update STM32F3 example code

Cargo.toml

@@ -9,7 +9,6 @@ members = [
     "satrs-example/minisim",
     "satrs-shared",
     "embedded-examples/embedded-client",
-    "embedded-examples/models",
 ]
 
 exclude = [

embedded-examples/embedded-client/Cargo.toml

@@ -10,7 +10,6 @@ toml = "0.9"
 serde = { version = "1", features = ["derive"] }
 satrs-stm32f3-disco-rtic = { path = "../stm32f3-disco-rtic" }
 spacepackets = { version = "0.17" }
-embedded-models = { path = "../models" }
 tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1" }
 postcard = { version = "1", features = ["alloc"] }
 cobs = "0.5"

embedded-examples/embedded-client/src/bin/stm32h7-client.rs

@@ -1,64 +0,0 @@
-use std::{fs::File, io::Read, path::Path, time::Duration};
-
-use clap::Parser;
-use cobs::CobsDecoderOwned;
-use embedded_client::setup_logger;
-use embedded_models::{stm32f3, stm32h7};
-use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
-use tmtc_utils::transport::serial::PacketTransportSerialCobs;
-
-#[derive(Parser, Debug)]
-struct Cli {
-    #[arg(short, long)]
-    ping: bool,
-
-    /// Set frequency in milliseconds.
-    #[arg(short, long)]
-    set_led_frequency: Option<u32>,
-}
-
-fn main() {
-    setup_logger().expect("failed to initialize logger");
-    println!("-- STM32H7 TMTC client --");
-    let cli = Cli::parse();
-    let config = embedded_client::Config::new_from_file();
-
-
-    /*
-    if cli.ping {
-        let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
-        log::info!(
-            "Sending ping request with TC ID: {:#010x}",
-            tc.ccsds_packet_id_and_psc().raw()
-        );
-        transport.send(&tc.to_vec()).unwrap();
-    }
-
-    if let Some(freq_ms) = cli.set_led_frequency {
-        let request = stm32f3::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
-        let tc = create_stm32f3_tc(&request);
-        log::info!(
-            "Sending change blink frequency request {:?} with TC ID: {:#010x}",
-            request,
-            tc.ccsds_packet_id_and_psc().raw()
-        );
-        transport.send(&tc.to_vec()).unwrap();
-    }
-
-    log::info!("Waiting for response...");
-    loop {
-        transport
-            .receive(|packet: &[u8]| {
-                let reader = CcsdsPacketReader::new_with_checksum(packet);
-                log::info!("Received packet: {:?}", reader);
-            })
-            .unwrap();
-    }
-    */
-}
-
-fn create_stm32h7_tc(request: &stm32h7::Request) -> CcsdsPacketCreatorOwned {
-    let req_raw = postcard::to_allocvec(&request).unwrap();
-    let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
-    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
-}

embedded-examples/embedded-client/src/lib.rs

@@ -1,42 +0,0 @@
-use std::{fs::File, io::Read as _, path::Path, time::SystemTime};
-
-#[derive(Debug, serde::Deserialize)]
-pub struct Config {
-    pub interface: Interface,
-}
-
-#[derive(Debug, serde::Deserialize)]
-pub struct Interface {
-    pub serial_port: String,
-}
-
-impl Config {
-    pub fn new_from_file() -> Self {
-        let mut config_file =
-            File::open(Path::new("config.toml")).expect("opening config.toml file failed");
-        let mut toml_str = String::new();
-        config_file
-            .read_to_string(&mut toml_str)
-            .expect("reading config.toml file failed");
-        let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
-        println!("Connecting to serial port {}", config.interface.serial_port);
-        config
-    }
-}
-pub fn setup_logger() -> Result<(), fern::InitError> {
-    fern::Dispatch::new()
-        .format(|out, message, record| {
-            out.finish(format_args!(
-                "[{} {} {}] {}",
-                humantime::format_rfc3339_seconds(SystemTime::now()),
-                record.level(),
-                record.target(),
-                message
-            ))
-        })
-        .level(log::LevelFilter::Debug)
-        .chain(std::io::stdout())
-        .chain(fern::log_file("output.log")?)
-        .apply()?;
-    Ok(())
-}

embedded-examples/embedded-client/src/main.rs

@@ -1,9 +1,13 @@
-use std::time::Duration;
+use std::{
+    fs::File,
+    io::Read,
+    path::Path,
+    time::{Duration, SystemTime},
+};
 
 use clap::Parser;
 use cobs::CobsDecoderOwned;
-use embedded_client::setup_logger;
+use satrs_stm32f3_disco_rtic::Request;
-use embedded_models::stm32f3;
 use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
 use tmtc_utils::transport::serial::PacketTransportSerialCobs;
 
@@ -17,11 +21,47 @@ struct Cli {
     set_led_frequency: Option<u32>,
 }
 
+#[derive(Debug, serde::Deserialize)]
+struct Config {
+    interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+struct Interface {
+    serial_port: String,
+}
+
+fn setup_logger() -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(log::LevelFilter::Debug)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
 fn main() {
     setup_logger().expect("failed to initialize logger");
-    println!("-- STM32F3 TMTC client --");
+    println!("sat-rs embedded examples TMTC client");
+
     let cli = Cli::parse();
-    let config = embedded_client::Config::new_from_file();
+    let mut config_file =
+        File::open(Path::new("config.toml")).expect("opening config.toml file failed");
+    let mut toml_str = String::new();
+    config_file
+        .read_to_string(&mut toml_str)
+        .expect("reading config.toml file failed");
+    let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
+    println!("Connecting to serial port {}", config.interface.serial_port);
 
     let serial = serialport::new(config.interface.serial_port, 115200)
         .open()
@@ -29,7 +69,8 @@ fn main() {
     let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
 
     if cli.ping {
-        let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
+        let request = Request::Ping;
+        let tc = create_stm32f3_tc(&request);
         log::info!(
             "Sending ping request with TC ID: {:#010x}",
             tc.ccsds_packet_id_and_psc().raw()
@@ -38,7 +79,7 @@ fn main() {
     }
 
     if let Some(freq_ms) = cli.set_led_frequency {
-        let request = stm32f3::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
         let tc = create_stm32f3_tc(&request);
         log::info!(
             "Sending change blink frequency request {:?} with TC ID: {:#010x}",
@@ -59,7 +100,7 @@ fn main() {
     }
 }
 
