embedded apps now connect to minisim

Merge pull request 'removed missing file' (#299 ) from missing-file-removal into main
Reviewed-on: #299
2026-09-30 12:39:54 +02:00 · 2026-09-29 15:56:22 +02:00 · 2026-09-29 15:56:03 +02:00 · 2026-09-29 15:54:25 +02:00 · 2026-09-29 15:51:08 +02:00 · 2026-09-29 15:46:31 +02:00
324 changed files with 31677 additions and 167005 deletions
@@ -11,7 +11,12 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
-      - run: cargo check --release
+      - name: Install libudev-dev on Ubuntu
+        if: ${{ matrix.os == 'ubuntu-latest' }}
+        run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p example-std --no-default-features

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

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

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

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

  clippy:
    name: Clippy
@@ -61,4 +69,7 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+      - run: sudo apt update && sudo apt install -y libudev-dev
      - run: cargo clippy -- -D warnings
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Check" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="check" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="false" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Clippy" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="clippy" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="true" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Clippy Fix" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="clippy --fix" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Docs" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="doc --all-features" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Doctest" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="test --doc" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Examples" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run --example test" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Format" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="fmt" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Run" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Run obsw example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run -p satrs-example --bin satrs-example" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Run obsw simple client" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="run --package fsrc-example --bin client" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test" type="CargoCommandRunConfiguration" factoryName="Cargo Command" nameIsGenerated="true">
-    <option name="command" value="test" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="true" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,18 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test All" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="test -- --include-ignored" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="false" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,19 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Test satrs-core" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
-    <option name="command" value="test -p satrs-core --all-features" />
-    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
-    <option name="channel" value="DEFAULT" />
-    <option name="requiredFeatures" value="true" />
-    <option name="allFeatures" value="true" />
-    <option name="emulateTerminal" value="false" />
-    <option name="withSudo" value="false" />
-    <option name="buildTarget" value="REMOTE" />
-    <option name="backtrace" value="SHORT" />
-    <envs />
-    <option name="isRedirectInput" value="false" />
-    <option name="redirectInputPath" value="" />
-    <method v="2">
-      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -3,14 +3,15 @@ resolver = "2"
 members = [
    "satrs",
    "satrs-mib",
-    "satrs-example",
-    "satrs-minisim",
+    "examples/example-std",
+    "examples/types",
+    "examples/client",
+    "examples/minisim",
+    "examples/minisim-types",
    "satrs-shared",
+    "tmtc-utils",
 ]

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

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

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

 This is early-stage software. Important features are missing. New releases
 with breaking changes are released regularly, with all changes documented inside respective
@@ -26,29 +26,38 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-

 # Overview

-This project currently contains following crates:
+This project currently contains the 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-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-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32f3-disco-rtic):
-   Example of a simple example using low-level sat-rs components on a bare-metal system
-   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
-   framework on the STM32F3-Discovery device.
-* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32h7-nucleo-rtic):
-   Example of a simple example using sat-rs components on a bare-metal system
-   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
-   framework on the STM32H743ZIT device.

-Each project has its own `CHANGELOG.md`.
+## Examples
+
+All examples and their helper crates are located inside the
+[`examples`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples) folder:
+
+* [`example-std`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/example-std):
+   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.
+* [`minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/minisim):
+   Mini-Simulator based on [nexosim](https://github.com/asynchronics/nexosim) which
+   simulates some physical devices for the `example-std` application device handlers.
+* [`client`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/client): Ground client to command the `example-std` application and the STM32H7 examples.
+* [`types`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/types): Telecommand and telemetry definitions shared by the
+   `example-std` application, the STM32H7 examples and the `client`.
+* [`embedded`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/embedded):
+   Simple examples using sat-rs components on a bare-metal system with constrained resources,
+   running on the NUCLEO-H753ZI board. `stm32h7-nucleo-rtic` uses the
+   [RTIC](https://github.com/rtic-rs/rtic) framework and `stm32h7-nucleo-embassy` uses the
+   [embassy](https://embassy.dev/) executor.
+
+The library crates and the `example-std` application have their own `CHANGELOG.md`.

 # Related projects

@@ -58,6 +67,8 @@ Each project has its own `CHANGELOG.md`.
   packet protocol implementations. This repository is re-exported in the
   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
   crate.
+ * [`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp): CCSDS File Delivery Protocol
+   (CFDP) high-level library components.

 # Flight Heritage

@@ -69,6 +80,10 @@ Currently this library has the following flight heritage:
  [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

