continue with subsystem

embedded-examples/stm32f3-disco-rtic/Cargo.lock

@@ -13,9 +13,9 @@ dependencies = [
 
 [[package]]
 name = "aligned"
-version = "0.4.3"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee4508988c62edf04abd8d92897fca0c2995d907ce1dfeaf369dac3716a40685"
+checksum = "377e4c0ba83e4431b10df45c1d4666f178ea9c552cac93e60c3a88bf32785923"
 dependencies = [
  "as-slice",
 ]
@@ -90,7 +90,7 @@ dependencies = [
  "arbitrary-int 1.3.0",
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -202,7 +202,7 @@ checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -255,7 +255,7 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -266,7 +266,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -298,7 +298,7 @@ dependencies = [
  "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -322,24 +322,25 @@ dependencies = [
 
 [[package]]
 name = "defmt-test"
-version = "0.5.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1d326e211b94939affafdf96f5c1baf8745b960037dcf763f813597d32b03d51"
+checksum = "24076cc7203c365e7febfcec15d6667a9ef780bd2c5fd3b2a197400df78f299b"
 dependencies = [
+ "cortex-m-rt",
+ "cortex-m-semihosting",
  "defmt 1.0.1",
  "defmt-test-macros",
- "semihosting",
 ]
 
 [[package]]
 name = "defmt-test-macros"
-version = "0.3.3"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a7563a5468e1a1bd97f44cb75b658c2feec75af2b1389e70f4c0677b8402edd"
+checksum = "fe5520fd36862f281c026abeaab153ebbc001717c29a9b8e5ba9704d8f3a879d"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -350,7 +351,7 @@ checksum = "6178a82cf56c836a3ba61a7935cdb1c49bfaa6fa4327cd5bf554a503087de26b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -364,15 +365,14 @@ dependencies = [
 
 [[package]]
 name = "embassy-embedded-hal"
-version = "0.6.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0641612053b2f34fc250bb63f6630ae75de46e02ade7f457268447081d709ce"
+checksum = "554e3e840696f54b4c9afcf28a0f24da431c927f4151040020416e7393d6d0d8"
 dependencies = [
  "defmt 1.0.1",
  "embassy-futures",
- "embassy-hal-internal 0.4.0",
+ "embassy-hal-internal",
  "embassy-sync",
- "embassy-time",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
@@ -381,12 +381,6 @@ dependencies = [
  "nb 1.1.0",
 ]
 
-[[package]]
-name = "embassy-executor-timer-queue"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fc328bf943af66b80b98755db9106bf7e7471b0cf47dc8559cd9a6be504cc9c"
-
 [[package]]
 name = "embassy-futures"
 version = "0.1.2"
@@ -395,18 +389,9 @@ checksum = "dc2d050bdc5c21e0862a89256ed8029ae6c290a93aecefc73084b3002cdebb01"
 
 [[package]]
 name = "embassy-hal-internal"
-version = "0.4.0"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f10ce10a4dfdf6402d8e9bd63128986b96a736b1a0a6680547ed2ac55d55dba"
+checksum = "95285007a91b619dc9f26ea8f55452aa6c60f7115a4edc05085cd2bd3127cd7a"
-dependencies = [
- "num-traits",
-]
-
-[[package]]
-name = "embassy-hal-internal"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "568659fc53866d3d85c60fa33723fb751aa69e71507634fc2c19e7649432fb75"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -425,9 +410,9 @@ dependencies = [
 
 [[package]]
 name = "embassy-stm32"
-version = "0.6.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "486c0622deb5a519fc4d2cb8e3ef324f7568fcdfff201ff8fcab46557d663ceb"
+checksum = "0d972eab325cc96afee98f80a91ca6b00249b6356dc0fdbff68b70c200df9fae"
 dependencies = [
  "aligned",
  "bit_field",
@@ -441,12 +426,10 @@ dependencies = [
  "document-features",
  "embassy-embedded-hal",
  "embassy-futures",
- "embassy-hal-internal 0.5.0",
+ "embassy-hal-internal",
  "embassy-net-driver",
  "embassy-sync",
  "embassy-time",
- "embassy-time-driver",
- "embassy-time-queue-utils",
  "embassy-usb-driver",
  "embassy-usb-synopsys-otg",
  "embedded-can",
@@ -454,54 +437,50 @@ dependencies = [
  "embedded-hal 1.0.0",
  "embedded-hal-async",
  "embedded-hal-nb",
- "embedded-io 0.7.1",
+ "embedded-io",
- "embedded-io-async 0.7.0",
+ "embedded-io-async",
  "embedded-storage",
  "embedded-storage-async",
  "futures-util",
- "heapless 0.9.1",
  "nb 1.1.0",
  "proc-macro2",
  "quote",
  "rand_core 0.6.4",
  "rand_core 0.9.3",
- "regex",
  "sdio-host",
  "static_assertions",
  "stm32-fmc",
  "stm32-metapac",
- "trait-set",
  "vcell",
  "volatile-register",
 ]
 
 [[package]]
 name = "embassy-sync"
-version = "0.8.0"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7bbd85cf5a5ae56bdf26f618364af642d1d0a4e245cdd75cd9aabda382f65a81"
+checksum = "73974a3edbd0bd286759b3d483540f0ebef705919a5f56f4fc7709066f71689b"
 dependencies = [
  "cfg-if",
  "critical-section",
  "defmt 1.0.1",
- "embedded-io-async 0.7.0",
+ "embedded-io-async",
  "futures-core",
  "futures-sink",
- "heapless 0.9.1",
+ "heapless 0.8.0",
 ]
 
 [[package]]
 name = "embassy-time"
-version = "0.5.1"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "592b0c143ec626e821d4d90da51a2bd91d559d6c442b7c74a47d368c9e23d97a"
+checksum = "f4fa65b9284d974dad7a23bb72835c4ec85c0b540d86af7fc4098c88cff51d65"
 dependencies = [
  "cfg-if",
  "critical-section",
  "defmt 1.0.1",
  "document-features",
  "embassy-time-driver",
- "embassy-time-queue-utils",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
@@ -510,23 +489,13 @@ dependencies = [
 
 [[package]]
 name = "embassy-time-driver"
-version = "0.2.2"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ee71af1b3a0deaa53eaf2d39252f83504c853646e472400b763060389b9fcc9"
+checksum = "a0a244c7dc22c8d0289379c8d8830cae06bb93d8f990194d0de5efb3b5ae7ba6"
 dependencies = [
  "document-features",
 ]
 
