Merge pull request 'clippy' (#190 ) from clippy into main

Reviewed-on: #190
clippy
2025-11-06 13:43:48 +01:00 · 2025-11-06 13:43:20 +01:00 · 2025-11-06 13:27:09 +01:00 · 2025-11-06 13:26:46 +01:00 · 2025-11-05 20:20:35 +01:00 · 2025-11-05 20:18:31 +01:00
37 changed files with 12296 additions and 2749 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -29,7 +29,7 @@ jobs:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@1.81.0
+      - uses: dtolnay/rust-toolchain@1.83
      - run: cargo check --release

  cross-check:
@@ -39,12 +39,13 @@ jobs:
      matrix:
        target:
          - armv7-unknown-linux-gnueabihf
+          - thumbv6m-none-eabi
          - thumbv7em-none-eabihf
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
-          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf, thumbv6m-none-eabi"
      - run: cargo check --release --target=${{matrix.target}} --no-default-features

  fmt:
@@ -53,6 +54,8 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
      - run: cargo fmt --all -- --check

  docs:
@@ -69,4 +72,6 @@ jobs:
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
      - run: cargo clippy -- -D warnings
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,122 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

+# [v0.17.0] 2025-11-06
+
+## Changed
+
+- `CdsCommon` renamed to `CdsBase`
+- cfdp: Removed `FileDirectiveType` variant `*Pdu` suffix
+- ecss: Renamed `Subservice` to `MessageSubtypeId`
+- Simplified CDS short timestamp, contains one less field which reduced serialization length.
+- Renamed `UnsignedEnum::value` to `UnsignedEnum::value_raw`, `value` is reserved for the `const`
+  value getter.
+- Renamed `CcsdsPrimaryHeader::from_composite_fields` to
+  `CcsdsPrimaryHeader::new_from_composite_fields`
+- Renamed `PusPacket::service` to `PusPacket::service_type_id` and `PusPacket::subservice` to
+  `PusPacket::message_subtype_id`. Also added `PusPacket::message_type_id`. Performed the same
+  change for the ECSS PUS C secondary header traits.
+
+## Added
+
+- Added `CcsdsPacketCreator`, `CcsdsPacketReader`, `CcsdsPacketCreatorWithReservedData` and
+  `CcsdsPacketCreatorOwned` which simplify the process of creating full CCSDS space packets.
+- Added new optional `portable-atomic` because portable atomics might not work on every
+  architecture in addition to requiring atomic CAS support enabled inside for the crate.
+
+## Fixed
+
+- All `core::sync::Atomic?` usages are feature gated properly to allow compilation on systems
+  without atomic CAS.
+
+# [v0.16.1] 2025-09-26
+
+## Fixed
+
+`SpHeader::packet_len` is public now.
+
+# [v0.16.0] 2025-09-24
+
+- Bump Rust MSRV to v1.83
+
+## Changed
+
+- `PusTcCreator` has its own `service`, `subservice` and `apid` methods and does not require trait
+  imports anymore.
+- CFDP NAK PDU `SegmentRequestIter` is not generic over the file size anymore. Instead, the
+  iterator returns pairs of `u64` for both large and normal file size.
+- `PusVersion::VersionNotSupported` contains raw version number instead of `PusVersion` enum now
+  to make it more flexible.
+- `pus_version` API now returns a `Result<PusVersion, u8>` instead of a `PusVersion` to allow
+  modelling invalid version numbers properly.
+- Renamed `CcsdsPacket::total_len` to `CcsdsPacket::packet_len`
+- Renamed `SequenceCountProvider` to `SequenceCounter`
+- Renamed `SeqCountProviderSimple` to `SequenceCounterSimple`
+- Renamed `CcsdsSimpleSeqCountProvider` to `SequenceCounterCcsdsSimple`
+- Renamed `SeqCountProviderSync` to `SequenceCounterSync`
+- Renamed `PusPacket::opt_crc16` to `PusPacket::checksum`
+- Renamed `PacketSequenceCtrl` to `PacketSequenceControl`
+- ECSS checksum generation is now optional as specified in the standard. Added `has_checksum`
+  parameters for ECSS TM/TC creators and readers to reflect this.
+- APID is represented by `arbitrary-int::u11` while the sequence count is represented by
+  `arbitrary-int::u14`. A lot of corresponding checks were removed because the type now ensure
+  value validity.
+- ACK field changed from `u8` to `AckFlags` structure.
+- PUS version raw representation is `u4` now.
+- SC time reference status representation is `u4` now.
+- Renamed `ptype` to `packet_type`
+- Renamed `PduHeader::new_no_file_data` to `PduHeader::new_for_file_directive`
+- Renamd `FinishedPduCreator::new_generic` to `new` and `new_default` to `new_no_error`
+
+## Removed
+
+- `PusVersion::Invalid`, which will be modelled with `Result<PusVersion, u8>` now.
+
+## Added
+
+- `cfdp::pdu::ack::InvalidAckedDirectiveCodeError` which is returned by the `AckPdu` constructor.
+- `cfdp::pdu::nak::NakPduCreatorWithReservedSegReqsBuf` constructor which exposes the segment
+  request buffer mutably to avoid the need for a separate segment request buffer.
+- `SpHeader::packet_len` direct method.
+- `AckFlags` which is implemented with `bitbybit::bitfield`
+- `ApidOutOfRangeError` and `SequenceCountOutOfRangeError`
+- Added PUS A legacy support for telecommands inside the `ecss.tc_pus_a` module
+- Added `SequenceCounter::increment_mut` and `SequenceCounter::get_and_increment_mut`
+- Implemented `SequenceCounter` for `Atomic` unsigned types and references of them
+- `PusPacket::has_checksum` and `WritablePusPacket::has_checksum`
+- PUS TC builder API, either via `PusTcBuilder::new`, or `PusTcCreator::builder`
+
+# [v0.15.0] 2025-07-18
+
+## Added
+
+- `PusTcCreatorWithReservedAppData` and `PusTmCreatorWithReservedSourceData` constructor variants
+  which allow writing source/app data into the serialization buffer directly without
+  requiring an extra buffer.
+
+# [v0.14.0] 2025-05-10
+
+## Changed
+
+- Moved CRC constants/implementations to dedicated `crc` module.
+- `crc::CRC_CCITT_FALSE_NO_TABLE` and `crc::CRC_CCITT_FALSE_BIG_TABLE` variants.
+- Renamed `PusPacket::crc16` to `PusPacket::opt_crc16`.
+
+## Added
+
+- `WritablePusPacket::write_to_bytes_crc_no_table` and `WritablePusPacket::write_to_bytes_no_crc`
+  variants.
+- `PusTmReader::new_crc_no_table` and `PusTcReader::new_crc_no_table` variants.
+- `crc16` methods for PUS TM and PUS TC reader.
+- PUS TM and PUS TC reader now return the reader instance directly instead of a tuple of the reader
+  and the read size. The instance `total_len` method can be used to retrieve the read lenght.
+
+# [v0.13.1] 2025-03-21
+
+- Bugfix due to operator precendence for `PusTcSecondaryHeader::pus_version`,
+  `PusTcSecondaryHeaderWithoutTimestamp::pus_version`, `CdsTime::from_bytes_with_u16_days` and
+  `CdsTime::from_bytes_with_u24_days`
+
 # [v0.13.0] 2024-11-08

 - Bumped MSRV to 1.81.0
@@ -561,3 +677,13 @@ The timestamp of `PusTm` is now optional. See Added and Changed section for deta

 Initial release with CCSDS Space Packet Primary Header implementation and basic PUS TC and TM
 implementations.
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.17.0...HEAD
+[v0.17.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.16.1...v0.17.0
+[v0.16.1]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.16.0...v0.16.1
+[v0.16.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.15.0...v0.16.0
+[v0.15.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.14.0...v0.15.0
+[v0.14.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.13.1...v0.14.0
+[v0.13.1]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.13.0...v0.13.1
+[v0.13.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.12.0...v0.13.0
+[v0.12.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.11.2...v0.12.0
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,8 +1,8 @@
 [package]
 name = "spacepackets"
-version = "0.13.0"
+version = "0.17.0"
 edition = "2021"
-rust-version = "1.81.0"
+rust-version = "1.83"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = "Generic implementations for various CCSDS and ECSS packet standards"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/spacepackets"
@@ -14,49 +14,27 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup

 [dependencies]
 crc = "3"
-delegate = ">=0.8, <=0.13"
+delegate = "0.13"
 paste = "1"
+zerocopy = { version = "0.8", features = ["derive"] }
+thiserror = { version = "2", default-features = false }
+num_enum = { version = "0.7", default-features = false }
+num-traits = { version = "0.2", default-features = false }
+serde = { version = "1", optional = true, default-features = false, features = ["derive"] }
+arbitrary-int = { version = "2" }
+portable-atomic = { version = "1", optional = true }
+bitbybit = "1.4"

-[dependencies.zerocopy]
-version = "0.8"
-features = ["derive"]
-
-[dependencies.thiserror]
-version = "2"
-default-features = false
-
-[dependencies.num_enum]
-version = ">0.5, <=0.7"
-default-features = false
-
-[dependencies.serde]
-version = "1"
-optional = true
-default-features = false
-features = ["derive"]
-
-[dependencies.time]
-version = "0.3"
-default-features = false
-optional = true
-
-[dependencies.chrono]
-version = "0.4"
-default-features = false
-optional = true
-
-[dependencies.num-traits]
-version = "0.2"
-default-features = false
-
-[dependencies.defmt]
-version = "0.3"
-optional = true
+time = { version = "0.3", default-features = false, optional = true }
+chrono = { version = "0.4", default-features = false, optional = true }
+defmt = { version = "1", default-features = false, optional = true }

 [features]
 default = ["std"]
 std = ["alloc", "chrono/std", "chrono/clock", "thiserror/std"]
-serde = ["dep:serde", "chrono?/serde"]
+portable-atomic = ["dep:portable-atomic", "portable-atomic/require-cas"]
+defmt = ["dep:defmt", "arbitrary-int/defmt"]
+serde = ["dep:serde", "chrono?/serde", "arbitrary-int/serde"]
 alloc = ["chrono?/alloc", "defmt?/alloc", "serde?/alloc"]
 timelib = ["dep:time"]

--- a/FUNDING.yml
+++ b/FUNDING.yml
@@ -0,0 +1 @@
+github: robamu
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 [![Crates.io](https://img.shields.io/crates/v/spacepackets)](https://crates.io/crates/spacepackets)
 [![docs.rs](https://img.shields.io/docsrs/spacepackets)](https://docs.rs/spacepackets)
 [![ci](https://github.com/us-irs/spacepackets-rs/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/us-irs/spacepackets-rs/actions/workflows/ci.yml)
-[![coverage](https://shields.io/endpoint?url=https://absatsw.irs.uni-stuttgart.de/projects/spacepackets/coverage-rs/latest/coverage.json)](https://absatsw.irs.uni-stuttgart.de/projects/spacepackets/coverage-rs/latest/index.html)
+[![matrix chat](https://img.shields.io/matrix/sat-rs%3Amatrix.org)](https://matrix.to/#/#sat-rs:matrix.org)

 ECSS and CCSDS Spacepackets
 ======
@@ -43,6 +43,9 @@ Currently, this includes the following components:
 - [`timelib`](https://crates.io/crates/time): Add basic support for the `time` time library.
 - [`defmt`](https://defmt.ferrous-systems.com/): Add support for the `defmt` by adding the
   [`defmt::Format`](https://defmt.ferrous-systems.com/format) derive on many types.
+ - [`portable-atomic`](https://github.com/taiki-e/portable-atomic): Basic support for `portable-atomic`
+   crate in addition to the support for core atomic types. This support requires atomic CAS support
+   enabled in the portable atomic crate.

 # Examples

@@ -51,16 +54,14 @@ usage examples.

 # Coverage

-Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
-already, install the `llvm-tools-preview`:
+Coverage can be generated using [`llvm-cov`](https://github.com/taiki-e/cargo-llvm-cov). If you have not done so
+already, install the tool:

 ```sh
-rustup component add llvm-tools-preview
-cargo install grcov --locked
+cargo +stable install cargo-llvm-cov --locked
 ```

-After that, you can simply run `coverage.py` to test the project with coverage. You can optionally
-supply the `--open` flag to open the coverage report in your webbrowser.
+After this, you can run `cargo llvm-cov nextest` to run all the tests and display coverage.