-fn create_stm32f3_tc(request: &stm32f3::Request) -> CcsdsPacketCreatorOwned {
+fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
     let req_raw = postcard::to_allocvec(&request).unwrap();
     let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
     CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()

embedded-examples/models/Cargo.toml

@@ -1,11 +0,0 @@
-[package]
-name = "embedded-models"
-version = "0.1.0"
-edition = "2024"
-
-[dependencies]
-serde = { version = "1", default-features = false }
-defmt = { version = "1", optional = true }
-spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
-postcard = { version = "1", features = ["defmt"] }
-arbitrary-int = "2"

embedded-examples/models/src/lib.rs

@@ -1,84 +0,0 @@
-#![no_std]
-
-use spacepackets::{
-    CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
-    SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
-};
-
-pub mod stm32f3 {
-    use arbitrary_int::u11;
-    use core::time::Duration;
-
-    pub const PUS_APID: u11 = u11::new(0x02);
-
-    #[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
-    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-    pub enum Request {
-        Ping,
-        ChangeBlinkFrequency(Duration),
-    }
-
-    #[derive(Debug, serde::Serialize, serde::Deserialize)]
-    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-    pub enum Response {
-        Ok,
-    }
-}
-
-/// This might look like a duplication, but we intentionally keep those separate so they can
-/// change independently.
-pub mod stm32h7 {
-    use arbitrary_int::u11;
-    use core::time::Duration;
-
-    pub const PUS_APID: u11 = u11::new(0x03);
-
-    #[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
-    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-    pub enum Request {
-        Ping,
-        ChangeBlinkFrequency(Duration),
-    }
-
-    #[derive(Debug, serde::Serialize, serde::Deserialize)]
-    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-    pub enum Response {
-        Ok,
-    }
-}
-
-#[derive(Debug, serde::Serialize, serde::Deserialize)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct TmHeader {
-    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
-    pub uptime_millis: u64,
-}
-
-pub fn tm_size<Response: serde::Serialize>(tm_header: &TmHeader, response: &Response) -> usize {
-    ccsds_packet_len_for_user_data_len_with_checksum(
-        postcard::experimental::serialized_size(tm_header).unwrap()
-            + postcard::experimental::serialized_size(response).unwrap(),
-    )
-    .unwrap()
-}
-
-pub fn create_tm_packet<Response: serde::Serialize>(
-    buf: &mut [u8],
-    sp_header: SpacePacketHeader,
-    tm_header: TmHeader,
-    response: Response,
-) -> Result<usize, CcsdsPacketCreationError> {
-    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
-        + postcard::experimental::serialized_size(&response).unwrap();
-    let mut creator =
-        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
-
-    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
-        .unwrap()
-        .len();
-    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
-    Ok(creator.finish())
-}
-
-#[cfg(test)]
-mod tests {}

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

@@ -13,9 +13,9 @@ dependencies = [
 
 [[package]]
 name = "aligned"
-version = "0.4.2"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "377e4c0ba83e4431b10df45c1d4666f178ea9c552cac93e60c3a88bf32785923"
+checksum = "ee4508988c62edf04abd8d92897fca0c2995d907ce1dfeaf369dac3716a40685"
 dependencies = [
  "as-slice",
 ]
@@ -90,7 +90,7 @@ dependencies = [
  "arbitrary-int 1.3.0",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -202,7 +202,7 @@ checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -255,7 +255,7 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -266,7 +266,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
 dependencies = [
  "darling_core",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -298,7 +298,7 @@ dependencies = [
  "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -322,25 +322,24 @@ dependencies = [
 
 [[package]]
 name = "defmt-test"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24076cc7203c365e7febfcec15d6667a9ef780bd2c5fd3b2a197400df78f299b"
+checksum = "1d326e211b94939affafdf96f5c1baf8745b960037dcf763f813597d32b03d51"
 dependencies = [
- "cortex-m-rt",
- "cortex-m-semihosting",
  "defmt 1.0.1",
  "defmt-test-macros",
+ "semihosting",
 ]
 
 [[package]]
 name = "defmt-test-macros"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe5520fd36862f281c026abeaab153ebbc001717c29a9b8e5ba9704d8f3a879d"
+checksum = "2a7563a5468e1a1bd97f44cb75b658c2feec75af2b1389e70f4c0677b8402edd"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -351,7 +350,7 @@ checksum = "6178a82cf56c836a3ba61a7935cdb1c49bfaa6fa4327cd5bf554a503087de26b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -365,14 +364,15 @@ dependencies = [
 
 [[package]]
 name = "embassy-embedded-hal"
-version = "0.5.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "554e3e840696f54b4c9afcf28a0f24da431c927f4151040020416e7393d6d0d8"
+checksum = "b0641612053b2f34fc250bb63f6630ae75de46e02ade7f457268447081d709ce"
 dependencies = [
  "defmt 1.0.1",
  "embassy-futures",
- "embassy-hal-internal",
+ "embassy-hal-internal 0.4.0",
  "embassy-sync",
+ "embassy-time",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
@@ -381,6 +381,12 @@ 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"
@@ -389,9 +395,18 @@ checksum = "dc2d050bdc5c21e0862a89256ed8029ae6c290a93aecefc73084b3002cdebb01"
 
 [[package]]
 name = "embassy-hal-internal"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95285007a91b619dc9f26ea8f55452aa6c60f7115a4edc05085cd2bd3127cd7a"
+checksum = "7f10ce10a4dfdf6402d8e9bd63128986b96a736b1a0a6680547ed2ac55d55dba"
+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",
@@ -410,9 +425,9 @@ dependencies = [
 