-[[package]]
-name = "embassy-time-queue-utils"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168297bf80aaf114b3c9ad589bf38b01b3009b9af7f97cd18086c5bbf96f5693"
-dependencies = [
- "embassy-executor-timer-queue",
- "heapless 0.9.1",
-]
-
 [[package]]
 name = "embassy-usb-driver"
 version = "0.2.0"
@@ -534,14 +503,14 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "17119855ccc2d1f7470a39756b12068454ae27a3eabb037d940b5c03d9c77b7a"
 dependencies = [
  "defmt 1.0.1",
- "embedded-io-async 0.6.1",
+ "embedded-io-async",
 ]
 
 [[package]]
 name = "embassy-usb-synopsys-otg"
-version = "0.3.2"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cbe46f4083109c7ea12a03ca61095d1e87c76fec52c7ca9ee06a42935606dacb"
+checksum = "288751f8eaa44a5cf2613f13cee0ca8e06e6638cb96e897e6834702c79084b23"
 dependencies = [
  "critical-section",
  "defmt 1.0.1",
@@ -609,14 +578,8 @@ name = "embedded-io"
 version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
-
-[[package]]
-name = "embedded-io"
-version = "0.7.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9eb1aa714776b75c7e67e1da744b81a129b3ff919c8712b5e1b32252c1f07cc7"
 dependencies = [
- "defmt 1.0.1",
+ "defmt 0.3.100",
 ]
 
 [[package]]
@@ -625,17 +588,8 @@ version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3ff09972d4073aa8c299395be75161d582e7629cd663171d62af73c8d50dba3f"
 dependencies = [
- "embedded-io 0.6.1",
+ "defmt 0.3.100",
-]
+ "embedded-io",
-
-[[package]]
-name = "embedded-io-async"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2564b9f813c544241430e147d8bc454815ef9ac998878d30cc3055449f7fd4c0"
-dependencies = [
- "defmt 1.0.1",
- "embedded-io 0.7.1",
 ]
 
 [[package]]
@@ -671,7 +625,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -692,6 +646,15 @@ version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
+[[package]]
+name = "fugit"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
+dependencies = [
+ "gcd",
+]
+
 [[package]]
 name = "futures-core"
 version = "0.3.31"
@@ -722,6 +685,12 @@ dependencies = [
  "pin-utils",
 ]
 
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
+
 [[package]]
 name = "generator"
 version = "0.8.7"
@@ -923,7 +892,7 @@ checksum = "ff32365de1b6743cb203b710788263c44a03de03802daf96092f2da4fe6ba4d7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -996,7 +965,7 @@ dependencies = [
  "proc-macro-error-attr2",
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -1029,18 +998,6 @@ version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
 
-[[package]]
-name = "regex"
-version = "1.12.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e10754a14b9137dd7b1e3e5b0493cc9171fdd105e0ab477f51b72e7f3ac0e276"
-dependencies = [
- "aho-corasick",
- "memchr",
- "regex-automata",
- "regex-syntax",
-]
-
 [[package]]
 name = "regex-automata"
 version = "0.4.13"
@@ -1098,7 +1055,20 @@ dependencies = [
  "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "99f9923ce32637ee40c0cb28fbbc2fad880d8aebea2d545918c6971ae9be3d17"
+dependencies = [
+ "cfg-if",
+ "cortex-m",
+ "fugit",
+ "portable-atomic",
+ "rtic-time",
 ]
 
 [[package]]
@@ -1117,6 +1087,20 @@ dependencies = [
  "rtic-common",
 ]
 
+[[package]]
+name = "rtic-time"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61485474f5a23247ae1d4875f2bfe860be9b3030dbf87c232e50799e021429a1"
+dependencies = [
+ "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
+ "futures-util",
+ "rtic-common",
+]
+
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -1154,13 +1138,13 @@ dependencies = [
  "defmt-rtt",
  "defmt-test",
  "embassy-stm32",
- "embassy-time",
  "embedded-hal 1.0.0",
  "enumset",
  "heapless 0.9.1",
  "panic-probe",
  "postcard",
  "rtic",
+ "rtic-monotonics",
  "rtic-sync",
  "serde",
  "spacepackets",
@@ -1186,12 +1170,6 @@ version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b328e2cb950eeccd55b7f55c3a963691455dcd044cfb5354f0c5e68d2c2d6ee2"
 
-[[package]]
-name = "semihosting"
-version = "0.1.25"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8e4abf97879f4e80db69a9fba7bd64998e9bdad25f58ef045a778e191172fd4"
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -1240,7 +1218,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -1267,8 +1245,7 @@ checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
 [[package]]
 name = "spacepackets"
 version = "0.17.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://egit.irs.uni-stuttgart.de/rust/spacepackets.git#2bc61677105765e69cc96bb1ff9960557c00fa8e"
-checksum = "94979a990b4333f43667cba9fe9e72b9c4e9ada82e09fbe8fb250844358590cc"
 dependencies = [
  "arbitrary-int 2.0.0",
  "bitbybit",
@@ -1316,35 +1293,24 @@ dependencies = [
 
 [[package]]
 name = "stm32-fmc"
-version = "0.4.0"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72692594faa67f052e5e06dd34460951c21e83bc55de4feb8d2666e2f15480a2"
+checksum = "c7f0639399e2307c2446c54d91d4f1596343a1e1d5cab605b9cce11d0ab3858c"
 dependencies = [
- "embedded-hal 1.0.0",
+ "embedded-hal 0.2.7",
 ]
 
 [[package]]
 name = "stm32-metapac"
-version = "21.0.0"
+version = "18.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e74b78632cea498cfb28386a29f8bfae7476d6570a78733eb5fecbee66c2f4ce"
+checksum = "6fd8ec3a292a0d9fc4798416a61b21da5ae50341b2e7b8d12e662bf305366097"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
  "defmt 0.3.100",
 ]
 
-[[package]]
-name = "syn"
-version = "1.0.109"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
-dependencies = [
- "proc-macro2",
- "quote",
- "unicode-ident",
-]
-
 [[package]]
 name = "syn"
 version = "2.0.108"
@@ -1373,7 +1339,7 @@ checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -1434,17 +1400,6 @@ dependencies = [
  "tracing-log",
 ]
 
-[[package]]
-name = "trait-set"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b79e2e9c9ab44c6d7c20d5976961b47e8f49ac199154daa514b77cd1ab536625"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 1.0.109",
-]
-
 [[package]]
 name = "unicode-ident"
 version = "1.0.22"
@@ -1532,7 +1487,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -1543,7 +1498,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]
 