 # Miri

--- a/coverage.py
+++ b/coverage.py
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import os
-import logging
-import argparse
-import webbrowser
-
-
-_LOGGER = logging.getLogger()
-
-
-def generate_cov_report(open_report: bool, format: str):
-    logging.basicConfig(level=logging.INFO)
-    os.environ["RUSTFLAGS"] = "-Cinstrument-coverage"
-    os.environ["LLVM_PROFILE_FILE"] = "target/coverage/%p-%m.profraw"
-    _LOGGER.info("Executing tests with coverage")
-    os.system("cargo test --all-features")
-
-    out_path = "./target/debug/coverage"
-    if format == "lcov":
-        out_path = "./target/debug/lcov.info"
-    os.system(
-        f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
-        f"-o {out_path}"
-    )
-    if format == "lcov":
-        os.system(
-            "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
-            "--legend ./target/debug/lcov.info"
-        )
-    if open_report:
-        coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
-        webbrowser.open_new_tab(coverage_report_path)
-    _LOGGER.info("Done")
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Generate coverage report and optionally open it in a browser"
-    )
-    parser.add_argument(
-        "--open", action="store_true", help="Open the coverage report in a browser"
-    )
-    parser.add_argument(
-        "--format",
-        choices=["html", "lcov"],
-        default="html",
-        help="Choose report format (html or lcov)",
-    )
-    args = parser.parse_args()
-    generate_cov_report(args.open, args.format)
-
-
-if __name__ == "__main__":
-    main()
--- a/docs.sh
+++ b/docs.sh
@@ -1,3 +0,0 @@
-#!/bin/sh
-export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
-cargo +nightly doc --all-features --open
--- a/36
+++ b/36
@@ -0,0 +1,36 @@
+all: check build embedded test clippy check-fmt docs coverage
+
+clippy:
+  cargo clippy -- -D warnings
+
+fmt:
+  cargo fmt --all
+
+check-fmt:
+  cargo fmt --all -- --check
+
+check:
+  cargo check --all-features
+
+embedded:
+  cargo build --target thumbv7em-none-eabihf --no-default-features
+  cargo build --target thumbv6m-none-eabi --no-default-features
+
+test:
+  cargo nextest r --all-features
+  cargo test --doc
+
+build:
+  cargo build --all-features
+
+docs:
+  RUSTDOCFLAGS="--cfg docsrs -Z unstable-options --generate-link-to-definition" cargo +nightly doc --all-features
+
+docs-html:
+  RUSTDOCFLAGS="--cfg docsrs -Z unstable-options --generate-link-to-definition" cargo +nightly doc --all-features --open
+
+coverage:
+  cargo llvm-cov nextest
+
+coverage-html:
+  cargo llvm-cov nextest --html --open
--- a/src/cfdp/lv.rs
+++ b/src/cfdp/lv.rs
@@ -8,6 +8,7 @@ use std::string::String;

 use super::TlvLvDataTooLargeError;

+/// Minmum length of a CFDP length-value structure in bytes.
 pub const MIN_LV_LEN: usize = 1;

 /// Generic CFDP length-value (LV) abstraction as specified in CFDP 5.1.8.
@@ -63,8 +64,12 @@ pub(crate) fn generic_len_check_deserialization(
 }

 impl<'data> Lv<'data> {
+    /// Minimum length of a LV structure in bytes.
+    pub const MIN_LEN: usize = MIN_LV_LEN;
+
+    /// Generic constructor.
    #[inline]
-    pub fn new(data: &[u8]) -> Result<Lv, TlvLvDataTooLargeError> {
+    pub fn new(data: &[u8]) -> Result<Lv<'_>, TlvLvDataTooLargeError> {
        if data.len() > u8::MAX as usize {
            return Err(TlvLvDataTooLargeError(data.len()));
        }
@@ -86,7 +91,7 @@ impl<'data> Lv<'data> {
    /// Helper function to build a string LV. This is especially useful for the file or directory
    /// path LVs
    #[inline]
-    pub fn new_from_str(str_slice: &str) -> Result<Lv, TlvLvDataTooLargeError> {
+    pub fn new_from_str(str_slice: &str) -> Result<Lv<'_>, TlvLvDataTooLargeError> {
        Self::new(str_slice.as_bytes())
    }

@@ -116,6 +121,7 @@ impl<'data> Lv<'data> {
        self.data.len() == 0
    }

+    /// Raw value part of the LV.
    #[inline]
    pub fn value(&self) -> &[u8] {
        self.data
@@ -177,7 +183,7 @@ impl<'data> Lv<'data> {
 }

 #[cfg(test)]
-pub mod tests {
+mod tests {
    use alloc::string::ToString;

    use super::*;
--- a/src/cfdp/mod.rs
+++ b/src/cfdp/mod.rs
@@ -13,39 +13,55 @@ pub const CFDP_VERSION_2_NAME: &str = "CCSDS 727.0-B-5";
 /// Currently, only this version is supported.
 pub const CFDP_VERSION_2: u8 = 0b001;

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// PDU type.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum PduType {
+    /// File directive PDU.
    FileDirective = 0,
+    /// File data PDU.
    FileData = 1,
 }

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// PDU direction.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum Direction {
+    /// Going towards the file receiver.
    TowardsReceiver = 0,
+    /// Going towards the file sender.
    TowardsSender = 1,
 }

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// PDU transmission mode.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum TransmissionMode {
+    /// Acknowledged (class 1) transfer.
    Acknowledged = 0,
+    /// Unacknowledged (class 2) transfer.
    Unacknowledged = 1,
 }

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// CRC flag.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum CrcFlag {
+    /// No CRC for the packet.
    NoCrc = 0,
+    /// Packet has CRC.
    WithCrc = 1,
 }

@@ -68,52 +84,76 @@ impl From<CrcFlag> for bool {
 }

 /// Always 0 and ignored for File Directive PDUs (CCSDS 727.0-B-5 P.75)
-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum SegmentMetadataFlag {
+    /// Segment metadata not present.
    NotPresent = 0,
+    /// Segment metadata present.
    Present = 1,
 }

 /// Always 0 and ignored for File Directive PDUs (CCSDS 727.0-B-5 P.75)
-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum SegmentationControl {
+    /// No record boundary preservation.
    NoRecordBoundaryPreservation = 0,
+    /// With record boundary preservation.
    WithRecordBoundaryPreservation = 1,
 }

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// Fault handler codes according to the CFDP standard.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u3, exhaustive = false)]
 #[repr(u8)]
 pub enum FaultHandlerCode {
+    /// Notice of cancellation fault handler code.
    NoticeOfCancellation = 0b0001,
+    /// Notice of suspension fault handler code.
    NoticeOfSuspension = 0b0010,
+    /// Ignore error fault handler code.
    IgnoreError = 0b0011,
+    /// Abandon transaction fault handler code.
    AbandonTransaction = 0b0100,
 }

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// CFDP condition codes.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u4, exhaustive = false)]
 #[repr(u8)]
 pub enum ConditionCode {
    /// This is not an error condition for which a faulty handler override can be specified
    NoError = 0b0000,
+    /// Positive acknowledgement limit reached.
    PositiveAckLimitReached = 0b0001,
+    /// Keep-alive limit reached.
    KeepAliveLimitReached = 0b0010,
+    /// Invalid transmission mode.
    InvalidTransmissionMode = 0b0011,
+    /// Filestore rejection.
    FilestoreRejection = 0b0100,
+    /// File checksum error.
    FileChecksumFailure = 0b0101,
+    /// File size error.
    FileSizeError = 0b0110,
+    /// NAK limit reached.
    NakLimitReached = 0b0111,
+    /// Inactivity detected.
    InactivityDetected = 0b1000,
+    /// Check limit reached.
    CheckLimitReached = 0b1010,
+    /// Unsupported checksum type.
    UnsupportedChecksumType = 0b1011,
    /// Not an actual fault condition for which fault handler overrides can be specified
    SuspendRequestReceived = 0b1110,
@@ -121,9 +161,11 @@ pub enum ConditionCode {
    CancelRequestReceived = 0b1111,
 }

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// Large file flag.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u1, exhaustive = true)]
 #[repr(u8)]
 pub enum LargeFileFlag {
    /// 32 bit maximum file size and FSS size
@@ -133,14 +175,16 @@ pub enum LargeFileFlag {
 }

 /// Transaction status for the ACK PDU field according to chapter 5.2.4 of the CFDP standard.
-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u2, exhaustive = true)]
 #[repr(u8)]
 pub enum TransactionStatus {
    /// Transaction is not currently active and the CFDP implementation does not retain a
    /// transaction history.
    Undefined = 0b00,
+    /// Transaction is currently active.
    Active = 0b01,
    /// Transaction was active in the past and was terminated.
    Terminated = 0b10,
@@ -151,28 +195,28 @@ pub enum TransactionStatus {

 /// Checksum types according to the
 /// [SANA Checksum Types registry](https://sanaregistry.org/r/checksum_identifiers/)
-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[derive(Default, Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum ChecksumType {
    /// Modular legacy checksum
    Modular = 0,
+    /// CRC32 Proximity-1.
    Crc32Proximity1 = 1,
+    /// CRC32C.
    Crc32C = 2,
-    /// Polynomial: 0x4C11DB7. Preferred checksum for now.
+    /// CRC32. Polynomial: 0x4C11DB7. Preferred checksum for now.
    Crc32 = 3,
+    /// Null checksum (no checksum).
+    #[default]
    NullChecksum = 15,
 }

-impl Default for ChecksumType {
-    fn default() -> Self {
-        Self::NullChecksum
-    }
-}
-
+/// Raw null checksum.
 pub const NULL_CHECKSUM_U32: [u8; 4] = [0; 4];

+/// TLV or LV data larger than allowed [u8::MAX].
 #[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -189,16 +233,21 @@ pub struct InvalidTlvTypeFieldError {
    expected: Option<u8>,
 }

+/// Generic TLV/LV error.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum TlvLvError {
+    /// Data too large error.
    #[error("{0}")]
    DataTooLarge(#[from] TlvLvDataTooLargeError),
+    /// Byte conversion error.
    #[error("byte conversion error: {0}")]
    ByteConversion(#[from] ByteConversionError),
+    /// Invalid TLV type field error.
    #[error("{0}")]
    InvalidTlvTypeField(#[from] InvalidTlvTypeFieldError),
+    /// Invalid value length.
    #[error("invalid value length {0}")]
    InvalidValueLength(usize),
    /// Only applies to filestore requests and responses. Second name was missing where one is
--- a/src/cfdp/pdu/ack.rs
+++ b/src/cfdp/pdu/ack.rs
@@ -1,3 +1,4 @@
+//! # Acknowledgement (ACK) PDU packet implementation.
 use crate::{
    cfdp::{ConditionCode, CrcFlag, Direction, TransactionStatus},
    ByteConversionError,
@@ -10,6 +11,11 @@ use super::{
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

+/// Invalid [FileDirectiveType] of the acknowledged PDU error.
+#[derive(Debug, Clone, Copy, PartialEq, Eq, thiserror::Error)]
+#[error("invalid directive code of acknowledged PDU")]
+pub struct InvalidAckedDirectiveCodeError(pub FileDirectiveType);
+
 /// ACK PDU abstraction.
 ///
 /// For more information, refer to CFDP chapter 5.2.4.
@@ -24,21 +30,19 @@ pub struct AckPdu {
 }

 impl AckPdu {
+    /// Constructor.
    pub fn new(
        mut pdu_header: PduHeader,
        directive_code_of_acked_pdu: FileDirectiveType,
        condition_code: ConditionCode,
        transaction_status: TransactionStatus,
-    ) -> Result<Self, PduError> {
-        if directive_code_of_acked_pdu == FileDirectiveType::EofPdu {
+    ) -> Result<Self, InvalidAckedDirectiveCodeError> {
+        if directive_code_of_acked_pdu == FileDirectiveType::Eof {
            pdu_header.pdu_conf.direction = Direction::TowardsSender;
-        } else if directive_code_of_acked_pdu == FileDirectiveType::FinishedPdu {
+        } else if directive_code_of_acked_pdu == FileDirectiveType::Finished {
            pdu_header.pdu_conf.direction = Direction::TowardsReceiver;
        } else {
-            return Err(PduError::InvalidDirectiveType {
-                found: directive_code_of_acked_pdu as u8,
-                expected: None,
-            });
+            return Err(InvalidAckedDirectiveCodeError(directive_code_of_acked_pdu));
        }
        // Force correct direction flag.
        let mut ack_pdu = Self {
@@ -51,6 +55,9 @@ impl AckPdu {
        Ok(ack_pdu)
    }

+    /// Constructor for an ACK PDU acknowledging an EOF PDU.
+    ///
+    /// Relevant for the file receiver.
    pub fn new_for_eof_pdu(
        pdu_header: PduHeader,
        condition_code: ConditionCode,
@@ -59,13 +66,16 @@ impl AckPdu {
        // Unwrap okay here, [new] can only fail on invalid directive codes.
        Self::new(
            pdu_header,
-            FileDirectiveType::EofPdu,
+            FileDirectiveType::Eof,
            condition_code,
            transaction_status,
        )
        .unwrap()
    }