@@ -47,7 +47,7 @@ def main():
    parser.add_argument(
        "-p",
        "--package",
-        choices=["satrs", "satrs-minisim", "satrs-example"],
+        choices=["satrs", "minisim", "example-std"],
        default="satrs",
        help="Choose project to generate coverage for",
    )
@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open
@@ -1,37 +0,0 @@
-[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"
@@ -1,4 +0,0 @@
-/target
-/itm.txt
-/.cargo/config*
-/.vscode
@@ -1,84 +0,0 @@
-[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]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-cortex-m-rt = "0.7"
-defmt = "0.3"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-embedded-hal = "0.2.7"
-cortex-m-semihosting = "0.5.0"
-enumset = "1"
-heapless = "0.8"
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
-
-[dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-branch = "all_features"
-default-features = false
-
-[dependencies.stm32f3xx-hal]
-git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.11.0-alpha.0"
-features = ["stm32f303xc", "rt", "enumset"]
-branch = "complete-dma-update"
-# Can be used in workspace to develop and update HAL
-# path = "../stm32f3xx-hal"
-
-[dependencies.stm32f3-discovery]
-git = "https://github.com/robamu/stm32f3-discovery"
-version = "0.8.0-alpha.0"
-branch = "complete-dma-update-hal"
-# Can be used in workspace to develop and update BSP
-# path = "../stm32f3-discovery"
-
-[dependencies.satrs]
-# path = "satrs"
-version = "0.2"
-default-features = false
-features = ["defmt"]
-
-[dev-dependencies]
-defmt-test = "0.3"
-
-# 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 # <-
@@ -1,114 +0,0 @@
-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.
@@ -1,10 +0,0 @@
-target extended-remote localhost:2331
-
-monitor reset
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-load
-
-continue
@@ -1,12 +0,0 @@
-# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
-
-# Depending on the hardware revision you got you'll have to pick ONE of these
-# interfaces. At any time only one interface should be commented out.
-
-# Revision C (newer revision)
-source [find interface/stlink.cfg]
-
-# Revision A and B (older revisions)
-# source [find interface/stlink-v2.cfg]
-
-source [find target/stm32f3x.cfg]
@@ -1,42 +0,0 @@
-target extended-remote :3333
-
-# print demangled symbols
-set print asm-demangle on
-
-# set backtrace limit to not have infinite backtrace loops
-set backtrace limit 32
-
-# detect unhandled exceptions, hard faults and panics
-break DefaultHandler
-break HardFault
-break rust_begin_unwind
-# # run the next few lines so the panic message is printed immediately
-# # the number needs to be adjusted for your panic handler
-# commands $bpnum
-# next 4
-# end
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-# monitor arm semihosting enable
-
-# # send captured ITM to the file itm.fifo
-# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin. This was added for newer
-# openocd versions like v0.12.0.
-# monitor tpiu config internal itm.txt uart off 8000000 2000000
-
-# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin
-# monitor tpiu config external uart off 8000000 2000000
-
-# # enable ITM port 0
-# monitor itm port 0 on
-
-load
-
-# start the process but immediately halt the processor
-stepi
@@ -1,33 +0,0 @@
-/* Linker script for the STM32F303VCT6 */
-MEMORY
-{
-  /* NOTE 1 K = 1 KiBi = 1024 bytes */
-  FLASH : ORIGIN = 0x08000000, LENGTH = 256K
-  RAM : ORIGIN = 0x20000000, LENGTH = 40K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* You may want to use this variable to locate the call stack and static
-   variables in different memory regions. Below is shown the default value */
-/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
-
-/* You can use this symbol to customize the location of the .text section */
-/* If omitted the .text section will be placed right after the .vector_table
-   section */
-/* This is required only on microcontrollers that store some configuration right
-   after the vector table */
-/* _stext = ORIGIN(FLASH) + 0x400; */
-
-/* Example of putting non-initialized variables into custom RAM locations. */
-/* This assumes you have defined a region RAM2 above, and in the Rust
-   sources added the attribute `#[link_section = ".ram2bss"]` to the data
-   you want to place there. */
-/* Note that the section will not be zero-initialized by the runtime! */
-/* SECTIONS {
-     .ram2bss (NOLOAD) : ALIGN(4) {
-       *(.ram2bss);
-       . = ALIGN(4);
-     } > RAM2
-   } INSERT AFTER .bss;
-*/
@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json
@@ -1,4 +0,0 @@
-{
-    "com_if": "serial_cobs",
-    "serial_baudrate": 115200
-}
@@ -1,305 +0,0 @@
-#!/usr/bin/env python3
-"""Example client for the sat-rs example application"""
-import struct
-import logging
-import sys
-import time
-from typing import Any, Optional, cast
-from prompt_toolkit.history import FileHistory, History
-from spacepackets.ecss.tm import CdsShortTimestamp
-
-import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
-from spacepackets.ecss.pus_17_test import Service17Tm
-from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-
-from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
-from tmtccmd.core.base import BackendRequest
-from tmtccmd.core.ccsds_backend import QueueWrapper
-from tmtccmd.logging import add_colorlog_console_logger
-from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com import ComInterface
-from tmtccmd.config import (
-    CmdTreeNode,
-    default_json_path,
-    SetupParams,
-    HookBase,
-    params_to_procedure_conversion,
-)
-from tmtccmd.config.com import SerialCfgWrapper
-from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging.pus import (
-    RegularTmtcLogWrapper,
-    RawTmtcTimedLogWrapper,
-    TimedLogWhen,
-)
-from tmtccmd.tmtc import (
-    TcQueueEntryType,
-    ProcedureWrapper,
-    TcProcedureType,
-    FeedWrapper,
-    SendCbParams,
-    DefaultPusQueueHelper,
-)
-from tmtccmd.pus.s5_fsfw_event import Service5Tm
-from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
-from tmtccmd.util.obj_id import ObjectIdDictT
-
-_LOGGER = logging.getLogger()
-
-EXAMPLE_PUS_APID = 0x02
-
-
-class SatRsConfigHook(HookBase):
-    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path)
-
-    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com import (
-            create_com_interface_default,
-            create_com_interface_cfg_default,
-        )
-
-        assert self.cfg_path is not None
-        cfg = create_com_interface_cfg_default(
-            com_if_key=com_if_key,
-            json_cfg_path=self.cfg_path,
-            space_packet_ids=None,
-        )
-        if cfg is None:
-            raise ValueError(
-                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
-            )
-        if cfg.com_if_key == "serial_cobs":
-            cfg = cast(SerialCfgWrapper, cfg)
-            cfg.serial_cfg.serial_timeout = 0.5
-        return create_com_interface_default(cfg)
-
-    def get_command_definitions(self) -> CmdTreeNode:
-        """This function should return the root node of the command definition tree."""
-        return create_cmd_definition_tree()
-
-    def get_cmd_history(self) -> Optional[History]:
-        """Optionlly return a history class for the past command paths which will be used
-        when prompting a command path from the user in CLI mode."""
-        return FileHistory(".tmtc-history.txt")
-
-    def get_object_ids(self) -> ObjectIdDictT:
-        from tmtccmd.config.objects import get_core_object_ids
-
-        return get_core_object_ids()
-
-
-def create_cmd_definition_tree() -> CmdTreeNode:
-    root_node = CmdTreeNode.root_node()
-    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
-    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
-    return root_node
-
-
-class PusHandler(SpecificApidHandlerBase):
-    def __init__(
-        self,
-        file_logger: logging.Logger,
-        verif_wrapper: VerificationWrapper,
-        raw_logger: RawTmtcTimedLogWrapper,
-    ):
-        super().__init__(EXAMPLE_PUS_APID, None)
-        self.file_logger = file_logger
-        self.raw_logger = raw_logger
-        self.verif_wrapper = verif_wrapper
-
-    def handle_tm(self, packet: bytes, _user_args: Any):
-        try:
-            pus_tm = PusTm.unpack(
-                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
-            )
-        except ValueError as e:
-            _LOGGER.warning("Could not generate PUS TM object from raw data")
-            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
-            raise e
-        service = pus_tm.service
-        tm_packet = None
-        if service == 1:
-            tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
-            )
-            res = self.verif_wrapper.add_tm(tm_packet)
-            if res is None:
-                _LOGGER.info(
-                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
-                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
-                )
-                _LOGGER.warning(
-                    f"No matching telecommand found for {tm_packet.tc_req_id}"
-                )
-            else:
-                self.verif_wrapper.log_to_console(tm_packet, res)
-                self.verif_wrapper.log_to_file(tm_packet, res)
-        if service == 3:
-            _LOGGER.info("No handling for HK packets implemented")
-            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-            if pus_tm.subservice == 25:
-                if len(pus_tm.source_data) < 8:
-                    raise ValueError("No addressable ID in HK packet")
-                json_str = pus_tm.source_data[8:]
-                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
-        if service == 5:
-            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-        if service == 17:
-            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-            if tm_packet.subservice == 2:
-                _LOGGER.info("Received Ping Reply TM[17,2]")
-            else:
-                _LOGGER.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-        if tm_packet is None:
-            _LOGGER.info(
-                f"The service {service} is not implemented in Telemetry Factory"
-            )
-            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-        self.raw_logger.log_tm(pus_tm)
-
-
-def make_addressable_id(target_id: int, unique_id: int) -> bytes:
-    byte_string = bytearray(struct.pack("!I", target_id))
-    byte_string.extend(struct.pack("!I", unique_id))
-    return byte_string
-
-
-class TcHandler(TcHandlerBase):
-    def __init__(
-        self,
-        seq_count_provider: FileSeqCountProvider,
-        verif_wrapper: VerificationWrapper,
-    ):
-        super(TcHandler, self).__init__()
-        self.seq_count_provider = seq_count_provider
-        self.verif_wrapper = verif_wrapper
-        self.queue_helper = DefaultPusQueueHelper(
-            queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=7,
-            seq_cnt_provider=seq_count_provider,
-            pus_verificator=verif_wrapper.pus_verificator,
-            default_pus_apid=EXAMPLE_PUS_APID,
-        )
-
-    def send_cb(self, send_params: SendCbParams):
-        entry_helper = send_params.entry
-        if entry_helper.is_tc:
-            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
-                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
-                pus_tc_wrapper.pus_tc.seq_count = (
-                    self.seq_count_provider.get_and_increment()
-                )
-                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
-                raw_tc = pus_tc_wrapper.pus_tc.pack()
-                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
-                send_params.com_if.send(raw_tc)
-        elif entry_helper.entry_type == TcQueueEntryType.LOG:
-            log_entry = entry_helper.to_log_entry()
-            _LOGGER.info(log_entry.log_str)
-
-    def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_tree_commanding_procedure()
-            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
-
-    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
-        q = self.queue_helper
-        q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_tree_commanding_procedure()
-            cmd_path = def_proc.cmd_path
-            if cmd_path == "/ping":
-                q.add_log_cmd("Sending PUS ping telecommand")
-                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-            if cmd_path == "/change_blink_freq":
-                self.create_change_blink_freq_command(q)
-
-    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
-        q.add_log_cmd("Changing blink frequency")
-        while True:
-            blink_freq = int(
-                input(
-                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
-                )
-            )
-            if blink_freq < 2 or blink_freq > 10000:
-                print(
-                    "Invalid blink frequency. Please specify a value between 2 and 10000."
-                )
-                continue
-            break
-        app_data = struct.pack("!I", blink_freq)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
-
-
-def main():
-    add_colorlog_console_logger(_LOGGER)
-    tmtccmd.init_printout(False)
-    hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
-    parser_wrapper = PreArgsParsingWrapper()
-    parser_wrapper.create_default_parent_parser()
-    parser_wrapper.create_default_parser()
-    parser_wrapper.add_def_proc_args()
-    params = SetupParams()
-    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
-    proc_wrapper = ProcedureParamsWrapper()
-    if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(proc_wrapper)
-    else:
-        post_args_wrapper.set_params_with_prompts(proc_wrapper)
-    params.apid = EXAMPLE_PUS_APID
-    setup_args = SetupWrapper(
-        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
-    )
-    # Create console logger helper and file loggers
-    tmtc_logger = RegularTmtcLogWrapper()
-    file_logger = tmtc_logger.logger
-    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
-    verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
-    # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
-    ccsds_handler = CcsdsTmHandler(generic_handler=None)
-    ccsds_handler.add_apid_handler(tm_handler)
-
-    # Create TC handler
-    seq_count_provider = PusFileSeqCountProvider()
-    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
-    tmtccmd.setup(setup_args=setup_args)
-    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
-    tmtc_backend = tmtccmd.create_default_tmtc_backend(
-        setup_wrapper=setup_args,
-        tm_handler=ccsds_handler,
-        tc_handler=tc_handler,
-        init_procedure=init_proc,
-    )
-    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
-    try:
-        while True:
-            state = tmtc_backend.periodic_op(None)
-            if state.request == BackendRequest.TERMINATION_NO_ERROR:
-                sys.exit(0)
-            elif state.request == BackendRequest.DELAY_IDLE:
-                _LOGGER.info("TMTC Client in IDLE mode")
-                time.sleep(3.0)
-            elif state.request == BackendRequest.DELAY_LISTENER:
-                time.sleep(0.8)
-            elif state.request == BackendRequest.DELAY_CUSTOM:
-                if state.next_delay.total_seconds() <= 0.4:
-                    time.sleep(state.next_delay.total_seconds())
-                else:
-                    time.sleep(0.4)
-            elif state.request == BackendRequest.CALL_NEXT:
-                pass
-    except KeyboardInterrupt:
-        sys.exit(0)
-
-
-if __name__ == "__main__":
-    main()
@@ -1,2 +0,0 @@
-tmtccmd == 8.0.1
-# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
@@ -1,76 +0,0 @@
-#![no_std]
-#![no_main]
-use satrs_stm32f3_disco_rtic as _;
-
-use stm32f3_discovery::leds::Leds;
-use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
-use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
-
-#[cortex_m_rt::entry]
-fn main() -> ! {
-    defmt::println!("STM32F3 Discovery Blinky");
-    let dp = pac::Peripherals::take().unwrap();
-    let mut rcc = dp.RCC.constrain();
-    let cp = cortex_m::Peripherals::take().unwrap();
-    let mut flash = dp.FLASH.constrain();
-    let clocks = rcc.cfgr.freeze(&mut flash.acr);
-    let mut delay = Delay::new(cp.SYST, clocks);
-
-    let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
-    let mut leds = Leds::new(
-        gpioe.pe8,
-        gpioe.pe9,
-        gpioe.pe10,
-        gpioe.pe11,
-        gpioe.pe12,
-        gpioe.pe13,
-        gpioe.pe14,
-        gpioe.pe15,
-        &mut gpioe.moder,
-        &mut gpioe.otyper,
-    );
-    let delay_ms = 200u16;
-    loop {
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
-
-        //explicit on/off
-        leds.ld4_nw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld4_nw.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld5_ne.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld5_ne.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld6_w.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld6_w.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld7_e.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7_e.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld8_sw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8_sw.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld9_se.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9_se.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld10_s.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld10_s.off().ok();
-        delay.delay_ms(delay_ms);
-    }
-}
@@ -1,684 +0,0 @@
-#![no_std]
-#![no_main]
-use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
-};
-use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::EcssEnumU16;
-use satrs::spacepackets::CcsdsPacket;
-use satrs::spacepackets::{ByteConversionError, SpHeader};
-// global logger + panicking-behavior + memory layout
-use satrs_stm32f3_disco_rtic as _;
-
-use rtic::app;
-
-use heapless::{mpmc::Q8, Vec};
-#[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::ExtU32;
-use satrs::seq_count::SequenceCountProviderCore;
-use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
-use stm32f3xx_hal::dma::dma1;
-use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
-use stm32f3xx_hal::pac::USART2;
-use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
-
-const UART_BAUD: u32 = 115200;
-const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
-const TX_HANDLER_FREQ_MS: u32 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
-const MAX_TC_LEN: usize = 128;
-const MAX_TM_LEN: usize = 128;
-pub const PUS_APID: u16 = 0x02;
-
-type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
-type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type InstantFugit = TimerInstantU32<1000>;
-type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
-type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
-
-// This is the predictable maximum overhead of the COBS encoding scheme.
-// It is simply the maximum packet lenght dividied by 254 rounded up.
-const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
-const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
-
-const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
-const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
-
-// This is a static buffer which should ONLY (!) be used as the TX DMA
-// transfer buffer.
-static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
-// This is a static buffer which should ONLY (!) be used as the RX DMA
-// transfer buffer.
-static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
-
-type TmPacket = Vec<u8, MAX_TM_LEN>;
-type TcPacket = Vec<u8, MAX_TC_LEN>;
-
-static TM_REQUESTS: Q8<TmPacket> = Q8::new();
-
-use core::sync::atomic::{AtomicU16, Ordering};
-
-pub struct SeqCountProviderAtomicRef {
-    atomic: AtomicU16,
-    ordering: Ordering,
-}
-
-impl SeqCountProviderAtomicRef {
-    pub const fn new(ordering: Ordering) -> Self {
-        Self {
-            atomic: AtomicU16::new(0),
-            ordering,
-        }
-    }
-}
-
-impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
-    fn get(&self) -> u16 {
-        self.atomic.load(self.ordering)
-    }
-
-    fn increment(&self) {
-        self.atomic.fetch_add(1, self.ordering);
-    }
-
-    fn get_and_increment(&self) -> u16 {
-        self.atomic.fetch_add(1, self.ordering)
-    }
-}
-
-static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
-    SeqCountProviderAtomicRef::new(Ordering::Relaxed);
-
-pub struct TxIdle {
-    tx: TxType,
-    dma_channel: dma1::C7,
-}
-
-#[derive(Debug, defmt::Format)]
-pub enum TmSendError {
-    ByteConversion(ByteConversionError),
-    Queue,
-}
-
-impl From<ByteConversionError> for TmSendError {
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversion(value)
-    }
-}
-
-fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
-    if tm_creator.len_written() > MAX_TM_LEN {
-        return Err(ByteConversionError::ToSliceTooSmall {
-            expected: tm_creator.len_written(),
-            found: MAX_TM_LEN,
-        }
-        .into());
-    }
-    let mut tm_vec = TmPacket::new();
-    tm_vec
-        .resize(tm_creator.len_written(), 0)
-        .expect("vec resize failed");
-    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
-    defmt::info!(
-        "Sending TM[{},{}] with size {}",
-        tm_creator.service(),
-        tm_creator.subservice(),
-        tm_creator.len_written()
-    );
-    TM_REQUESTS
-        .enqueue(tm_vec)
-        .map_err(|_| TmSendError::Queue)?;
-    Ok(())
-}
-
-fn handle_tm_send_error(error: TmSendError) {
-    defmt::warn!("sending tm failed with error {}", error);
-}
-
-pub enum UartTxState {
-    // Wrapped in an option because we need an owned type later.
-    Idle(Option<TxIdle>),
-    // Same as above
-    Transmitting(Option<TxDmaTransferType>),
-}
-
-pub struct UartTxShared {
-    last_completed: Option<InstantFugit>,
-    state: UartTxState,
-}
-
-pub struct RequestWithToken {
-    token: VerificationToken<TcStateAccepted>,
-    request: Request,
-}
-
-#[derive(Debug, defmt::Format)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(u32),
-}
-
-#[derive(Debug, defmt::Format)]
-pub enum RequestError {
-    InvalidApid = 1,
-    InvalidService = 2,
-    InvalidSubservice = 3,
-    NotEnoughAppData = 4,
-}
-
-pub fn convert_pus_tc_to_request(
-    tc: &PusTcReader,
-    verif_reporter: &mut VerificationReportCreator,
-    src_data_buf: &mut [u8],
-    timestamp: &[u8],
-) -> Result<RequestWithToken, RequestError> {
-    defmt::info!(
-        "Found PUS TC [{},{}] with length {}",