 [[package]]
 name = "embassy-stm32"
-version = "0.4.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d972eab325cc96afee98f80a91ca6b00249b6356dc0fdbff68b70c200df9fae"
+checksum = "486c0622deb5a519fc4d2cb8e3ef324f7568fcdfff201ff8fcab46557d663ceb"
 dependencies = [
  "aligned",
  "bit_field",
@@ -426,10 +441,12 @@ dependencies = [
  "document-features",
  "embassy-embedded-hal",
  "embassy-futures",
- "embassy-hal-internal",
+ "embassy-hal-internal 0.5.0",
  "embassy-net-driver",
  "embassy-sync",
  "embassy-time",
+ "embassy-time-driver",
+ "embassy-time-queue-utils",
  "embassy-usb-driver",
  "embassy-usb-synopsys-otg",
  "embedded-can",
@@ -437,50 +454,54 @@ dependencies = [
  "embedded-hal 1.0.0",
  "embedded-hal-async",
  "embedded-hal-nb",
- "embedded-io",
+ "embedded-io 0.7.1",
- "embedded-io-async",
+ "embedded-io-async 0.7.0",
  "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 = "0.7.2"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "73974a3edbd0bd286759b3d483540f0ebef705919a5f56f4fc7709066f71689b"
+checksum = "7bbd85cf5a5ae56bdf26f618364af642d1d0a4e245cdd75cd9aabda382f65a81"
 dependencies = [
  "cfg-if",
  "critical-section",
  "defmt 1.0.1",
- "embedded-io-async",
+ "embedded-io-async 0.7.0",
  "futures-core",
  "futures-sink",
- "heapless 0.8.0",
+ "heapless 0.9.1",
 ]
 
 [[package]]
 name = "embassy-time"
-version = "0.5.0"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4fa65b9284d974dad7a23bb72835c4ec85c0b540d86af7fc4098c88cff51d65"
+checksum = "592b0c143ec626e821d4d90da51a2bd91d559d6c442b7c74a47d368c9e23d97a"
 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",
@@ -489,13 +510,23 @@ dependencies = [
 
 [[package]]
 name = "embassy-time-driver"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a0a244c7dc22c8d0289379c8d8830cae06bb93d8f990194d0de5efb3b5ae7ba6"
+checksum = "6ee71af1b3a0deaa53eaf2d39252f83504c853646e472400b763060389b9fcc9"
 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"
@@ -503,14 +534,14 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "17119855ccc2d1f7470a39756b12068454ae27a3eabb037d940b5c03d9c77b7a"
 dependencies = [
  "defmt 1.0.1",
- "embedded-io-async",
+ "embedded-io-async 0.6.1",
 ]
 
 [[package]]
 name = "embassy-usb-synopsys-otg"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "288751f8eaa44a5cf2613f13cee0ca8e06e6638cb96e897e6834702c79084b23"
+checksum = "cbe46f4083109c7ea12a03ca61095d1e87c76fec52c7ca9ee06a42935606dacb"
 dependencies = [
  "critical-section",
  "defmt 1.0.1",
@@ -578,8 +609,14 @@ 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 0.3.100",
+ "defmt 1.0.1",
 ]
 
 [[package]]
@@ -588,19 +625,17 @@ version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3ff09972d4073aa8c299395be75161d582e7629cd663171d62af73c8d50dba3f"
 dependencies = [
- "defmt 0.3.100",
+ "embedded-io 0.6.1",
- "embedded-io",
 ]
 
 [[package]]
-name = "embedded-models"
+name = "embedded-io-async"
-version = "0.1.0"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2564b9f813c544241430e147d8bc454815ef9ac998878d30cc3055449f7fd4c0"
 dependencies = [
- "arbitrary-int 2.0.0",
  "defmt 1.0.1",
- "postcard",
+ "embedded-io 0.7.1",
- "serde",
- "spacepackets",
 ]
 
 [[package]]
@@ -636,7 +671,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -657,15 +692,6 @@ 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"
@@ -696,12 +722,6 @@ 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"
@@ -903,7 +923,7 @@ checksum = "ff32365de1b6743cb203b710788263c44a03de03802daf96092f2da4fe6ba4d7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -953,7 +973,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
 dependencies = [
  "cobs 0.3.0",
- "defmt 1.0.1",
  "heapless 0.7.17",
  "serde",
 ]
@@ -977,7 +996,7 @@ dependencies = [
  "proc-macro-error-attr2",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -1010,6 +1029,18 @@ 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"
@@ -1067,20 +1098,7 @@ dependencies = [
  "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
-]
-
-[[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]]
@@ -1099,20 +1117,6 @@ 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"
@@ -1150,14 +1154,13 @@ dependencies = [
  "defmt-rtt",
  "defmt-test",
  "embassy-stm32",
+ "embassy-time",
  "embedded-hal 1.0.0",
- "embedded-models",
  "enumset",
  "heapless 0.9.1",
  "panic-probe",
  "postcard",
  "rtic",
- "rtic-monotonics",
  "rtic-sync",
  "serde",
  "spacepackets",
@@ -1183,6 +1186,12 @@ 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"
@@ -1231,7 +1240,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -1307,24 +1316,35 @@ dependencies = [
 
 [[package]]
 name = "stm32-fmc"
-version = "0.3.2"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7f0639399e2307c2446c54d91d4f1596343a1e1d5cab605b9cce11d0ab3858c"
+checksum = "72692594faa67f052e5e06dd34460951c21e83bc55de4feb8d2666e2f15480a2"
 dependencies = [
- "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
 ]
 
 [[package]]
 name = "stm32-metapac"
-version = "18.0.0"
+version = "21.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fd8ec3a292a0d9fc4798416a61b21da5ae50341b2e7b8d12e662bf305366097"
+checksum = "e74b78632cea498cfb28386a29f8bfae7476d6570a78733eb5fecbee66c2f4ce"
 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"
@@ -1353,7 +1373,7 @@ checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -1414,6 +1434,17 @@ 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"
@@ -1501,7 +1532,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -1512,7 +1543,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]
 
 [[package]]
@@ -1590,5 +1621,5 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.108",
 ]

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

@@ -7,7 +7,6 @@ default-run = "satrs-stm32f3-disco-rtic"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-embedded-models = { path = "../models", features = ["defmt"] }
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 defmt = "1"
@@ -15,7 +14,8 @@ defmt-rtt = { version = "1" }
 panic-probe = { version = "1", features = ["print-defmt"] }
 embedded-hal = "1"
 cortex-m-semihosting = "0.5.0"
-embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
+embassy-stm32 = { version = "0.6", features = ["defmt", "stm32f303vc", "memory-x", "unstable-pac", "time-driver-any"] }
+embassy-time = { version = "0.5", features = ["defmt", "generic-queue-16", "defmt-timestamp-uptime-ms"]}
 enumset = "1"
 heapless = "0.9"
 spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
@@ -28,10 +28,9 @@ 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 = "0.4"
+defmt-test = "0.5"
 
 # cargo test
 [profile.test]

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

@@ -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;
-*/

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

@@ -6,11 +6,8 @@ use rtic::app;
 