+    /// Constructor for an ACK PDU acknowledging a Finished PDU.
+    ///
+    /// Relevant for the file sender.
    pub fn new_for_finished_pdu(
        pdu_header: PduHeader,
        condition_code: ConditionCode,
@@ -74,29 +84,38 @@ impl AckPdu {
        // Unwrap okay here, [new] can only fail on invalid directive codes.
        Self::new(
            pdu_header,
-            FileDirectiveType::FinishedPdu,
+            FileDirectiveType::Finished,
            condition_code,
            transaction_status,
        )
        .unwrap()
    }

+    /// PDU header.
+    #[inline]
    pub fn pdu_header(&self) -> &PduHeader {
        &self.pdu_header
    }

+    /// Directive code of the acknowledged PDU.
+    #[inline]
    pub fn directive_code_of_acked_pdu(&self) -> FileDirectiveType {
        self.directive_code_of_acked_pdu
    }

+    /// Condition code.
+    #[inline]
    pub fn condition_code(&self) -> ConditionCode {
        self.condition_code
    }

+    /// Transaction status.
+    #[inline]
    pub fn transaction_status(&self) -> TransactionStatus {
        self.transaction_status
    }

+    #[inline]
    fn calc_pdu_datafield_len(&self) -> usize {
        if self.crc_flag() == CrcFlag::WithCrc {
            return 5;
@@ -104,6 +123,7 @@ impl AckPdu {
        3
    }

+    /// Construct [Self] from the provided byte slice.
    pub fn from_bytes(buf: &[u8]) -> Result<AckPdu, PduError> {
        let (pdu_header, mut current_idx) = PduHeader::from_bytes(buf)?;
        let full_len_without_crc = pdu_header.verify_length_and_checksum(buf)?;
@@ -111,13 +131,13 @@ impl AckPdu {
        let directive_type = FileDirectiveType::try_from(buf[current_idx]).map_err(|_| {
            PduError::InvalidDirectiveType {
                found: buf[current_idx],
-                expected: Some(FileDirectiveType::AckPdu),
+                expected: Some(FileDirectiveType::Ack),
            }
        })?;
-        if directive_type != FileDirectiveType::AckPdu {
+        if directive_type != FileDirectiveType::Ack {
            return Err(PduError::WrongDirectiveType {
                found: directive_type,
-                expected: FileDirectiveType::AckPdu,
+                expected: FileDirectiveType::Ack,
            });
        }
        current_idx += 1;
@@ -128,8 +148,8 @@ impl AckPdu {
                    expected: None,
                }
            })?;
-        if acked_directive_type != FileDirectiveType::EofPdu
-            && acked_directive_type != FileDirectiveType::FinishedPdu
+        if acked_directive_type != FileDirectiveType::Eof
+            && acked_directive_type != FileDirectiveType::Finished
        {
            return Err(PduError::InvalidDirectiveType {
                found: acked_directive_type as u8,
@@ -140,27 +160,18 @@ impl AckPdu {
        let condition_code = ConditionCode::try_from((buf[current_idx] >> 4) & 0b1111)
            .map_err(|_| PduError::InvalidConditionCode((buf[current_idx] >> 4) & 0b1111))?;
        let transaction_status = TransactionStatus::try_from(buf[current_idx] & 0b11).unwrap();
-        Self::new(
+        // Unwrap okay, validity of acked directive code was checked.
+        Ok(Self::new(
            pdu_header,
            acked_directive_type,
            condition_code,
            transaction_status,
        )
-    }
-}
-
-impl CfdpPdu for AckPdu {
-    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
+        .unwrap())
    }

-    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        Some(FileDirectiveType::AckPdu)
-    }
-}
-
-impl WritablePduPacket for AckPdu {
-    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+    /// Write [Self] to the provided buffer and returns the written size.
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
        let expected_len = self.len_written();
        if buf.len() < expected_len {
            return Err(ByteConversionError::ToSliceTooSmall {
@@ -170,11 +181,11 @@ impl WritablePduPacket for AckPdu {
            .into());
        }
        let mut current_idx = self.pdu_header.write_to_bytes(buf)?;
-        buf[current_idx] = FileDirectiveType::AckPdu as u8;
+        buf[current_idx] = FileDirectiveType::Ack as u8;
        current_idx += 1;

        buf[current_idx] = (self.directive_code_of_acked_pdu as u8) << 4;
-        if self.directive_code_of_acked_pdu == FileDirectiveType::FinishedPdu {
+        if self.directive_code_of_acked_pdu == FileDirectiveType::Finished {
            // This is the directive subtype code. It needs to be set to 0b0001 if the ACK PDU
            // acknowledges a Finished PDU, and to 0b0000 otherwise.
            buf[current_idx] |= 0b0001;
@@ -188,11 +199,34 @@ impl WritablePduPacket for AckPdu {
        Ok(current_idx)
    }

-    fn len_written(&self) -> usize {
+    /// Length of the written PDU in bytes.
+    pub fn len_written(&self) -> usize {
        self.pdu_header.header_len() + self.calc_pdu_datafield_len()
    }
 }

+impl CfdpPdu for AckPdu {
+    #[inline]
+    fn pdu_header(&self) -> &PduHeader {
+        self.pdu_header()
+    }
+
+    #[inline]
+    fn file_directive_type(&self) -> Option<FileDirectiveType> {
+        Some(FileDirectiveType::Ack)
+    }
+}
+
+impl WritablePduPacket for AckPdu {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+        self.write_to_bytes(buf)
+    }
+
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 #[cfg(test)]
 mod tests {
    use crate::cfdp::{
@@ -211,10 +245,7 @@ mod tests {
        assert_eq!(ack_pdu.crc_flag(), expected_crc_flag);
        assert_eq!(ack_pdu.file_flag(), LargeFileFlag::Normal);
        assert_eq!(ack_pdu.pdu_type(), PduType::FileDirective);
-        assert_eq!(
-            ack_pdu.file_directive_type(),
-            Some(FileDirectiveType::AckPdu)
-        );
+        assert_eq!(ack_pdu.file_directive_type(), Some(FileDirectiveType::Ack));
        assert_eq!(ack_pdu.transmission_mode(), TransmissionMode::Acknowledged);
        assert_eq!(ack_pdu.direction(), expected_dir);
        assert_eq!(ack_pdu.source_id(), TEST_SRC_ID.into());
@@ -225,17 +256,17 @@ mod tests {
    #[test]
    fn test_basic() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let ack_pdu = AckPdu::new(
            pdu_header,
-            FileDirectiveType::FinishedPdu,
+            FileDirectiveType::Finished,
            ConditionCode::NoError,
            TransactionStatus::Active,
        )
        .expect("creating ACK PDU failed");
        assert_eq!(
            ack_pdu.directive_code_of_acked_pdu(),
-            FileDirectiveType::FinishedPdu
+            FileDirectiveType::Finished
        );
        verify_state(&ack_pdu, CrcFlag::NoCrc, Direction::TowardsReceiver);
    }
@@ -245,7 +276,7 @@ mod tests {
        transaction_status: TransactionStatus,
    ) {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let ack_pdu = AckPdu::new_for_finished_pdu(pdu_header, condition_code, transaction_status);
        let mut buf: [u8; 64] = [0; 64];
        let res = ack_pdu.write_to_bytes(&mut buf);
@@ -254,8 +285,8 @@ mod tests {
        assert_eq!(written, ack_pdu.len_written());
        verify_raw_header(ack_pdu.pdu_header(), &buf);

-        assert_eq!(buf[7], FileDirectiveType::AckPdu as u8);
-        assert_eq!((buf[8] >> 4) & 0b1111, FileDirectiveType::FinishedPdu as u8);
+        assert_eq!(buf[7], FileDirectiveType::Ack as u8);
+        assert_eq!((buf[8] >> 4) & 0b1111, FileDirectiveType::Finished as u8);
        assert_eq!(buf[8] & 0b1111, 0b0001);
        assert_eq!(buf[9] >> 4 & 0b1111, condition_code as u8);
        assert_eq!(buf[9] & 0b11, transaction_status as u8);
@@ -267,15 +298,53 @@ mod tests {
        generic_serialization_test(ConditionCode::NoError, TransactionStatus::Active);
    }

+    #[test]
+    fn test_serialization_too_small() {
+        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
+        let ack_pdu = AckPdu::new(
+            pdu_header,
+            FileDirectiveType::Finished,
+            ConditionCode::NoError,
+            TransactionStatus::Active,
+        )
+        .expect("creating ACK PDU failed");
+        if let Err(PduError::ByteConversion(ByteConversionError::ToSliceTooSmall {
+            found,
+            expected,
+        })) = ack_pdu.write_to_bytes(&mut [0; 5])
+        {
+            assert_eq!(found, 5);
+            assert_eq!(expected, ack_pdu.len_written());
+        } else {
+            panic!("serialization should have failed");
+        }
+    }
+
    #[test]
    fn test_serialization_fs_error() {
        generic_serialization_test(ConditionCode::FileSizeError, TransactionStatus::Terminated);
    }
+    #[test]
+    fn test_invalid_directive_code_of_acked_pdu() {
+        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
+        assert_eq!(
+            AckPdu::new(
+                pdu_header,
+                FileDirectiveType::Metadata,
+                ConditionCode::NoError,
+                TransactionStatus::Active,
+            )
+            .unwrap_err(),
+            InvalidAckedDirectiveCodeError(FileDirectiveType::Metadata)
+        );
+    }

    #[test]
    fn test_deserialization() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let ack_pdu = AckPdu::new_for_finished_pdu(
            pdu_header,
            ConditionCode::NoError,
@@ -290,7 +359,7 @@ mod tests {
    #[test]
    fn test_with_crc() {
        let pdu_conf = common_pdu_conf(CrcFlag::WithCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let ack_pdu = AckPdu::new_for_finished_pdu(
            pdu_header,
            ConditionCode::NoError,
@@ -307,7 +376,7 @@ mod tests {
    #[test]
    fn test_for_eof_pdu() {
        let pdu_conf = common_pdu_conf(CrcFlag::WithCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let ack_pdu = AckPdu::new_for_eof_pdu(
            pdu_header,
            ConditionCode::NoError,
@@ -315,7 +384,7 @@ mod tests {
        );
        assert_eq!(
            ack_pdu.directive_code_of_acked_pdu(),
-            FileDirectiveType::EofPdu
+            FileDirectiveType::Eof
        );
        verify_state(&ack_pdu, CrcFlag::WithCrc, Direction::TowardsSender);
    }
@@ -324,7 +393,7 @@ mod tests {
    #[cfg(feature = "serde")]
    fn test_ack_pdu_serialization() {
        let pdu_conf = common_pdu_conf(CrcFlag::WithCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let ack_pdu = AckPdu::new_for_eof_pdu(
            pdu_header,
            ConditionCode::NoError,
--- a/src/cfdp/pdu/eof.rs
+++ b/src/cfdp/pdu/eof.rs
@@ -1,3 +1,4 @@
+//! # End-of-File (EOF) PDU packet implementation.
 use crate::cfdp::pdu::{
    add_pdu_crc, generic_length_checks_pdu_deserialization, read_fss_field, write_fss_field,
    FileDirectiveType, PduError, PduHeader,
@@ -25,6 +26,7 @@ pub struct EofPdu {
 }

 impl EofPdu {
+    /// Constructor.
    pub fn new(
        mut pdu_header: PduHeader,
        condition_code: ConditionCode,
@@ -45,6 +47,7 @@ impl EofPdu {
        eof_pdu
    }

+    /// Constructor for no error EOF PDUs.
    pub fn new_no_error(pdu_header: PduHeader, file_checksum: u32, file_size: u64) -> Self {
        Self::new(
            pdu_header,
@@ -55,18 +58,26 @@ impl EofPdu {
        )
    }

+    /// PDU header.
+    #[inline]
    pub fn pdu_header(&self) -> &PduHeader {
        &self.pdu_header
    }

+    /// Condition code.
+    #[inline]
    pub fn condition_code(&self) -> ConditionCode {
        self.condition_code
    }

+    /// File checksum.
+    #[inline]
    pub fn file_checksum(&self) -> u32 {
        self.file_checksum
    }

+    /// File size.
+    #[inline]
    pub fn file_size(&self) -> u64 {
        self.file_size
    }
@@ -86,6 +97,7 @@ impl EofPdu {
        len
    }

+    /// Construct [Self] from the provided byte slice.
    pub fn from_bytes(buf: &[u8]) -> Result<EofPdu, PduError> {
        let (pdu_header, mut current_idx) = PduHeader::from_bytes(buf)?;
        let full_len_without_crc = pdu_header.verify_length_and_checksum(buf)?;
@@ -98,13 +110,13 @@ impl EofPdu {
        let directive_type = FileDirectiveType::try_from(buf[current_idx]).map_err(|_| {
            PduError::InvalidDirectiveType {
                found: buf[current_idx],
-                expected: Some(FileDirectiveType::EofPdu),
+                expected: Some(FileDirectiveType::Eof),
            }
        })?;
-        if directive_type != FileDirectiveType::EofPdu {
+        if directive_type != FileDirectiveType::Eof {
            return Err(PduError::WrongDirectiveType {
                found: directive_type,
-                expected: FileDirectiveType::EofPdu,
+                expected: FileDirectiveType::Eof,
            });
        }
        current_idx += 1;
@@ -129,20 +141,9 @@ impl EofPdu {
            fault_location,
        })
    }
-}