-        tc.service(),
-        tc.subservice(),
-        tc.len_packed()
-    );
-
-    let token = verif_reporter.add_tc(tc);
-    if tc.apid() != PUS_APID {
-        defmt::warn!("Received tc with unknown APID {}", tc.apid());
-        let result = send_tm(
-            verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    SEQ_COUNT_PROVIDER.get_and_increment(),
-                    0,
-                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        return Err(RequestError::InvalidApid);
-    }
-    let (tm_creator, accepted_token) = verif_reporter
-        .acceptance_success(
-            src_data_buf,
-            token,
-            SEQ_COUNT_PROVIDER.get_and_increment(),
-            0,
-            timestamp,
-        )
-        .unwrap();
-
-    if let Err(e) = send_tm(tm_creator) {
-        handle_tm_send_error(e);
-    }
-
-    if tc.service() == 17 && tc.subservice() == 1 {
-        if tc.subservice() == 1 {
-            return Ok(RequestWithToken {
-                request: Request::Ping,
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else if tc.service() == 8 {
-        if tc.subservice() == 1 {
-            if tc.user_data().len() < 4 {
-                return Err(RequestError::NotEnoughAppData);
-            }
-            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-            return Ok(RequestWithToken {
-                request: Request::ChangeBlinkFrequency(new_freq_ms),
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else {
-        return Err(RequestError::InvalidService);
-    }
-}
-
-#[app(device = stm32f3xx_hal::pac, peripherals = true)]
-mod app {
-    use super::*;
-    use core::slice::Iter;
-    use rtic_monotonics::systick::Systick;
-    use rtic_monotonics::Monotonic;
-    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
-    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
-    #[allow(unused_imports)]
-    use stm32f3_discovery::leds::Direction;
-    use stm32f3_discovery::leds::Leds;
-    use stm32f3xx_hal::prelude::*;
-
-    use stm32f3_discovery::switch_hal::OutputSwitch;
-    use stm32f3xx_hal::Switch;
-    #[allow(dead_code)]
-    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
-
-    #[shared]
-    struct Shared {
-        blink_freq: MillisDurationU32,
-        tx_shared: UartTxShared,
-        rx_transfer: Option<RxDmaTransferType>,
-    }
-
-    #[local]
-    struct Local {
-        verif_reporter: VerificationReportCreator,
-        leds: Leds,
-        last_dir: Direction,
-        curr_dir: Iter<'static, Direction>,
-    }
-
-    #[init]
-    fn init(cx: init::Context) -> (Shared, Local) {
-        let mut rcc = cx.device.RCC.constrain();
-
-        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
-
-        let mut flash = cx.device.FLASH.constrain();
-        let clocks = rcc
-            .cfgr
-            .use_hse(8.MHz())
-            .sysclk(8.MHz())
-            .pclk1(8.MHz())
-            .freeze(&mut flash.acr);
-
-        // Set up monotonic timer.
-        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
-
-        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
-
-        let leds = Leds::new(
-            gpioe.pe8,
-            gpioe.pe9,
-            gpioe.pe10,
-            gpioe.pe11,
-            gpioe.pe12,
-            gpioe.pe13,
-            gpioe.pe14,
-            gpioe.pe15,
-            &mut gpioe.moder,
-            &mut gpioe.otyper,
-        );
-        let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
-        // USART2 pins
-        let mut pins = (
-            // TX pin: PA2
-            gpioa
-                .pa2
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-            // RX pin: PA3
-            gpioa
-                .pa3
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-        );
-        pins.1.internal_pull_up(&mut gpioa.pupdr, true);
-        let mut usart2 = Serial::new(
-            cx.device.USART2,
-            pins,
-            UART_BAUD.Bd(),
-            clocks,
-            &mut rcc.apb1,
-        );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
-        // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
-
-        let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (mut tx_serial, mut rx_serial) = usart2.split();
-
-        // This interrupt is immediately triggered, clear it. It will only be reset
-        // by the hardware when data is received on RX (RXNE event)
-        rx_serial.clear_event(RxEvent::Idle);
-        // For some reason, this is also immediately triggered..
-        tx_serial.clear_event(TxEvent::TransmissionComplete);
-        let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
-        defmt::info!("Spawning tasks");
-        blink::spawn().unwrap();
-        serial_tx_handler::spawn().unwrap();
-
-        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
-
-        (
-            Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                tx_shared: UartTxShared {
-                    last_completed: None,
-                    state: UartTxState::Idle(Some(TxIdle {
-                        tx: tx_serial,
-                        dma_channel: dma1.ch7,
-                    })),
-                },
-                rx_transfer: Some(rx_transfer),
-            },
-            Local {
-                verif_reporter,
-                leds,
-                last_dir: Direction::North,
-                curr_dir: Direction::iter(),
-            },
-        )
-    }
-
-    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
-    async fn blink(mut cx: blink::Context) {
-        let blink::LocalResources {
-            leds,
-            curr_dir,
-            last_dir,
-            ..
-        } = cx.local;
-        let mut toggle_leds = |dir: &Direction| {
-            let last_led = leds.for_direction(*last_dir);
-            last_led.off().ok();
-            let led = leds.for_direction(*dir);
-            led.on().ok();
-            *last_dir = *dir;
-        };
-        loop {
-            match curr_dir.next() {
-                Some(dir) => {
-                    toggle_leds(dir);
-                }
-                None => {
-                    *curr_dir = Direction::iter();
-                    toggle_leds(curr_dir.next().unwrap());
-                }
-            }
-            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
-        }
-    }
-
-    #[task(
-        shared = [tx_shared],
-    )]
-    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        loop {
-            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
-                if let UartTxState::Idle(_) = tx_shared.state {
-                    return true;
-                }
-                false
-            });
-            if is_idle {
-                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
-                if let Some(last_completed) = last_completed {
-                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
-                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
-                            .await;
-                    }
-                }
-            } else {
-                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
-                continue;
-            }
-            if let Some(vec) = TM_REQUESTS.dequeue() {
-                cx.shared
-                    .tx_shared
-                    .lock(|tx_shared| match &mut tx_shared.state {
-                        UartTxState::Idle(tx) => {
-                            let encoded_len;
-                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                            // Safety: We only copy the data into the TX DMA buffer in this task.
-                            // If the DMA is active, another branch will be taken.
-                            unsafe {
-                                // 0 sentinel value as start marker
-                                DMA_TX_BUF[0] = 0;
-                                encoded_len =
-                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
-                                // Should never panic, we accounted for the overhead.
-                                // Write into transfer buffer directly, no need for intermediate
-                                // encoding buffer.
-                                // 0 end marker
-                                DMA_TX_BUF[encoded_len + 1] = 0;
-                            }
-                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                            let tx_idle = tx.take().unwrap();
-                            // Transfer completion and re-scheduling of new TX transfers will be done
-                            // by the IRQ handler.
-                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
-                            let transfer = tx_idle.tx.write_all(
-                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
-                                tx_idle.dma_channel,
-                            );
-                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
-                            // The memory block is automatically returned to the pool when it is dropped.
-                        }
-                        UartTxState::Transmitting(_) => (),
-                    });
-                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
-                continue;
-            }
-            // Nothing to do, and we are idle.
-            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
-        }
-    }
-
-    #[task(
-        local = [
-            verif_reporter,
-            decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
-            src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            timestamp: [u8; 7] = [0; 7],
-        ],
-        shared = [blink_freq]
-    )]
-    async fn serial_rx_handler(
-        mut cx: serial_rx_handler::Context,
-        received_packet: Vec<u8, MAX_TC_LEN>,
-    ) {
-        cx.local.timestamp[0] = P_FIELD_BASE;
-        defmt::info!("Received packet with {} bytes", received_packet.len());
-        let decode_buf = cx.local.decode_buf;
-        let packet = received_packet.as_slice();
-        let mut start_idx = None;
-        for (idx, byte) in packet.iter().enumerate() {
-            if *byte != 0 {
-                start_idx = Some(idx);
-                break;
-            }
-        }
-        if start_idx.is_none() {
-            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
-            return;
-        }
-        let start_idx = start_idx.unwrap();
-        match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
-            Ok(len) => {
-                defmt::info!("Decoded packet length: {}", len);
-                let pus_tc = PusTcReader::new(decode_buf);
-                match pus_tc {
-                    Ok((tc, _tc_len)) => {
-                        match convert_pus_tc_to_request(
-                            &tc,
-                            cx.local.verif_reporter,
-                            cx.local.src_data_buf,
-                            cx.local.timestamp,
-                        ) {
-                            Ok(request_with_token) => {
-                                let started_token = handle_start_verification(
-                                    request_with_token.token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-
-                                match request_with_token.request {
-                                    Request::Ping => {
-                                        handle_ping_request(cx.local.timestamp);
-                                    }
-                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
-                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
-                                        cx.shared.blink_freq.lock(|blink_freq| {
-                                            *blink_freq =
-                                                MillisDurationU32::from_ticks(new_freq_ms);
-                                        });
-                                    }
-                                }
-                                handle_completion_verification(
-                                    started_token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-                            }
-                            Err(e) => {
-                                // TODO: Error handling: Send verification failure based on request error.
-                                defmt::warn!("request error {}", e);
-                            }
-                        }
-                    }
-                    Err(e) => {
-                        defmt::warn!("Error unpacking PUS TC: {}", e);
-                    }
-                }
-            }
-            Err(_) => {
-                defmt::warn!("decoding error, can only process cobs encoded frames")
-            }
-        }
-    }
-
-    fn handle_ping_request(timestamp: &[u8]) {
-        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
-        let sp_header =
-            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
-        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
-        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
-        let mut tm_packet = TmPacket::new();
-        tm_packet
-            .resize(ping_reply.len_written(), 0)
-            .expect("vec resize failed");
-        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
-        if TM_REQUESTS.enqueue(tm_packet).is_err() {
-            defmt::warn!("TC queue full");
-            return;
-        }
-    }
-
-    fn handle_start_verification(
-        accepted_token: VerificationToken<TcStateAccepted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
-    ) -> VerificationToken<TcStateStarted> {
-        let (tm_creator, started_token) = verif_reporter
-            .start_success(
-                src_data_buf,
-                accepted_token,
-                SEQ_COUNT_PROVIDER.get(),
-                0,
-                &timestamp,
-            )
-            .unwrap();
-        let result = send_tm(tm_creator);
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        started_token
-    }
-
-    fn handle_completion_verification(
-        started_token: VerificationToken<TcStateStarted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
-    ) {
-        let result = send_tm(
-            verif_reporter
-                .completion_success(
-                    src_data_buf,
-                    started_token,
-                    SEQ_COUNT_PROVIDER.get(),
-                    0,
-                    timestamp,
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-    }
-
-    #[task(binds = DMA1_CH6, shared = [rx_transfer])]
-    fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
-        let mut tc_packet = TcPacket::new();
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_ref = rx_transfer.as_ref().unwrap();
-            if rx_ref.is_complete() {
-                let uart_rx_owned = rx_transfer.take().unwrap();
-                let (buf, c, rx) = uart_rx_owned.stop();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
-                // to do this.
-                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
-                tc_packet.copy_from_slice(buf);
-
-                // Start the next transfer as soon as possible.
-                *rx_transfer = Some(rx.read_exact(buf, c));
-
-                // Send the vector to a regular task.
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
-                // If this happens, there is a high chance that the maximum packet length was
-                // exceeded. Circular mode is not used here, so data might be missed.
-                defmt::warn!(
-                    "rx transfer with maximum length {}, might miss data",
-                    TC_BUF_LEN
-                );
-            }
-        });
-    }
-
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
-    fn serial_isr(mut cx: serial_isr::Context) {
-        cx.shared
-            .tx_shared
-            .lock(|tx_shared| match &mut tx_shared.state {
-                UartTxState::Idle(_) => (),
-                UartTxState::Transmitting(transfer) => {
-                    let transfer_ref = transfer.as_ref().unwrap();
-                    if transfer_ref.is_complete() {
-                        let transfer = transfer.take().unwrap();
-                        let (_, dma_channel, mut tx) = transfer.stop();
-                        tx.clear_event(TxEvent::TransmissionComplete);
-                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
-                        // transferred packets.
-                        tx_shared.last_completed = Some(Systick::now());
-                    }
-                }
-            });
-        let mut tc_packet = TcPacket::new();
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_transfer_ref = rx_transfer.as_ref().unwrap();
-            // Received a partial packet.
-            if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
-                let rx_transfer_owned = rx_transfer.take().unwrap();
-                let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a stack
-                // allocated vector to do this.
-                tc_packet
-                    .resize(rx_len as usize, 0)
-                    .expect("vec resize failed");
-                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
-                rx.clear_event(RxEvent::Idle);
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
-                *rx_transfer = Some(rx.read_exact(buf, ch));
-            }
-        });
-    }
-}
@@ -1,2 +0,0 @@
-/settings.json
-/.cortex-debug.*
@@ -1,12 +0,0 @@
-{
-	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
-	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
-
-	// List of extensions which should be recommended for users of this workspace.
-	"recommendations": [
-		"rust-lang.rust",
-		"probe-rs.probe-rs-debugger"
-	],
-	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
-	"unwantedRecommendations": []
-}
@@ -1,22 +0,0 @@
-{
-  "version": "0.2.0",
-  "configurations": [
-    {
-      "preLaunchTask": "${defaultBuildTask}",
-      "type": "probe-rs-debug",
-      "request": "launch",
-      "name": "probe-rs Debugging ",
-      "flashingConfig": {
-        "flashingEnabled": true
-      },
-      "chip": "STM32F303VCTx",
-      "coreConfigs": [
-        {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
-          "rttEnabled": true,
-          "svdFile": "STM32F303.svd"
-        }
-      ]
-    }
-  ]
-}
@@ -1,18 +0,0 @@
-#
-# Cortex-Debug extension calls this function during initialization. You can copy this
-# file, modify it and specifyy it as one of the config files supplied in launch.json
-# preferably at the beginning.
-#
-# Note that this file simply defines a function for use later when it is time to configure
-# for SWO.
-#
-set USE_SWO 0
-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. 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
-}
@@ -1,20 +0,0 @@
-{
-    // See https://go.microsoft.com/fwlink/?LinkId=733558 
-    // for the documentation about the tasks.json format
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "label": "cargo build",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build"
-            ],
-            "group": {
-                "kind": "build",
-                "isDefault": true
-            }
-        },
-
-    ]
-}
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-/.cargo/config*
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@@ -1,85 +0,0 @@
-[package]
-authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
-name = "satrs-stm32h7-nucleo-rtic"
-edition = "2021"
-version = "0.1.0"
-default-run = "satrs-stm32h7-nucleo-rtic"
-
-[lib]
-harness = false
-
-# needed for each integration test
-[[test]]
-name = "integration"
-harness = false
-
-[dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-cortex-m-rt = "0.7"
-defmt = "0.3"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-cortex-m-semihosting = "0.5.0"
-stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
-embedded-alloc = "0.5"
-rtic-sync = { version = "1", features = ["defmt-03"] }
-
-[dependencies.smoltcp]
-version = "0.11.0"
-default-features = false
-features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
-
-[dependencies.satrs]
-path = "../../satrs"
-version = "0.2"
-default-features = false
-features = ["defmt", "heapless"]
-
-[dev-dependencies]
-defmt-test = "0.3"
-
-# cargo build/run
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 's'         # <-
-overflow-checks = true  # <-
-
-# cargo test
-[profile.test]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 3           # <-
-overflow-checks = true  # <-
-
-# cargo build/run --release
-[profile.release]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-# cargo test --release
-[profile.bench]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
@@ -1,118 +0,0 @@
-sat-rs example for the STM32F3-Discovery board
-=======
-
-This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
-can be used on an embedded target.
-It also shows how a relatively simple OBSW could be built when no standard runtime is available.
-It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
-[defmt](https://defmt.ferrous-systems.com/) framework for logging.
-
-The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
-available for STM with which also has a little bit more RAM available and also allows commanding
-via TCP/IP.
-
-## Pre-Requisites
-
-Make sure the following tools are installed:
-
-1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
-2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
-   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
-   for debugging.
-
-## Preparing Rust and the repository
-
-Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
-If you have not installed it yet, you can do so with
-
-```sh
-rustup target add thumbv7em-none-eabihf
-```
-
-A default `.cargo` config file is provided for this project, but needs to be copied to have
-the correct name. This is so that the config file can be updated or edited for custom needs
-without being tracked by git.
-
-```sh
-cp def_config.toml config.toml
-```
-
-The configuration file will also set the target so it does not always have to be specified with
-the `--target` argument.
-
-## Building
-
-After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
-you can simply build the application with
-
-```sh
-cargo build
-```
-
-## Flashing from the command line
-
-You can flash the application from the command line using `probe-rs`:
-
-```sh
-probe-rs run --chip STM32H743ZITx
-```
-
-## Debugging with VS Code
-
-The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
-the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