 #[app(device = embassy_stm32)]
 mod app {
-    use rtic_monotonics::fugit::ExtU32;
+    use embassy_time::Timer;
-    use rtic_monotonics::Monotonic as _;
+use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
-    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
-
-    rtic_monotonics::systick_monotonic!(Mono, 1000);
 
     #[shared]
     struct Shared {}
@@ -22,7 +19,7 @@ mod app {
     }
 
     #[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");
@@ -39,8 +36,6 @@ mod app {
         };
         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 {},
@@ -55,7 +50,7 @@ mod app {
     async fn blinky(cx: blinky::Context) {
         loop {
             cx.local.leds.blink_next(cx.local.current_dir);
-            Mono::delay(200.millis()).await;
+            Timer::after_millis(200).await;
         }
     }
 }

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

@@ -2,9 +2,15 @@
 #![no_std]
 
 use defmt_rtt as _;
+use panic_probe as _;
 
 use arbitrary_int::u11;
+use core::time::Duration;
 use embassy_stm32::gpio::Output;
+use spacepackets::{
+    ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
+    CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
+};
 
 pub const APID: u11 = u11::new(0x02);
 
@@ -37,6 +43,49 @@ impl Direction {
     }
 }
 
+#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub enum Request {
+    Ping,
+    ChangeBlinkFrequency(Duration),
+}
+
+#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub struct TmHeader {
+    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
+    pub uptime_millis: u32,
+}
+
+#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub enum Response {
+    CommandDone,
+}
+
+pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
+    ccsds_packet_len_for_user_data_len_with_checksum(
+        postcard::experimental::serialized_size(tm_header).unwrap()
+            + postcard::experimental::serialized_size(response).unwrap(),
+    )
+    .unwrap()
+}
+
+pub fn create_tm_packet(
+    buf: &mut [u8],
+    sp_header: SpacePacketHeader,
+    tm_header: TmHeader,
+    response: Response,
+) -> Result<usize, CcsdsPacketCreationError> {
+    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
+        + postcard::experimental::serialized_size(&response).unwrap();
+    let mut creator =
+        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
+
+    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
+        .unwrap()
+        .len();
+    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
+    Ok(creator.finish())
+}
+
 pub struct Leds {
     pub north: Output<'static>,
     pub north_east: Output<'static>,

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

@@ -1,28 +1,20 @@
 #![no_std]
 #![no_main]
-use arbitrary_int::u14;
+use arbitrary_int::{u11, u14};
 use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
-use embedded_models::{create_tm_packet, stm32f3, tm_size, TmHeader};
+use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, Request, Response};
 use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, 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;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
 
+pub const PUS_APID: u11 = u11::new(0x02);
+
 // This is the predictable maximum overhead of the COBS encoding scheme.
 // It is simply the maximum packet lenght dividied by 254 rounded up.
 const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
@@ -45,7 +37,7 @@ pub enum TmSendError {
 
 #[derive(Debug, defmt::Format)]
 pub struct RequestWithTcId {
-    pub request: stm32f3::Request,
+    pub request: Request,
     pub tc_id: CcsdsPacketIdAndPsc,
 }
 
@@ -55,19 +47,19 @@ mod app {
 
     use super::*;
     use arbitrary_int::u14;
-    use embedded_models::stm32f3::{Request, Response};
+    use embassy_time::Timer;
     use rtic::Mutex;
     use rtic_sync::{
         channel::{Receiver, Sender},
         make_channel,
     };
-    use satrs_stm32f3_disco_rtic::LedPinSet;
+    use satrs_stm32f3_disco_rtic::{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]
@@ -85,15 +77,13 @@ 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 {
@@ -111,7 +101,7 @@ 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, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
+            p.USART2, p.PA3, p.PA2, p.DMA1_CH7, p.DMA1_CH6, Irqs, config,
         )
         .unwrap();
 
@@ -141,10 +131,7 @@ mod app {
         loop {
             cx.local.leds.blink_next(cx.local.current_dir);
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Mono::delay(MillisDurationU32::from_ticks(
+            Timer::after_millis(current_blink_freq.as_millis() as u64).await;
-                current_blink_freq.as_millis() as u32,
-            ))
-            .await;
         }
     }
 
@@ -168,7 +155,7 @@ mod app {
                     .unwrap();
                 continue;
             }
-            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            Timer::after_millis(TX_HANDLER_FREQ_MS as u64).await;
         }
     }
 
@@ -197,9 +184,8 @@ mod app {
                                     &decoder.dest()[0..packet_size],
                                 ) {
                                     Ok(packet) => {
-                                        let packet_id = packet.packet_id();
+                                        let tc_packet_id =
-                                        let psc = packet.psc();
+                                            CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet);
-                                        let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
                                         if let Ok(request) =
                                             postcard::from_bytes::<Request>(packet.packet_data())
                                         {
@@ -262,7 +248,7 @@ mod app {
         tc_packet_id: CcsdsPacketIdAndPsc,
     ) -> Result<(), TmSendError> {
         defmt::info!("Received PUS ping telecommand, sending ping reply");
-        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
+        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
         *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
         Ok(())
     }
@@ -279,7 +265,7 @@ mod app {
         cx.shared
             .blink_freq
             .lock(|blink_freq| *blink_freq = duration);
-        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
+        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
         *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
         Ok(())
     }
@@ -287,13 +273,13 @@ mod app {
 
 fn send_tm(
     tc_packet_id: CcsdsPacketIdAndPsc,
-    response: stm32f3::Response,
+    response: Response,
     current_seq_count: u14,
 ) -> Result<(), TmSendError> {
-    let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
+    let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
-    let tm_header = TmHeader {
+    let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
         tc_packet_id: Some(tc_packet_id),
-        uptime_millis: Mono::now().duration_since_epoch().to_millis() as u64,
+        uptime_millis: embassy_time::Instant::now().as_millis() as u32,
     };
     let mut tm_packet = TmPacket::new();
     let tm_size = tm_size(&tm_header, &response);

embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml

@@ -0,0 +1,29 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip STM32H743ZITx"
+# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
+
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+  # Can be useful for debugging.
+  # "-Clink-args=-Map=app.map"
+]
+
+[build]
+# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
+# target improves performance)
+# target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"    # Cortex-M3
+# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
+
+[env]
+DEFMT_LOG = "info"

embedded-examples/stm32h7-nucleo-rtic/Cargo.toml

@@ -14,28 +14,37 @@ name = "integration"
 harness = false
 
 [dependencies]
-embedded-models = { path = "../models", features = ["defmt"] }
-
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-arbitrary-int = "2"
 cortex-m-rt = "0.7"
 defmt = "1"
-defmt-rtt = "1"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
 panic-probe = { version = "1", features = ["print-defmt"] }
-embedded-alloc = "0.7"
+cortex-m-semihosting = "0.5.0"
-static_cell = "2"
+# TODO: Replace with embassy-hal.
-rtic = { version = "2", features = ["thumbv7-backend"] }
+stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
-spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
+embedded-alloc = "0.6"
-postcard = "1"
+rtic-sync = { version = "1", features = ["defmt-03"] }
 