-impl CfdpPdu for EofPdu {
-    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
-    }
-
-    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        Some(FileDirectiveType::EofPdu)
-    }
-}
-
-impl WritablePduPacket for EofPdu {
-    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+    /// Write [Self] to the provided buffer and returns the written size.
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
        let expected_len = self.len_written();
        if buf.len() < expected_len {
            return Err(ByteConversionError::ToSliceTooSmall {
@@ -152,7 +153,7 @@ impl WritablePduPacket for EofPdu {
            .into());
        }
        let mut current_idx = self.pdu_header.write_to_bytes(buf)?;
-        buf[current_idx] = FileDirectiveType::EofPdu as u8;
+        buf[current_idx] = FileDirectiveType::Eof as u8;
        current_idx += 1;
        buf[current_idx] = (self.condition_code as u8) << 4;
        current_idx += 1;
@@ -172,11 +173,34 @@ impl WritablePduPacket for EofPdu {
        Ok(current_idx)
    }

-    fn len_written(&self) -> usize {
+    /// Length of the written PDU in bytes.
+    pub fn len_written(&self) -> usize {
        self.pdu_header.header_len() + self.calc_pdu_datafield_len()
    }
 }

+impl CfdpPdu for EofPdu {
+    #[inline]
+    fn pdu_header(&self) -> &PduHeader {
+        self.pdu_header()
+    }
+
+    #[inline]
+    fn file_directive_type(&self) -> Option<FileDirectiveType> {
+        Some(FileDirectiveType::Eof)
+    }
+}
+
+impl WritablePduPacket for EofPdu {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+        self.write_to_bytes(buf)
+    }
+
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 #[cfg(test)]
 mod tests {
    use super::*;
@@ -206,10 +230,7 @@ mod tests {
        assert_eq!(eof_pdu.crc_flag(), crc_flag);
        assert_eq!(eof_pdu.file_flag(), file_flag);
        assert_eq!(eof_pdu.pdu_type(), PduType::FileDirective);
-        assert_eq!(
-            eof_pdu.file_directive_type(),
-            Some(FileDirectiveType::EofPdu)
-        );
+        assert_eq!(eof_pdu.file_directive_type(), Some(FileDirectiveType::Eof));
        assert_eq!(eof_pdu.transmission_mode(), TransmissionMode::Acknowledged);
        assert_eq!(eof_pdu.direction(), Direction::TowardsReceiver);
        assert_eq!(eof_pdu.source_id(), TEST_SRC_ID.into());
@@ -220,7 +241,7 @@ mod tests {
    #[test]
    fn test_basic() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        assert_eq!(eof_pdu.len_written(), pdu_header.header_len() + 2 + 4 + 4);
        verify_state_no_error_no_crc(&eof_pdu, LargeFileFlag::Normal);
@@ -229,7 +250,7 @@ mod tests {
    #[test]
    fn test_serialization() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        let mut buf: [u8; 64] = [0; 64];
        let res = eof_pdu.write_to_bytes(&mut buf);
@@ -238,7 +259,7 @@ mod tests {
        assert_eq!(written, eof_pdu.len_written());
        verify_raw_header(eof_pdu.pdu_header(), &buf);
        let mut current_idx = eof_pdu.pdu_header().header_len();
-        buf[current_idx] = FileDirectiveType::EofPdu as u8;
+        buf[current_idx] = FileDirectiveType::Eof as u8;
        current_idx += 1;
        assert_eq!(
            (buf[current_idx] >> 4) & 0b1111,
@@ -261,7 +282,7 @@ mod tests {
    #[test]
    fn test_deserialization() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        let mut buf: [u8; 64] = [0; 64];
        eof_pdu.write_to_bytes(&mut buf).unwrap();
@@ -276,7 +297,7 @@ mod tests {
    #[test]
    fn test_write_to_vec() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        let mut buf: [u8; 64] = [0; 64];
        let written = eof_pdu.write_to_bytes(&mut buf).unwrap();
@@ -287,7 +308,7 @@ mod tests {
    #[test]
    fn test_with_crc() {
        let pdu_conf = common_pdu_conf(CrcFlag::WithCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        let mut buf: [u8; 64] = [0; 64];
        let written = eof_pdu.write_to_bytes(&mut buf).unwrap();
@@ -307,7 +328,7 @@ mod tests {
    #[test]
    fn test_with_large_file_flag() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Large);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        verify_state_no_error_no_crc(&eof_pdu, LargeFileFlag::Large);
        assert_eq!(eof_pdu.len_written(), pdu_header.header_len() + 2 + 8 + 4);
@@ -317,14 +338,14 @@ mod tests {
    #[cfg(feature = "serde")]
    fn test_eof_serde() {
        let pdu_conf = common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new_no_error(pdu_header, 0x01020304, 12);
        generic_serde_test(eof_pdu);
    }

    fn generic_test_with_fault_location_and_error(crc: CrcFlag) {
        let pdu_conf = common_pdu_conf(crc, LargeFileFlag::Normal);
-        let pdu_header = PduHeader::new_no_file_data(pdu_conf, 0);
+        let pdu_header = PduHeader::new_for_file_directive(pdu_conf, 0);
        let eof_pdu = EofPdu::new(
            pdu_header,
            ConditionCode::FileChecksumFailure,
--- a/src/cfdp/pdu/file_data.rs
+++ b/src/cfdp/pdu/file_data.rs
@@ -1,3 +1,4 @@
+//! # File Data PDU packet implementation
 use crate::cfdp::pdu::{
    add_pdu_crc, generic_length_checks_pdu_deserialization, read_fss_field, write_fss_field,
    PduError, PduHeader,
@@ -10,16 +11,24 @@ use serde::{Deserialize, Serialize};

 use super::{CfdpPdu, FileDirectiveType, WritablePduPacket};

-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+/// Record continuation state for segment metadata.
+#[derive(Debug, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u2, exhaustive = true)]
 #[repr(u8)]
 pub enum RecordContinuationState {
+    /// No start and no end.
    NoStartNoEnd = 0b00,
+    /// Start without end.
    StartWithoutEnd = 0b01,
+    /// End without start.
    EndWithoutStart = 0b10,
+    /// Start and end.
    StartAndEnd = 0b11,
 }

+/// Segment metadata structure.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct SegmentMetadata<'seg_meta> {
@@ -28,6 +37,7 @@ pub struct SegmentMetadata<'seg_meta> {
 }

 impl<'seg_meta> SegmentMetadata<'seg_meta> {
+    /// Constructor.
    pub fn new(
        record_continuation_state: RecordContinuationState,
        metadata: Option<&'seg_meta [u8]>,
@@ -43,24 +53,30 @@ impl<'seg_meta> SegmentMetadata<'seg_meta> {
        })
    }

+    /// Record continuation state.
+    #[inline]
    pub fn record_continuation_state(&self) -> RecordContinuationState {
        self.record_continuation_state
    }

+    /// Raw metadata slice.
+    #[inline]
    pub fn metadata(&self) -> Option<&'seg_meta [u8]> {
        self.metadata
    }

-    pub fn written_len(&self) -> usize {
+    /// Length of the written segment metadata structure.
+    #[inline]
+    pub fn len_written(&self) -> usize {
        // Map empty metadata to 0 and slice to its length.
        1 + self.metadata.map_or(0, |meta| meta.len())
    }

    pub(crate) fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        if buf.len() < self.written_len() {
+        if buf.len() < self.len_written() {
            return Err(ByteConversionError::ToSliceTooSmall {
                found: buf.len(),
-                expected: self.written_len(),
+                expected: self.len_written(),
            });
        }
        buf[0] = ((self.record_continuation_state as u8) << 6)
@@ -68,7 +84,7 @@ impl<'seg_meta> SegmentMetadata<'seg_meta> {
        if let Some(metadata) = self.metadata {
            buf[1..1 + metadata.len()].copy_from_slice(metadata)
        }
-        Ok(self.written_len())
+        Ok(self.len_written())
    }

    pub(crate) fn from_bytes(buf: &'seg_meta [u8]) -> Result<Self, ByteConversionError> {
@@ -102,10 +118,12 @@ struct FdPduBase<'seg_meta> {
 }

 impl CfdpPdu for FdPduBase<'_> {
+    #[inline]
    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
+        self.pdu_header()
    }

+    #[inline]
    fn file_directive_type(&self) -> Option<FileDirectiveType> {
        None
    }
@@ -118,7 +136,7 @@ impl FdPduBase<'_> {
            len += 4;
        }
        if self.segment_metadata.is_some() {
-            len += self.segment_metadata.as_ref().unwrap().written_len()
+            len += self.segment_metadata.as_ref().unwrap().len_written()
        }
        len += file_data_len as usize;
        if self.crc_flag() == CrcFlag::WithCrc {
@@ -143,6 +161,11 @@ impl FdPduBase<'_> {
        )?;
        Ok(current_idx)
    }
+
+    #[inline]
+    pub fn pdu_header(&self) -> &PduHeader {
+        &self.pdu_header
+    }
 }

 /// File Data PDU abstraction.
@@ -157,24 +180,27 @@ pub struct FileDataPdu<'seg_meta, 'file_data> {
 }

 impl<'seg_meta, 'file_data> FileDataPdu<'seg_meta, 'file_data> {
+    /// Constructor for a file data PDU including segment metadata.
    pub fn new_with_seg_metadata(
        pdu_header: PduHeader,
        segment_metadata: SegmentMetadata<'seg_meta>,
        offset: u64,
        file_data: &'file_data [u8],
    ) -> Self {
-        Self::new_generic(pdu_header, Some(segment_metadata), offset, file_data)
+        Self::new(pdu_header, Some(segment_metadata), offset, file_data)
    }

+    /// Constructor for a file data PDU without segment metadata.
    pub fn new_no_seg_metadata(
        pdu_header: PduHeader,
        offset: u64,
        file_data: &'file_data [u8],
    ) -> Self {
-        Self::new_generic(pdu_header, None, offset, file_data)
+        Self::new(pdu_header, None, offset, file_data)
    }

-    pub fn new_generic(
+    /// Generic constructor for a file data PDU.
+    pub fn new(
        mut pdu_header: PduHeader,
        segment_metadata: Option<SegmentMetadata<'seg_meta>>,
        offset: u64,
@@ -201,18 +227,31 @@ impl<'seg_meta, 'file_data> FileDataPdu<'seg_meta, 'file_data> {
            .calc_pdu_datafield_len(self.file_data.len() as u64)
    }

-    pub fn segment_metadata(&self) -> Option<&SegmentMetadata> {
+    /// Optional segment metadata.
+    #[inline]
+    pub fn segment_metadata(&self) -> Option<&SegmentMetadata<'_>> {
        self.common.segment_metadata.as_ref()
    }

+    /// PDU header.
+    #[inline]
+    pub fn pdu_header(&self) -> &PduHeader {
+        self.common.pdu_header()
+    }
+
+    /// File data offset.
+    #[inline]
    pub fn offset(&self) -> u64 {
        self.common.offset
    }

+    /// File data.
+    #[inline]
    pub fn file_data(&self) -> &'file_data [u8] {
        self.file_data
    }

+    /// Read [Self] from the provided buffer.
    pub fn from_bytes<'buf: 'seg_meta + 'file_data>(buf: &'buf [u8]) -> Result<Self, PduError> {
        let (pdu_header, mut current_idx) = PduHeader::from_bytes(buf)?;
        let full_len_without_crc = pdu_header.verify_length_and_checksum(buf)?;
@@ -221,7 +260,7 @@ impl<'seg_meta, 'file_data> FileDataPdu<'seg_meta, 'file_data> {
        let mut segment_metadata = None;
        if pdu_header.seg_metadata_flag == SegmentMetadataFlag::Present {
            segment_metadata = Some(SegmentMetadata::from_bytes(&buf[current_idx..])?);
-            current_idx += segment_metadata.as_ref().unwrap().written_len();
+            current_idx += segment_metadata.as_ref().unwrap().len_written();
        }
        let (fss, offset) = read_fss_field(pdu_header.pdu_conf.file_flag, &buf[current_idx..]);
        current_idx += fss;
@@ -241,19 +280,9 @@ impl<'seg_meta, 'file_data> FileDataPdu<'seg_meta, 'file_data> {
            file_data: &buf[current_idx..full_len_without_crc],
        })
    }
-}
-impl CfdpPdu for FileDataPdu<'_, '_> {
-    fn pdu_header(&self) -> &PduHeader {
-        &self.common.pdu_header
-    }