-and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
-Make sure to install this plugin first.
-
-Sample configuration files are provided inside the `vscode` folder.
-Use `cp vscode .vscode -r` to use them for your project.
-
-Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
-to automatically rebuild and flash your application.
-
-The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
-the folder in VS code or adding it to a workspace.
-
-## Commanding with Python
-
-When the SW is running on the Discovery board, you can command the MCU via a serial interface,
-using COBS encoded PUS packets.
-
-It is recommended to use a virtual environment to do this. To set up one in the command line,
-you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
-After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
-on how to activate the environment and then use the following command to install the required
-dependency:
-
-```sh
-pip install -r requirements.txt
-```
-
-The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
-converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
-
-A default configuration file for the python application is provided and can be used by running
-
-```sh
-cp def_tmtc_conf.json tmtc_conf.json
-```
-
-After that, you can for example send a ping to the MCU using the following command
-
-```sh
-./main.py -p /ping
-```
-
-You can configure the blinky frequency using
-
-```sh
-./main.py -p /change_blink_freq
-```
-
-All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
-format as the packet framing format.
-
-## Resources
-
- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)
@@ -1,119 +0,0 @@
-/* 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
-
-};
@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json
@@ -1,4 +0,0 @@
-{
-    "com_if": "udp",
-    "tcpip_udp_port": 7301
-}
@@ -1,305 +0,0 @@
-#!/usr/bin/env python3
-"""Example client for the sat-rs example application"""
-import struct
-import logging
-import sys
-import time
-from typing import Any, Optional, cast
-from prompt_toolkit.history import FileHistory, History
-from spacepackets.ecss.tm import CdsShortTimestamp
-
-import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
-from spacepackets.ecss.pus_17_test import Service17Tm
-from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-
-from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
-from tmtccmd.core.base import BackendRequest
-from tmtccmd.core.ccsds_backend import QueueWrapper
-from tmtccmd.logging import add_colorlog_console_logger
-from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com import ComInterface
-from tmtccmd.config import (
-    CmdTreeNode,
-    default_json_path,
-    SetupParams,
-    HookBase,
-    params_to_procedure_conversion,
-)
-from tmtccmd.config.com import SerialCfgWrapper
-from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging.pus import (
-    RegularTmtcLogWrapper,
-    RawTmtcTimedLogWrapper,
-    TimedLogWhen,
-)
-from tmtccmd.tmtc import (
-    TcQueueEntryType,
-    ProcedureWrapper,
-    TcProcedureType,
-    FeedWrapper,
-    SendCbParams,
-    DefaultPusQueueHelper,
-)
-from tmtccmd.pus.s5_fsfw_event import Service5Tm
-from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
-from tmtccmd.util.obj_id import ObjectIdDictT
-
-_LOGGER = logging.getLogger()
-
-EXAMPLE_PUS_APID = 0x02
-
-
-class SatRsConfigHook(HookBase):
-    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path)
-
-    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com import (
-            create_com_interface_default,
-            create_com_interface_cfg_default,
-        )
-
-        assert self.cfg_path is not None
-        cfg = create_com_interface_cfg_default(
-            com_if_key=com_if_key,
-            json_cfg_path=self.cfg_path,
-            space_packet_ids=None,
-        )
-        if cfg is None:
-            raise ValueError(
-                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
-            )
-        if cfg.com_if_key == "serial_cobs":
-            cfg = cast(SerialCfgWrapper, cfg)
-            cfg.serial_cfg.serial_timeout = 0.5
-        return create_com_interface_default(cfg)
-
-    def get_command_definitions(self) -> CmdTreeNode:
-        """This function should return the root node of the command definition tree."""
-        return create_cmd_definition_tree()
-
-    def get_cmd_history(self) -> Optional[History]:
-        """Optionlly return a history class for the past command paths which will be used
-        when prompting a command path from the user in CLI mode."""
-        return FileHistory(".tmtc-history.txt")
-
-    def get_object_ids(self) -> ObjectIdDictT:
-        from tmtccmd.config.objects import get_core_object_ids
-
-        return get_core_object_ids()
-
-
-def create_cmd_definition_tree() -> CmdTreeNode:
-    root_node = CmdTreeNode.root_node()
-    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
-    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
-    return root_node
-
-
-class PusHandler(SpecificApidHandlerBase):
-    def __init__(
-        self,
-        file_logger: logging.Logger,
-        verif_wrapper: VerificationWrapper,
-        raw_logger: RawTmtcTimedLogWrapper,
-    ):
-        super().__init__(EXAMPLE_PUS_APID, None)
-        self.file_logger = file_logger
-        self.raw_logger = raw_logger
-        self.verif_wrapper = verif_wrapper
-
-    def handle_tm(self, packet: bytes, _user_args: Any):
-        try:
-            pus_tm = PusTm.unpack(
-                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
-            )
-        except ValueError as e:
-            _LOGGER.warning("Could not generate PUS TM object from raw data")
-            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
-            raise e
-        service = pus_tm.service
-        tm_packet = None
-        if service == 1:
-            tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
-            )
-            res = self.verif_wrapper.add_tm(tm_packet)
-            if res is None:
-                _LOGGER.info(
-                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
-                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
-                )
-                _LOGGER.warning(
-                    f"No matching telecommand found for {tm_packet.tc_req_id}"
-                )
-            else:
-                self.verif_wrapper.log_to_console(tm_packet, res)
-                self.verif_wrapper.log_to_file(tm_packet, res)
-        if service == 3:
-            _LOGGER.info("No handling for HK packets implemented")
-            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-            if pus_tm.subservice == 25:
-                if len(pus_tm.source_data) < 8:
-                    raise ValueError("No addressable ID in HK packet")
-                json_str = pus_tm.source_data[8:]
-                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
-        if service == 5:
-            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-        if service == 17:
-            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-            if tm_packet.subservice == 2:
-                _LOGGER.info("Received Ping Reply TM[17,2]")
-            else:
-                _LOGGER.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-        if tm_packet is None:
-            _LOGGER.info(
-                f"The service {service} is not implemented in Telemetry Factory"
-            )
-            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-        self.raw_logger.log_tm(pus_tm)
-
-
-def make_addressable_id(target_id: int, unique_id: int) -> bytes:
-    byte_string = bytearray(struct.pack("!I", target_id))
-    byte_string.extend(struct.pack("!I", unique_id))
-    return byte_string
-
-
-class TcHandler(TcHandlerBase):
-    def __init__(
-        self,
-        seq_count_provider: FileSeqCountProvider,
-        verif_wrapper: VerificationWrapper,
-    ):
-        super(TcHandler, self).__init__()
-        self.seq_count_provider = seq_count_provider
-        self.verif_wrapper = verif_wrapper
-        self.queue_helper = DefaultPusQueueHelper(
-            queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=7,
-            seq_cnt_provider=seq_count_provider,
-            pus_verificator=verif_wrapper.pus_verificator,
-            default_pus_apid=EXAMPLE_PUS_APID,
-        )
-
-    def send_cb(self, send_params: SendCbParams):
-        entry_helper = send_params.entry
-        if entry_helper.is_tc:
-            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
-                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
-                pus_tc_wrapper.pus_tc.seq_count = (
-                    self.seq_count_provider.get_and_increment()
-                )
-                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
-                raw_tc = pus_tc_wrapper.pus_tc.pack()
-                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
-                send_params.com_if.send(raw_tc)
-        elif entry_helper.entry_type == TcQueueEntryType.LOG:
-            log_entry = entry_helper.to_log_entry()
-            _LOGGER.info(log_entry.log_str)
-
-    def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_tree_commanding_procedure()
-            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
-
-    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
-        q = self.queue_helper
-        q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_tree_commanding_procedure()
-            cmd_path = def_proc.cmd_path
-            if cmd_path == "/ping":
-                q.add_log_cmd("Sending PUS ping telecommand")
-                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-            if cmd_path == "/change_blink_freq":
-                self.create_change_blink_freq_command(q)
-
-    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
-        q.add_log_cmd("Changing blink frequency")
-        while True:
-            blink_freq = int(
-                input(
-                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
-                )
-            )
-            if blink_freq < 2 or blink_freq > 10000:
-                print(
-                    "Invalid blink frequency. Please specify a value between 2 and 10000."
-                )
-                continue
-            break
-        app_data = struct.pack("!I", blink_freq)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
-
-
-def main():
-    add_colorlog_console_logger(_LOGGER)
-    tmtccmd.init_printout(False)
-    hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
-    parser_wrapper = PreArgsParsingWrapper()
-    parser_wrapper.create_default_parent_parser()
-    parser_wrapper.create_default_parser()
-    parser_wrapper.add_def_proc_args()
-    params = SetupParams()
-    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
-    proc_wrapper = ProcedureParamsWrapper()
-    if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(proc_wrapper)
-    else:
-        post_args_wrapper.set_params_with_prompts(proc_wrapper)
-    params.apid = EXAMPLE_PUS_APID
-    setup_args = SetupWrapper(
-        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
-    )
-    # Create console logger helper and file loggers
-    tmtc_logger = RegularTmtcLogWrapper()
-    file_logger = tmtc_logger.logger
-    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
-    verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
-    # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
-    ccsds_handler = CcsdsTmHandler(generic_handler=None)
-    ccsds_handler.add_apid_handler(tm_handler)
-
-    # Create TC handler
-    seq_count_provider = PusFileSeqCountProvider()
-    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
-    tmtccmd.setup(setup_args=setup_args)
-    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
-    tmtc_backend = tmtccmd.create_default_tmtc_backend(
-        setup_wrapper=setup_args,
-        tm_handler=ccsds_handler,
-        tc_handler=tc_handler,
-        init_procedure=init_proc,
-    )
-    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
-    try:
-        while True:
-            state = tmtc_backend.periodic_op(None)
-            if state.request == BackendRequest.TERMINATION_NO_ERROR:
-                sys.exit(0)
-            elif state.request == BackendRequest.DELAY_IDLE:
-                _LOGGER.info("TMTC Client in IDLE mode")
-                time.sleep(3.0)
-            elif state.request == BackendRequest.DELAY_LISTENER:
-                time.sleep(0.8)
-            elif state.request == BackendRequest.DELAY_CUSTOM:
-                if state.next_delay.total_seconds() <= 0.4:
-                    time.sleep(state.next_delay.total_seconds())
-                else:
-                    time.sleep(0.4)
-            elif state.request == BackendRequest.CALL_NEXT:
-                pass
-    except KeyboardInterrupt:
-        sys.exit(0)
-
-
-if __name__ == "__main__":
-    main()
@@ -1,2 +0,0 @@
-tmtccmd == 8.0.1
-# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
@@ -1,55 +0,0 @@
-//! Blinks an LED
-//!
-//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
-//! to pb14. This assumption is true for the nucleo-h743zi board.
-
-#![no_std]
-#![no_main]
-use satrs_stm32h7_nucleo_rtic as _;
-
-use stm32h7xx_hal::{block, prelude::*, timer::Timer};
-
-use cortex_m_rt::entry;
-
-#[entry]
-fn main() -> ! {
-    defmt::println!("starting stm32h7 blinky example");
-
-    // Get access to the device specific peripherals from the peripheral access crate
-    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
-
-    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
-    let rcc = dp.RCC.constrain();
-
-    let pwr = dp.PWR.constrain();
-    let pwrcfg = pwr.freeze();
-
-    // Freeze the configuration of all the clocks in the system and
-    // retrieve the Core Clock Distribution and Reset (CCDR) object
-    let rcc = rcc.use_hse(8.MHz()).bypass_hse();
-    let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
-
-    // Acquire the GPIOB peripheral
-    let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
-
-    // Configure gpio B pin 0 as a push-pull output.
-    let mut ld1 = gpiob.pb0.into_push_pull_output();
-
-    // Configure gpio B pin 7 as a push-pull output.
-    let mut ld2 = gpiob.pb7.into_push_pull_output();
-
-    // Configure gpio B pin 14 as a push-pull output.
-    let mut ld3 = gpiob.pb14.into_push_pull_output();
-
-    // Configure the timer to trigger an update every second
-    let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
-    timer.start(1.Hz());
-
-    // Wait for the timer to trigger an update and change the state of the LED
-    loop {
-        ld1.toggle();
-        ld2.toggle();
-        ld3.toggle();
-        block!(timer.wait()).unwrap();
-    }
-}
@@ -1,11 +0,0 @@
-#![no_main]
-#![no_std]
-
-use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
-
-#[cortex_m_rt::entry]
-fn main() -> ! {
-    defmt::println!("Hello, world!");
-
-    satrs_stm32h7_nucleo_rtic::exit()
-}
@@ -1,528 +0,0 @@
-#![no_main]
-#![no_std]
-extern crate alloc;
-
-use rtic::app;
-use rtic_monotonics::systick::Systick;
-use rtic_monotonics::Monotonic;
-use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
-use satrs::static_subpool;
-// global logger + panicking-behavior + memory layout
-use satrs_stm32h7_nucleo_rtic as _;
-use smoltcp::socket::udp::UdpMetadata;
-use smoltcp::socket::{dhcpv4, udp};
-
-use core::mem::MaybeUninit;
-use embedded_alloc::Heap;
-use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
-use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
-use stm32h7xx_hal::ethernet;
-
-const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
-const PORT: u16 = 7301;
-
-const HEAP_SIZE: usize = 131_072;
-
-const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
-pub type SharedPool = StaticHeaplessMemoryPool<3>;
-pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-
-#[global_allocator]
-static HEAP: Heap = Heap::empty();
-
-// We place the memory pool buffers inside the larger AXISRAM.
-pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
-pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
-pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
-pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
-pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
-pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
-
-// This data will be held by Net through a mutable reference
-pub struct NetStorageStatic<'a> {
-    socket_storage: [SocketStorage<'a>; 8],
-}
-// MaybeUninit allows us write code that is correct even if STORE is not
-// initialised by the runtime
-static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
-
-static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
-static mut UDP_RX: [u8; 2048] = [0; 2048];
-static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
-static mut UDP_TX: [u8; 2048] = [0; 2048];
-
-/// Locally administered MAC address
-const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
-
-pub struct Net {
-    iface: Interface,
-    ethdev: ethernet::EthernetDMA<4, 4>,
-    dhcp_handle: SocketHandle,
-}
-
-impl Net {
-    pub fn new(
-        sockets: &mut SocketSet<'static>,
-        mut ethdev: ethernet::EthernetDMA<4, 4>,
-        ethernet_addr: HardwareAddress,
-    ) -> Self {
-        let config = Config::new(ethernet_addr);
-        let mut iface = Interface::new(
-            config,
-            &mut ethdev,
-            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
-        );
-        // Create sockets
-        let dhcp_socket = dhcpv4::Socket::new();
-        iface.update_ip_addrs(|addrs| {
-            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
-        });
-
-        let dhcp_handle = sockets.add(dhcp_socket);
-        Net {
-            iface,
-            ethdev,
-            dhcp_handle,
-        }
-    }
-
-    /// Polls on the ethernet interface. You should refer to the smoltcp
-    /// documentation for poll() to understand how to call poll efficiently
-    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
-        let uptime = Systick::now() - Systick::ZERO;
-        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
-
-        self.iface.poll(timestamp, &mut self.ethdev, sockets)
-    }
-
-    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
-        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
-        if let Some(event) = &opt_event {
-            match event {
-                dhcpv4::Event::Deconfigured => {
-                    defmt::info!("DHCP lost configuration");
-                    self.iface.update_ip_addrs(|addrs| addrs.clear());
-                    self.iface.routes_mut().remove_default_ipv4_route();
-                }
-                dhcpv4::Event::Configured(config) => {
-                    defmt::info!("DHCP configuration acquired");
-                    defmt::info!("IP address: {}", config.address);
-                    self.iface.update_ip_addrs(|addrs| {
-                        addrs.clear();
-                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
-                    });
-
-                    if let Some(router) = config.router {
-                        defmt::debug!("Default gateway: {}", router);
-                        self.iface
-                            .routes_mut()
-                            .add_default_ipv4_route(router)
-                            .unwrap();
-                    } else {
-                        defmt::debug!("Default gateway: None");
-                        self.iface.routes_mut().remove_default_ipv4_route();
-                    }
-                }
-            }
-        }
-        opt_event
-    }
-}
-
-pub struct UdpNet {
-    udp_handle: SocketHandle,
-    last_client: Option<UdpMetadata>,
-    tc_source_tx: TcSourceTx,
-}
-
-impl UdpNet {
-    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
-        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
-        let udp_rx_buffer =
-            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
-                &mut UDP_RX[..]
-            });
-        let udp_tx_buffer =
-            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
-                &mut UDP_TX[..]
-            });
-        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
-
-        let udp_handle = sockets.add(udp_socket);
-        Self {
-            udp_handle,
-            last_client: None,
-            tc_source_tx,
-        }
-    }
-
-    pub fn poll<'sockets>(
-        &mut self,
-        sockets: &'sockets mut SocketSet,
-        shared_pool: &mut SharedPool,
-    ) {
-        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
-        if !socket.is_open() {
-            if let Err(e) = socket.bind(PORT) {
-                defmt::warn!("binding UDP socket failed: {}", e);
-            }
-        }
-        loop {
-            match socket.recv() {
-                Ok((data, client)) => {
-                    match shared_pool.add(data) {
-                        Ok(store_addr) => {
-                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
-                                defmt::warn!("TC source channel is full: {}", e);
-                            }
-                        }
-                        Err(e) => {
-                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
-                        }
-                    }
-                    self.last_client = Some(client);
-                    // TODO: Implement packet wiretapping.
-                }
-                Err(e) => match e {
-                    udp::RecvError::Exhausted => {
-                        break;
-                    }
-                    udp::RecvError::Truncated => {
-                        defmt::warn!("UDP packet was truncacted");
-                    }
-                },
-            };
-        }
-    }
-}
-
-#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
-mod app {
-    use core::ptr::addr_of_mut;
-
-    use super::*;
-    use rtic_monotonics::systick::fugit::MillisDurationU32;
-    use rtic_monotonics::systick::Systick;
-    use satrs::spacepackets::ecss::tc::PusTcReader;
-    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
-    use stm32h7xx_hal::gpio::{Output, Pin};
-    use stm32h7xx_hal::prelude::*;
-    use stm32h7xx_hal::stm32::Interrupt;
-
-    struct BlinkyLeds {
-        led1: Pin<'B', 7, Output>,
-        led2: Pin<'B', 14, Output>,
-    }
-
-    #[local]
-    struct Local {
-        leds: BlinkyLeds,
-        link_led: Pin<'B', 0, Output>,
-        net: Net,
-        udp: UdpNet,
-        tc_source_rx: TcSourceRx,
-        phy: ethernet::phy::LAN8742A<EthernetMAC>,
-    }
-
-    #[shared]
-    struct Shared {
-        blink_freq: MillisDurationU32,
-        eth_link_up: bool,