-embassy-stm32 =  { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
+[dependencies.smoltcp]
+version = "0.12"
+default-features = false
+features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
 
-embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
+[dependencies.rtic]
-embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
+version = "2"
-embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]
+
+[dependencies.satrs]
+path = "../../satrs"
+default-features = false
+features = ["defmt", "heapless"]
 
 [dev-dependencies]
-defmt-test = "0.5"
+defmt-test = "0.4"
 
 # cargo build/run
 [profile.dev]

embedded-examples/stm32h7-nucleo-rtic/build.rs

@@ -1,14 +0,0 @@
-use std::path::PathBuf;
-use std::{env, fs};
-
-fn main() {
-    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
-    let cargo_dir = manifest_dir.parent().unwrap().join(".cargo");
-    let config = cargo_dir.join("config.toml");
-    let config_template = cargo_dir.join("config.toml.template");
-
-    if !config.exists() && config_template.exists() {
-        fs::create_dir_all(&cargo_dir).unwrap();
-        fs::copy(&config_template, &config).unwrap();
-    }
-}

embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore

@@ -0,0 +1,8 @@
+/venv
+/.tmtc-history.txt
+/log
+/.idea/*
+!/.idea/runConfigurations
+
+/seqcnt.txt
+/tmtc_conf.json

embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json

@@ -0,0 +1,4 @@
+{
+    "com_if": "udp",
+    "tcpip_udp_port": 7301
+}

embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py

@@ -0,0 +1,305 @@
+#!/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()

embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt

@@ -0,0 +1,2 @@
+tmtccmd == 8.0.1
+# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32h7-nucleo-rtic/rust-toolchain.toml

@@ -1,2 +0,0 @@
-[toolchain]
-targets = ["thumbv7em-none-eabihf"]

embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs

@@ -5,53 +5,51 @@
 
 #![no_std]
 #![no_main]
-use rtic::app;
 use satrs_stm32h7_nucleo_rtic as _;
 
-#[app(device = embassy_stm32, peripherals = false, dispatchers = [SPI1])]
+use stm32h7xx_hal::{block, prelude::*, timer::Timer};
-mod app {
-    use embassy_stm32::gpio;
 
-    #[shared]
+use cortex_m_rt::entry;
-    struct Shared {}
 
-    #[local]
+#[entry]
-    struct Local {}
+fn main() -> ! {
+    defmt::println!("starting stm32h7 blinky example");
 
-    #[init]
+    // Get access to the device specific peripherals from the peripheral access crate
-    fn init(_cx: init::Context) -> (Shared, Local) {
+    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
-        let p = embassy_stm32::init(Default::default());
-        defmt::info!("Hello World!");
-        // Configure gpio B pin 0 as a push-pull output.
-        let ld1 = gpio::Output::new(p.PB0, gpio::Level::High, gpio::Speed::Low);
-        let ld2 = gpio::Output::new(p.PB7, gpio::Level::High, gpio::Speed::Low);
-        let ld3 = gpio::Output::new(p.PB14, gpio::Level::High, gpio::Speed::Low);
 
-        // Schedule the blinking task
+    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
-        blink::spawn(ld1, ld2, ld3).ok();
+    let rcc = dp.RCC.constrain();
 
-        (Shared {}, Local {})
+    let pwr = dp.PWR.constrain();
-    }
+    let pwrcfg = pwr.freeze();
 
-    #[task()]
+    // Freeze the configuration of all the clocks in the system and
-    async fn blink(
+    // retrieve the Core Clock Distribution and Reset (CCDR) object
-        _cx: blink::Context,
+    let rcc = rcc.use_hse(8.MHz()).bypass_hse();
-        mut ld1: gpio::Output<'static>,
+    let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
-        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");
+    // Acquire the GPIOB peripheral
-            ld1.set_low();
+    let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
-            ld2.set_low();
+
-            ld3.set_low();
+    // Configure gpio B pin 0 as a push-pull output.
-            embassy_time::Timer::after_millis(500).await;
+    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();
     }
 }

embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs

@@ -1,13 +1,11 @@
 #![no_main]
 #![no_std]
 
-// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
-use satrs_stm32h7_nucleo_rtic as _;
 
 #[cortex_m_rt::entry]
 fn main() -> ! {
-    loop {
+    defmt::println!("Hello, world!");
-        defmt::println!("Hello, world!");
+
-        cortex_m::asm::delay(100_000_000);
+    satrs_stm32h7_nucleo_rtic::exit()
-    }
 }

embedded-examples/stm32h7-nucleo-rtic/src/lib.rs

@@ -1,8 +1,13 @@
 #![no_main]
 #![no_std]
 
-use defmt_rtt as _;
+use cortex_m_semihosting::debug;
-use embassy_stm32 as _;
+
+use defmt_brtt as _; // global logger
+
+// TODO(5) adjust HAL import
+use stm32h7xx_hal as _; // memory layout
+
 use panic_probe as _;
 
 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
@@ -12,6 +17,14 @@ 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
@@ -19,7 +32,9 @@ fn panic() -> ! {
 /// loop.
 #[cortex_m_rt::exception]
 unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    panic!("unexpected hard fault");
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
+    }
 }
 
 // defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used

embedded-examples/stm32h7-nucleo-rtic/src/main.rs

@@ -3,215 +3,422 @@
 extern crate alloc;
 
 use rtic::app;
+use rtic_monotonics::systick::prelude::*;
+use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
+use satrs::static_subpool;
 // global logger + panicking-behavior + memory layout
-use embassy_stm32::bind_interrupts;
 use satrs_stm32h7_nucleo_rtic as _;
+use smoltcp::socket::udp::UdpMetadata;
+use smoltcp::socket::{dhcpv4, udp};
 
 use core::mem::MaybeUninit;
 use embedded_alloc::LlffHeap as 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();
 