-    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        None
-    }
-}
-
-impl WritablePduPacket for FileDataPdu<'_, '_> {
-    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+    /// Write [Self] to the provided buffer and returns the written size.
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
        if buf.len() < self.len_written() {
            return Err(ByteConversionError::ToSliceTooSmall {
                found: buf.len(),
@@ -271,10 +300,32 @@ impl WritablePduPacket for FileDataPdu<'_, '_> {
        Ok(current_idx)
    }

-    fn len_written(&self) -> usize {
+    /// Length of the written PDU.
+    pub fn len_written(&self) -> usize {
        self.common.pdu_header.header_len() + self.calc_pdu_datafield_len()
    }
 }
+impl CfdpPdu for FileDataPdu<'_, '_> {
+    #[inline]
+    fn pdu_header(&self) -> &PduHeader {
+        &self.common.pdu_header
+    }
+
+    #[inline]
+    fn file_directive_type(&self) -> Option<FileDirectiveType> {
+        None
+    }
+}
+
+impl WritablePduPacket for FileDataPdu<'_, '_> {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+        self.write_to_bytes(buf)
+    }
+
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}

 /// File Data PDU creator abstraction.
 ///
@@ -292,20 +343,23 @@ pub struct FileDataPduCreatorWithReservedDatafield<'seg_meta> {
 }

 impl<'seg_meta> FileDataPduCreatorWithReservedDatafield<'seg_meta> {
+    /// Constructor for a file data PDU including segment metadata.
    pub fn new_with_seg_metadata(
        pdu_header: PduHeader,
        segment_metadata: SegmentMetadata<'seg_meta>,
        offset: u64,
        file_data_len: u64,
    ) -> Self {
-        Self::new_generic(pdu_header, Some(segment_metadata), offset, file_data_len)
+        Self::new(pdu_header, Some(segment_metadata), offset, file_data_len)
    }

+    /// Constructor for a file data PDU without segment metadata.
    pub fn new_no_seg_metadata(pdu_header: PduHeader, offset: u64, file_data_len: u64) -> Self {
-        Self::new_generic(pdu_header, None, offset, file_data_len)
+        Self::new(pdu_header, None, offset, file_data_len)
    }

-    pub fn new_generic(
+    /// Generic constructor.
+    pub fn new(
        mut pdu_header: PduHeader,
        segment_metadata: Option<SegmentMetadata<'seg_meta>>,
        offset: u64,
@@ -331,6 +385,7 @@ impl<'seg_meta> FileDataPduCreatorWithReservedDatafield<'seg_meta> {
        self.common.calc_pdu_datafield_len(self.file_data_len)
    }

+    /// Length of the written PDU.
    pub fn len_written(&self) -> usize {
        self.common.pdu_header.header_len() + self.calc_pdu_datafield_len()
    }
@@ -392,6 +447,7 @@ pub struct FileDataPduCreatorWithUnwrittenData<'buf> {
 }

 impl FileDataPduCreatorWithUnwrittenData<'_> {
+    /// Mutable access to the file data field.
    pub fn file_data_field_mut(&mut self) -> &mut [u8] {
        &mut self.write_buf[self.file_data_offset as usize
            ..self.file_data_offset as usize + self.file_data_len as usize]
@@ -419,8 +475,8 @@ pub fn calculate_max_file_seg_len_for_max_packet_len_and_pdu_header(
    segment_metadata: Option<&SegmentMetadata>,
 ) -> usize {
    let mut subtract = pdu_header.header_len();
-    if segment_metadata.is_some() {
-        subtract += 1 + segment_metadata.as_ref().unwrap().metadata().unwrap().len();
+    if let Some(segment_metadata) = segment_metadata {
+        subtract += 1 + segment_metadata.metadata().unwrap().len();
    }
    if pdu_header.common_pdu_conf().file_flag == LargeFileFlag::Large {
        subtract += 8;
--- a/src/cfdp/pdu/finished.rs
+++ b/src/cfdp/pdu/finished.rs
@@ -1,3 +1,4 @@
+//! # Finished PDU packet implementation.
 use crate::cfdp::pdu::{
    add_pdu_crc, generic_length_checks_pdu_deserialization, FileDirectiveType, PduError, PduHeader,
 };
@@ -13,23 +14,31 @@ use serde::{Deserialize, Serialize};
 use super::tlv::ReadableTlv;
 use super::{CfdpPdu, InvalidTlvTypeFieldError, WritablePduPacket};

+/// Delivery code enumeration.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum DeliveryCode {
+    /// Completed delivery.
    Complete = 0,
+    /// Incomplete delivery.
    Incomplete = 1,
 }

+/// File status enumeration.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum FileStatus {
+    /// File was discarded deliberately.
    DiscardDeliberately = 0b00,
+    /// File was rejected by the filestore.
    DiscardedFsRejection = 0b01,
+    /// File was retained (but not necesarilly complete).
    Retained = 0b10,
+    /// Unreported file status.
    Unreported = 0b11,
 }

@@ -50,12 +59,12 @@ pub struct FinishedPduCreator<'fs_responses> {

 impl<'fs_responses> FinishedPduCreator<'fs_responses> {
    /// Default finished PDU: No error (no fault location field) and no filestore responses.
-    pub fn new_default(
+    pub fn new_no_error(
        pdu_header: PduHeader,
        delivery_code: DeliveryCode,
        file_status: FileStatus,
    ) -> Self {
-        Self::new_generic(
+        Self::new(
            pdu_header,
            ConditionCode::NoError,
            delivery_code,
@@ -65,6 +74,7 @@ impl<'fs_responses> FinishedPduCreator<'fs_responses> {
        )
    }

+    /// Constructor where the fault location is provided.
    pub fn new_with_error(
        pdu_header: PduHeader,
        condition_code: ConditionCode,
@@ -72,7 +82,7 @@ impl<'fs_responses> FinishedPduCreator<'fs_responses> {
        file_status: FileStatus,
        fault_location: EntityIdTlv,
    ) -> Self {
-        Self::new_generic(
+        Self::new(
            pdu_header,
            condition_code,
            delivery_code,
@@ -82,7 +92,8 @@ impl<'fs_responses> FinishedPduCreator<'fs_responses> {
        )
    }

-    pub fn new_generic(
+    /// Generic constructor.
+    pub fn new(
        mut pdu_header: PduHeader,
        condition_code: ConditionCode,
        delivery_code: DeliveryCode,
@@ -109,23 +120,38 @@ impl<'fs_responses> FinishedPduCreator<'fs_responses> {
        finished_pdu
    }

+    /// PDU header.
+    #[inline]
+    pub fn pdu_header(&self) -> &PduHeader {
+        &self.pdu_header
+    }
+
+    /// Condition code.
+    #[inline]
    pub fn condition_code(&self) -> ConditionCode {
        self.condition_code
    }

+    /// Delivery code.
+    #[inline]
    pub fn delivery_code(&self) -> DeliveryCode {
        self.delivery_code
    }

+    /// File status.
+    #[inline]
    pub fn file_status(&self) -> FileStatus {
        self.file_status
    }

-    // If there are no filestore responses, an empty slice will be returned.
+    /// Filestore responses as a slice.
+    #[inline]
    pub fn filestore_responses(&self) -> &[FilestoreResponseTlv<'_, '_, '_>] {
        self.fs_responses
    }

+    /// Optional fault location [EntityIdTlv].
+    #[inline]
    pub fn fault_location(&self) -> Option<EntityIdTlv> {
        self.fault_location
    }
@@ -143,20 +169,9 @@ impl<'fs_responses> FinishedPduCreator<'fs_responses> {
        }
        datafield_len
    }
-}

-impl CfdpPdu for FinishedPduCreator<'_> {
-    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
-    }
-
-    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        Some(FileDirectiveType::FinishedPdu)
-    }
-}
-
-impl WritablePduPacket for FinishedPduCreator<'_> {
-    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+    /// Write [Self] to the provided buffer and returns the written size.
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
        let expected_len = self.len_written();
        if buf.len() < expected_len {
            return Err(ByteConversionError::ToSliceTooSmall {
@@ -167,7 +182,7 @@ impl WritablePduPacket for FinishedPduCreator<'_> {
        }

        let mut current_idx = self.pdu_header.write_to_bytes(buf)?;
-        buf[current_idx] = FileDirectiveType::FinishedPdu as u8;
+        buf[current_idx] = FileDirectiveType::Finished as u8;
        current_idx += 1;
        buf[current_idx] = ((self.condition_code as u8) << 4)
            | ((self.delivery_code as u8) << 2)
@@ -185,11 +200,34 @@ impl WritablePduPacket for FinishedPduCreator<'_> {
        Ok(current_idx)
    }

-    fn len_written(&self) -> usize {
+    /// Length of the written PDU in bytes.
+    pub fn len_written(&self) -> usize {
        self.pdu_header.header_len() + self.calc_pdu_datafield_len()
    }
 }

+impl CfdpPdu for FinishedPduCreator<'_> {
+    #[inline]
+    fn pdu_header(&self) -> &PduHeader {
+        self.pdu_header()
+    }
+
+    #[inline]
+    fn file_directive_type(&self) -> Option<FileDirectiveType> {
+        Some(FileDirectiveType::Finished)
+    }
+}
+
+impl WritablePduPacket for FinishedPduCreator<'_> {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+        self.write_to_bytes(buf)
+    }
+
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 /// Helper structure to loop through all filestore responses of a read Finished PDU. It should be
 /// noted that iterators in Rust are not fallible, but the TLV creation can fail, for example if
 /// the raw TLV data is invalid for some reason. In that case, the iterator will yield [None]
@@ -221,6 +259,7 @@ impl<'buf> Iterator for FilestoreResponseIterator<'buf> {
    }
 }

+/// Fnished PDU reader structure.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -248,13 +287,13 @@ impl<'buf> FinishedPduReader<'buf> {
        let directive_type = FileDirectiveType::try_from(buf[current_idx]).map_err(|_| {
            PduError::InvalidDirectiveType {
                found: buf[current_idx],
-                expected: Some(FileDirectiveType::FinishedPdu),
+                expected: Some(FileDirectiveType::Finished),
            }
        })?;
-        if directive_type != FileDirectiveType::FinishedPdu {
+        if directive_type != FileDirectiveType::Finished {
            return Err(PduError::WrongDirectiveType {
                found: directive_type,
-                expected: FileDirectiveType::FinishedPdu,
+                expected: FileDirectiveType::Finished,
            });
        }
        current_idx += 1;
@@ -276,10 +315,14 @@ impl<'buf> FinishedPduReader<'buf> {
        })
    }

+    /// Raw filestore responses.
+    #[inline]
    pub fn fs_responses_raw(&self) -> &[u8] {
        self.fs_responses_raw
    }

+    /// Iterator over the filestore responses.
+    #[inline]
    pub fn fs_responses_iter(&self) -> FilestoreResponseIterator<'_> {
        FilestoreResponseIterator {
            responses_buf: self.fs_responses_raw,
@@ -287,22 +330,36 @@ impl<'buf> FinishedPduReader<'buf> {
        }
    }

+    /// Condition code.
+    #[inline]
    pub fn condition_code(&self) -> ConditionCode {
        self.condition_code
    }

+    /// Delivery code.
+    #[inline]
    pub fn delivery_code(&self) -> DeliveryCode {
        self.delivery_code
    }

+    /// File status.
+    #[inline]
    pub fn file_status(&self) -> FileStatus {
        self.file_status
    }

+    /// Optional fault location [EntityIdTlv].
+    #[inline]
    pub fn fault_location(&self) -> Option<EntityIdTlv> {
        self.fault_location
    }

+    /// PDU header.
+    #[inline]
+    pub fn pdu_header(&self) -> &PduHeader {
+        &self.pdu_header
+    }
+
    fn parse_tlv_fields(
        mut current_idx: usize,
        full_len_without_crc: usize,
@@ -360,12 +417,14 @@ impl<'buf> FinishedPduReader<'buf> {
 }

 impl CfdpPdu for FinishedPduReader<'_> {
+    #[inline]
    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
+        self.pdu_header()
    }

+    #[inline]
    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        Some(FileDirectiveType::FinishedPdu)
+        Some(FileDirectiveType::Finished)
    }
 }

@@ -406,8 +465,8 @@ mod tests {
        delivery_code: DeliveryCode,
        file_status: FileStatus,
    ) -> FinishedPduCreator<'static> {
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_conf(crc_flag, fss), 0);
-        FinishedPduCreator::new_default(pdu_header, delivery_code, file_status)
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_conf(crc_flag, fss), 0);
+        FinishedPduCreator::new_no_error(pdu_header, delivery_code, file_status)
    }