-        sockets: SocketSet<'static>,
-        shared_pool: SharedPool,
-    }
-
-    #[init]
-    fn init(mut cx: init::Context) -> (Shared, Local) {
-        defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
-
-        let pwr = cx.device.PWR.constrain();
-        let pwrcfg = pwr.freeze();
-
-        let rcc = cx.device.RCC.constrain();
-        // Try to keep the clock configuration similar to one used in STM examples:
-        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
-        let ccdr = rcc
-            .sys_ck(400.MHz())
-            .hclk(200.MHz())
-            .use_hse(8.MHz())
-            .bypass_hse()
-            .pclk1(100.MHz())
-            .pclk2(100.MHz())
-            .pclk3(100.MHz())
-            .pclk4(100.MHz())
-            .freeze(pwrcfg, &cx.device.SYSCFG);
-
-        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(
-            cx.core.SYST,
-            ccdr.clocks.sys_ck().to_Hz(),
-            systick_mono_token,
-        );
-
-        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
-        // good for.
-        cx.core.SCB.enable_icache();
-        cx.core.DWT.enable_cycle_counter();
-
-        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
-        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
-        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
-        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
-
-        let link_led = gpiob.pb0.into_push_pull_output();
-        let mut led1 = gpiob.pb7.into_push_pull_output();
-        let mut led2 = gpiob.pb14.into_push_pull_output();
-
-        // Criss-cross pattern looks cooler.
-        led1.set_high();
-        led2.set_low();
-        let leds = BlinkyLeds { led1, led2 };
-
-        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
-        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
-        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
-        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
-        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
-        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
-        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
-        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
-        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
-
-        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
-
-        /// Ethernet descriptor rings are a global singleton
-        #[link_section = ".sram3.eth"]
-        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
-
-        let (eth_dma, eth_mac) = ethernet::new(
-            cx.device.ETHERNET_MAC,
-            cx.device.ETHERNET_MTL,
-            cx.device.ETHERNET_DMA,
-            (
-                rmii_ref_clk,
-                rmii_mdio,
-                rmii_mdc,
-                rmii_crs_dv,
-                rmii_rxd0,
-                rmii_rxd1,
-                rmii_tx_en,
-                rmii_txd0,
-                rmii_txd1,
-            ),
-            // SAFETY: We do not move the returned DMA struct across thread boundaries, so this
-            // should be safe according to the docs.
-            unsafe { DES_RING.assume_init_mut() },
-            mac_addr,
-            ccdr.peripheral.ETH1MAC,
-            &ccdr.clocks,
-        );
-        // Initialise ethernet PHY...
-        let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
-        lan8742a.phy_reset();
-        lan8742a.phy_init();
-
-        unsafe {
-            ethernet::enable_interrupt();
-            cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
-            cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
-        }
-
-        // unsafe: mutable reference to static storage, we only do this once
-        let store = unsafe {
-            let store_ptr = STORE.as_mut_ptr();
-
-            // Initialise the socket_storage field. Using `write` instead of
-            // assignment via `=` to not call `drop` on the old, uninitialised
-            // value
-            addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
-
-            // Now that all fields are initialised we can safely use
-            // assume_init_mut to return a mutable reference to STORE
-            STORE.assume_init_mut()
-        };
-
-        let (tc_source_tx, tc_source_rx) =
-            rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
-
-        let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
-        let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
-        let udp = UdpNet::new(&mut sockets, tc_source_tx);
-
-        let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
-        static_subpool!(
-            SUBPOOL_SMALL,
-            SUBPOOL_SMALL_SIZES,
-            SUBPOOL_SMALL_NUM_BLOCKS as usize,
-            SUBPOOL_SMALL_BLOCK_SIZE,
-            link_section = ".axisram"
-        );
-        static_subpool!(
-            SUBPOOL_MEDIUM,
-            SUBPOOL_MEDIUM_SIZES,
-            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
-            SUBPOOL_MEDIUM_BLOCK_SIZE,
-            link_section = ".axisram"
-        );
-        static_subpool!(
-            SUBPOOL_LARGE,
-            SUBPOOL_LARGE_SIZES,
-            SUBPOOL_LARGE_NUM_BLOCKS as usize,
-            SUBPOOL_LARGE_BLOCK_SIZE,
-            link_section = ".axisram"
-        );
-
-        shared_pool
-            .grow(
-                unsafe { SUBPOOL_SMALL.assume_init_mut() },
-                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
-                SUBPOOL_SMALL_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
-        shared_pool
-            .grow(
-                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
-                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
-                SUBPOOL_MEDIUM_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
-        shared_pool
-            .grow(
-                unsafe { SUBPOOL_LARGE.assume_init_mut() },
-                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
-                SUBPOOL_LARGE_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
-
-        // Set up global allocator. Use AXISRAM for the heap.
-        #[link_section = ".axisram"]
-        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
-        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
-
-        eth_link_check::spawn().expect("eth link check failed");
-        blinky::spawn().expect("spawning blink task failed");
-        udp_task::spawn().expect("spawning UDP task failed");
-        tc_source_task::spawn().expect("spawning TC source task failed");
-
-        (
-            Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                eth_link_up: false,
-                sockets,
-                shared_pool,
-            },
-            Local {
-                link_led,
-                leds,
-                net,
-                udp,
-                tc_source_rx,
-                phy: lan8742a,
-            },
-        )
-    }
-
-    #[task(local = [leds], shared=[blink_freq])]
-    async fn blinky(mut cx: blinky::Context) {
-        let leds = cx.local.leds;
-        loop {
-            leds.led1.toggle();
-            leds.led2.toggle();
-            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
-        }
-    }
-
-    /// This task checks for the network link.
-    #[task(local=[link_led, phy], shared=[eth_link_up])]
-    async fn eth_link_check(mut cx: eth_link_check::Context) {
-        let phy = cx.local.phy;
-        let link_led = cx.local.link_led;
-        loop {
-            let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
-            if phy.poll_link() {
-                if !link_was_up {
-                    link_led.set_high();
-                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
-                    defmt::info!("Ethernet link up");
-                }
-            } else if link_was_up {
-                link_led.set_low();
-                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
-                defmt::info!("Ethernet link down");
-            }
-            Systick::delay(100.millis()).await;
-        }
-    }
-
-    #[task(binds=ETH, local=[net], shared=[sockets])]
-    fn eth_isr(mut cx: eth_isr::Context) {
-        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
-        unsafe {
-            ethernet::interrupt_handler();
-        }
-        // Check and process ETH frames and DHCP. UDP is checked in a different task.
-        cx.shared.sockets.lock(|sockets| {
-            cx.local.net.poll(sockets);
-            cx.local.net.poll_dhcp(sockets);
-        });
-    }
-
-    /// This task routes UDP packets.
-    #[task(local=[udp], shared=[sockets, shared_pool])]
-    async fn udp_task(mut cx: udp_task::Context) {
-        loop {
-            cx.shared.sockets.lock(|sockets| {
-                cx.shared.shared_pool.lock(|pool| {
-                    cx.local.udp.poll(sockets, pool);
-                })
-            });
-            Systick::delay(40.millis()).await;
-        }
-    }
-
-    /// This task handles all the incoming telecommands.
-    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
-    async fn tc_source_task(mut cx: tc_source_task::Context) {
-        loop {
-            let recv_result = cx.local.tc_source_rx.recv().await;
-            match recv_result {
-                Ok(pool_addr) => {
-                    cx.shared.shared_pool.lock(|pool| {
-                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
-                            Ok(packet_len) => {
-                                defmt::info!("received {} bytes in the TC source task", packet_len);
-                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
-                                    Ok((packet, _tc_len)) => {
-                                        // TODO: Handle packet here or dispatch to dedicated PUS
-                                        // handler? Dispatching could simplify some things and make
-                                        // the software more scalable..
-                                        defmt::info!("received PUS packet: {}", packet);
-                                    }
-                                    Err(e) => {
-                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
-                                    }
-                                }
-                                if let Err(e) = pool.delete(pool_addr) {
-                                    defmt::warn!("deleting TC data failed: {}", e);
-                                }
-                            }
-                            Err(e) => {
-                                defmt::warn!("TC packet read failed: {}", e);
-                            }
-                        }
-                    });
-                }
-                Err(e) => {
-                    defmt::warn!("TC source reception error: {}", e);
-                }
-            };
-        }
-    }
-}
@@ -1,2 +0,0 @@
-/settings.json
-/.cortex-debug.*
@@ -1,12 +0,0 @@
-{
-	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
-	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
-
-	// List of extensions which should be recommended for users of this workspace.
-	"recommendations": [
-		"rust-lang.rust",
-		"probe-rs.probe-rs-debugger"
-	],
-	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
-	"unwantedRecommendations": []
-}
@@ -1,22 +0,0 @@
-{
-  "version": "0.2.0",
-  "configurations": [
-    {
-      "preLaunchTask": "${defaultBuildTask}",
-      "type": "probe-rs-debug",
-      "request": "launch",
-      "name": "probe-rs Debugging ",
-      "flashingConfig": {
-        "flashingEnabled": true
-      },
-      "chip": "STM32H743ZITx",
-      "coreConfigs": [
-        {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
-          "rttEnabled": true,
-          "svdFile": "STM32H743.svd"
-        }
-      ]
-    }
-  ]
-}
@@ -1,20 +0,0 @@
-{
-    // See https://go.microsoft.com/fwlink/?LinkId=733558 
-    // for the documentation about the tasks.json format
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "label": "cargo build",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build"
-            ],
-            "group": {
-                "kind": "build",
-                "isDefault": true
-            }
-        },
-
-    ]
-}
@@ -0,0 +1 @@
+/config.toml
@@ -0,0 +1,22 @@
+[package]
+name = "client"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+log = "0.4"
+fern = "0.7"
+humantime = "2"
+serde = { version = "1", features = ["derive"] }
+toml = "1"
+satrs = { path = "../../satrs" }
+example-std = { path = "../example-std" }
+minisim-types = { path = "../minisim-types" }
+types = { path = "../types" }
+spacepackets = { version = "0.18", default-features = false }
+bitbybit = "2"
+arbitrary-int = "2"
+ctrlc = { version = "3.5" }
+postcard = { version = "1", features = ["alloc"] }
+anyhow = "1"
@@ -0,0 +1,13 @@
+use std::path::PathBuf;
+use std::{env, fs};
+
+fn main() {
+    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
+    let config = manifest_dir.join("config.toml");
+    let config_template = manifest_dir.join("config.toml.template");
+
+    if !config.exists() {
+        fs::copy(&config_template, &config).unwrap();
+    }
+    println!("cargo::rerun-if-changed=config.toml.template");
+}
@@ -0,0 +1,7 @@
+# Copied to config.toml by the build script if config.toml does not exist yet. config.toml is not
+# tracked by git, so it can hold local settings like the address of a development board.
+
+[interface]
+# Address of the commanded application. Defaults to the example-std OBSW on the local host.
+# Can be overridden with the --udp-addr argument.
+# udp_addr = "192.168.1.50:7301"
@@ -0,0 +1,945 @@
+use anyhow::{Context as _, bail};
+use arbitrary_int::u11;
+use clap::Parser as _;
+use example_std::config::{OBSW_SERVER_ADDR, SERVER_PORT};
+use minisim_types::{
+    SimCtrlReply, SimCtrlRequest, SimReply, SimRequest, SimRequestWithTime, acs::mgm,
+    udp::SIM_CTRL_PORT,
+};
+use spacepackets::{CcsdsPacketIdAndPsc, SpacePacketHeader};
+use std::{
+    net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket},
+    sync::{
+        Arc,
+        atomic::{AtomicBool, Ordering},
+    },
+    time::{Duration, SystemTime},
+};
+use types::{Apid, Message as _, MessageType, TcHeader, acs::mgm::request::HkRequest};
+
+#[derive(clap::Parser)]
+pub struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    test_event: bool,
+    /// Address of the commanded application. Overrides the address inside `config.toml`.
+    #[arg(long, global = true)]
+    udp_addr: Option<SocketAddr>,
+
+    #[command(subcommand)]
+    commands: Option<Commands>,
+}
+
+#[derive(Debug, Default, serde::Deserialize)]
+struct Config {
+    #[serde(default)]
+    interface: InterfaceConfig,
+}
+
+#[derive(Debug, Default, serde::Deserialize)]
+struct InterfaceConfig {
+    /// Defaults to the example-std OBSW on the local host.
+    udp_addr: Option<SocketAddr>,
+}
+
+impl Config {
+    /// The build script creates `config.toml` from the template. A missing file is still accepted,
+    /// because all parameters have defaults.
+    fn load() -> anyhow::Result<Self> {
+        let path = std::path::Path::new(env!("CARGO_MANIFEST_DIR")).join("config.toml");
+        match std::fs::read_to_string(&path) {
+            Ok(content) => toml::from_str(&content)
+                .with_context(|| format!("parsing {} failed", path.display())),
+            Err(e) if e.kind() == std::io::ErrorKind::NotFound => Ok(Self::default()),
+            Err(e) => Err(e).with_context(|| format!("reading {} failed", path.display())),
+        }
+    }
+}
+
+#[derive(clap::Subcommand)]
+enum Commands {
+    Mgm0(MgmArgs),
+    Mgm1(MgmArgs),
+    MgmAssy(MgmAssemblyArgs),
+    Mgt(MgtArgs),
+    AcsSubsystem(SubsystemArgs),
+    EventManager(EventManagerArgs),
+    /// Blinking LEDs of the embedded examples.
+    Led(LedArgs),
+    Sim(SimArgs),
+}
+
+#[derive(clap::Parser)]
+struct EventManagerArgs {
+    #[command(subcommand)]
+    action: EventFilterAction,
+}
+
+#[derive(clap::Parser)]
+struct SimArgs {
+    #[command(subcommand)]
+    action: SimAction,
+}
+
+#[derive(clap::Subcommand)]
+enum SimAction {
+    /// Let the OBSW connect to the minisim.
+    Connect {
+        /// IP address of the minisim host. Defaults to the address of this client if nothing
+        /// is specified.
+        ip: Option<Ipv4Addr>,
+    },
+}
+
+#[derive(clap::Subcommand)]
+enum EventFilterAction {
+    /// Enable event TM generation.
+    Enable(EventFilterArgs),
+    /// Disable event TM generation.
+    Disable(EventFilterArgs),
+}
+
+#[derive(clap::Args)]
+struct EventFilterArgs {
+    #[arg(value_enum)]
+    component: EventSenderSelect,
+    /// Raw event ID. Without it, the filter applies to all events of the component.
+    #[arg(short, long)]
+    event_id: Option<u16>,
+}
+
+/// Components which emit events.
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum EventSenderSelect {
+    Controller,
+    Mgm0,
+    Mgm1,
+    MgmAssy,
+    Mgt,
+    Pcdu,
+    UdpServer,
+    TcpServer,
+    Ground,
+}
+
+impl From<EventSenderSelect> for types::ComponentId {
+    fn from(sender: EventSenderSelect) -> Self {
+        match sender {
+            EventSenderSelect::Controller => types::ComponentId::Controller,
+            EventSenderSelect::Mgm0 => types::ComponentId::AcsMgm0,
+            EventSenderSelect::Mgm1 => types::ComponentId::AcsMgm1,
+            EventSenderSelect::Mgt => types::ComponentId::AcsMgt,
+            EventSenderSelect::MgmAssy => types::ComponentId::AcsMgmAssembly,
+            EventSenderSelect::Pcdu => types::ComponentId::EpsPcdu,
+            EventSenderSelect::UdpServer => types::ComponentId::UdpServer,
+            EventSenderSelect::TcpServer => types::ComponentId::TcpServer,
+            EventSenderSelect::Ground => types::ComponentId::Ground,
+        }
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum FaultMode {
+    None,
+    /// SPI communication is all zeroes, modelling an unconnected sensor.
+    AllZeros,
+    /// SPI communication is all ones, modelling a broken sensor.
+    AllOnes,
+}
+
+impl From<FaultMode> for mgm::SpiFaultMode {
+    fn from(mode: FaultMode) -> Self {
+        match mode {
+            FaultMode::None => mgm::SpiFaultMode::None,
+            FaultMode::AllZeros => mgm::SpiFaultMode::AllZeros,
+            FaultMode::AllOnes => mgm::SpiFaultMode::AllOnes,
+        }
+    }
+}
+
+#[derive(Debug, Default, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum FaultKind {
+    /// Cleared when the device is switched off, so a power cycle recovers from it.
+    Transient,
+    /// Survives power cycles.
+    #[default]
+    Permanent,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum HkSelect {
+    OneShot,
+    EnablePeriodic,
+    DisablePeriodic,
+    ModifyInterval,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum HealthStateSelect {
+    Healthy,
+    Faulty,
+    PermanentFaulty,
+    ExternalControl,
+    NeedsRecovery,
+}
+
+impl From<HealthStateSelect> for satrs::health::HealthState {
+    fn from(state: HealthStateSelect) -> Self {
+        match state {
+            HealthStateSelect::Healthy => satrs::health::HealthState::Healthy,
+            HealthStateSelect::Faulty => satrs::health::HealthState::Faulty,
+            HealthStateSelect::PermanentFaulty => satrs::health::HealthState::PermanentFaulty,
+            HealthStateSelect::ExternalControl => satrs::health::HealthState::ExternalControl,
+            HealthStateSelect::NeedsRecovery => satrs::health::HealthState::NeedsRecovery,
+        }
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgmArgs {
+    #[arg(short, long)]
+    ping: bool,
+    /// Housekeeping request for the sensor data set.
+    #[arg(long, value_enum)]
+    hk: Option<HkSelect>,
+    /// Periodic HK interval. Required for `modify-interval`, optional for `enable-periodic`.
+    #[arg(long)]
+    hk_interval_ms: Option<u64>,
+    #[arg(short, long)]
+    mode: Option<DeviceModeSelect>,
+    /// Inject (or clear) an SPI bus failure on the simulated device, bypassing the OBSW.
+    #[arg(long, value_enum)]
+    fault: Option<FaultMode>,
+    /// Whether a power cycle clears the injected SPI fault.
+    #[arg(long, value_enum, default_value_t)]
+    fault_kind: FaultKind,
+    /// Override the device's FDIR health state, for example to clear a `Faulty` state set by
+    /// the handler after the underlying issue has been fixed or worked around.
+    #[arg(long, value_enum)]
+    health: Option<HealthStateSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgtArgs {
+    #[arg(short, long)]
+    ping: bool,
+    /// Housekeeping request for the status data set.
+    #[arg(long, value_enum)]
+    hk: Option<HkSelect>,
+    /// Periodic HK interval. Required for `modify-interval`, optional for `enable-periodic`.
+    #[arg(long)]
+    hk_interval_ms: Option<u64>,
+    #[arg(short, long)]
+    mode: Option<DeviceModeSelect>,
+    /// Apply a dipole, given as `x,y,z`. Only accepted in normal mode.
+    #[arg(long, value_name = "X,Y,Z", value_parser = parse_dipole, allow_hyphen_values = true)]
+    torque: Option<types::acs::mgt::Dipole>,
+    #[arg(long, default_value_t = 1000)]
+    torque_duration_ms: u64,
+    /// Override the device's FDIR health state, for example to clear a `Faulty` state.
+    #[arg(long, value_enum)]
+    health: Option<HealthStateSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct LedArgs {
+    #[arg(short, long)]
+    ping: bool,
+    /// Mode of the red and the orange LED.
+    #[arg(short, long, value_enum)]
+    mode: Option<LedModeSelect>,
+    /// Toggle period of the toggle modes.
+    #[arg(long, default_value_t = 500)]
+    toggle_period_ms: u64,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+enum LedModeSelect {
+    AllOff,
+    RedOn,
+    OrangeOn,
+    AlternatingToggle,
+    UnifiedToggle,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgmAssemblyArgs {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    mode: Option<AssemblyModeSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct SubsystemArgs {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    mode: Option<SubsystemModeSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum DeviceModeSelect {
+    Off,
+    Normal,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum AssemblyModeSelect {
+    NoModeKeeping,
+    Off,
+    Normal,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum SubsystemModeSelect {
+    Off,
+    Safe,
+}
+
+fn hk_request_type(
+    hk: HkSelect,
+    hk_interval_ms: Option<u64>,
+) -> anyhow::Result<types::HkRequestType> {
+    let opt_interval = hk_interval_ms.map(Duration::from_millis);
+    Ok(match hk {
+        HkSelect::OneShot => types::HkRequestType::OneShot,