+systick_monotonic!(Mono, 1000);
+
+// 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];
 
-const TC_QUEUE_DEPTH: usize = 32;
+pub struct Net {
-const TM_QUEUE_DEPTH: usize = 32;
+    iface: Interface,
+    ethdev: ethernet::EthernetDMA<4, 4>,
+    dhcp_handle: SocketHandle,
+}
 
-#[app(device = embassy_stm32, peripherals = false)]
+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(Mono::now().duration_since_epoch().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 = Mono::now().duration_since_epoch();
+        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 arbitrary_int::u14;
+    use rtic_monotonics::fugit::MillisDurationU32;
-    use embassy_net::udp::UdpSocket;
+    use satrs::spacepackets::ecss::tc::PusTcReader;
-    use embassy_net::StackResources;
+    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
-    use embassy_stm32::eth;
+    use stm32h7xx_hal::gpio::{Output, Pin};
-    use embassy_stm32::gpio;
+    use stm32h7xx_hal::prelude::*;
-    use embassy_stm32::peripherals;
+    use stm32h7xx_hal::stm32::Interrupt;
-    use embassy_stm32::rng;
-    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
-    use embassy_time::Duration;
-    use embassy_time::Timer;
-    use embassy_time::WithTimeout as _;
-    use embedded_models::create_tm_packet;
-    use embedded_models::stm32h7;
-    use embedded_models::tm_size;
-    use embedded_models::TmHeader;
-    use spacepackets::CcsdsPacketCreationError;
-    use spacepackets::CcsdsPacketIdAndPsc;
-    use spacepackets::CcsdsPacketReader;
-    use spacepackets::SpHeader;
-    use static_cell::StaticCell;
-
-    bind_interrupts!(struct Irqs {
-        ETH => eth::InterruptHandler;
-        RNG => rng::InterruptHandler<peripherals::RNG>;
-    });
-
-    type Device = eth::Ethernet<
-        'static,
-        peripherals::ETH,
-        eth::GenericPhy<eth::Sma<'static, peripherals::ETH_SMA>>,
-    >;
 
     struct BlinkyLeds {
-        led1: gpio::Output<'static>,
+        led1: Pin<'B', 7, Output>,
-        led2: gpio::Output<'static>,
+        led2: Pin<'B', 14, Output>,
     }
 
     #[local]
     struct Local {
-        net_runner: embassy_net::Runner<'static, Device>,
-        net_stack: embassy_net::Stack<'static>,
         leds: BlinkyLeds,
-        link_led: gpio::Output<'static>,
+        link_led: Pin<'B', 0, Output>,
-        tc_rx: embassy_sync::channel::Receiver<
+        net: Net,
-            'static,
+        udp: UdpNet,
-            NoopRawMutex,
+        tc_source_rx: TcSourceRx,
-            alloc::vec::Vec<u8>,
+        phy: ethernet::phy::LAN8742A<EthernetMAC>,
-            TC_QUEUE_DEPTH,
-        >,
-        tc_tx: embassy_sync::channel::Sender<
-            'static,
-            NoopRawMutex,
-            alloc::vec::Vec<u8>,
-            TC_QUEUE_DEPTH,
-        >,
-        tm_rx: embassy_sync::channel::Receiver<
-            'static,
-            NoopRawMutex,
-            alloc::vec::Vec<u8>,
-            TM_QUEUE_DEPTH,
-        >,
-        tm_tx: embassy_sync::channel::Sender<
-            'static,
-            NoopRawMutex,
-            alloc::vec::Vec<u8>,
-            TM_QUEUE_DEPTH,
-        >,
     }
 
     #[shared]
     struct Shared {
-        sequence_count: u14,
+        blink_freq: MillisDurationU32,
-        blink_freq: embassy_time::Duration,
+        eth_link_up: bool,
+        sockets: SocketSet<'static>,
+        shared_pool: SharedPool,
     }
 
     #[init]
-    fn init(_cx: init::Context) -> (Shared, Local) {
+    fn init(mut cx: init::Context) -> (Shared, Local) {
         defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
 
-        let mut config = embassy_stm32::Config::default();
+        let pwr = cx.device.PWR.constrain();
-        {
+        let pwrcfg = pwr.freeze();
-            use embassy_stm32::rcc::*;
-            config.rcc.hsi = Some(HSIPrescaler::Div1);
-            config.rcc.csi = true;
-            config.rcc.hsi48 = Some(Default::default()); // needed for RNG
-            config.rcc.pll1 = Some(Pll {
-                source: PllSource::Hsi,
-                prediv: PllPreDiv::Div4,
-                mul: PllMul::Mul50,
-                fracn: None,
-                divp: Some(PllDiv::Div2),
-                divq: None,
-                divr: None,
-            });
-            config.rcc.sys = Sysclk::Pll1P; // 400 Mhz
-            config.rcc.ahb_pre = AHBPrescaler::Div2; // 200 Mhz
-            config.rcc.apb1_pre = APBPrescaler::Div2; // 100 Mhz
-            config.rcc.apb2_pre = APBPrescaler::Div2; // 100 Mhz
-            config.rcc.apb3_pre = APBPrescaler::Div2; // 100 Mhz
-            config.rcc.apb4_pre = APBPrescaler::Div2; // 100 Mhz
-            config.rcc.voltage_scale = VoltageScale::Scale1;
-        }
-        let periphs = embassy_stm32::init(config);
 
-        let link_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
+        let rcc = cx.device.RCC.constrain();
-        let mut led1 = gpio::Output::new(periphs.PB7, gpio::Level::Low, gpio::Speed::Medium);
+        // Try to keep the clock configuration similar to one used in STM examples:
-        let mut led2 = gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium);
+        // 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
+        Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
+
+        // 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 };
 