    #[test]
@@ -434,7 +493,7 @@ mod tests {
        assert_eq!(finished_pdu.pdu_type(), PduType::FileDirective);
        assert_eq!(
            finished_pdu.file_directive_type(),
-            Some(FileDirectiveType::FinishedPdu)
+            Some(FileDirectiveType::Finished)
        );
        assert_eq!(
            finished_pdu.transmission_mode(),
@@ -466,7 +525,7 @@ mod tests {
        );
        verify_raw_header(finished_pdu.pdu_header(), &buf);
        let mut current_idx = finished_pdu.pdu_header().header_len();
-        assert_eq!(buf[current_idx], FileDirectiveType::FinishedPdu as u8);
+        assert_eq!(buf[current_idx], FileDirectiveType::Finished as u8);
        current_idx += 1;
        assert_eq!(
            (buf[current_idx] >> 4) & 0b1111,
@@ -577,8 +636,10 @@ mod tests {

    #[test]
    fn test_with_fault_location() {
-        let pdu_header =
-            PduHeader::new_no_file_data(common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal), 0);
+        let pdu_header = PduHeader::new_for_file_directive(
+            common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal),
+            0,
+        );
        let finished_pdu = FinishedPduCreator::new_with_error(
            pdu_header,
            ConditionCode::NakLimitReached,
@@ -590,7 +651,7 @@ mod tests {
        assert_eq!(finished_pdu_vec.len(), 12);
        assert_eq!(finished_pdu_vec[9], TlvType::EntityId.into());
        assert_eq!(finished_pdu_vec[10], 1);
-        assert_eq!(finished_pdu_vec[11], TEST_DEST_ID.value_typed());
+        assert_eq!(finished_pdu_vec[11], TEST_DEST_ID.value());
        assert_eq!(
            finished_pdu.fault_location().unwrap().entity_id(),
            &TEST_DEST_ID.into()
@@ -599,8 +660,10 @@ mod tests {

    #[test]
    fn test_deserialization_with_fault_location() {
-        let pdu_header =
-            PduHeader::new_no_file_data(common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal), 0);
+        let pdu_header = PduHeader::new_for_file_directive(
+            common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal),
+            0,
+        );
        let entity_id_tlv = EntityIdTlv::new(TEST_DEST_ID.into());
        let finished_pdu = FinishedPduCreator::new_with_error(
            pdu_header,
@@ -635,9 +698,11 @@ mod tests {
        .unwrap();
        let fs_responses = &[fs_response_0, fs_response_1];

-        let pdu_header =
-            PduHeader::new_no_file_data(common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal), 0);
-        let finished_pdu = FinishedPduCreator::new_generic(
+        let pdu_header = PduHeader::new_for_file_directive(
+            common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal),
+            0,
+        );
+        let finished_pdu = FinishedPduCreator::new(
            pdu_header,
            ConditionCode::NakLimitReached,
            DeliveryCode::Incomplete,
@@ -670,9 +735,11 @@ mod tests {
        .unwrap();
        let fs_responses = &[fs_response_0, fs_response_1];

-        let pdu_header =
-            PduHeader::new_no_file_data(common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal), 0);
-        let finished_pdu = FinishedPduCreator::new_generic(
+        let pdu_header = PduHeader::new_for_file_directive(
+            common_pdu_conf(CrcFlag::NoCrc, LargeFileFlag::Normal),
+            0,
+        );
+        let finished_pdu = FinishedPduCreator::new(
            pdu_header,
            ConditionCode::NakLimitReached,
            DeliveryCode::Incomplete,
--- a/src/cfdp/pdu/metadata.rs
+++ b/src/cfdp/pdu/metadata.rs
@@ -1,3 +1,4 @@
+//! # Metadata PDU packet implementation.
 #[cfg(feature = "alloc")]
 use super::tlv::TlvOwned;
 use crate::cfdp::lv::Lv;
@@ -16,16 +17,21 @@ use serde::{Deserialize, Serialize};
 use super::tlv::ReadableTlv;
 use super::{CfdpPdu, WritablePduPacket};

+/// Generic metadata parameters.
 #[derive(Default, Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct MetadataGenericParams {
+    /// Closure requested flag.
    pub closure_requested: bool,
+    /// Checksum type.
    pub checksum_type: ChecksumType,
+    /// File size.
    pub file_size: u64,
 }

 impl MetadataGenericParams {
+    /// Constructor.
    pub fn new(closure_requested: bool, checksum_type: ChecksumType, file_size: u64) -> Self {
        Self {
            closure_requested,
@@ -35,6 +41,7 @@ impl MetadataGenericParams {
    }
 }

+/// Build the metadata options from a slice of [Tlv]s
 pub fn build_metadata_opts_from_slice(
    buf: &mut [u8],
    tlvs: &[Tlv],
@@ -46,6 +53,7 @@ pub fn build_metadata_opts_from_slice(
    Ok(written)
 }

+/// Build the metadata options from a vector of [Tlv]s
 #[cfg(feature = "alloc")]
 pub fn build_metadata_opts_from_vec(
    buf: &mut [u8],
@@ -54,6 +62,7 @@ pub fn build_metadata_opts_from_vec(
    build_metadata_opts_from_slice(buf, tlvs.as_slice())
 }

+/// Build the metadata options from a slice of [TlvOwned]s
 #[cfg(feature = "alloc")]
 pub fn build_metadata_opts_from_owned_slice(tlvs: &[TlvOwned]) -> Vec<u8> {
    let mut sum_vec = Vec::new();
@@ -77,6 +86,7 @@ pub struct MetadataPduCreator<'src_name, 'dest_name, 'opts> {
 }

 impl<'src_name, 'dest_name, 'opts> MetadataPduCreator<'src_name, 'dest_name, 'opts> {
+    /// Constructor for a metadata PDU without options.
    pub fn new_no_opts(
        pdu_header: PduHeader,
        metadata_params: MetadataGenericParams,
@@ -92,6 +102,7 @@ impl<'src_name, 'dest_name, 'opts> MetadataPduCreator<'src_name, 'dest_name, 'op
        )
    }

+    /// Constructor for a metadata PDU with options.
    pub fn new_with_opts(
        pdu_header: PduHeader,
        metadata_params: MetadataGenericParams,
@@ -108,6 +119,7 @@ impl<'src_name, 'dest_name, 'opts> MetadataPduCreator<'src_name, 'dest_name, 'op
        )
    }

+    /// Generic constructor for a metadata PDU.
    pub fn new(
        mut pdu_header: PduHeader,
        metadata_params: MetadataGenericParams,
@@ -128,18 +140,32 @@ impl<'src_name, 'dest_name, 'opts> MetadataPduCreator<'src_name, 'dest_name, 'op
        pdu
    }

+    /// Metadata generic parameters.
+    #[inline]
    pub fn metadata_params(&self) -> &MetadataGenericParams {
        &self.metadata_params
    }

+    /// Source file name as a [Lv].
+    #[inline]
    pub fn src_file_name(&self) -> Lv<'src_name> {
        self.src_file_name
    }

+    /// Destination file name as a [Lv].
+    #[inline]
    pub fn dest_file_name(&self) -> Lv<'dest_name> {
        self.dest_file_name
    }

+    /// PDU header.
+    #[inline]
+    pub fn pdu_header(&self) -> &PduHeader {
+        &self.pdu_header
+    }
+
+    /// Raw options.
+    #[inline]
    pub fn options(&self) -> &'opts [u8] {
        self.options
    }
@@ -169,20 +195,9 @@ impl<'src_name, 'dest_name, 'opts> MetadataPduCreator<'src_name, 'dest_name, 'op
        }
        len
    }
-}

-impl CfdpPdu for MetadataPduCreator<'_, '_, '_> {
-    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
-    }
-
-    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        Some(FileDirectiveType::MetadataPdu)
-    }
-}
-
-impl WritablePduPacket for MetadataPduCreator<'_, '_, '_> {
-    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+    /// Write [Self] to the provided buffer and returns the written size.
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
        let expected_len = self.len_written();
        if buf.len() < expected_len {
            return Err(ByteConversionError::ToSliceTooSmall {
@@ -193,7 +208,7 @@ impl WritablePduPacket for MetadataPduCreator<'_, '_, '_> {
        }

        let mut current_idx = self.pdu_header.write_to_bytes(buf)?;
-        buf[current_idx] = FileDirectiveType::MetadataPdu as u8;
+        buf[current_idx] = FileDirectiveType::Metadata as u8;
        current_idx += 1;
        buf[current_idx] = ((self.metadata_params.closure_requested as u8) << 6)
            | (self.metadata_params.checksum_type as u8);
@@ -217,11 +232,34 @@ impl WritablePduPacket for MetadataPduCreator<'_, '_, '_> {
        Ok(current_idx)
    }

-    fn len_written(&self) -> usize {
+    /// Length of the written PDU in bytes.
+    pub fn len_written(&self) -> usize {
        self.pdu_header.header_len() + self.calc_pdu_datafield_len()
    }
 }

+impl CfdpPdu for MetadataPduCreator<'_, '_, '_> {
+    #[inline]
+    fn pdu_header(&self) -> &PduHeader {
+        self.pdu_header()
+    }
+
+    #[inline]
+    fn file_directive_type(&self) -> Option<FileDirectiveType> {
+        Some(FileDirectiveType::Metadata)
+    }
+}
+
+impl WritablePduPacket for MetadataPduCreator<'_, '_, '_> {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
+        self.write_to_bytes(buf)
+    }
+
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 /// Helper structure to loop through all options of a metadata PDU. It should be noted that
 /// iterators in Rust are not fallible, but the TLV creation can fail, for example if the raw TLV
 /// data is invalid for some reason. In that case, the iterator will yield [None] because there
@@ -271,10 +309,12 @@ pub struct MetadataPduReader<'buf> {
 }

 impl<'raw> MetadataPduReader<'raw> {
+    /// Constructor from raw bytes.
    pub fn new(buf: &'raw [u8]) -> Result<Self, PduError> {
        Self::from_bytes(buf)
    }

+    /// Constructor from raw bytes.
    pub fn from_bytes(buf: &'raw [u8]) -> Result<Self, PduError> {
        let (pdu_header, mut current_idx) = PduHeader::from_bytes(buf)?;
        let full_len_without_crc = pdu_header.verify_length_and_checksum(buf)?;
@@ -288,13 +328,13 @@ impl<'raw> MetadataPduReader<'raw> {
        let directive_type = FileDirectiveType::try_from(buf[current_idx]).map_err(|_| {
            PduError::InvalidDirectiveType {
                found: buf[current_idx],
-                expected: Some(FileDirectiveType::MetadataPdu),
+                expected: Some(FileDirectiveType::Metadata),
            }
        })?;
-        if directive_type != FileDirectiveType::MetadataPdu {
+        if directive_type != FileDirectiveType::Metadata {
            return Err(PduError::WrongDirectiveType {
                found: directive_type,
-                expected: FileDirectiveType::MetadataPdu,
+                expected: FileDirectiveType::Metadata,
            });
        }
        current_idx += 1;
@@ -330,35 +370,50 @@ impl<'raw> MetadataPduReader<'raw> {
        })
    }

+    /// PDU header.
+    #[inline]
+    pub fn pdu_header(&self) -> &PduHeader {
+        &self.pdu_header
+    }
+
+    /// Raw options.
+    #[inline]
    pub fn options(&self) -> &'raw [u8] {
        self.options
    }

+    /// Generic metadata parameters.
+    #[inline]
    pub fn metadata_params(&self) -> &MetadataGenericParams {
        &self.metadata_params
    }

-    pub fn src_file_name(&self) -> Lv {
+    /// Source file name as a [Lv].
+    #[inline]
+    pub fn src_file_name(&self) -> Lv<'_> {
        self.src_file_name
    }

-    pub fn dest_file_name(&self) -> Lv {
+    /// Destination file name as a [Lv].
+    #[inline]
+    pub fn dest_file_name(&self) -> Lv<'_> {
        self.dest_file_name
    }
 }

 impl CfdpPdu for MetadataPduReader<'_> {
+    #[inline]
    fn pdu_header(&self) -> &PduHeader {
-        &self.pdu_header
+        self.pdu_header()
    }

    fn file_directive_type(&self) -> Option<FileDirectiveType> {
-        Some(FileDirectiveType::MetadataPdu)
+        Some(FileDirectiveType::Metadata)
    }
 }