 [[package]]
@@ -1621,5 +1576,5 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.108",
+ "syn",
 ]

embedded-examples/stm32f3-disco-rtic/Cargo.toml

@@ -14,8 +14,7 @@ defmt-rtt = { version = "1" }
 panic-probe = { version = "1", features = ["print-defmt"] }
 embedded-hal = "1"
 cortex-m-semihosting = "0.5.0"
-embassy-stm32 = { version = "0.6", features = ["defmt", "stm32f303vc", "memory-x", "unstable-pac", "time-driver-any"] }
+embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
-embassy-time = { version = "0.5", features = ["defmt", "generic-queue-16", "defmt-timestamp-uptime-ms"]}
 enumset = "1"
 heapless = "0.9"
 spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
@@ -28,9 +27,10 @@ serde = { version = "1", default-features = false, features = ["derive"] }
 
 rtic = { version = "2", features = ["thumbv7-backend"] }
 rtic-sync = { version = "1" }
+rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
 
 [dev-dependencies]
-defmt-test = "0.5"
+defmt-test = "0.4"
 
 # cargo test
 [profile.test]

embedded-examples/stm32f3-disco-rtic/memory.x

@@ -0,0 +1,33 @@
+/* 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;
+*/

embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs

@@ -6,8 +6,11 @@ use rtic::app;
 
 #[app(device = embassy_stm32)]
 mod app {
-    use embassy_time::Timer;
+    use rtic_monotonics::fugit::ExtU32;
-use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
+    use rtic_monotonics::Monotonic as _;
+    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
+
+    rtic_monotonics::systick_monotonic!(Mono, 1000);
 
     #[shared]
     struct Shared {}
@@ -19,7 +22,7 @@ use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
     }
 
     #[init]
-    fn init(_cx: init::Context) -> (Shared, Local) {
+    fn init(cx: init::Context) -> (Shared, Local) {
         let p = embassy_stm32::init(Default::default());
 
         defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
@@ -36,6 +39,8 @@ use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
         };
         let leds = Leds::new(led_pin_set);
 
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, 8_000_000);
         blinky::spawn().expect("failed to spawn blinky task");
         (
             Shared {},
@@ -50,7 +55,7 @@ use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
     async fn blinky(cx: blinky::Context) {
         loop {
             cx.local.leds.blink_next(cx.local.current_dir);
-            Timer::after_millis(200).await;
+            Mono::delay(200.millis()).await;
         }
     }
 }

embedded-examples/stm32f3-disco-rtic/src/lib.rs

@@ -1,9 +1,6 @@
 #![no_main]
 #![no_std]
 
-use defmt_rtt as _;
-use panic_probe as _;
-
 use arbitrary_int::u11;
 use core::time::Duration;
 use embassy_stm32::gpio::Output;

embedded-examples/stm32f3-disco-rtic/src/main.rs

@@ -2,11 +2,21 @@
 #![no_main]
 use arbitrary_int::{u11, u14};
 use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
-use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, Request, Response};
+use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
-use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
+use spacepackets::{CcsdsPacketCreationError, SpHeader};
+
+use defmt_rtt as _; // global logger
+
+use panic_probe as _;
 
 use rtic::app;
 
+#[allow(unused_imports)]
+use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::prelude::*;
+
+use crate::app::Mono;
+
 const UART_BAUD: u32 = 115200;
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
 const TX_HANDLER_FREQ_MS: u32 = 20;
@@ -38,7 +48,7 @@ pub enum TmSendError {
 #[derive(Debug, defmt::Format)]
 pub struct RequestWithTcId {
     pub request: Request,
-    pub tc_id: CcsdsPacketIdAndPsc,
+    pub tc_id: CcsdsPacketId,
 }
 
 #[app(device = embassy_stm32)]
@@ -47,19 +57,18 @@ mod app {
 
     use super::*;
     use arbitrary_int::u14;
-    use embassy_time::Timer;
     use rtic::Mutex;
     use rtic_sync::{
         channel::{Receiver, Sender},
         make_channel,
     };
-    use satrs_stm32f3_disco_rtic::{LedPinSet, Request, Response};
+    use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
     use spacepackets::CcsdsPacketReader;
 
+    systick_monotonic!(Mono, 1000);
+
     embassy_stm32::bind_interrupts!(struct Irqs {
         USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
-        DMA1_CHANNEL6 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH6>;
-        DMA1_CHANNEL7 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH7>;
     });
 
     #[shared]
@@ -77,13 +86,15 @@ mod app {
     }
 
     #[init]
-    fn init(_cx: init::Context) -> (Shared, Local) {
+    fn init(cx: init::Context) -> (Shared, Local) {
         static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
             static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
 
         let p = embassy_stm32::init(Default::default());
 
         let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, 8_000_000);
 
         defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
         let led_pin_set = LedPinSet {
@@ -101,7 +112,7 @@ mod app {
         let mut config = embassy_stm32::usart::Config::default();
         config.baudrate = UART_BAUD;
         let uart = embassy_stm32::usart::Uart::new(
-            p.USART2, p.PA3, p.PA2, p.DMA1_CH7, p.DMA1_CH6, Irqs, config,
+            p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
         )
         .unwrap();
 
@@ -131,7 +142,10 @@ mod app {
         loop {
             cx.local.leds.blink_next(cx.local.current_dir);
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Timer::after_millis(current_blink_freq.as_millis() as u64).await;
+            Mono::delay(MillisDurationU32::from_ticks(
+                current_blink_freq.as_millis() as u32,
+            ))
+            .await;
         }
     }
 
@@ -155,7 +169,7 @@ mod app {
                     .unwrap();
                 continue;
             }
-            Timer::after_millis(TX_HANDLER_FREQ_MS as u64).await;
+            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
         }
     }
 