-        static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
+        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
-        // warning: Not all STM32H7 devices have the exact same pins here
+        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
-        // for STM32H747XIH, replace p.PB13 for PG12
+        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
-        let device = eth::Ethernet::new(
+        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
-            PACKETS.init(eth::PacketQueue::<4, 4>::new()),
+        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
-            periphs.ETH,
+        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
-            Irqs,
+        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
-            periphs.PA1,  // ref_clk
+        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
-            periphs.PA7,  // CRS_DV: Carrier Sense
+        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
-            periphs.PC4,  // RX_D0: Received Bit 0
+
-            periphs.PC5,  // RX_D1: Received Bit 1
+        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
-            periphs.PG13, // TX_D0: Transmit Bit 0
+
-            periphs.PB13, // TX_D1: Transmit Bit 1
+        /// Ethernet descriptor rings are a global singleton
-            periphs.PG11, // TX_EN: Transmit Enable
+        #[link_section = ".sram3.eth"]
-            MAC_ADDRESS,
+        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
-            periphs.ETH_SMA,
+
-            periphs.PA2, // mdio
+        let (eth_dma, eth_mac) = ethernet::new(
-            periphs.PC1, // mdc
+            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"
         );
 
-        let config = embassy_net::Config::dhcpv4(embassy_net::DhcpConfig::default());
+        shared_pool
-
+            .grow(
-        // Generate random seed.
+                SUBPOOL_SMALL.get_mut().unwrap(),
-        let mut rng = rng::Rng::new(periphs.RNG, Irqs);
+                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
-        let mut seed = [0; 8];
+                SUBPOOL_SMALL_NUM_BLOCKS,
-        rng.fill_bytes(&mut seed);
+                true,
-        let seed = u64::from_le_bytes(seed);
+            )
-
+            .expect("growing heapless memory pool failed");
-        // Init network stack
+        shared_pool
-        static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+            .grow(
-        let (stack, runner) =
+                SUBPOOL_MEDIUM.get_mut().unwrap(),
-            embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
+                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                SUBPOOL_LARGE.get_mut().unwrap(),
+                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
+                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(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
 
-        static TC_CHANNEL: static_cell::ConstStaticCell<
+        eth_link_check::spawn().expect("eth link check failed");
-            embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TC_QUEUE_DEPTH>,
-        > = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
-        let tc_channel = TC_CHANNEL.take();
-        let tc_sender = tc_channel.sender();
-        let tc_receiver = tc_channel.receiver();
-
-        static TM_CHANNEL: static_cell::ConstStaticCell<
-            embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TM_QUEUE_DEPTH>,
-        > = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
-        let tm_channel = TM_CHANNEL.take();
-        let tm_sender = tm_channel.sender();
-        let tm_receiver = tm_channel.receiver();
-
-        net_lib_task::spawn().expect("spawning net library task failed");
-        net_app_task::spawn().expect("spawning net application task failed");
         blinky::spawn().expect("spawning blink task failed");
-        tc_handler::spawn().expect("spawning TC handler task failed");
+        udp_task::spawn().expect("spawning UDP task failed");
+        tc_source_task::spawn().expect("spawning TC source task failed");
 
         (
             Shared {
-                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                sequence_count: u14::new(0),
+                eth_link_up: false,
+                sockets,
+                shared_pool,
             },
             Local {
                 link_led,
                 leds,
-                net_runner: runner,
+                net,
-                net_stack: stack,
+                udp,
-                tc_tx: tc_sender,
+                tc_source_rx,
-                tc_rx: tc_receiver,
+                phy: lan8742a,
-                tm_tx: tm_sender,
-                tm_rx: tm_receiver,
             },
         )
     }
@@ -223,159 +430,94 @@ mod app {
             leds.led1.toggle();
             leds.led2.toggle();
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Timer::after_millis(current_blink_freq.as_millis()).await;
+            Mono::delay(current_blink_freq).await;
         }
     }
 
-    #[task(local=[net_runner])]
+    /// This task checks for the network link.
-    async fn net_lib_task(cx: net_lib_task::Context) {
+    #[task(local=[link_led, phy], shared=[eth_link_up])]
-        cx.local.net_runner.run().await;
+    async fn eth_link_check(mut cx: eth_link_check::Context) {
-    }
+        let phy = cx.local.phy;
-
+        let link_led = cx.local.link_led;
-    #[task(local = [net_stack, link_led, tc_tx, tm_rx])]
-    async fn net_app_task(cx: net_app_task::Context) {
-        pub const MTU: usize = 1500;
-
-        // Ensure those are in the data section by making them static.
-        static RX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
-            static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
-        static TX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
-            static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
-        static TX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
-            static_cell::ConstStaticCell::new([0; MTU]);
-        static RX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
-            static_cell::ConstStaticCell::new([0; MTU]);
-
-        let rx_udp_meta = RX_UDP_META.take();
-        let rx_udp_bufs = RX_UDP_BUFS.take();
-        let tx_udp_meta = TX_UDP_META.take();
-        let tx_udp_bufs = TX_UDP_BUFS.take();
-
-        let mut rx_buffer = [0; MTU];
-
         loop {
-            cx.local.net_stack.wait_link_up().await;
+            let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
-            cx.local.link_led.set_high();
+            if phy.poll_link() {
-            defmt::info!("Network link is up");
+                if !link_was_up {
-
+                    link_led.set_high();
-            // Ensure DHCP configuration is up before trying connect
+                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
-            cx.local.net_stack.wait_config_up().await;
+                    defmt::info!("Ethernet link up");
-
-            let config = cx.local.net_stack.config_v4();
-            defmt::info!("Network task initialized, config: {}", config);
-
-            let mut udp = UdpSocket::new(
-                cx.local.net_stack.clone(),
-                rx_udp_meta,
-                rx_udp_bufs,
-                tx_udp_meta,
-                tx_udp_bufs,
-            );
-            defmt::info!("UDP socket bound to port {}", PORT);
-            udp.bind(PORT).expect("failed to bind UDP socket");
-            let mut remote_endpoint = None;
-            loop {
-                if !cx.local.net_stack.is_link_up() {
-                    defmt::warn!("Network link is down");
-                    cx.local.link_led.set_low();
-                    break;
-                }
-                match udp
-                    .recv_from(&mut rx_buffer)
-                    .with_timeout(Duration::from_millis(200))
-                    .await
-                {
-                    Ok(result) => match result {
-                        Ok((data, meta)) => {
-                            remote_endpoint = Some(meta.endpoint);
-                            defmt::debug!("UDP RX {}, Meta: {}", data, meta);
-                            cx.local.tc_tx.send(rx_buffer[0..data].to_vec()).await;
-                        }
-                        Err(e) => {
-                            defmt::warn!("udp receive error: {}", e);
-                            Timer::after_millis(100).await;
-                        }
-                    },
-                    Err(_e) => (),
-                }
-                if let Some(endpoint) = remote_endpoint {
-                    while let Ok(packet) = cx.local.tm_rx.try_receive() {
-                        match udp.send_to(&packet, endpoint).await {
-                            Ok(_) => {
-                                defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint)
-                            }
-                            Err(e) => defmt::warn!("udp send error: {}", e),
-                        }
-                    }
                 }
+            } 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");
             }
+            Mono::delay(100.millis()).await;
         }
     }
 