 #[cfg(test)]
-pub mod tests {
+mod tests {
    use alloc::string::ToString;

    use crate::cfdp::lv::Lv;
@@ -392,7 +447,7 @@ pub mod tests {
        Lv<'static>,
        MetadataPduCreator<'static, 'static, '_>,
    ) {
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_conf(crc_flag, fss), 0);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_conf(crc_flag, fss), 0);
        let metadata_params = MetadataGenericParams::new(closure_requested, checksum_type, 0x1010);
        let src_filename = Lv::new_from_str(SRC_FILENAME).expect("Generating string LV failed");
        let dest_filename =
@@ -441,7 +496,7 @@ pub mod tests {
        );
        assert_eq!(
            metadata_pdu.file_directive_type(),
-            Some(FileDirectiveType::MetadataPdu)
+            Some(FileDirectiveType::Metadata)
        );
        assert_eq!(
            metadata_pdu.transmission_mode(),
@@ -472,7 +527,7 @@ pub mod tests {
                + expected_src_filename.len_full()
                + expected_dest_filename.len_full()
        );
-        assert_eq!(buf[7], FileDirectiveType::MetadataPdu as u8);
+        assert_eq!(buf[7], FileDirectiveType::Metadata as u8);
        assert_eq!(buf[8] >> 6, closure_requested as u8);
        assert_eq!(buf[8] & 0b1111, checksum_type as u8);
        assert_eq!(u32::from_be_bytes(buf[9..13].try_into().unwrap()), 0x1010);
@@ -777,10 +832,10 @@ pub mod tests {
        let error = metadata_error.unwrap_err();
        if let PduError::InvalidDirectiveType { found, expected } = error {
            assert_eq!(found, 0xff);
-            assert_eq!(expected, Some(FileDirectiveType::MetadataPdu));
+            assert_eq!(expected, Some(FileDirectiveType::Metadata));
            assert_eq!(
                error.to_string(),
-                "invalid directive type, found 255, expected Some(MetadataPdu)"
+                "invalid directive type, found 255, expected Some(Metadata)"
            );
        } else {
            panic!("Expected InvalidDirectiveType error, got {:?}", error);
@@ -797,16 +852,16 @@ pub mod tests {
            &[],
        );
        let mut metadata_vec = metadata_pdu.to_vec().unwrap();
-        metadata_vec[7] = FileDirectiveType::EofPdu as u8;
+        metadata_vec[7] = FileDirectiveType::Eof as u8;
        let metadata_error = MetadataPduReader::from_bytes(&metadata_vec);
        assert!(metadata_error.is_err());
        let error = metadata_error.unwrap_err();
        if let PduError::WrongDirectiveType { found, expected } = error {
-            assert_eq!(found, FileDirectiveType::EofPdu);
-            assert_eq!(expected, FileDirectiveType::MetadataPdu);
+            assert_eq!(found, FileDirectiveType::Eof);
+            assert_eq!(expected, FileDirectiveType::Metadata);
            assert_eq!(
                error.to_string(),
-                "wrong directive type, found EofPdu, expected MetadataPdu"
+                "wrong directive type, found Eof, expected Metadata"
            );
        } else {
            panic!("Expected InvalidDirectiveType error, got {:?}", error);
--- a/src/cfdp/pdu/mod.rs
+++ b/src/cfdp/pdu/mod.rs
@@ -1,8 +1,10 @@
 //! CFDP Packet Data Unit (PDU) support.
+use crate::cfdp::pdu::ack::InvalidAckedDirectiveCodeError;
+use crate::cfdp::pdu::nak::InvalidStartOrEndOfScopeError;
 use crate::cfdp::*;
+use crate::crc::CRC_CCITT_FALSE;
 use crate::util::{UnsignedByteField, UnsignedByteFieldU8, UnsignedEnum};
 use crate::ByteConversionError;
-use crate::CRC_CCITT_FALSE;
 #[cfg(feature = "alloc")]
 use alloc::vec::Vec;

@@ -13,24 +15,34 @@ pub mod finished;
 pub mod metadata;
 pub mod nak;

+/// File directive type.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum FileDirectiveType {
-    EofPdu = 0x04,
-    FinishedPdu = 0x05,
-    AckPdu = 0x06,
-    MetadataPdu = 0x07,
-    NakPdu = 0x08,
-    PromptPdu = 0x09,
-    KeepAlivePdu = 0x0c,
+    /// EOF.
+    Eof = 0x04,
+    /// Finished.
+    Finished = 0x05,
+    /// ACK.
+    Ack = 0x06,
+    /// Metadata.
+    Metadata = 0x07,
+    /// NAK.
+    Nak = 0x08,
+    /// Prompt.
+    Prompt = 0x09,
+    /// Keep Alive.
+    KeepAlive = 0x0c,
 }

+/// PDU error.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum PduError {
+    /// Byte conversion error.
    #[error("byte conversion error: {0}")]
    ByteConversion(#[from] ByteConversionError),
    /// Found version ID invalid, not equal to [super::CFDP_VERSION_2].
@@ -42,29 +54,37 @@ pub enum PduError {
    /// Invalid length for the entity ID detected. Only the values 1, 2, 4 and 8 are supported.
    #[error("invalid transaction ID length {0}")]
    InvalidTransactionSeqNumLen(u8),
+    /// Source and destination entity ID lengths do not match.
    #[error(
        "missmatch of PDU source ID length {src_id_len} and destination ID length {dest_id_len}"
    )]
    SourceDestIdLenMissmatch {
+        /// Source ID length.
        src_id_len: usize,
+        /// Destination ID length.
        dest_id_len: usize,
    },
    /// Wrong directive type, for example when parsing the directive field for a file directive
    /// PDU.
    #[error("wrong directive type, found {found:?}, expected {expected:?}")]
    WrongDirectiveType {
+        /// Found directive type.
        found: FileDirectiveType,
+        /// Expected directive type.
        expected: FileDirectiveType,
    },
    /// The directive type field contained a value not in the range of permitted values. This can
-    /// also happen if an invalid value is passed to the ACK PDU constructor.
+    /// also happen if an invalid value is passed to the ACK PDU reader.
    #[error("invalid directive type, found {found:?}, expected {expected:?}")]
    InvalidDirectiveType {
+        /// Found raw directive type.
        found: u8,
+        /// Expected raw directive type if applicable.
        expected: Option<FileDirectiveType>,
    },
-    #[error("invalid start or end of scope value for NAK PDU")]
-    InvalidStartOrEndOfScopeValue,
+    /// Invalid start or end of scope for a NAK PDU.
+    #[error("nak pdu: {0}")]
+    InvalidStartOrEndOfScope(#[from] InvalidStartOrEndOfScopeError),
    /// Invalid condition code. Contains the raw detected value.
    #[error("invalid condition code {0}")]
    InvalidConditionCode(u8),
@@ -72,6 +92,7 @@ pub enum PduError {
    /// [SANA Checksum Types registry](https://sanaregistry.org/r/checksum_identifiers/).
    #[error("invalid checksum type {0}")]
    InvalidChecksumType(u8),
+    /// File size is too large.
    #[error("file size {0} too large")]
    FileSizeTooLarge(u64),
    /// If the CRC flag for a PDU is enabled and the checksum check fails. Contains raw 16-bit CRC.
@@ -85,9 +106,24 @@ pub enum PduError {
    TlvLv(#[from] TlvLvError),
 }

+impl From<InvalidAckedDirectiveCodeError> for PduError {
+    fn from(value: InvalidAckedDirectiveCodeError) -> Self {
+        Self::InvalidDirectiveType {
+            found: value.0 as u8,
+            expected: None,
+        }
+    }
+}
+
+/// Generic trait for a PDU which can be written to bytes.
 pub trait WritablePduPacket {
+    /// Length when written to bytes.
    fn len_written(&self) -> usize;
+
+    /// Write the PDU to a raw buffer, returning the written length.
    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError>;
+
+    /// Convert the PDU to an owned vector of bytes.
    #[cfg(feature = "alloc")]
    fn to_vec(&self) -> Result<Vec<u8>, PduError> {
        // This is the correct way to do this. See
@@ -101,48 +137,58 @@ pub trait WritablePduPacket {

 /// Abstraction trait for fields and properties common for all PDUs.
 pub trait CfdpPdu {
+    /// PDU header.
    fn pdu_header(&self) -> &PduHeader;

+    /// Source ID (file sender).
    #[inline]
    fn source_id(&self) -> UnsignedByteField {
        self.pdu_header().common_pdu_conf().source_entity_id
    }

+    /// Destination ID (file sender).
    #[inline]
    fn dest_id(&self) -> UnsignedByteField {
        self.pdu_header().common_pdu_conf().dest_entity_id
    }

+    /// Transaction sequence number.
    #[inline]
    fn transaction_seq_num(&self) -> UnsignedByteField {
        self.pdu_header().common_pdu_conf().transaction_seq_num
    }

+    /// Transmission mode.
    #[inline]
    fn transmission_mode(&self) -> TransmissionMode {
        self.pdu_header().common_pdu_conf().trans_mode
    }

+    /// Direction.
    #[inline]
    fn direction(&self) -> Direction {
        self.pdu_header().common_pdu_conf().direction
    }

+    /// CRC flag.
    #[inline]
    fn crc_flag(&self) -> CrcFlag {
        self.pdu_header().common_pdu_conf().crc_flag
    }

+    /// File flag.
    #[inline]
    fn file_flag(&self) -> LargeFileFlag {
        self.pdu_header().common_pdu_conf().file_flag
    }

+    /// PDU type.
    #[inline]
    fn pdu_type(&self) -> PduType {
        self.pdu_header().pdu_type()
    }

+    /// File directive type when applicable.
    fn file_directive_type(&self) -> Option<FileDirectiveType>;
 }

@@ -158,15 +204,21 @@ pub trait CfdpPdu {
 pub struct CommonPduConfig {
    source_entity_id: UnsignedByteField,
    dest_entity_id: UnsignedByteField,
+    /// Transaction sequence number.
    pub transaction_seq_num: UnsignedByteField,
+    /// Transmission mode.
    pub trans_mode: TransmissionMode,
+    /// File flag.
    pub file_flag: LargeFileFlag,
+    /// CRC flag.
    pub crc_flag: CrcFlag,
+    /// Direction.
    pub direction: Direction,
 }

 // TODO: Builder pattern might be applicable here..
 impl CommonPduConfig {
+    /// Generic constructor.
    #[inline]
    pub fn new(
        source_id: impl Into<UnsignedByteField>,
@@ -199,6 +251,7 @@ impl CommonPduConfig {
        })
    }

+    /// Constructor for custom byte field with default field values for the other fields.
    #[inline]
    pub fn new_with_byte_fields(
        source_id: impl Into<UnsignedByteField>,
@@ -216,6 +269,7 @@ impl CommonPduConfig {
        )
    }

+    /// Source ID (file sender).
    #[inline]
    pub fn source_id(&self) -> UnsignedByteField {
        self.source_entity_id
@@ -244,6 +298,7 @@ impl CommonPduConfig {
        Ok((source_id, dest_id))
    }

+    /// Set the source and destination ID field.
    #[inline]
    pub fn set_source_and_dest_id(
        &mut self,
@@ -256,6 +311,7 @@ impl CommonPduConfig {
        Ok(())
    }

+    /// Destination ID (file receiver).
    #[inline]
    pub fn dest_id(&self) -> UnsignedByteField {
        self.dest_entity_id
@@ -294,6 +350,7 @@ impl PartialEq for CommonPduConfig {
    }
 }

+/// Fixed header length of the PDU header.
 pub const FIXED_HEADER_LEN: usize = 4;

 /// Abstraction for the PDU header common to all CFDP PDUs.
@@ -311,6 +368,10 @@ pub struct PduHeader {
 }

 impl PduHeader {
+    /// Fixed length of the PDU header when written to a raw buffer.
+    pub const FIXED_LEN: usize = FIXED_HEADER_LEN;
+
+    /// Constructor for a File Data PDU header.
    #[inline]
    pub fn new_for_file_data(
        pdu_conf: CommonPduConfig,
@@ -327,6 +388,7 @@ impl PduHeader {
        )
    }

+    /// Constructor for a file data PDU.
    #[inline]
    pub fn new_for_file_data_default(pdu_conf: CommonPduConfig, pdu_datafield_len: u16) -> Self {
        Self::new_generic(
@@ -337,8 +399,10 @@ impl PduHeader {
            SegmentationControl::NoRecordBoundaryPreservation,
        )
    }
+
+    /// Constructor for a file directive PDU.
    #[inline]
-    pub fn new_no_file_data(pdu_conf: CommonPduConfig, pdu_datafield_len: u16) -> Self {
+    pub fn new_for_file_directive(pdu_conf: CommonPduConfig, pdu_datafield_len: u16) -> Self {
        Self::new_generic(
            PduType::FileDirective,
            pdu_conf,
@@ -348,6 +412,19 @@ impl PduHeader {
        )
    }

+    /// Constructor from a given [CommonPduConfig] and for a file directive PDU.
+    #[inline]
+    pub fn from_pdu_conf_for_file_directive(pdu_conf: CommonPduConfig) -> Self {
+        Self::new_generic(
+            PduType::FileDirective,
+            pdu_conf,
+            0,
+            SegmentMetadataFlag::NotPresent,
+            SegmentationControl::NoRecordBoundaryPreservation,
+        )
+    }
+
+    /// Generic constructor.
    #[inline]
    pub fn new_generic(
        pdu_type: PduType,
@@ -374,6 +451,7 @@ impl PduHeader {
            + self.pdu_conf.dest_entity_id.size()
    }