@@ -184,8 +198,9 @@ mod app {
                                     &decoder.dest()[0..packet_size],
                                 ) {
                                     Ok(packet) => {
-                                        let tc_packet_id =
+                                        let packet_id = packet.packet_id();
-                                            CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet);
+                                        let psc = packet.psc();
+                                        let tc_packet_id = CcsdsPacketId { packet_id, psc };
                                         if let Ok(request) =
                                             postcard::from_bytes::<Request>(packet.packet_data())
                                         {
@@ -245,7 +260,7 @@ mod app {
 
     fn handle_ping_request(
         cx: &mut req_handler::Context,
-        tc_packet_id: CcsdsPacketIdAndPsc,
+        tc_packet_id: CcsdsPacketId,
     ) -> Result<(), TmSendError> {
         defmt::info!("Received PUS ping telecommand, sending ping reply");
         send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
@@ -255,7 +270,7 @@ mod app {
 
     fn handle_change_blink_frequency_request(
         cx: &mut req_handler::Context,
-        tc_packet_id: CcsdsPacketIdAndPsc,
+        tc_packet_id: CcsdsPacketId,
         duration: Duration,
     ) -> Result<(), TmSendError> {
         defmt::info!(
@@ -272,14 +287,14 @@ mod app {
 }
 
 fn send_tm(
-    tc_packet_id: CcsdsPacketIdAndPsc,
+    tc_packet_id: CcsdsPacketId,
     response: Response,
     current_seq_count: u14,
 ) -> Result<(), TmSendError> {
     let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
     let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
         tc_packet_id: Some(tc_packet_id),
-        uptime_millis: embassy_time::Instant::now().as_millis() as u32,
+        uptime_millis: Mono::now().duration_since_epoch().to_millis(),
     };
     let mut tm_packet = TmPacket::new();
     let tm_size = tm_size(&tm_header, &response);

satrs-example/client/src/main.rs

@@ -1,7 +1,7 @@
 use anyhow::bail;
 use arbitrary_int::u11;
 use clap::Parser as _;
-use models::{Apid, MessageType, TcHeader, mgm::request::HkRequest};
+use models::{Apid, MessageType, TcHeader, acs::mgm::request::HkRequest};
 use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use spacepackets::{CcsdsPacketIdAndPsc, SpacePacketHeader};
 use std::{
@@ -136,7 +136,7 @@ fn main() -> anyhow::Result<()> {
                     let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
                         SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
                         TcHeader::new(cmd.target_id(), models::MessageType::Ping),
-                        models::mgm::request::Request::Ping,
+                        models::acs::mgm::request::Request::Ping,
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
                     log::info!(
@@ -151,8 +151,8 @@ fn main() -> anyhow::Result<()> {
                     let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
                         SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
                         TcHeader::new(target_id, models::MessageType::Hk),
-                        models::mgm::request::Request::Hk(HkRequest {
+                        models::acs::mgm::request::Request::Hk(HkRequest {
-                            id: models::mgm::request::HkId::Sensor,
+                            id: models::acs::mgm::request::HkId::Sensor,
                             req_type: models::HkRequestType::OneShot,
                         }),
                     );
@@ -174,8 +174,8 @@ fn main() -> anyhow::Result<()> {
                     let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
                         SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
                         TcHeader::new(target_id, models::MessageType::Mode),
-                        models::mgm::request::Request::Mode(
+                        models::acs::mgm::request::Request::Mode(
-                            models::mgm::request::ModeRequest::SetMode(dev_mode),
+                            models::acs::mgm::request::ModeRequest::SetMode(dev_mode),
                         ),
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
@@ -193,7 +193,7 @@ fn main() -> anyhow::Result<()> {
                     let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
                         SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
                         TcHeader::new(cmd.target_id(), models::MessageType::Ping),
-                        models::mgm::request::Request::Ping,
+                        models::acs::mgm::request::Request::Ping,
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
                     log::info!(
@@ -207,21 +207,23 @@ fn main() -> anyhow::Result<()> {
                 if let Some(mode) = mgm_assembly_args.mode {
                     let assembly_mode = match mode {
                         AssemblyModeSelect::NoModeKeeping => {
-                            models::mgm_assembly::AssemblyMode::NoModeKeeping
+                            models::acs::mgm_assembly::Mode::NoModeKeeping
                         }
                         AssemblyModeSelect::Off => {
-                            models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Off)
+                            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off)
                         }
                         AssemblyModeSelect::Normal => {
-                            models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Normal)
+                            models::acs::mgm_assembly::Mode::Device(
+                                models::DeviceMode::Normal,
+                            )
                         }
                     };
 
                     let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
                         SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
                         TcHeader::new(target_id, models::MessageType::Mode),
-                        models::mgm_assembly::request::Request::Mode(
+                        models::acs::mgm_assembly::request::Request::Mode(
-                            models::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
+                            models::acs::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
                         ),
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
@@ -304,8 +306,9 @@ fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
                 }
                 models::ComponentId::AcsSubsystem => todo!(),
                 models::ComponentId::AcsMgmAssembly => {
-                    let response =
+                    let response = postcard::from_bytes::<
-                        postcard::from_bytes::<models::mgm_assembly::response::Response>(remainder);
+                        models::acs::mgm_assembly::response::Response,
+                    >(remainder);
                     log::info!(
                         "Received response from MGM Assembly: {:?}",
                         response.unwrap()
@@ -313,12 +316,12 @@ fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
                 }
                 models::ComponentId::AcsMgm0 => {
                     let response =
-                        postcard::from_bytes::<models::mgm::response::Response>(remainder);
+                        postcard::from_bytes::<models::acs::mgm::response::Response>(remainder);
                     log::info!("Received response from MGM0: {:?}", response.unwrap());
                 }
                 models::ComponentId::AcsMgm1 => {
                     let response =
-                        postcard::from_bytes::<models::mgm::response::Response>(remainder);
+                        postcard::from_bytes::<models::acs::mgm::response::Response>(remainder);
                     log::info!("Received response from MGM1: {:?}", response.unwrap());
                 }
                 models::ComponentId::EpsSubsystem => todo!(),

satrs-example/models/src/acs/ctrl.rs

@@ -0,0 +1,28 @@
+#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
+pub enum Mode {
+    Passive,
+    Safe,
+    Idle,
+}
+
+pub mod request {
+    use super::Mode;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    pub enum ModeRequest {
+        SetMode(Mode),
+        ReadMode,
+    }
+}
+
+pub mod response {
+    use super::Mode;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    pub enum ModeReport {
+        /// Mode of the assembly.
+        Mode(super::Mode),
+        /// Children are in wrong mode after commanding.
+        WrongMode([Option<Mode>; 2]),
+    }
+}

satrs-example/models/src/acs/mgm.rs

@@ -42,7 +42,7 @@ pub mod request {
 }
 
 #[derive(Default, Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
-pub struct MgmData {
+pub struct SensorData {
     pub valid: bool,
     pub x: f32,
     pub y: f32,
@@ -50,11 +50,11 @@ pub struct MgmData {
 }
 
 pub mod response {
-    use crate::{DeviceMode, Message, mgm::MgmData};
+    use crate::{DeviceMode, Message, acs::mgm::SensorData};
 
     #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
     pub enum HkResponse {
-        MgmData(MgmData),
+        MgmData(SensorData),
     }
 