-    #[task(local = [tc_rx, tm_tx], shared=[sequence_count, blink_freq])]
+    #[task(binds=ETH, local=[net], shared=[sockets])]
-    async fn tc_handler(mut cx: tc_handler::Context) {
+    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 {
-            let tc = cx.local.tc_rx.receive().await;
+            cx.shared.sockets.lock(|sockets| {
-
+                cx.shared.shared_pool.lock(|pool| {
-            match CcsdsPacketReader::new_with_checksum(&tc) {
+                    cx.local.udp.poll(sockets, pool);
-                Ok(packet) => {
+                })
-                    let packet_id = packet.packet_id();
+            });
-                    let psc = packet.psc();
+            Mono::delay(40.millis()).await;
-                    let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
-                    if let Ok(request) =
-                        postcard::from_bytes::<stm32h7::Request>(packet.packet_data())
-                    {
-                        let response = match request {
-                            stm32h7::Request::Ping => {
-                                stm32h7::Response::Ok
-                            }
-                            stm32h7::Request::ChangeBlinkFrequency(duration) => {
-                                cx.shared.blink_freq.lock(|current| {
-                                    *current = Duration::from_millis(duration.as_millis() as u64)
-                                });
-                                stm32h7::Response::Ok
-                            }
-                        };
-                        let sequence_count = cx.shared.sequence_count.lock(|v| {
-                            let current = *v;
-                            *v = v.wrapping_add(u14::new(1));
-                            current
-                        });
-
-                        // Send Pong/OK response immediately.
-                        if let Err(e) =
-                            send_tm(tc_packet_id, response, sequence_count, cx.local.tm_tx).await
-                        {
-                            defmt::warn!("Failed to send TM response: {}", e);
-                        }
-                    }
-                }
-                Err(e) => defmt::warn!("Failed to parse received TC packet: {}", e,),
-            }
-            defmt::info!("Received from UDP client: {}", tc.as_slice());
         }
     }
 
-    async fn send_tm(
+    /// This task handles all the incoming telecommands.
-        tc_packet_id: CcsdsPacketIdAndPsc,
+    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
-        response: stm32h7::Response,
+    async fn tc_source_task(mut cx: tc_source_task::Context) {
-        current_seq_count: u14,
+        loop {
-        sender: &embassy_sync::channel::Sender<
+            let recv_result = cx.local.tc_source_rx.recv().await;
-            'static,
+            match recv_result {
-            NoopRawMutex,
+                Ok(pool_addr) => {
-            alloc::vec::Vec<u8>,
+                    cx.shared.shared_pool.lock(|pool| {
-            TM_QUEUE_DEPTH,
+                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
-        >,
+                            Ok(packet_len) => {
-    ) -> Result<(), CcsdsPacketCreationError> {
+                                defmt::info!("received {} bytes in the TC source task", packet_len);
-        let sp_header = SpHeader::new_for_unseg_tc(stm32h7::PUS_APID, current_seq_count, 0);
+                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
-        let tm_header = TmHeader {
+                                    Ok((packet, _tc_len)) => {
-            tc_packet_id: Some(tc_packet_id),
+                                        // TODO: Handle packet here or dispatch to dedicated PUS
-            uptime_millis: embassy_time::Instant::now().as_millis(),
+                                        // handler? Dispatching could simplify some things and make
-        };
+                                        // the software more scalable..
-        let tm_size = tm_size(&tm_header, &response);
+                                        defmt::info!("received PUS packet: {}", packet);
-        let mut packet = alloc::vec![0; tm_size];
+                                    }
-        create_tm_packet(&mut packet, sp_header, tm_header, response)?;
+                                    Err(e) => {
-        sender.send(packet).await;
+                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
-        Ok(())
+                                    }
+                                }
+                                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);
+                }
+            };
+        }
     }
 }

embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs

@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-use satrs_stm32h7_nucleo_rtic as _; // memory layout + panic handler
+use stm32h7_testapp as _; // memory layout + panic handler
 
 // See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
 // feature)

embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore

@@ -0,0 +1,2 @@
+/settings.json
+/.cortex-debug.*

embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json

@@ -0,0 +1,12 @@
+{
+	// 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": []
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32H743ZITx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
+          "rttEnabled": true,
+          "svdFile": "STM32H743.svd"
+        }
+      ]
+    }
+  ]
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/tasks.json

@@ -0,0 +1,20 @@
+{
+    // 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
+            }
+        },
+
+    ]
+}

justfile

@@ -11,17 +11,9 @@ test:
   cargo nextest run --all-features
   cargo test --doc --all-features
 
-embedded: embedded-stm32h7 embedded-stm32f3
+embedded:
   cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
 
-[working-directory:"embedded-examples/stm32h7-nucleo-rtic"]
-embedded-stm32h7:
-  cargo build --target=thumbv7em-none-eabihf --release
-
-[working-directory:"embedded-examples/stm32f3-disco-rtic"]
-embedded-stm32f3:
-  cargo build --target=thumbv7em-none-eabihf --release
-
 check-fmt:
   cargo fmt --all -- --check
 

satrs-example/src/acs/mgm.rs

@@ -169,7 +169,7 @@ impl MgmHandlerLis3Mdl {
         spi_com: SpiCommunication,
         shared_mgm_set: Arc<Mutex<MgmData>>,
         mode_leaf_helper: ModeLeafHelper,
-        mode_timeout: Duration,
+        mode_timeout: Duration
     ) -> Self {
         Self {
             id,
@@ -533,7 +533,6 @@ mod tests {
                 SpiCommunication::Test(TestSpiInterface::default()),
                 shared_mgm_set,
                 mode_leaf_helper,
-                Duration::from_millis(200),
             );
             Self {
                 assembly_mode_request_tx,

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 {