+        HkSelect::EnablePeriodic => types::HkRequestType::EnablePeriodic(opt_interval),
+        HkSelect::DisablePeriodic => types::HkRequestType::DisablePeriodic,
+        HkSelect::ModifyInterval => types::HkRequestType::ModifyInterval(
+            opt_interval.context("--hk-interval-ms is required for modify-interval")?,
+        ),
+    })
+}
+
+fn parse_dipole(value: &str) -> Result<types::acs::mgt::Dipole, String> {
+    let axes: Vec<i16> = value
+        .split(',')
+        .map(|axis| axis.trim().parse::<i16>().map_err(|e| e.to_string()))
+        .collect::<Result<_, _>>()?;
+    let [x, y, z] = axes[..] else {
+        return Err(format!("expected 3 values, got {}", axes.len()));
+    };
+    Ok(types::acs::mgt::Dipole { x, y, z })
+}
+
+fn send_mgt_request(
+    client: &UdpSocket,
+    addr: SocketAddr,
+    request: types::acs::mgt::request::Request,
+) {
+    let packet = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+        TcHeader::new(types::ComponentId::AcsMgt, request.message_type()),
+        request,
+    );
+    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
+    log::info!(
+        "sending MGT request {:?} with TC ID {:#010x}",
+        request,
+        sent_tc_id.raw()
+    );
+    client.send_to(&packet.to_vec(), addr).unwrap();
+}
+
+fn send_led_request(client: &UdpSocket, addr: SocketAddr, request: types::led::request::Request) {
+    let packet = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+        SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+        TcHeader::new(types::ComponentId::Led, request.message_type()),
+        request,
+    );
+    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
+    log::info!(
+        "sending LED request {:?} with TC ID {:#010x}",
+        request,
+        sent_tc_id.raw()
+    );
+    client.send_to(&packet.to_vec(), addr).unwrap();
+}
+
+fn handle_sim_command(client: &UdpSocket, addr: SocketAddr, args: SimArgs) {
+    let request = match args.action {
+        SimAction::Connect { ip } => types::control::request::Request::SimConnect(ip),
+    };
+    let packet = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+        SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+        TcHeader::new(types::ComponentId::Controller, MessageType::Action),
+        request,
+    );
+    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
+    log::info!(
+        "sending SIM request {:?} with TC ID {:#010x}",
+        request,
+        sent_tc_id.raw()
+    );
+    client.send_to(&packet.to_vec(), addr).unwrap();
+}
+
+fn handle_led_command(client: &UdpSocket, addr: SocketAddr, args: LedArgs) {
+    use types::led::request::Request;
+
+    if args.ping {
+        send_led_request(client, addr, Request::Ping);
+    }
+    if let Some(mode) = args.mode {
+        let toggle_period = Duration::from_millis(args.toggle_period_ms);
+        let mode = match mode {
+            LedModeSelect::AllOff => types::led::Mode::AllOff,
+            LedModeSelect::RedOn => types::led::Mode::RedOn,
+            LedModeSelect::OrangeOn => types::led::Mode::OrangeOn,
+            LedModeSelect::AlternatingToggle => types::led::Mode::AlternatingToggle(toggle_period),
+            LedModeSelect::UnifiedToggle => types::led::Mode::UnifiedToggle(toggle_period),
+        };
+        send_led_request(client, addr, Request::SetMode(mode));
+    }
+}
+
+fn handle_mgt_command(client: &UdpSocket, addr: SocketAddr, args: MgtArgs) -> anyhow::Result<()> {
+    use types::acs::mgt::request::{ModeRequest, Request};
+
+    if args.ping {
+        send_mgt_request(client, addr, Request::Ping);
+    }
+    if let Some(hk) = args.hk {
+        let req_type = hk_request_type(hk, args.hk_interval_ms)?;
+        send_mgt_request(client, addr, Request::Hk(req_type));
+    }
+    if let Some(mode) = args.mode {
+        let mode = match mode {
+            DeviceModeSelect::Off => types::DeviceMode::Off,
+            DeviceModeSelect::Normal => types::DeviceMode::Normal,
+        };
+        send_mgt_request(client, addr, Request::Mode(ModeRequest::SetMode(mode)));
+    }
+    if let Some(dipole) = args.torque {
+        let request = Request::ApplyTorque {
+            dipole,
+            duration: Duration::from_millis(args.torque_duration_ms),
+        };
+        send_mgt_request(client, addr, request);
+    }
+    if let Some(health) = args.health {
+        send_mgt_request(
+            client,
+            addr,
+            Request::Health(types::HealthRequest::SetHealth(health.into())),
+        );
+    }
+    Ok(())
+}
+
+fn handle_mgm_command(
+    client: &UdpSocket,
+    addr: SocketAddr,
+    target_id: types::ComponentId,
+    args: MgmArgs,
+) -> anyhow::Result<()> {
+    if let Some(mode) = args.fault {
+        inject_mgm_failure(
+            target_id,
+            mgm::SpiFault {
+                mode: mode.into(),
+                cleared_by_power_cycle: args.fault_kind == FaultKind::Transient,
+            },
+        )?;
+    }
+    if args.ping {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Ping),
+            types::acs::mgm::request::Request::Ping,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} ping request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(hk) = args.hk {
+        let req_type = hk_request_type(hk, args.hk_interval_ms)?;
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Hk),
+            types::acs::mgm::request::Request::Hk(HkRequest {
+                id: types::acs::mgm::request::HkId::Sensor,
+                req_type,
+            }),
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} HK request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(mode) = args.mode {
+        let dev_mode = match mode {
+            DeviceModeSelect::Off => types::DeviceMode::Off,
+            DeviceModeSelect::Normal => types::DeviceMode::Normal,
+        };
+
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Mode),
+            types::acs::mgm::request::Request::Mode(
+                types::acs::mgm::request::ModeRequest::SetMode(dev_mode),
+            ),
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} HK request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(health) = args.health {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+            TcHeader::new(target_id, types::MessageType::Health),
+            types::acs::mgm::request::Request::Health(types::HealthRequest::SetHealth(
+                health.into(),
+            )),
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending {:?} set-health request with TC ID {:#010x}",
+            target_id,
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    Ok(())
+}
+
+fn handle_event_manager_command(client: &UdpSocket, addr: SocketAddr, args: EventManagerArgs) {
+    use types::event_manager::request::Request;
+
+    let request = match args.action {
+        EventFilterAction::Enable(filter) => match filter.event_id {
+            Some(event_id) => Request::EnableEvent {
+                sender_id: filter.component.into(),
+                event_id,
+            },
+            None => Request::EnableComponent(filter.component.into()),
+        },
+        EventFilterAction::Disable(filter) => match filter.event_id {
+            Some(event_id) => Request::DisableEvent {
+                sender_id: filter.component.into(),
+                event_id,
+            },
+            None => Request::DisableComponent(filter.component.into()),
+        },
+    };
+    let request_packet = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+        SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+        TcHeader::new(types::ComponentId::EventManager, MessageType::Event),
+        request,
+    );
+    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request_packet.sp_header);
+    log::info!(
+        "sending event manager request {:?} with TC ID {:#010x}",
+        request,
+        sent_tc_id.raw()
+    );
+    client.send_to(&request_packet.to_vec(), addr).unwrap();
+}
+
+fn setup_logger(level: log::LevelFilter) -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(level)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger(log::LevelFilter::Debug).unwrap();
+    let kill_signal = Arc::new(AtomicBool::new(false));
+    let ctrl_kill_signal = kill_signal.clone();
+    ctrlc::set_handler(move || ctrl_kill_signal.store(true, Ordering::Relaxed)).unwrap();
+    let cli = Cli::parse();
+    let config = Config::load()?;
+
+    let addr = cli
+        .udp_addr
+        .or(config.interface.udp_addr)
+        .unwrap_or(SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT));
+    // Bind to all interfaces, so embedded targets inside the local network can be reached too.
+    let client = UdpSocket::bind("0.0.0.0:7302").expect("Connecting to UDP server failed");
+    client.set_nonblocking(true)?;
+    client.set_read_timeout(Some(Duration::from_millis(200)))?;
+
+    if cli.ping {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+            TcHeader::new(types::ComponentId::Controller, types::MessageType::Ping),
+            types::control::request::Request::Ping,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!("sending ping request with TC ID {:#010x}", sent_tc_id.raw());
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if cli.test_event {
+        let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+            TcHeader::new(types::ComponentId::Controller, types::MessageType::Event),
+            types::control::request::Request::TestEvent,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending event request with TC ID {:#010x}",
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(cmd) = cli.commands {
+        match cmd {
+            Commands::Mgm0(args) => {
+                handle_mgm_command(&client, addr, types::ComponentId::AcsMgm0, args)?
+            }
+            Commands::Mgm1(args) => {
+                handle_mgm_command(&client, addr, types::ComponentId::AcsMgm1, args)?
+            }
+            Commands::Mgt(args) => handle_mgt_command(&client, addr, args)?,
+            Commands::MgmAssy(mgm_assembly_args) => {
+                let target_id = types::ComponentId::AcsMgmAssembly;
+                if mgm_assembly_args.ping {
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Ping),
+                        types::acs::mgm::request::Request::Ping,
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} ping request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if let Some(mode) = mgm_assembly_args.mode {
+                    let assembly_mode = match mode {
+                        AssemblyModeSelect::NoModeKeeping => {
+                            types::acs::mgm_assembly::Mode::NoModeKeeping
+                        }
+                        AssemblyModeSelect::Off => {
+                            types::acs::mgm_assembly::Mode::Device(types::DeviceMode::Off)
+                        }
+                        AssemblyModeSelect::Normal => {
+                            types::acs::mgm_assembly::Mode::Device(types::DeviceMode::Normal)
+                        }
+                    };
+
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Mode),
+                        types::acs::mgm_assembly::request::Request::Mode(
+                            types::acs::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
+                        ),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} HK request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+            }
+            Commands::AcsSubsystem(subsystem_args) => {
+                let target_id = types::ComponentId::AcsSubsystem;
+                if subsystem_args.ping {
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Ping),
+                        types::acs::subsystem::request::Request::Ping,
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} ping request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if let Some(mode) = subsystem_args.mode {
+                    let subsystem_mode = match mode {
+                        SubsystemModeSelect::Off => types::acs::subsystem::Mode::Off,
+                        SubsystemModeSelect::Safe => types::acs::subsystem::Mode::Safe,
+                    };
+
+                    let request = types::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, types::MessageType::Mode),
+                        types::acs::subsystem::request::Request::Mode(
+                            types::acs::subsystem::request::ModeRequest::SetMode(subsystem_mode),
+                        ),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} mode request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+            }
+            Commands::EventManager(args) => handle_event_manager_command(&client, addr, args),
+            Commands::Led(args) => handle_led_command(&client, addr, args),
+            Commands::Sim(args) => handle_sim_command(&client, addr, args),
+        }
+    }
+
+    let mut recv_buf: Box<[u8; 2048]> = Box::new([0; 2048]);
+    log::info!("entering listening loop");
+    loop {
+        if kill_signal.load(std::sync::atomic::Ordering::Relaxed) {
+            log::info!("received kill signal, exiting");
+            break;
+        }
+        match client.recv(recv_buf.as_mut_slice()) {
+            Ok(received_bytes) => handle_raw_tm_packet(&recv_buf.as_slice()[0..received_bytes])?,
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::WouldBlock
+                    || e.kind() == std::io::ErrorKind::TimedOut
+                {
+                    continue;
+                }
+                log::warn!("UDP reception error: {}", e)
+            }
+        }
+    }
+    Ok(())
+}
+
+/// Injects the given SPI fault directly into minisim's MGM model, bypassing the OBSW.
+///
+/// Confirms the simulator is actually reachable first (same ping/pong check the OBSW's own
+/// internal sim client does, see `SimClientUdp::attempt_connection`), since a fire-and-forget
+/// UDP send would otherwise silently do nothing if minisim is not running.
+fn inject_mgm_failure(target_id: types::ComponentId, fault: mgm::SpiFault) -> anyhow::Result<()> {
+    let sim_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), SIM_CTRL_PORT);
+    let sim_socket = UdpSocket::bind("127.0.0.1:0")?;
+    sim_socket.set_read_timeout(Some(Duration::from_millis(200)))?;
+
+    let mut reply_buf = [0u8; 4096];
+    let ping = SimRequestWithTime::new_with_epoch_time(SimCtrlRequest::Ping);
+    sim_socket.send_to(&postcard::to_allocvec(&ping)?, sim_addr)?;
+    match sim_socket.recv(&mut reply_buf) {
+        Ok(len) => {
+            let reply: SimReply = postcard::from_bytes(&reply_buf[..len])?;
+            if reply != SimReply::SimCtrl(SimCtrlReply::Pong) {
+                bail!("unexpected reply while checking minisim connectivity: {reply:?}");
+            }
+        }
+        Err(e)
+            if matches!(
+                e.kind(),
+                std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut
+            ) =>
+        {
+            bail!("minisim not reachable at {sim_addr} (ping timed out) - is it running?");
+        }
+        Err(e) => return Err(e.into()),
+    }
+
+    let id = match target_id {
+        types::ComponentId::AcsMgm0 => mgm::Id::Mgm0,
+        types::ComponentId::AcsMgm1 => mgm::Id::Mgm1,
+        _ => bail!("SPI fault injection is not supported for {target_id:?}"),
+    };
+    let request = SimRequestWithTime::new_with_epoch_time(SimRequest::Mgm {
+        id,
+        request: mgm::Request::SetSpiFault(fault),
+    });
+    sim_socket.send_to(&postcard::to_allocvec(&request)?, sim_addr)?;
+    log::info!("injected SPI fault {fault:?} into minisim {target_id:?}");
+    Ok(())
+}
+
+/// Each component has its own event type, so the sender ID determines how to decode the event.
+fn handle_event(sender_id: types::ComponentId, data: &[u8]) {
+    fn log_event<E: serde::de::DeserializeOwned + core::fmt::Debug>(
+        sender_id: types::ComponentId,
+        data: &[u8],
+    ) {
+        match postcard::from_bytes::<E>(data) {
+            Ok(event) => log::info!("Received event from {:?}: {:?}", sender_id, event),
+            Err(e) => log::warn!("Failed to deserialize event from {:?}: {}", sender_id, e),
+        }
+    }
+    match sender_id {
+        types::ComponentId::Controller => log_event::<types::Event>(sender_id, data),
+        types::ComponentId::AcsMgm0 | types::ComponentId::AcsMgm1 => {
+            log_event::<types::acs::mgm::Event>(sender_id, data)
+        }
+        types::ComponentId::AcsMgmAssembly => {
+            log_event::<types::acs::mgm_assembly::Event>(sender_id, data)
+        }
+        types::ComponentId::AcsMgt => log_event::<types::acs::mgt::Event>(sender_id, data),
+        types::ComponentId::EpsPcdu => log_event::<types::pcdu::Event>(sender_id, data),
+        // TC source events are sent with the ID of the packet source.
+        types::ComponentId::UdpServer
+        | types::ComponentId::TcpServer
+        | types::ComponentId::Ground => log_event::<types::tmtc::Event>(sender_id, data),
+        _ => log::warn!(
+            "Received event from {:?} with unknown event type",
+            sender_id
+        ),
+    }
+}
+
+fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
+    match spacepackets::CcsdsPacketReader::new_with_checksum(data) {
+        Ok(packet) => {
+            let tm_header_result = postcard::take_from_bytes::<types::TmHeader>(packet.user_data());
+            if let Err(e) = tm_header_result {
+                bail!("Failed to deserialize TM header: {}", e);
+            }
+            let (tm_header, remainder) = tm_header_result.unwrap();
+            if let Some(tc_id) = tm_header.tc_id {
+                log::info!(
+                    "Received TM with APID {} and from sender {:?} for TC ID {:#010x}",
+                    packet.apid(),
+                    tm_header.sender_id,
+                    tc_id.raw()
+                );
+            }
+            if tm_header.message_type == MessageType::Event {
+                handle_event(tm_header.sender_id, remainder);
+                return Ok(());
+            }
+            match tm_header.sender_id {
+                types::ComponentId::EpsPcdu => {
+                    let response =
+                        postcard::from_bytes::<types::pcdu::response::Response>(remainder);
+                    log::info!("Received response from PCDU: {:?}", response.unwrap());
+                }
+                types::ComponentId::Controller => {
+                    let response =
+                        postcard::from_bytes::<types::control::response::Response>(remainder);
+                    log::info!("Received response from controller: {:?}", response.unwrap());
+                }
+                types::ComponentId::AcsMgmAssembly => {
+                    let response = postcard::from_bytes::<
+                        types::acs::mgm_assembly::response::Response,
+                    >(remainder);
+                    log::info!(
+                        "Received response from MGM Assembly: {:?}",
+                        response.unwrap()
+                    );
+                }
+                types::ComponentId::AcsMgm0 => {
+                    let response =
+                        postcard::from_bytes::<types::acs::mgm::response::Response>(remainder);
+                    log::info!("Received response from MGM0: {:?}", response.unwrap());
+                }
+                types::ComponentId::AcsMgm1 => {
+                    let response =
+                        postcard::from_bytes::<types::acs::mgm::response::Response>(remainder);
+                    log::info!("Received response from MGM1: {:?}", response.unwrap());
+                }
+                types::ComponentId::AcsSubsystem => {
+                    let response = postcard::from_bytes::<types::acs::subsystem::response::Response>(
+                        remainder,
+                    );
+                    log::info!(
+                        "Received response from ACS subsystem: {:?}",
+                        response.unwrap()
+                    );
+                }
+                types::ComponentId::EpsSubsystem => todo!(),
+                types::ComponentId::UdpServer => todo!(),
+                types::ComponentId::TcpServer => todo!(),
+                types::ComponentId::Ground => todo!(),
+                types::ComponentId::EventManager => {
+                    let response =
+                        postcard::from_bytes::<types::event_manager::response::Response>(remainder);
+                    log::info!(
+                        "Received response from event manager: {:?}",
+                        response.unwrap()
+                    );
+                }
+                types::ComponentId::AcsController => todo!(),
+                types::ComponentId::AcsMgt => {
+                    let response =
+                        postcard::from_bytes::<types::acs::mgt::response::Response>(remainder);
+                    log::info!("Received response from MGT: {:?}", response.unwrap());
+                }
+                types::ComponentId::Led => {
+                    let response =
+                        postcard::from_bytes::<types::led::response::Response>(remainder);
+                    log::info!("Received response from LED: {:?}", response.unwrap());
+                }
+            }
+        }
+        Err(_) => todo!(),
+    }
+    Ok(())
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_parse_dipole() {
+        assert_eq!(
+            parse_dipole("-200, 200,1000"),
+            Ok(types::acs::mgt::Dipole {
+                x: -200,
+                y: 200,
+                z: 1000
+            })
+        );
+        assert!(parse_dipole("1,2").is_err());
+        assert!(parse_dipole("1,2,3,4").is_err());
+    }
+
+    #[test]
+    fn test_config_template_is_valid() {
+        let template = include_str!("../config.toml.template");
+        let config: Config = toml::from_str(template).unwrap();
+        assert_eq!(config.interface.udp_addr, None);
+        let config: Config =
+            toml::from_str("[interface]\nudp_addr = \"192.168.1.50:7301\"").unwrap();
+        assert_eq!(
+            config.interface.udp_addr,
+            Some("192.168.1.50:7301".parse().unwrap())
+        );
+    }
+
+    #[test]
+    fn test_negative_torque_argument() {
+        let cli = Cli::try_parse_from(["client", "mgt", "--torque", "-200,200,1000"]).unwrap();
+        let Some(Commands::Mgt(args)) = cli.commands else {
+            panic!("expected mgt subcommand");
+        };
+        assert_eq!(args.torque.map(|dipole| dipole.x), Some(-200));
+    }
+}
@@ -1,5 +1,5 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "probe-rs run --chip STM32H743ZITx"
+runner = "probe-rs run --chip STM32H753ZITx"
 # runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]

