is wrapped by a TMTC server which handles all telemetry to the last connected
 client.

-The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
 class. It parses space packets by using the CCSDS space packet ID as the packet
 start delimiter. All available telemetry will be sent back to a client after having read all
 telecommands from the client.
@@ -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-core/0.1.0-alpha.1/satrs_core/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-core/0.1.0-alpha.1/satrs_core/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-core/0.1.0-alpha.1/satrs_core/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-core/0.1.0-alpha.1/satrs_core/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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+          <mxGeometry height="40" width="113.79" x="782" y="235.99628691983122" as="geometry" />
+        </mxCell>
+        <mxCell id="mcy6J03i3kvHfejOpHHr-41" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="&lt;span style=&quot;font-weight: normal;&quot;&gt;Tasks&lt;br&gt;&lt;font face=&quot;Courier New&quot;&gt;&lt;span style=&quot;font-size: 12px;&quot;&gt;std&lt;/span&gt;&lt;/font&gt;&lt;/span&gt;" vertex="1">
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+        <mxCell id="mcy6J03i3kvHfejOpHHr-42" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="&lt;span style=&quot;font-weight: normal;&quot;&gt;Hardware API&lt;/span&gt;&lt;div&gt;&lt;span style=&quot;font-weight: normal;&quot;&gt;&lt;font style=&quot;font-size: 12px;&quot;&gt;Linux + &lt;font face=&quot;Courier New&quot;&gt;uio&lt;/font&gt;&lt;/font&gt;&lt;/span&gt;&lt;/div&gt;" vertex="1">
+          <mxGeometry height="40" width="137.7" x="633" y="282.9989029535865" as="geometry" />
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+        <mxCell id="6sRxE-k6t311zxd993k4-5" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="&lt;span style=&quot;font-weight: normal;&quot;&gt;Filesystem&lt;br&gt;&lt;font face=&quot;Courier New&quot; style=&quot;font-size: 12px;&quot;&gt;std&lt;/font&gt;&lt;/span&gt;" vertex="1">
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+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>
@@ -1,29 +1,48 @@
 The sat-rs book
 ======

-This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+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.
-2. A Getting-Started workshop where a small On-Board Software is built from scratch using
-   sat-rs components.

 # Introduction

-The primary goal of the sat-rs framework is to provide re-usable components
+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.

-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 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
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  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
+  [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/).
@@ -1,26 +1,27 @@
 # Modes

-Modes are an extremely useful concept for complex system in general. They also allow simplified
-system reasoning for both system operators and OBSW developers. They model the behaviour of a
-component and also provide observability of a system. A few examples of how to model
-different components of a space system with modes will be given.
+Modes are an extremely useful concept to model complex systems. They allow simplified
+system reasoning for both system operators and OBSW developers. They also provide a way to alter
+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.

-## Modelling a pyhsical devices 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`
 - `NORMAL`

-can be applied to a large number of simpler devices of a remote system, for example sensors.
+can be applied to a large number of simpler device controllers of a remote system, for example
+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
@@ -31,7 +32,7 @@ for the majority of devices:
 2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
   before powering off the device.

-## Modelling a controller with modes
+## Controller components with modes

 Controller components are not modelling physical devices, but a mode scheme is still the best
 way to model most of these components.
@@ -72,8 +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.
@@ -93,10 +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.
@@ -1,66 +0,0 @@
-{
-    /* 
-     * Requires the Rust Language Server (RLS) and Cortex-Debug extensions
-     * https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
-     * https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
-     */
-    "version": "0.2.0",
-    "configurations": [
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Debug",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        },
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Release",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        }
-    ]
-}
@@ -1,3 +0,0 @@
-{
-    "cortex-debug.gdbPath.linux": "gdb-multiarch"
-}
@@ -1,762 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 3
-
-[[package]]
-name = "accelerometer"
-version = "0.12.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a4586d95cb0695e748760c9a751141eebb68265b1b20392a0f14db608679f7a"
-dependencies = [
- "micromath",
-]
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@@ -1,59 +0,0 @@
-[package]
-name = "satrs-example-stm32f3-disco"
-version = "0.1.0"
-edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-cortex-m = "0.7"
-cortex-m-rt = "0.7"
-embedded-hal = "0.2.6"
-cortex-m-rtic = "1.0"
-enumset = "1.0"
-heapless = "0.7"
-systick-monotonic = "1.0"
-
-[dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-branch = "all_features"
-default-features = false
-
-[dependencies.panic-itm]
-version = "0.4"
-
-[dependencies.itm_logger]
-git = "https://github.com/robamu/itm_logger.rs.git"
-branch = "all_features"
-version = "0.1.3-alpha.0"
-
-[dependencies.stm32f3xx-hal]
-git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.10.0-alpha.0"
-features = ["stm32f303xc", "rt", "enumset"]
-branch = "all_features"
-# 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 = "all_features"
-# Can be used in workspace to develop and update BSP
-# path = "../stm32f3-discovery"
-
-[dependencies.satrs-core]
-git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
-version = "0.1.0-alpha.0"
-default-features = false
-
-# this lets you use `cargo fix`!
-# [[bin]]
-# name = "stm32f3-blinky"
-# test = false
-# bench = false
-
-[profile.release]
-codegen-units = 1 # better optimizations
-debug = true # symbols are nice and they don't increase the size on Flash
-lto = true # better optimizations
@@ -1,75 +0,0 @@
-sat-rs example for the STM32F3-Discovery board
-=======
-
-This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
-can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
-standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
-framework.
-
-The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
-used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
-[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
-to embedded Rust.
-
-## Preparing Rust and the repository
-
-Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
-If you have not installed it yet, you can do so with
-
-```sh
-rustup target add thumbv7em-none-eabihf
-```
-
-A default `.cargo` config file is provided for this project, but needs to be copied to have
-the correct name. This is so that the config file can be updated or edited for custom needs
-without being tracked by git.
-
-```sh
-cp def_config.toml config.toml
-```
-
-The configuration file will also set the target so it does not always have to be specified with
-the `--target` argument.
-
-## Building
-
-After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
-you can simply build the application with
-
-```sh
-cargo build
-```
-
-## Flashing and Debugging from the command line
-
-TODO
-
-## Debugging with VS Code
-
-The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
-the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
-and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
-
-Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
-to automatically rebuild and flash your application.
-
-The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
-the folder in VS code or adding it to a workspace.
-
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
-
- `"cortex-debug.gdbPath"`
- `"cortex-debug.gdbPath.linux"`
- `"cortex-debug.gdbPath.windows"`
- `"cortex-debug.gdbPath.osx"`
-
-## Commanding with Python
-
-When the SW is running on the Discovery board, you can command the MCU via a serial interface,
-using COBS encoded CCSDS packets.
- 
-TODO:
-  - How and where to connect serial interface on the MCU
-  - How to set up Python venv (or at least strongly recommend it) and install deps
-  - How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port