     #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy)]

satrs-example/models/src/acs/mgm_assembly.rs

@@ -3,7 +3,7 @@ use core::str::FromStr;
 use crate::DeviceMode;
 
 #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
-pub enum AssemblyMode {
+pub enum Mode {
     /// The assembly mode ressembles the modes of the devices it controls. It also tries to keep
     /// the children in the correct mode by re-commanding them into the correct mode.
     Device(DeviceMode),
@@ -11,22 +11,22 @@ pub enum AssemblyMode {
     NoModeKeeping,
 }
 
-impl FromStr for AssemblyMode {
+impl FromStr for Mode {
     type Err = ();
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
         match s.to_lowercase().as_str() {
-            "off" => Ok(AssemblyMode::Device(DeviceMode::Off)),
+            "off" => Ok(Mode::Device(DeviceMode::Off)),
-            "on" => Ok(AssemblyMode::Device(DeviceMode::On)),
+            "on" => Ok(Mode::Device(DeviceMode::On)),
-            "normal" => Ok(AssemblyMode::Device(DeviceMode::Normal)),
+            "normal" => Ok(Mode::Device(DeviceMode::Normal)),
-            "no_mode_keeping" => Ok(AssemblyMode::NoModeKeeping),
+            "no_mode_keeping" => Ok(Mode::NoModeKeeping),
             _ => Err(()),
         }
     }
 }
 
 pub mod request {
-    use crate::{HkRequestType, Message, mgm_assembly::AssemblyMode};
+    use crate::{HkRequestType, Message, acs::mgm_assembly::Mode};
 
     #[derive(Debug, PartialEq, Eq, Clone, Copy, serde::Serialize, serde::Deserialize)]
     pub enum HkId {
@@ -35,7 +35,7 @@ pub mod request {
 
     #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
     pub enum ModeRequest {
-        SetMode(AssemblyMode),
+        SetMode(Mode),
         ReadMode,
     }
 
@@ -77,7 +77,7 @@ pub mod response {
     #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
     pub enum ModeReport {
         /// Mode of the assembly.
-        Mode(super::AssemblyMode),
+        Mode(super::Mode),
         /// Timeout failure setting the children modes.
         SetModeTimeout([Option<DeviceMode>; 2]),
         /// Children are in wrong mode after commanding.

satrs-example/models/src/acs/mgt.rs

@@ -0,0 +1,27 @@
+#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
+pub enum Mode {
+    Off,
+    Normal,
+}
+
+pub mod request {
+    use super::*;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    pub enum ModeRequest {
+        SetMode(Mode),
+        ReadMode,
+    }
+}
+
+pub mod response {
+    use super::*;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    pub enum ModeReport {
+        /// Mode of the assembly.
+        Mode(super::Mode),
+        /// Children are in wrong mode after commanding.
+        WrongMode([Option<Mode>; 2]),
+    }
+}

satrs-example/models/src/acs/mod.rs

@@ -0,0 +1,5 @@
+pub mod ctrl;
+pub mod mgm;
+pub mod mgm_assembly;
+pub mod mgt;
+pub mod subsystem;

satrs-example/models/src/acs/subsystem.rs

@@ -0,0 +1,15 @@
+#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
+pub enum Mode {
+    Off,
+    Safe,
+}
+
+impl Mode {
+    /// Each subsystem mode has a fallback mode to allow clean transitions.
+    pub const fn fallback_mode(&self) -> Self {
+        match self {
+            Mode::Off => Mode::Safe,
+            Mode::Safe => Mode::Safe,
+        }
+    }
+}

satrs-example/models/src/lib.rs

@@ -6,10 +6,9 @@ use spacepackets::{
     time::cds::{CdsTime, MIN_CDS_FIELD_LEN},
 };
 
+pub mod acs;
 pub mod ccsds;
 pub mod control;
-pub mod mgm;
-pub mod mgm_assembly;
 pub mod pcdu;
 
 #[derive(

satrs-example/src/acs/mgm.rs

@@ -1,8 +1,8 @@
-use models::mgm::MgmData;
+use models::acs::mgm::SensorData;
-use models::mgm::request::ModeRequest;
+use models::acs::mgm::request::ModeRequest;
-use models::mgm::response::ModeResponse;
+use models::acs::mgm::response::ModeResponse;
 use models::pcdu::SwitchId;
-use models::{ComponentId, DeviceMode, HkRequestType, mgm};
+use models::{ComponentId, DeviceMode, HkRequestType, acs::mgm};
 use satrs::spacepackets::CcsdsPacketIdAndPsc;
 use satrs_example::{HkHelperSingleSet, ModeHelper, TimestampHelper, TmtcQueues};
 use satrs_minisim::acs::MgmRequestLis3Mdl;
@@ -153,7 +153,7 @@ pub struct MgmHandlerLis3Mdl {
     switch_helper: PowerSwitchHelper,
     tmtc_queues: TmtcQueues,
     pub spi_com: SpiCommunication,
-    shared_mgm_set: Arc<Mutex<MgmData>>,
+    shared_mgm_set: Arc<Mutex<SensorData>>,
     buffers: BufWrapper,
     stamp_helper: TimestampHelper,
     hk_helper: HkHelperSingleSet,
@@ -167,9 +167,9 @@ impl MgmHandlerLis3Mdl {
         tmtc_queues: TmtcQueues,
         switch_helper: PowerSwitchHelper,
         spi_com: SpiCommunication,
-        shared_mgm_set: Arc<Mutex<MgmData>>,
+        shared_mgm_set: Arc<Mutex<SensorData>>,
         mode_leaf_helper: ModeLeafHelper,
-        mode_timeout: Duration
+        mode_timeout: Duration,
     ) -> Self {
         Self {
             id,
@@ -308,7 +308,7 @@ impl MgmHandlerLis3Mdl {
     pub fn handle_hk_request(
         &mut self,
         tc_id: Option<CcsdsPacketIdAndPsc>,
-        hk_request: &models::mgm::request::HkRequest,
+        hk_request: &models::acs::mgm::request::HkRequest,
     ) {
         match hk_request.req_type {
             HkRequestType::OneShot => {
@@ -462,8 +462,8 @@ mod tests {
     use arbitrary_int::u11;
     use models::{
         Apid, ComponentId, TcHeader,
+        acs::mgm::request::HkRequest,
         ccsds::{CcsdsTcPacketOwned, CcsdsTmPacketOwned},
-        mgm::request::HkRequest,
         pcdu::{SwitchRequest, SwitchState, SwitchStateBinary},
     };
     use satrs::{request::GenericMessage, spacepackets::SpacePacketHeader};
@@ -490,7 +490,7 @@ mod tests {
 