 rustflags = [
@@ -27,3 +27,6 @@ rrb = "run --release --bin"

 [env]
 DEFMT_LOG = "info"
+# IP address of the host running the minisim. Without it, the firmware does not try to connect
+# to a simulator.
+# SIM_IP_ADDR = "192.168.1.10"
@@ -0,0 +1,3 @@
+/.cargo/config.toml
+.vscode/
+app.map
@@ -0,0 +1,71 @@
+[workspace]
+resolver = "3"
+members = [
+    "shared-embedded",
+    "stm32h7-nucleo-embassy",
+    "stm32h7-nucleo-rtic",
+]
+
+[workspace.dependencies]
+types = { path = "../types" }
+minisim-types = { path = "../minisim-types" }
+shared-embedded = { path = "shared-embedded" }
+
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+arbitrary-int = "2"
+defmt = "1"
+defmt-rtt = "1"
+defmt-test = "0.5"
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-alloc = "0.7"
+static_cell = "2"
+spacepackets = { version = "0.18", default-features = false, features = ["defmt"] }
+postcard = "1"
+serde = { version = "1", default-features = false }
+rtic = { version = "2", features = ["thumbv7-backend"] }
+
+embassy-stm32 = { version = "0.6", features = ["stm32h753zi", "defmt"] }
+embassy-executor = { version = "0.10", features = ["platform-cortex-m", "executor-thread", "defmt"] }
+embassy-time = "0.5"
+embassy-net = { version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
+embassy-sync = "0.8"
+embassy-futures = "0.1"
+
+# 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 +1,153 @@
+sat-rs examples for the STM32H753ZI-Nucleo board
+=======
+
+These example applications show how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+can be used on an embedded target.
+They also show how a relatively simple OBSW could be built when no standard runtime is available.
+Both use the [defmt](https://defmt.ferrous-systems.com/) framework for logging and provide the
+same functionality with a different concurrency framework:
+
+- [`stm32h7-nucleo-embassy`](./stm32h7-nucleo-embassy) uses the [embassy](https://embassy.dev/)
+  executor.
+- [`stm32h7-nucleo-rtic`](./stm32h7-nucleo-rtic) uses [RTIC](https://rtic.rs/2/book/en/).
+
+The application code is shared inside the [`shared-embedded`](./shared-embedded) crate.
+Each application only initializes the hardware and wraps the shared code inside its own tasks.
+
+The STM32H753ZIT device was picked because it is one of the more powerful Cortex-M based STM32
+devices. It has more RAM available and allows commanding via Ethernet. The examples are written
+for the NUCLEO-H753ZI board, which uses the MB1364 Nucleo-144 board layout.
+
+## 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
+```
+
+All crates in this directory form a separate workspace, because they are built for a different
+target than the rest of the repository. They share one `.cargo` config file. A default is
+provided as `.cargo/config.toml.template`. The build scripts copy it to `.cargo/config.toml`
+if that file does not exist yet. The copy is not tracked by git, so you can change settings like
+the runner for your setup.
+
+Cargo reads the configuration before the build script runs, so the very first build on a fresh
+checkout does not use it yet and might fail. Simply run the build again, or copy the file
+manually beforehand:
+
+```sh
+cp .cargo/config.toml.template .cargo/config.toml
+```
+
+The configuration file also sets 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 build all applications from this directory with
+
+```sh
+cargo build
+```
+
+or a single application with `cargo build -p stm32h7-nucleo-embassy`, for example.
+
+## Flashing from the command line
+
+The configuration file sets `probe-rs` as the runner, so you can flash and run an application
+with
+
+```sh
+cargo run -p stm32h7-nucleo-embassy
+```
+
+## Debugging with VS Code
+
+The Nucleo board comes with an on-board ST-Link so all that is required to flash and debug
+the board is a 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.
+
+## Commanding the board
+
+The board is commanded via UDP on port 7301. It gets its IP address via DHCP, so it needs to be
+connected to a network with a DHCP server. The network configuration including the IP address is
+logged after startup. According to the board user manual UM2407, jumper JP6 and solder bridge SB72
+must be ON when using Ethernet. The board uses the same TMTC protocol as the
+[`example-std`](../example-std) application, which is defined inside the [`types`](../types)
+crate.
+
+The [`client`](../client) application is used to command the board. Set the address of the board
+inside `client/config.toml`, which is created from `client/config.toml.template` on the first
+build:
+
+```toml
+[interface]
+udp_addr = "192.168.1.50:7301"
+```
+
+For example, you can then send a ping to the MCU using
+
+```sh
+cargo run -p client -- --ping
+```
+
+Like the `example-std` application, the board has a controller component which handles pings and
+test events. A test event can be triggered with `--test-event`.
+
+The green LED blinks every 0.5 seconds as a heartbeat. The red and the orange LED are controlled
+with a mode. For example, you can let both toggle together every 200 ms using
+
+```sh
+cargo run -p client -- led --mode unified-toggle --toggle-period-ms 200
+```
+
+Use `cargo run -p client -- led --help` to list all modes.
+
+You can also pass the board address with `--udp-addr` instead of setting it inside the
+configuration file.
+
+## Connecting to the mini simulator
+
+The firmware can connect to the [`minisim`](../minisim), which simulates the devices of the OBSW.
+The simulator address can be passed with a sim connect request:
+
+```sh
+cargo run -p client -- sim connect
+```
+
+Without an IP address, the firmware uses the sender address of the request, which fits the
+common setup where the client and the simulator run on the same host. Otherwise, pass the IP
+address of the simulator host, for example `sim connect 192.168.1.10`.
+
+The simulator address can also be set at build time inside `.cargo/config.toml`, so the firmware
+connects on its own after startup:
+
+```toml
+[env]
+SIM_IP_ADDR = "192.168.1.10"
+```
+
+The firmware pings the simulator on UDP port 7303 and logs the result. It reconnects after a
+network link loss. A new sim connect request, for example after restarting the simulator,
+triggers a new connection attempt.
+Like the `example-std` application, the device handlers use dummy interfaces if no simulator
+address is known or the simulator does not reply. The simulator sends its replies to the
+last client which contacted it, so only one application can use it at a time.
+
+## 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 +1,2 @@
+[toolchain]
+targets = ["thumbv7em-none-eabihf"]
@@ -0,0 +1,20 @@
+[package]
+name = "shared-embedded"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+types.workspace = true
+minisim-types.workspace = true
+
+arbitrary-int.workspace = true
+defmt.workspace = true
+spacepackets.workspace = true
+postcard.workspace = true
+serde.workspace = true
+
+embassy-stm32.workspace = true
+embassy-time.workspace = true
+embassy-net.workspace = true
+embassy-sync.workspace = true
+embassy-futures.workspace = true
@@ -0,0 +1,68 @@
+use embassy_futures::select::{Either, select};
+use embassy_stm32::gpio;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::signal::Signal;
+use embassy_time::{Duration, Timer};
+use types::led;
+
+pub static LED_MODE: Signal<CriticalSectionRawMutex, led::Mode> = Signal::new();
+
+const HEARTBEAT_PERIOD: Duration = Duration::from_millis(500);
+const DEFAULT_LED_MODE: led::Mode =
+    led::Mode::AlternatingToggle(core::time::Duration::from_millis(1000));
+
+pub struct Leds {
+    pub red: gpio::Output<'static>,
+    pub orange: gpio::Output<'static>,
+}
+
+pub async fn heartbeat(led: &mut gpio::Output<'static>) {
+    loop {
+        led.toggle();
+        Timer::after(HEARTBEAT_PERIOD).await;
+    }
+}
+
+/// Applies the current mode to the red and orange LED. A new mode is applied immediately.
+pub async fn led_task(leds: &mut Leds) {
+    let mut mode = DEFAULT_LED_MODE;
+    loop {
+        let toggle_period = match mode {
+            led::Mode::AllOff => {
+                leds.red.set_low();
+                leds.orange.set_low();
+                None
+            }
+            led::Mode::RedOn => {
+                leds.red.set_high();
+                leds.orange.set_low();
+                None
+            }
+            led::Mode::OrangeOn => {
+                leds.red.set_low();
+                leds.orange.set_high();
+                None
+            }
+            led::Mode::AlternatingToggle(period) => {
+                leds.red.toggle();
+                leds.orange.set_level((!leds.red.is_set_high()).into());
+                Some(period)
+            }
+            led::Mode::UnifiedToggle(period) => {
+                leds.red.toggle();
+                leds.orange.set_level(leds.red.is_set_high().into());
+                Some(period)
+            }
+        };
+        mode = match toggle_period {
+            Some(period) => {
+                let period = Duration::try_from(period).unwrap_or(Duration::MAX);
+                match select(Timer::after(period), LED_MODE.wait()).await {
+                    Either::First(()) => mode,
+                    Either::Second(new_mode) => new_mode,
+                }
+            }
+            None => LED_MODE.wait().await,
+        };
+    }
+}
@@ -0,0 +1,9 @@
+//! Application code shared by the STM32H7 Nucleo applications. Each application wraps the
+//! async functions inside tasks of its own executor.
+#![no_std]
+extern crate alloc;
+
+pub mod leds;
+pub mod net;
+pub mod sim_client;
+pub mod tmtc;
@@ -0,0 +1,118 @@
+use core::cell::Cell;
+
+use embassy_futures::select::{Either3, select3};
+use embassy_net::{
+    IpEndpoint,
+    udp::{PacketMetadata, UdpSocket},
+};
+use embassy_stm32::{eth, peripherals};
+use embassy_sync::blocking_mutex::Mutex;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_time::Timer;
+
+use crate::tmtc::{TcSender, TmReceiver};
+
+const PORT: u16 = 7301;
+const MTU: usize = 1500;
+
+/// Locally administered MAC address
+pub const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+pub static LAST_SENDER: Mutex<CriticalSectionRawMutex, Cell<Option<core::net::Ipv4Addr>>> =
+    Mutex::new(Cell::new(None));
+
+pub type Device = eth::Ethernet<
+    'static,
+    peripherals::ETH,
+    eth::GenericPhy<eth::Sma<'static, peripherals::ETH_SMA>>,
+>;
+
+pub async fn net_stack_task(runner: &mut embassy_net::Runner<'static, Device>) -> ! {
+    runner.run().await
+}
+
+pub async fn udp_task(stack: embassy_net::Stack<'static>, tc_tx: TcSender, tm_rx: TmReceiver) {
+    // Task futures are allocated statically, so these buffers do not live on the stack.
+    let mut rx_udp_meta = [PacketMetadata::EMPTY; 8];
+    let mut tx_udp_meta = [PacketMetadata::EMPTY; 8];
+    let mut rx_udp_buf = [0; MTU];
+    let mut tx_udp_buf = [0; MTU];
+    let mut rx_buffer = [0; MTU];
+
+    loop {
+        stack.wait_link_up().await;
+        defmt::info!("Network link is up");
+
+        // Ensure DHCP configuration is up before trying connect
+        stack.wait_config_up().await;
+        defmt::info!("Network task initialized, config: {}", stack.config_v4());
+
+        let mut udp = UdpSocket::new(
+            stack,
+            &mut rx_udp_meta,
+            &mut rx_udp_buf,
+            &mut tx_udp_meta,
+            &mut tx_udp_buf,
+        );
+        if let Err(e) = udp.bind(PORT) {
+            defmt::error!("Failed to bind UDP socket: {}", e);
+            Timer::after_secs(1).await;
+            continue;
+        }
+        defmt::info!("UDP socket bound to port {}", PORT);
+        let mut remote_endpoint = None;
+        loop {
+            match select3(
+                udp.recv_from(&mut rx_buffer),
+                tm_rx.receive(),
+                stack.wait_link_down(),
+            )
+            .await
+            {
+                Either3::First(Ok((len, meta))) => {
+                    remote_endpoint = Some(meta.endpoint);
+                    let embassy_net::IpAddress::Ipv4(sender_ip) = meta.endpoint.addr;
+
+                    LAST_SENDER.lock(|val| {
+                        val.set(Some(sender_ip));
+                    });
+
+                    defmt::debug!("UDP RX {}, Meta: {}", len, meta);
+                    tc_tx.send(rx_buffer[0..len].to_vec()).await;
+                    // Incoming TCs take priority in the select. Draining TM here prevents a burst
+                    // of TCs from overflowing the TM queue. This could lead to a task deadlock
+                    // where each task is waiting on each other.
+                    while let Ok(packet) = tm_rx.try_receive() {
+                        handle_tm(&packet, &mut udp, &remote_endpoint).await;
+                    }
+                }
+                Either3::First(Err(e)) => {
+                    defmt::warn!("udp receive error: {}", e);
+                    Timer::after_millis(100).await;
+                }
+                // TM is only generated as a response to a TC, so the endpoint is usually known.
+                Either3::Second(packet) => handle_tm(&packet, &mut udp, &remote_endpoint).await,
+                Either3::Third(()) => {
+                    defmt::warn!("Network link is down");
+                    break;
+                }
+            }
+        }
+    }
+}
+
+async fn handle_tm(
+    packet: &[u8],
+    udp_socket: &mut UdpSocket<'_>,
+    remote_endpoint: &Option<IpEndpoint>,
+) {
+    match remote_endpoint {
+        Some(endpoint) => match udp_socket.send_to(packet, *endpoint).await {
+            Ok(_) => {
+                defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint)
+            }
+            Err(e) => defmt::warn!("udp send error: {}", e),
+        },
+        None => defmt::warn!("dropping TM, no remote endpoint known"),
+    };
+}
@@ -0,0 +1,116 @@
+//! UDP client for the minisim, which simulates the devices of the OBSW.
+
+use core::net::{Ipv4Addr, SocketAddrV4};
+
+use defmt::Debug2Format;
+use embassy_futures::select::{Either, select};
+use embassy_net::udp::{PacketMetadata, UdpSocket};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::signal::Signal;
+use embassy_sync::watch::Watch;
+use embassy_time::{Duration, WithTimeout as _};
+use minisim_types::udp::SIM_CTRL_PORT;
+use minisim_types::{SimCtrlReply, SimCtrlRequest, SimReply, SimRequestWithTime};
+
+/// Set by a sim connect request. Each new address triggers a connection attempt.
+pub static SIM_HOST: Signal<CriticalSectionRawMutex, Ipv4Addr> = Signal::new();
+
+/// IP address of the host running the minisim, set at build time. Without it, no connection
+/// to a simulator is attempted until a sim connect request is received.
+const SIM_FROM_ENV: Option<&str> = option_env!("SIM_IP_ADDR");
+
+const PING_ATTEMPTS: usize = 3;
+const PING_TIMEOUT: Duration = Duration::from_millis(500);
+const MAX_PACKET_LEN: usize = 1024;
+
+/// Result of the connection check. Device handlers use it to pick either the simulator or a
+/// dummy interface.
+pub static SIM_AVAILABLE: Watch<CriticalSectionRawMutex, bool, 4> = Watch::new();
+
+pub async fn sim_client_task(stack: embassy_net::Stack<'static>) {
+    let mut rx_meta = [PacketMetadata::EMPTY; 4];
+    let mut tx_meta = [PacketMetadata::EMPTY; 4];
+    let mut rx_buf = [0; MAX_PACKET_LEN];
+    let mut tx_buf = [0; MAX_PACKET_LEN];
+
+    let sim_available = SIM_AVAILABLE.sender();
+    sim_available.send(false);
+
+    // Bound to an ephemeral port without a fixed local address, so the socket survives a new
+    // DHCP lease and does not need to be recreated after a link loss.
+    let mut udp = UdpSocket::new(stack, &mut rx_meta, &mut rx_buf, &mut tx_meta, &mut tx_buf);
+    if let Err(e) = udp.bind(0) {
+        defmt::error!("Failed to bind simulator UDP socket: {}", e);
+        return;
+    }
+    let mut sim_addr = sim_addr_from_env();
+
+    loop {
+        stack.wait_link_up().await;
+        stack.wait_config_up().await;
+        loop {
+            if let Some(addr) = sim_addr {
+                let connected = check_connection(&udp, addr).await;
+                if connected {
+                    defmt::info!("Connected to simulator at {}", Debug2Format(&addr));
+                } else {
+                    defmt::warn!(
+                        "Simulator at {} not reachable, using dummy interfaces",
+                        Debug2Format(&addr)
+                    );
+                }
+                sim_available.send(connected);
+            }
+            match select(SIM_HOST.wait(), stack.wait_link_down()).await {
+                Either::First(ip_addr) => {
+                    sim_addr = Some(SocketAddrV4::new(ip_addr, SIM_CTRL_PORT));
+                }
+                Either::Second(()) => {
+                    sim_available.send(false);
+                    break;
+                }
+            }
+        }
+    }
+}
+
+fn sim_addr_from_env() -> Option<SocketAddrV4> {
+    let ip_addr = SIM_FROM_ENV?;
+    match ip_addr.parse::<Ipv4Addr>() {
+        Ok(ip_addr) => Some(SocketAddrV4::new(ip_addr, SIM_CTRL_PORT)),
+        Err(_) => {
+            defmt::error!("Invalid simulator IP address {}", ip_addr);
+            None
+        }
+    }
+}
+
+/// Uses several attempts, because the first packet can get lost while the MAC address of the
+/// simulator host is resolved.
+async fn check_connection(udp: &UdpSocket<'_>, sim_addr: SocketAddrV4) -> bool {
+    let mut tx_buf = [0; MAX_PACKET_LEN];
+    let mut rx_buf = [0; MAX_PACKET_LEN];
+    let request = SimRequestWithTime::new_with_epoch_time(SimCtrlRequest::Ping);
+    let ping = match postcard::to_slice(&request, &mut tx_buf) {
+        Ok(ping) => ping,
+        Err(e) => {
+            defmt::error!("Failed to serialize simulator ping: {}", Debug2Format(&e));
+            return false;
+        }
+    };
+    for _ in 0..PING_ATTEMPTS {
+        if let Err(e) = udp.send_to(ping, sim_addr).await {
+            defmt::warn!("Failed to send simulator ping: {}", e);
+            continue;
+        }
+        if let Ok(Ok((len, _))) = udp.recv_from(&mut rx_buf).with_timeout(PING_TIMEOUT).await
+            && matches!(
+                postcard::from_bytes::<SimReply>(&rx_buf[..len]),
+                Ok(SimReply::SimCtrl(SimCtrlReply::Pong))
+            )
+        {
+            return true;
+        }
+    }
+    false
+}
@@ -0,0 +1,157 @@
+use alloc::vec::Vec;
+use arbitrary_int::u14;
+use defmt::Debug2Format;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::channel::{Channel, Receiver, Sender};
+use spacepackets::{CcsdsPacketIdAndPsc, CcsdsPacketReader, SpHeader};
+use types::ccsds::{CcsdsCreationError, CcsdsTmPacketOwned};
+use types::{Apid, ComponentId, Message, TcHeader, TmHeader, control, led, tmtc};
+
+use crate::leds::LED_MODE;
+use crate::net::LAST_SENDER;
+use crate::sim_client;
+
+pub const TC_QUEUE_DEPTH: usize = 32;
+pub const TM_QUEUE_DEPTH: usize = 32;
+
+pub type TcChannel = Channel<NoopRawMutex, Vec<u8>, TC_QUEUE_DEPTH>;
+pub type TmChannel = Channel<NoopRawMutex, Vec<u8>, TM_QUEUE_DEPTH>;
+
+pub type TcSender = Sender<'static, NoopRawMutex, Vec<u8>, TC_QUEUE_DEPTH>;
+pub type TcReceiver = Receiver<'static, NoopRawMutex, Vec<u8>, TC_QUEUE_DEPTH>;
+pub type TmSender = Sender<'static, NoopRawMutex, Vec<u8>, TM_QUEUE_DEPTH>;
+pub type TmReceiver = Receiver<'static, NoopRawMutex, Vec<u8>, TM_QUEUE_DEPTH>;
+
+pub async fn tc_handler(tc_rx: TcReceiver, telemetry: &mut Telemetry) {
+    loop {
+        let tc = tc_rx.receive().await;
+        let packet = match CcsdsPacketReader::new_with_checksum(&tc) {
+            Ok(packet) => packet,
+            Err(e) => {
+                defmt::warn!("Failed to parse received TC packet: {}", e);
+                send_tmtc_event(telemetry, tmtc::Event::InvalidTcPacket).await;
+                continue;
+            }
+        };
+        let tc_id = CcsdsPacketIdAndPsc {
+            packet_id: packet.packet_id(),
+            psc: packet.psc(),
+        };
+        let Ok((tc_header, payload)) = postcard::take_from_bytes::<TcHeader>(packet.user_data())
+        else {
+            defmt::warn!("Failed to deserialize TC header");
+            send_tmtc_event(telemetry, tmtc::Event::InvalidTcHeader).await;
+            continue;
+        };
+        match tc_header.target_id {
+            ComponentId::Controller => handle_controller_tc(payload, tc_id, telemetry).await,
+            ComponentId::Led => handle_led_tc(payload, tc_id, telemetry).await,
+            target_id => {
+                defmt::warn!("No TC handler for target ID {}", Debug2Format(&target_id));
+                send_tmtc_event(telemetry, tmtc::Event::UnknownTargetId(target_id)).await;
+            }
+        }
+    }
+}
+
+/// All TCs are received via UDP, so the UDP server is the sender of TMTC events.
+async fn send_tmtc_event(telemetry: &mut Telemetry, event: tmtc::Event) {
+    telemetry.send(ComponentId::UdpServer, None, &event).await;
+}
+
+/// The controller does not control anything yet, but handles generic requests like pings.
+async fn handle_controller_tc(
+    payload: &[u8],
+    tc_id: CcsdsPacketIdAndPsc,
+    telemetry: &mut Telemetry,
+) {
+    let Ok(request) = postcard::from_bytes::<control::request::Request>(payload) else {
+        defmt::warn!("Failed to deserialize controller request");
+        return;
+    };
+    match request {
+        control::request::Request::Ping => defmt::info!("Received controller ping request"),
+        control::request::Request::TestEvent => {
+            defmt::info!("Received test event request");
+            let event = types::Event::ControllerEvent(control::Event::TestEvent);
+            telemetry.send(ComponentId::Controller, None, &event).await;
+        }
+        control::request::Request::SimConnect(opt_ipv4_addr) => match opt_ipv4_addr {
+            Some(ipv4_addr) => sim_client::SIM_HOST.signal(ipv4_addr),
+            None => {
+                // If the UDP socket has received anything, the last sender should be stored and
+                // we use that IP address.
+                let opt_last_sender = LAST_SENDER.lock(|val| val.clone());
+                match opt_last_sender.get() {
+                    Some(last_sender) => sim_client::SIM_HOST.signal(last_sender),
+                    None => defmt::warn!("SimConnect without IP and no known sender"),
+                }
+            }
+        },
+    }
+    telemetry
+        .send(
+            ComponentId::Controller,
+            Some(tc_id),
+            &control::response::Response::Ok,
+        )
+        .await;
+}
+
+async fn handle_led_tc(payload: &[u8], tc_id: CcsdsPacketIdAndPsc, telemetry: &mut Telemetry) {
+    let Ok(request) = postcard::from_bytes::<led::request::Request>(payload) else {
+        defmt::warn!("Failed to deserialize LED request");
+        return;
+    };
+    match request {
+        led::request::Request::Ping => defmt::info!("Received LED ping request"),
+        led::request::Request::SetMode(mode) => {
+            defmt::info!("Received LED mode request: {}", Debug2Format(&mode));
+            LED_MODE.signal(mode);
+        }
+    }
+    telemetry
+        .send(ComponentId::Led, Some(tc_id), &led::response::Response::Ok)
+        .await;
+}
+
+/// Packs TM and passes it to the UDP task.
+pub struct Telemetry {
+    tx: TmSender,
+    sequence_count: u14,
+}
+
+impl Telemetry {
+    pub fn new(tx: TmSender) -> Self {
+        Self {
+            tx,
+            sequence_count: u14::new(0),
+        }
+    }
+
+    /// TM without a TC ID is sent unsolicited, for example events.
+    async fn send(
+        &mut self,
+        sender_id: ComponentId,
+        tc_id: Option<CcsdsPacketIdAndPsc>,
+        payload: &(impl serde::Serialize + Message),
+    ) {
+        let sp_header = SpHeader::new_for_unseg_tm(Apid::Tmtc.raw_value(), self.sequence_count, 0);
+        let tm_header = TmHeader::new_without_timestamp(
+            sender_id,
+            ComponentId::Ground,
+            payload.message_type(),
+            tc_id,
+        );
+        match CcsdsTmPacketOwned::new_with_serde_payload(sp_header, &tm_header, payload)
+            .map_err(CcsdsCreationError::from)
+            .and_then(|packet| packet.try_to_vec())
+        {
+            Ok(raw_packet) => {
+                self.tx.send(raw_packet).await;
+                self.sequence_count = self.sequence_count.wrapping_add(u14::new(1));
+            }
+            Err(e) => defmt::warn!("Failed to create TM packet: {}", Debug2Format(&e)),
+        }
+    }
+}
@@ -0,0 +1,32 @@
+[package]
+name = "stm32h7-nucleo-embassy"
+edition = "2024"
+version = "0.1.0"
+default-run = "stm32h7-nucleo-embassy"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+shared-embedded.workspace = true
+
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+defmt.workspace = true
+defmt-rtt.workspace = true
+panic-probe.workspace = true
+embedded-alloc.workspace = true
+static_cell.workspace = true
+
+embassy-stm32 = { workspace = true, features = ["memory-x", "time-driver-any"] }
+embassy-executor.workspace = true
+embassy-time = { workspace = true, features = ["defmt-timestamp-uptime-ms"] }
+embassy-net.workspace = true
+
+[dev-dependencies]
+defmt-test.workspace = true
@@ -0,0 +1,15 @@
+use std::path::PathBuf;
+use std::{env, fs};
+
+fn main() {
+    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
+    // The configuration is shared by all applications of the embedded workspace.
+    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 +1,43 @@
+//! Blinks an LED
+//!
+//! This assumes that LD1 (green) is connected to PB0, LD2 (yellow) to PE1 and LD3 (red) to
+//! PB14. This assumption is true for the MB1364 Nucleo-144 board, for example the
+//! NUCLEO-H753ZI.
+
+#![no_std]
+#![no_main]
+use embassy_executor::Spawner;
+use embassy_stm32::gpio;
+use stm32h7_nucleo_embassy as _;
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_stm32::init(Default::default());
+    defmt::info!("Hello World!");
+    let ld1 = gpio::Output::new(p.PB0, gpio::Level::High, gpio::Speed::Low);
+    let ld2 = gpio::Output::new(p.PE1, gpio::Level::High, gpio::Speed::Low);
+    let ld3 = gpio::Output::new(p.PB14, gpio::Level::High, gpio::Speed::Low);
+
+    spawner.spawn(blink(ld1, ld2, ld3).expect("spawning blink task failed"));
+}
+
+#[embassy_executor::task]
+async fn blink(
+    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 stm32h7_nucleo_embassy as _;
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    loop {
+        defmt::println!("Hello, world!");
+        cortex_m::asm::delay(100_000_000);
+    }
+}
@@ -1,15 +1,27 @@
 #![no_main]
 #![no_std]