     pub fn create_request_tc(
         select: MgmSelect,
-        request: models::mgm::request::Request,
+        request: models::acs::mgm::request::Request,
     ) -> models::ccsds::CcsdsTcPacketOwned {
         models::ccsds::CcsdsTcPacketOwned::new_with_request(
             SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
@@ -533,6 +533,7 @@ mod tests {
                 SpiCommunication::Test(TestSpiInterface::default()),
                 shared_mgm_set,
                 mode_leaf_helper,
+                Duration::from_millis(100),
             );
             Self {
                 assembly_mode_request_tx,
@@ -600,9 +601,10 @@ mod tests {
 
         assert_eq!(tm_packet.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response = postcard::from_bytes::<models::mgm::response::Response>(&tm_packet.payload)
+        let response =
-            .expect("failed to deserialize mode reply");
+            postcard::from_bytes::<models::acs::mgm::response::Response>(&tm_packet.payload)
-        matches!(response, models::mgm::response::Response::Ok);
+                .expect("failed to deserialize mode reply");
+        matches!(response, models::acs::mgm::response::Response::Ok);
         // The device should have been polled once.
         assert_eq!(testbench.test_spi_interface().call_count, 1);
         let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
@@ -688,9 +690,10 @@ mod tests {
 
         assert_eq!(tm_packet.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response = postcard::from_bytes::<models::mgm::response::Response>(&tm_packet.payload)
+        let response =
-            .expect("failed to deserialize mode reply");
+            postcard::from_bytes::<models::acs::mgm::response::Response>(&tm_packet.payload)
-        if let models::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
+                .expect("failed to deserialize mode reply");
+        if let models::acs::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
             response
         {
             assert_eq!(data.valid, false);
@@ -739,17 +742,18 @@ mod tests {
 
         assert_eq!(mode_tm.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response = postcard::from_bytes::<models::mgm::response::Response>(&mode_tm.payload)
+        let response =
-            .expect("failed to deserialize mode reply");
+            postcard::from_bytes::<models::acs::mgm::response::Response>(&mode_tm.payload)
-        matches!(response, models::mgm::response::Response::Ok);
+                .expect("failed to deserialize mode reply");
+        matches!(response, models::acs::mgm::response::Response::Ok);
 
         let hk_tm = testbench.tm_rx.try_recv().expect("no hk reply generated");
 
         assert_eq!(hk_tm.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response = postcard::from_bytes::<models::mgm::response::Response>(&hk_tm.payload)
+        let response = postcard::from_bytes::<models::acs::mgm::response::Response>(&hk_tm.payload)
             .expect("failed to deserialize mode reply");
-        if let models::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
+        if let models::acs::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
             response
         {
             // Set is now valid.

satrs-example/src/acs/mgm_assembly.rs

@@ -2,7 +2,7 @@ use std::{sync::mpsc, time::Duration};
 
 use models::{
     ComponentId, DeviceMode,
-    mgm_assembly::{AssemblyMode, request, response},
+    acs::mgm_assembly::{Mode, request, response},
 };
 use satrs::spacepackets::CcsdsPacketIdAndPsc;
 use satrs_example::{ModeHelper, TmtcQueues};
@@ -16,8 +16,8 @@ pub struct ParentQueueHelper {
 
 /// Helper component for communication with a parent component, which is usually as assembly.
 pub struct ChildrenQueueHelper {
-    pub request_tx_queues: [mpsc::SyncSender<models::mgm::request::ModeRequest>; 2],
+    pub request_tx_queues: [mpsc::SyncSender<models::acs::mgm::request::ModeRequest>; 2],
-    pub report_rx_queues: [mpsc::Receiver<models::mgm::response::ModeResponse>; 2],
+    pub report_rx_queues: [mpsc::Receiver<models::acs::mgm::response::ModeResponse>; 2],
 }
 
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
@@ -35,7 +35,7 @@ pub struct MgmInfo {
 
 /// MGM assembly component.
 pub struct Assembly {
-    mode_helper: ModeHelper<AssemblyMode, TransitionState>,
+    mode_helper: ModeHelper<Mode, TransitionState>,
     /// This boolean is used for the distinction between transitions commanded by the parent
     /// or by ground, and transitions which were commanded autonomously as part of children
     /// mode keeping.
@@ -56,7 +56,7 @@ impl Assembly {
         mode_timeout: Duration,
     ) -> Self {
         Self {
-            mode_helper: ModeHelper::new(AssemblyMode::NoModeKeeping, mode_timeout),
+            mode_helper: ModeHelper::new(Mode::NoModeKeeping, mode_timeout),
             mode_keeping_transition: false,
             tmtc_queues,
             mgm_modes: [MgmInfo::default(); 2],
@@ -80,14 +80,14 @@ impl Assembly {
             match self.tmtc_queues.tc_rx.try_recv() {
                 Ok(packet) => {
                     let tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
-                    match postcard::from_bytes::<models::mgm_assembly::request::Request>(
+                    match postcard::from_bytes::<models::acs::mgm_assembly::request::Request>(
                         &packet.payload,
                     ) {
                         Ok(request) => match request {
-                            models::mgm_assembly::request::Request::Ping => {
+                            models::acs::mgm_assembly::request::Request::Ping => {
                                 self.send_telemetry(Some(tc_id), response::Response::Ok)
                             }
-                            models::mgm_assembly::request::Request::Mode(request) => {
+                            models::acs::mgm_assembly::request::Request::Mode(request) => {
                                 match request {
                                     request::ModeRequest::SetMode(assembly_mode) => {
                                         self.start_transition(false, assembly_mode, Some(tc_id))
@@ -117,7 +117,7 @@ impl Assembly {
     pub fn send_telemetry(
         &self,
         tc_id: Option<CcsdsPacketIdAndPsc>,
-        response: models::mgm_assembly::response::Response,
+        response: models::acs::mgm_assembly::response::Response,
     ) {
         match pack_ccsds_tm_packet_for_now(Self::ID, tc_id, &response) {
             Ok(packet) => {
@@ -136,11 +136,11 @@ impl Assembly {
             match self.parent_queues.request_rx.try_recv() {
                 Ok(request) => match request {
                     request::ModeRequest::SetMode(assembly_mode) => match assembly_mode {
-                        AssemblyMode::Device(_device_mode) => {
+                        Mode::Device(_device_mode) => {
                             self.start_transition(false, assembly_mode, None);
                         }
-                        AssemblyMode::NoModeKeeping => {
+                        Mode::NoModeKeeping => {
-                            self.mode_helper.current = AssemblyMode::NoModeKeeping;
+                            self.mode_helper.current = Mode::NoModeKeeping;
                         }
                     },
                     request::ModeRequest::ReadMode => self
@@ -165,12 +165,12 @@ impl Assembly {
             loop {
                 match rx.try_recv() {
                     Ok(report) => match report {
-                        models::mgm::response::ModeResponse::Mode(device_mode) => {
+                        models::acs::mgm::response::ModeResponse::Mode(device_mode) => {
                             self.mgm_modes[idx].mode = Some(device_mode);
                             self.mgm_modes[idx].reply_received = true;
                             mode_report_received = true;
                         }
-                        models::mgm::response::ModeResponse::SetModeTimeout => {
+                        models::acs::mgm::response::ModeResponse::SetModeTimeout => {
                             // Ignore, handle this with our own timeout.
                             log::warn!("MGM {} mode timeout", idx);
                         }
@@ -191,7 +191,7 @@ impl Assembly {
         // Transition is active, check for completion.
         if self.mode_helper.transition_active()
             && self.mgm_modes.iter().all(|i| i.reply_received)
-            && let AssemblyMode::Device(device_mode) = self.mode_helper.target.unwrap()
+            && let Mode::Device(device_mode) = self.mode_helper.target.unwrap()
         {
             // If at least one child reached the correct mode, we are done.
             if self.mgm_modes.iter().any(|i| i.mode == Some(device_mode)) {
@@ -207,7 +207,7 @@ impl Assembly {
         }
 
         // Mode keeping active: Check children modes.
-        if let AssemblyMode::Device(device_mode) = self.mode_helper.current
+        if let Mode::Device(device_mode) = self.mode_helper.current
             && self
                 .mgm_modes
                 .iter()
@@ -226,8 +226,8 @@ impl Assembly {
         }
         let target = self.mode_helper.target.unwrap();
         let device_mode = match target {
-            AssemblyMode::Device(device_mode) => device_mode,
+            Mode::Device(device_mode) => device_mode,
-            AssemblyMode::NoModeKeeping => {
+            Mode::NoModeKeeping => {
                 self.handle_mode_reached(true);
                 return;
             }
@@ -275,7 +275,7 @@ impl Assembly {
 
     pub fn command_children(&self, mode: DeviceMode) {
         for tx in &self.children_queues.request_tx_queues {
-            tx.send(models::mgm::request::ModeRequest::SetMode(mode))
+            tx.send(models::acs::mgm::request::ModeRequest::SetMode(mode))
                 .unwrap();
         }
     }
@@ -283,7 +283,7 @@ impl Assembly {
     pub fn start_transition(
         &mut self,
         mode_keeping: bool,
-        target: AssemblyMode,
+        target: Mode,
         tc_id: Option<CcsdsPacketIdAndPsc>,
     ) {
         self.mode_keeping_transition = mode_keeping;
@@ -304,7 +304,7 @@ impl Assembly {
     }
 
     #[inline]
-    pub fn mode(&self) -> AssemblyMode {
+    pub fn mode(&self) -> Mode {
         self.mode_helper.current
     }
 
@@ -322,8 +322,8 @@ mod tests {
     use arbitrary_int::u11;
     use models::{
         Apid, Message, MessageType, TcHeader,
+        acs::mgm_assembly,
         ccsds::{CcsdsTcPacketOwned, CcsdsTmPacketOwned},
-        mgm_assembly,
     };
     use satrs::spacepackets::SpacePacketHeader;
 
@@ -332,8 +332,8 @@ mod tests {
     pub struct Testbench {
         subsystem_req_tx: mpsc::SyncSender<request::ModeRequest>,
         subsystem_report_rx: mpsc::Receiver<response::ModeReport>,
-        mgm_request_rx: [mpsc::Receiver<models::mgm::request::ModeRequest>; 2],
+        mgm_request_rx: [mpsc::Receiver<models::acs::mgm::request::ModeRequest>; 2],
-        mgm_report_tx: [mpsc::SyncSender<models::mgm::response::ModeResponse>; 2],
+        mgm_report_tx: [mpsc::SyncSender<models::acs::mgm::response::ModeResponse>; 2],
         tc_tx: mpsc::SyncSender<CcsdsTcPacketOwned>,
         tm_rx: mpsc::Receiver<CcsdsTmPacketOwned>,
         assembly: Assembly,
@@ -396,7 +396,7 @@ mod tests {
     }
 
     pub fn create_request_tc(
-        request: models::mgm_assembly::request::Request,
+        request: models::acs::mgm_assembly::request::Request,
     ) -> models::ccsds::CcsdsTcPacketOwned {
         models::ccsds::CcsdsTcPacketOwned::new_with_request(
             SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
@@ -411,7 +411,7 @@ mod tests {
         tb.assert_all_queues_empty();
         tb.assembly.periodic_operation();
         tb.assert_all_queues_empty();
-        assert_eq!(tb.assembly.mode(), AssemblyMode::NoModeKeeping);
+        assert_eq!(tb.assembly.mode(), Mode::NoModeKeeping);
     }
 
     #[test]
@@ -419,7 +419,7 @@ mod tests {
         let mut tb = Testbench::new();
         tb.tc_tx
             .send(create_request_tc(mgm_assembly::request::Request::Mode(
-                request::ModeRequest::SetMode(AssemblyMode::Device(DeviceMode::Normal)),
+                request::ModeRequest::SetMode(Mode::Device(DeviceMode::Normal)),
             )))
             .unwrap();
         tb.assembly.periodic_operation();
@@ -429,13 +429,13 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::mgm::response::ModeResponse::Mode(
+            tx.send(models::acs::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
@@ -443,7 +443,7 @@ mod tests {
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
 
         let response = tb.tm_rx.try_recv().unwrap();
         assert_eq!(response.tm_header.sender_id, Assembly::ID);
@@ -456,7 +456,7 @@ mod tests {
     fn test_parent_commanded_transition() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
+            .send(request::ModeRequest::SetMode(Mode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -467,13 +467,13 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::mgm::response::ModeResponse::Mode(
+            tx.send(models::acs::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
@@ -481,12 +481,12 @@ mod tests {
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
             report,
-            response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
+            response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
         );
     }
 