-use cortex_m_semihosting::debug;
-
-use defmt_brtt as _; // global logger
-
-// TODO(5) adjust HAL import
-use stm32h7xx_hal as _; // memory layout
-
+use defmt_rtt as _;
+use embassy_stm32 as _;
 use panic_probe as _;

+use core::mem::MaybeUninit;
+use embedded_alloc::LlffHeap as Heap;
+
+const HEAP_SIZE: usize = 131_072;
+
+// Part of the library, because all binaries depend on crates which require an allocator.
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+/// # Safety
+///
+/// Must be called exactly once, before the first allocation.
+pub unsafe fn init_heap() {
+    static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+    unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
+}
+
 // 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]
@@ -17,14 +29,6 @@ fn panic() -> ! {
    cortex_m::asm::udf()
 }

-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(debug::EXIT_SUCCESS);
-    }
-}
-
 /// Hardfault handler.
 ///
 /// Terminates the application and makes a semihosting-capable debug tool exit
@@ -32,14 +36,9 @@ pub fn exit() -> ! {
 /// loop.
 #[cortex_m_rt::exception]
 unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(debug::EXIT_FAILURE);
-    }
+    panic!("unexpected hard fault");
 }

-// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
-// 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 {
@@ -0,0 +1,150 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use embassy_executor::Spawner;
+use embassy_net::StackResources;
+use embassy_stm32::{bind_interrupts, eth, gpio, peripherals, rng};
+use static_cell::{ConstStaticCell, StaticCell};
+
+bind_interrupts!(struct Irqs {
+    ETH => eth::InterruptHandler;
+    HASH_RNG => rng::InterruptHandler<peripherals::RNG>;
+});
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    defmt::println!("Starting sat-rs demo application for the STM32H753ZIT");
+
+    // Safety: Called once, before the first allocation.
+    unsafe { stm32h7_nucleo_embassy::init_heap() };
+
+    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,
+            divp: Some(PllDiv::DIV2),
+            divq: None,
+            divr: None,
+        });
+        config.rcc.sys = Sysclk::PLL1_P; // 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 green_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
+    let leds = shared_embedded::leds::Leds {
+        red: gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium),
+        orange: gpio::Output::new(periphs.PE1, gpio::Level::Low, gpio::Speed::Medium),
+    };
+
+    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
+        shared_embedded::net::MAC_ADDRESS,
+        periphs.ETH_SMA,
+        periphs.PA2, // mdio
+        periphs.PC1, // mdc
+    );
+
+    let net_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);
+
+    // DHCP, TMTC and simulator socket.
+    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+    let (stack, runner) = embassy_net::new(
+        device,
+        net_config,
+        RESOURCES.init(StackResources::new()),
+        seed,
+    );
+
+    static TC_CHANNEL: ConstStaticCell<shared_embedded::tmtc::TcChannel> =
+        ConstStaticCell::new(shared_embedded::tmtc::TcChannel::new());
+    let tc_channel = TC_CHANNEL.take();
+    static TM_CHANNEL: ConstStaticCell<shared_embedded::tmtc::TmChannel> =
+        ConstStaticCell::new(shared_embedded::tmtc::TmChannel::new());
+    let tm_channel = TM_CHANNEL.take();
+
+    spawner.spawn(net_stack_task(runner).expect("spawning net stack task failed"));
+    spawner.spawn(sim_client_task(stack).expect("spawning sim client task failed"));
+    spawner.spawn(
+        udp_task(stack, tc_channel.sender(), tm_channel.receiver())
+            .expect("spawning UDP task failed"),
+    );
+    spawner.spawn(heartbeat(green_led).expect("spawning heartbeat task failed"));
+    spawner.spawn(led_task(leds).expect("spawning LED task failed"));
+    spawner.spawn(
+        tc_handler(
+            tc_channel.receiver(),
+            shared_embedded::tmtc::Telemetry::new(tm_channel.sender()),
+        )
+        .expect("spawning TC handler task failed"),
+    );
+}
+
+#[embassy_executor::task]
+async fn net_stack_task(
+    mut runner: embassy_net::Runner<'static, shared_embedded::net::Device>,
+) -> ! {
+    shared_embedded::net::net_stack_task(&mut runner).await
+}
+
+#[embassy_executor::task]
+async fn udp_task(
+    stack: embassy_net::Stack<'static>,
+    tc_tx: shared_embedded::tmtc::TcSender,
+    tm_rx: shared_embedded::tmtc::TmReceiver,
+) {
+    shared_embedded::net::udp_task(stack, tc_tx, tm_rx).await
+}
+
+#[embassy_executor::task]
+async fn sim_client_task(stack: embassy_net::Stack<'static>) {
+    shared_embedded::sim_client::sim_client_task(stack).await
+}
+
+#[embassy_executor::task]
+async fn heartbeat(mut led: gpio::Output<'static>) {
+    shared_embedded::leds::heartbeat(&mut led).await
+}
+
+#[embassy_executor::task]
+async fn led_task(mut leds: shared_embedded::leds::Leds) {
+    shared_embedded::leds::led_task(&mut leds).await
+}
+
+#[embassy_executor::task]
+async fn tc_handler(
+    tc_rx: shared_embedded::tmtc::TcReceiver,
+    mut telemetry: shared_embedded::tmtc::Telemetry,
+) {
+    shared_embedded::tmtc::tc_handler(tc_rx, &mut telemetry).await
+}
@@ -0,0 +1,16 @@
+#![no_std]
+#![no_main]
+
+use stm32h7_nucleo_embassy 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 +1,32 @@
+[package]
+name = "stm32h7-nucleo-rtic"
+edition = "2024"
+version = "0.1.0"
+default-run = "stm32h7-nucleo-rtic"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+shared-embedded.workspace = true
+
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+defmt.workspace = true
+defmt-rtt.workspace = true
+panic-probe.workspace = true
+embedded-alloc.workspace = true
+static_cell.workspace = true
+rtic.workspace = true
+
+embassy-stm32 = { workspace = true, features = ["memory-x", "time-driver-any"] }
+embassy-time = { workspace = true, features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
+embassy-net.workspace = true
+
+[dev-dependencies]
+defmt-test.workspace = true
@@ -0,0 +1,15 @@
+use std::path::PathBuf;
+use std::{env, fs};
+
+fn main() {
+    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
+    // The configuration is shared by all applications of the embedded workspace.
+    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 +1,58 @@
+//! Blinks an LED
+//!
+//! This assumes that LD1 (green) is connected to PB0, LD2 (yellow) to PE1 and LD3 (red) to
+//! PB14. This assumption is true for the MB1364 Nucleo-144 board, for example the
+//! NUCLEO-H753ZI.
+
+#![no_std]
+#![no_main]
+use rtic::app;
+use 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.PE1, 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 stm32h7_nucleo_rtic as _;
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    loop {
+        defmt::println!("Hello, world!");
+        cortex_m::asm::delay(100_000_000);
+    }
+}
@@ -1,14 +1,27 @@
 #![no_main]
 #![no_std]

-use cortex_m_semihosting::debug;
-
-use defmt_brtt as _; // global logger
-
-use stm32f3xx_hal as _; // memory layout
-
+use defmt_rtt as _;
+use embassy_stm32 as _;
 use panic_probe as _;

+use core::mem::MaybeUninit;
+use embedded_alloc::LlffHeap as Heap;
+
+const HEAP_SIZE: usize = 131_072;
+
+// Part of the library, because all binaries depend on crates which require an allocator.
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+/// # Safety
+///
+/// Must be called exactly once, before the first allocation.
+pub unsafe fn init_heap() {
+    static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+    unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
+}
+
 // 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]
@@ -16,14 +29,6 @@ fn panic() -> ! {
    cortex_m::asm::udf()
 }

-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(debug::EXIT_SUCCESS);
-    }
-}
-
 /// Hardfault handler.
 ///
 /// Terminates the application and makes a semihosting-capable debug tool exit
@@ -31,9 +36,7 @@ pub fn exit() -> ! {
 /// loop.
 #[cortex_m_rt::exception]
 unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(debug::EXIT_FAILURE);
-    }
+    panic!("unexpected hard fault");
 }

 // defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
@@ -0,0 +1,163 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+
+#[app(device = embassy_stm32, peripherals = false)]
+mod app {
+    use embassy_net::StackResources;
+    use embassy_stm32::{bind_interrupts, eth, gpio, peripherals, rng};
+    use static_cell::{ConstStaticCell, StaticCell};
+
+    bind_interrupts!(struct Irqs {
+        ETH => eth::InterruptHandler;
+        HASH_RNG => rng::InterruptHandler<peripherals::RNG>;
+    });
+
+    #[local]
+    struct Local {
+        net_runner: embassy_net::Runner<'static, shared_embedded::net::Device>,
+        net_stack: embassy_net::Stack<'static>,
+        sim_net_stack: embassy_net::Stack<'static>,
+        leds: shared_embedded::leds::Leds,
+        green_led: gpio::Output<'static>,
+        tc_rx: shared_embedded::tmtc::TcReceiver,
+        tc_tx: shared_embedded::tmtc::TcSender,
+        tm_rx: shared_embedded::tmtc::TmReceiver,
+        telemetry: shared_embedded::tmtc::Telemetry,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        defmt::println!("Starting sat-rs demo application for the STM32H753ZIT");
+
+        // Safety: Called once, before the first allocation.
+        unsafe { stm32h7_nucleo_rtic::init_heap() };
+
+        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,
+                divp: Some(PllDiv::DIV2),
+                divq: None,
+                divr: None,
+            });
+            config.rcc.sys = Sysclk::PLL1_P; // 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 green_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
+        let leds = shared_embedded::leds::Leds {
+            red: gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium),
+            orange: gpio::Output::new(periphs.PE1, gpio::Level::Low, gpio::Speed::Medium),
+        };
+
+        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
+            shared_embedded::net::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);
+
+        // DHCP, TMTC and simulator socket.
+        static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+        let (stack, runner) =
+            embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
+
+        static TC_CHANNEL: ConstStaticCell<shared_embedded::tmtc::TcChannel> =
+            ConstStaticCell::new(shared_embedded::tmtc::TcChannel::new());
+        let tc_channel = TC_CHANNEL.take();
+        static TM_CHANNEL: ConstStaticCell<shared_embedded::tmtc::TmChannel> =
+            ConstStaticCell::new(shared_embedded::tmtc::TmChannel::new());
+        let tm_channel = TM_CHANNEL.take();
+
+        net_lib_task::spawn().expect("spawning net library task failed");
+        udp_task::spawn().expect("spawning UDP task failed");
+        sim_client_task::spawn().expect("spawning sim client task failed");
+        heartbeat::spawn().expect("spawning heartbeat task failed");
+        led_task::spawn().expect("spawning LED task failed");
+        tc_handler::spawn().expect("spawning TC handler task failed");
+
+        (
+            Shared {},
+            Local {
+                green_led,
+                leds,
+                net_runner: runner,
+                net_stack: stack,
+                sim_net_stack: stack,
+                tc_tx: tc_channel.sender(),
+                tc_rx: tc_channel.receiver(),
+                telemetry: shared_embedded::tmtc::Telemetry::new(tm_channel.sender()),
+                tm_rx: tm_channel.receiver(),
+            },
+        )
+    }
+
+    #[task(local = [green_led])]
+    async fn heartbeat(cx: heartbeat::Context) {
+        shared_embedded::leds::heartbeat(cx.local.green_led).await;
+    }
+
+    #[task(local = [leds])]
+    async fn led_task(cx: led_task::Context) {
+        shared_embedded::leds::led_task(cx.local.leds).await;
+    }
+
+    #[task(local = [net_runner])]
+    async fn net_lib_task(cx: net_lib_task::Context) {
+        shared_embedded::net::net_stack_task(cx.local.net_runner).await;
+    }
+
+    #[task(local = [net_stack, tc_tx, tm_rx])]
+    async fn udp_task(cx: udp_task::Context) {
+        shared_embedded::net::udp_task(*cx.local.net_stack, *cx.local.tc_tx, *cx.local.tm_rx).await;
+    }
+
+    #[task(local = [sim_net_stack])]
+    async fn sim_client_task(cx: sim_client_task::Context) {
+        shared_embedded::sim_client::sim_client_task(*cx.local.sim_net_stack).await;
+    }
+
+    #[task(local = [tc_rx, telemetry])]
+    async fn tc_handler(cx: tc_handler::Context) {
+        shared_embedded::tmtc::tc_handler(*cx.local.tc_rx, cx.local.telemetry).await;
+    }
+}
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]

-use stm32h7_testapp as _; // memory layout + panic handler
+use 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)
@@ -7,3 +7,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]
+
+# [v0.1.1] 2024-02-21
+
+satrs v0.2.0-rc.0
+satrs-mib v0.1.1
+
+# [v0.1.0] 2024-02-13
+
+satrs v0.1.1
+satrs-mib v0.1.0
@@ -0,0 +1,38 @@
+[package]
+name = "example-std"
+version = "0.1.1"
+edition = "2024"
+default-run = "example-std"
+repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+
+[dependencies]
+fern = "0.7"
+chrono = "0.4"
+log = "0.4"
+crossbeam-channel = "0.5"
+delegate = "0.13"
+zerocopy = "0.8"
+csv = "1"
+num_enum = "0.7"
+thiserror = "2"
+lazy_static = "1"
+strum = { version = "0.28", features = ["derive"] }
+derive-new = "0.7"
+cfg-if = "1"
+arbitrary-int = "2"
+bitbybit = "2"
+postcard = { version = "1", features = ["alloc"] }
+ctrlc = "3"
+serde = { version = "1", features = ["derive"] }
+
+satrs = { path = "../../satrs", features = ["test_util"] }
+types = { path = "../types" }
+minisim-types = { path = "../minisim-types" }
+satrs-mib = { path = "../../satrs-mib" }
+
+[features]
+# default = ["heap_tmtc"]
+# heap_tmtc = []
+
+[dev-dependencies]
+env_logger = "0.11"
@@ -0,0 +1,57 @@
+sat-rs example
+======
+
+This crate contains an example application which simulates an on-board software.
+It uses various components provided by the sat-rs framework to do this. As such, it shows how
+a more complex real on-board software could be built from these components. It is recommended to
+read the dedicated
+[example chapters](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
+the sat-rs book.
+
+The application opens a UDP and a TCP server on port 7301 to receive telecommands.
+
+You can run the application using `cargo run`.
+
+# Features
+
+The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
+TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
+stores.
+
+You can run the application without this feature using
+
+```sh
+cargo run --no-default-features
+```
+
+# Interacting with the sat-rs example
+
+The `client` crate is a command line client which sends telecommands to the example application
+and prints the received telemetry. For example, you can ping the application or switch MGM 0
+to normal mode like this:
+
+```sh
+cargo run -p client -- --ping
+cargo run -p client -- mgm0 -m normal
+```
+
+Use `cargo run -p client -- --help` to list all available commands.
+
+## Adding the mini simulator application
+
+This example application features a few device handlers. The
+[`minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/examples/minisim)
+can be used to simulate the physical devices managed by these device handlers.
+
+The example application will attempt communication with the mini simulator on UDP port 7303.
+If this works, the device handlers will use communication interfaces dedicated to the communication
+with the mini simulator. Otherwise, they will be replaced by dummy interfaces which either
+return constant values or behave like ideal devices.
+
+In summary, you can use the following command command to run the mini-simulator first:
+
+```sh
+cargo run -p minisim
+```
+
+and then start the example using `cargo run -p example-std`.
@@ -0,0 +1,118 @@
+use std::sync::mpsc::{Receiver, SyncSender, TryRecvError};
+
+use types::acs::ctrl::{Mode, request::ModeRequest, response::ModeReport};
+
+/// Helper component for communication with a parent component, which is usually an assembly
+/// or a subsystem.
+pub struct ModeLeafHelper {
+    pub request_rx: Receiver<ModeRequest>,
+    pub report_tx: SyncSender<ModeReport>,
+}
+
+/// Dummy ACS controller. It has no actual control law and reaches any commanded mode
+/// immediately, which is sufficient to exercise the mode commanding of its parent subsystem.
+pub struct Controller {
+    mode: Mode,
+    mode_leaf_helper: ModeLeafHelper,
+}
+
+impl Controller {
+    pub fn new(mode_leaf_helper: ModeLeafHelper) -> Self {
+        Self {
+            mode: Mode::Passive,
+            mode_leaf_helper,
+        }
+    }
+
+    #[allow(dead_code)]
+    #[inline]
+    pub fn mode(&self) -> Mode {
+        self.mode
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.handle_mode_leaf_handling();
+    }
+
+    fn handle_mode_leaf_handling(&mut self) {
+        loop {
+            match self.mode_leaf_helper.request_rx.try_recv() {
+                Ok(request) => match request {
+                    ModeRequest::SetMode(mode) => {
+                        log::info!("ACS controller: transitioning to mode {:?}", mode);
+                        self.mode = mode;
+                        self.report_mode();
+                    }
+                    ModeRequest::ReadMode => self.report_mode(),
+                },
+                Err(e) => match e {
+                    TryRecvError::Empty => break,
+                    TryRecvError::Disconnected => log::warn!("packet sender disconnected"),
+                },
+            }
+        }
+    }
+
+    fn report_mode(&self) {
+        self.mode_leaf_helper
+            .report_tx
+            .send(ModeReport::Mode(self.mode))
+            .expect("failed to send mode report to parent");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::sync::mpsc;
+
+    use super::*;
+
+    struct ControllerTestbench {
+        request_tx: SyncSender<ModeRequest>,
+        report_rx: Receiver<ModeReport>,
+        controller: Controller,
+    }
+
+    impl ControllerTestbench {
+        fn new() -> Self {
+            let (request_tx, request_rx) = mpsc::sync_channel(5);
+            let (report_tx, report_rx) = mpsc::sync_channel(5);
+            Self {
+                request_tx,
+                report_rx,
+                controller: Controller::new(ModeLeafHelper {
+                    request_rx,
+                    report_tx,
+                }),
+            }
+        }
+    }
+
+    #[test]
+    fn test_initial_mode() {
+        let testbench = ControllerTestbench::new();
+        assert_eq!(testbench.controller.mode(), Mode::Passive);
+    }
+
+    #[test]
+    fn test_set_mode() {
+        let mut testbench = ControllerTestbench::new();
+        testbench
+            .request_tx
+            .send(ModeRequest::SetMode(Mode::Safe))
+            .unwrap();
+        testbench.controller.periodic_operation();
+        assert_eq!(testbench.controller.mode(), Mode::Safe);
+        let report = testbench.report_rx.try_recv().expect("no mode report sent");
+        assert_eq!(report, ModeReport::Mode(Mode::Safe));
+    }
+
+    #[test]
+    fn test_read_mode() {
+        let mut testbench = ControllerTestbench::new();
+        testbench.request_tx.send(ModeRequest::ReadMode).unwrap();
+        testbench.controller.periodic_operation();
+        let report = testbench.report_rx.try_recv().expect("no mode report sent");
+        assert_eq!(report, ModeReport::Mode(Mode::Passive));
+    }
+}