@@ -494,7 +494,7 @@ mod tests {
     fn test_one_mgm_is_sufficient() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
+            .send(request::ModeRequest::SetMode(Mode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -505,28 +505,30 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // One device is sufficient.
         tb.mgm_report_tx[0]
-            .send(models::mgm::response::ModeResponse::Mode(
+            .send(models::acs::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
         tb.mgm_report_tx[1]
-            .send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
+            .send(models::acs::mgm::response::ModeResponse::Mode(
+                DeviceMode::Off,
+            ))
             .unwrap();
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
             report,
-            response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
+            response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
         );
     }
 
@@ -534,7 +536,7 @@ mod tests {
     fn test_mode_commanding_fails() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
+            .send(request::ModeRequest::SetMode(Mode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -545,19 +547,21 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
+            tx.send(models::acs::mgm::response::ModeResponse::Mode(
-                .unwrap();
+                DeviceMode::Off,
+            ))
+            .unwrap();
         }
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), AssemblyMode::NoModeKeeping);
+        assert_eq!(tb.assembly.mode(), Mode::NoModeKeeping);
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
@@ -570,7 +574,7 @@ mod tests {
     fn test_mode_keeping_fails() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
+            .send(request::ModeRequest::SetMode(Mode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -581,13 +585,13 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::mgm::response::ModeResponse::Mode(
+            tx.send(models::acs::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
@@ -595,17 +599,19 @@ mod tests {
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
             report,
-            response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
+            response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
         );
 
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
+            tx.send(models::acs::mgm::response::ModeResponse::Mode(
-                .unwrap();
+                DeviceMode::Off,
+            ))
+            .unwrap();
         }
         // This should start mode keeping.
         tb.assembly.periodic_operation();
@@ -615,14 +621,16 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Let the mode keeping fail.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
+            tx.send(models::acs::mgm::response::ModeResponse::Mode(
-                .unwrap();
+                DeviceMode::Off,
+            ))
+            .unwrap();
         }
         tb.assembly.periodic_operation();
         let report = tb.subsystem_report_rx.try_recv().unwrap();

satrs-example/src/acs/mgt.rs

@@ -0,0 +1 @@
+

satrs-example/src/acs/mod.rs

@@ -1,6 +1,5 @@
 pub mod ctrl;
-
 pub mod mgm;
 pub mod mgm_assembly;
-
+pub mod mgt;
 pub mod subsystem;

satrs-example/src/acs/subsystem.rs

@@ -1 +1,116 @@
-// TODO: Write subsystem
+use std::sync::mpsc::SyncSender;
+
+use models::ComponentId;
+
+#[derive(Debug)]
+pub struct TransitionInfo {
+    check_mode_reached: bool,
+}
+
+#[derive(Debug)]
+pub struct ChildModes {
+    mgm_assembly_mode: models::acs::mgm_assembly::Mode,
+    mgt_mode: models::acs::mgt::Mode,
+    controller_mode: models::acs::ctrl::Mode,
+}
+
+#[derive(Debug)]
+pub struct TransitionCommands {
+    mgm_assembly_mode: Option<(models::acs::mgm_assembly::Mode, TransitionInfo)>,
+    mgt_mode: Option<(models::acs::mgt::Mode, TransitionInfo)>,
+    controller_mode: Option<(models::acs::ctrl::Mode, TransitionInfo)>,
+}
+
+const OFF_SEQUENCE: [TransitionCommands; 2] = [
+    TransitionCommands {
+        mgm_assembly_mode: None,
+        mgt_mode: None,
+        controller_mode: Some((
+            models::acs::ctrl::Mode::Passive,
+            TransitionInfo {
+                check_mode_reached: true,
+            },
+        )),
+    },
+    TransitionCommands {
+        mgm_assembly_mode: Some((
+            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off),
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        mgt_mode: Some((
+            models::acs::mgt::Mode::Off,
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        controller_mode: None,
+    },
+];
+
+const SAFE_SEQUENCE: [TransitionCommands; 2] = [
+    TransitionCommands {
+        mgm_assembly_mode: Some((
+            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Normal),
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        mgt_mode: Some((
+            models::acs::mgt::Mode::Normal,
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+        controller_mode: None,
+    },
+    TransitionCommands {
+        mgm_assembly_mode: None,
+        mgt_mode: None,
+        controller_mode: Some((
+            models::acs::ctrl::Mode::Safe,
+            TransitionInfo {
+                check_mode_reached: false,
+            },
+        )),
+    },
+];
+
+#[derive(Debug)]
+pub struct ModeRequestSenders {
+    mode_request_ctrl: SyncSender<models::acs::ctrl::request::ModeRequest>,
+    mode_request_assy: SyncSender<models::acs::mgm_assembly::request::ModeRequest>,
+    mode_request_mgt: SyncSender<models::acs::mgt::request::ModeRequest>,
+}
+
+#[derive(Debug)]
+pub struct ModeReportReceivers {
+    mode_response_ctrl: SyncSender<models::acs::ctrl::response::ModeReport>,
+    mode_response_assy: SyncSender<models::acs::mgm_assembly::response::ModeReport>,
+    mode_response_mgt: SyncSender<models::acs::mgt::response::ModeReport>,
+}
+
+#[derive(Debug)]
+pub struct Subsystem {
+    current_mode: models::acs::subsystem::Mode,
+    current_child_modes: Option<ChildModes>,
+    mode_request_senders: ModeRequestSenders,
+    mode_report_receivers: ModeReportReceivers,
+}
+
+impl Subsystem {
+    pub const ID: ComponentId = ComponentId::AcsSubsystem;
+
+    pub fn new(
+        mode_request_senders: ModeRequestSenders,
+        mode_report_receivers: ModeReportReceivers,
+    ) -> Self {
+        Self {
+            current_mode: models::acs::subsystem::Mode::Off,
+            current_child_modes: None,
+            mode_request_senders,
+            mode_report_receivers,
+        }
+    }
+}

satrs-example/src/main.rs

@@ -188,7 +188,7 @@ fn main() {
             request_rx: mgm_0_mode_request_rx,
             report_tx: mgm_0_mode_report_tx,
         },
-        Duration::from_millis(1000)
+        Duration::from_millis(1000),
     );
     let mut mgm_1_handler = mgm::MgmHandlerLis3Mdl::new(
         mgm::MgmId::_1,
@@ -203,7 +203,7 @@ fn main() {
             request_rx: mgm_1_mode_request_rx,
             report_tx: mgm_1_mode_report_tx,
         },
-        Duration::from_millis(1000)
+        Duration::from_millis(1000),
     );
     let mut mgm_assembly = mgm_assembly::Assembly::new(
         mgm_assembly::ParentQueueHelper {