+    /// PDU data field length.
    #[inline]
    pub fn pdu_datafield_len(&self) -> usize {
        self.pdu_datafield_len.into()
@@ -386,15 +464,15 @@ impl PduHeader {
        self.header_len() + self.pdu_datafield_len as usize
    }

-    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, PduError> {
-        // Internal note: There is currently no way to pass a PDU configuration like this, but
-        // this check is still kept for defensive programming.
-        if self.pdu_conf.source_entity_id.size() != self.pdu_conf.dest_entity_id.size() {
-            return Err(PduError::SourceDestIdLenMissmatch {
-                src_id_len: self.pdu_conf.source_entity_id.size(),
-                dest_id_len: self.pdu_conf.dest_entity_id.size(),
-            });
-        }
+    /// Write the header to a raw buffer, returning the written length on success.
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        // The API does not allow passing entity IDs with different sizes, so this should
+        // never happen.
+        assert_eq!(
+            self.pdu_conf.source_entity_id.size(),
+            self.pdu_conf.dest_entity_id.size(),
+            "unexpected missmatch of source and destination entity ID length"
+        );
        if buf.len()
            < FIXED_HEADER_LEN
                + self.pdu_conf.source_entity_id.size()
@@ -403,8 +481,7 @@ impl PduHeader {
            return Err(ByteConversionError::ToSliceTooSmall {
                found: buf.len(),
                expected: FIXED_HEADER_LEN,
-            }
-            .into());
+            });
        }
        let mut current_idx = 0;
        buf[current_idx] = (CFDP_VERSION_2 << 5)
@@ -555,20 +632,25 @@ impl PduHeader {
        ))
    }

+    /// PDU type.
    #[inline]
    pub fn pdu_type(&self) -> PduType {
        self.pdu_type
    }

+    /// Common PDU configuration fields.
    #[inline]
    pub fn common_pdu_conf(&self) -> &CommonPduConfig {
        &self.pdu_conf
    }

+    /// Segment metadata flag.
+    #[inline]
    pub fn seg_metadata_flag(&self) -> SegmentMetadataFlag {
        self.seg_metadata_flag
    }

+    /// Segmentation Control.
    #[inline]
    pub fn seg_ctrl(&self) -> SegmentationControl {
        self.seg_ctrl
@@ -734,7 +816,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        assert_eq!(pdu_header.pdu_type(), PduType::FileDirective);
        let common_conf_ref = pdu_header.common_pdu_conf();
        assert_eq!(*common_conf_ref, common_pdu_cfg);
@@ -800,7 +882,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        let mut buf: [u8; 7] = [0; 7];
        let res = pdu_header.write_to_bytes(&mut buf);
        assert!(res.is_ok());
@@ -817,7 +899,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        let mut buf: [u8; 7] = [0; 7];
        let res = pdu_header.write_to_bytes(&mut buf);
        assert!(res.is_ok());
@@ -890,7 +972,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        let mut buf: [u8; 7] = [0; 7];
        let res = pdu_header.write_to_bytes(&mut buf);
        assert!(res.is_ok());
@@ -935,7 +1017,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        let mut buf: [u8; 7] = [0; 7];
        let res = pdu_header.write_to_bytes(&mut buf);
        assert!(res.is_ok());
@@ -1018,7 +1100,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        let mut buf: [u8; 7] = [0; 7];
        let res = pdu_header.write_to_bytes(&mut buf);
        assert!(res.is_ok());
@@ -1042,7 +1124,7 @@ mod tests {
        let transaction_id = UnsignedByteFieldU8::new(3);
        let common_pdu_cfg = CommonPduConfig::new_with_byte_fields(src_id, dest_id, transaction_id)
            .expect("common config creation failed");
-        let pdu_header = PduHeader::new_no_file_data(common_pdu_cfg, 5);
+        let pdu_header = PduHeader::new_for_file_directive(common_pdu_cfg, 5);
        let mut buf: [u8; 7] = [0; 7];
        let res = pdu_header.write_to_bytes(&mut buf);
        assert!(res.is_ok());
@@ -1074,4 +1156,12 @@ mod tests {
        let common_pdu_cfg_1 = common_pdu_cfg_0;
        assert_eq!(common_pdu_cfg_0, common_pdu_cfg_1);
    }
+
+    #[test]
+    fn test_ctor_from_pdu_conf() {
+        assert_eq!(
+            PduHeader::from_pdu_conf_for_file_directive(CommonPduConfig::default()),
+            PduHeader::new_for_file_directive(CommonPduConfig::default(), 0)
+        );
+    }
 }
--- a/src/cfdp/pdu/nak.rs
+++ b/src/cfdp/pdu/nak.rs
--- a/src/cfdp/tlv/mod.rs
+++ b/src/cfdp/tlv/mod.rs
@@ -19,13 +19,17 @@ use super::{InvalidTlvTypeFieldError, TlvLvDataTooLargeError};

 pub mod msg_to_user;

+/// Minimum length of a type-length-value structure, including type and length fields.
 pub const MIN_TLV_LEN: usize = 2;

+/// Trait for generic TLV structures.
 pub trait GenericTlv {
+    /// TLV type field.
    fn tlv_type_field(&self) -> TlvTypeField;

    /// Checks whether the type field contains one of the standard types specified in the CFDP
    /// standard and is part of the [TlvType] enum.
+    #[inline]
    fn is_standard_tlv(&self) -> bool {
        if let TlvTypeField::Standard(_) = self.tlv_type_field() {
            return true;
@@ -34,6 +38,7 @@ pub trait GenericTlv {
    }

    /// Returns the standard TLV type if the TLV field is not a custom field
+    #[inline]
    fn tlv_type(&self) -> Option<TlvType> {
        if let TlvTypeField::Standard(tlv_type) = self.tlv_type_field() {
            Some(tlv_type)
@@ -43,29 +48,40 @@ pub trait GenericTlv {
    }
 }

+/// Readable TLV structure trait.
 pub trait ReadableTlv {
+    /// Value field of the TLV.
    fn value(&self) -> &[u8];

    /// Checks whether the value field is empty.
+    #[inline]
    fn is_empty(&self) -> bool {
        self.value().is_empty()
    }

    /// Helper method to retrieve the length of the value. Simply calls the [slice::len] method of
    /// [Self::value]
+    #[inline]
    fn len_value(&self) -> usize {
        self.value().len()
    }

    /// Returns the full raw length, including the length byte.
+    #[inline]
    fn len_full(&self) -> usize {
        self.len_value() + 2
    }
 }

+/// Writable TLV structure trait.
 pub trait WritableTlv {
+    /// Write the TLV to bytes.
    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
+
+    /// Length of the written TLV.
    fn len_written(&self) -> usize;
+
+    /// Convenience method to write the TLV to an owned [alloc::vec::Vec].
    #[cfg(feature = "alloc")]
    fn to_vec(&self) -> Vec<u8> {
        let mut buf = vec![0; self.len_written()];
@@ -74,34 +90,50 @@ pub trait WritableTlv {
    }
 }

+/// TLV type.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum TlvType {
+    /// Filestore request.
    FilestoreRequest = 0x00,
+    /// Filestore response.
    FilestoreResponse = 0x01,
+    /// Message to user.
    MsgToUser = 0x02,
+    /// Fault handler.
    FaultHandler = 0x04,
+    /// Flow label.
    FlowLabel = 0x05,
+    /// Entity ID.
    EntityId = 0x06,
 }

+/// TLV type field variants.
+///
+/// This allows specifying custom variants as well.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum TlvTypeField {
+    /// Standard TLV types.
    Standard(TlvType),
+    /// Custom TLV type.
    Custom(u8),
 }

+/// Filestore action codes as specified in the standard.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum FilestoreActionCode {
+    /// Create file.
    CreateFile = 0b0000,
+    /// Delete file.
    DeleteFile = 0b0001,
+    /// Rename file.
    RenameFile = 0b0010,
    /// This operation appends one file to another. The first specified name will form the first
    /// part of the new file and the name of the new file. This function can be used to get
@@ -110,9 +142,13 @@ pub enum FilestoreActionCode {
    /// This operation replaces the content of the first specified file with the content of
    /// the secondly specified file.
    ReplaceFile = 0b0100,
+    /// Create directory.
    CreateDirectory = 0b0101,
+    /// Remove directory.
    RemoveDirectory = 0b0110,
+    /// Deny file.
    DenyFile = 0b0111,
+    /// Deny directory.
    DenyDirectory = 0b1000,
 }

@@ -153,14 +189,22 @@ pub struct Tlv<'data> {
 }

 impl<'data> Tlv<'data> {
-    pub fn new(tlv_type: TlvType, data: &[u8]) -> Result<Tlv, TlvLvDataTooLargeError> {
+    /// Minimum length of a TLV structure, including type and length fields.
+    pub const MIN_LEN: usize = MIN_TLV_LEN;
+
+    /// Generic constructor for a TLV structure.
+    pub fn new(tlv_type: TlvType, data: &[u8]) -> Result<Tlv<'_>, TlvLvDataTooLargeError> {
        Ok(Tlv {
            tlv_type_field: TlvTypeField::Standard(tlv_type),
            lv: Lv::new(data)?,
        })
    }

-    pub fn new_with_custom_type(tlv_type: u8, data: &[u8]) -> Result<Tlv, TlvLvDataTooLargeError> {
+    /// Constructor for a TLV with a custom type field.
+    pub fn new_with_custom_type(
+        tlv_type: u8,
+        data: &[u8],
+    ) -> Result<Tlv<'_>, TlvLvDataTooLargeError> {
        Ok(Tlv {
            tlv_type_field: TlvTypeField::Custom(tlv_type),
            lv: Lv::new(data)?,
@@ -193,10 +237,12 @@ impl<'data> Tlv<'data> {

    /// If the TLV was generated from a raw bytestream using [Self::from_bytes], the raw start
    /// of the TLV can be retrieved with this method.
+    #[inline]
    pub fn raw_data(&self) -> Option<&[u8]> {
        self.lv.raw_data()
    }

+    /// Converts to an owned TLV variant, allocating memory for the value field.
    #[cfg(feature = "alloc")]
    pub fn to_owned(&self) -> TlvOwned {
        TlvOwned {
@@ -226,17 +272,21 @@ impl WritableTlv for Tlv<'_> {
        self.lv.write_to_be_bytes_no_len_check(&mut buf[1..]);
        Ok(self.len_full())
    }
+
+    #[inline]
    fn len_written(&self) -> usize {
        self.len_full()
    }
 }

 impl GenericTlv for Tlv<'_> {
+    #[inline]
    fn tlv_type_field(&self) -> TlvTypeField {
        self.tlv_type_field
    }
 }

+/// Component of the TLV module which require [alloc] support.
 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
    use super::*;
@@ -252,6 +302,7 @@ pub mod alloc_mod {
    }

    impl TlvOwned {
+        /// Generic constructor.
        pub fn new(tlv_type: TlvType, data: &[u8]) -> Self {
            Self {
                tlv_type_field: TlvTypeField::Standard(tlv_type),
@@ -259,6 +310,7 @@ pub mod alloc_mod {
            }
        }

+        /// Generic constructor with a custom TLV type.
        pub fn new_with_custom_type(tlv_type: u8, data: &[u8]) -> Self {
            Self {
                tlv_type_field: TlvTypeField::Custom(tlv_type),
@@ -274,6 +326,21 @@ pub mod alloc_mod {
            }
        }

+        /// Write to a byte slice.
+        pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+            generic_len_check_data_serialization(buf, self.data.len(), MIN_TLV_LEN)?;
+            buf[0] = self.tlv_type_field.into();
+            buf[1] = self.data.len() as u8;
+            buf[2..2 + self.data.len()].copy_from_slice(&self.data);
+            Ok(self.len_written())
+        }
+
+        #[inline]
+        fn len_written(&self) -> usize {
+            self.data.len() + 2
+        }
+
+        /// Convert to [Tlv]
        pub fn as_tlv(&self) -> Tlv<'_> {
            Tlv {
                tlv_type_field: self.tlv_type_field,
@@ -285,6 +352,7 @@ pub mod alloc_mod {
    }

    impl ReadableTlv for TlvOwned {
+        #[inline]
        fn value(&self) -> &[u8] {
            &self.data
        }
@@ -292,19 +360,17 @@ pub mod alloc_mod {

    impl WritableTlv for TlvOwned {
        fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-            generic_len_check_data_serialization(buf, self.data.len(), MIN_TLV_LEN)?;
-            buf[0] = self.tlv_type_field.into();
-            buf[1] = self.data.len() as u8;
-            buf[2..2 + self.data.len()].copy_from_slice(&self.data);
-            Ok(self.len_written())
+            self.write_to_bytes(buf)
        }

+        #[inline]
        fn len_written(&self) -> usize {
-            self.data.len() + 2
+            self.len_written()
        }
    }

    impl GenericTlv for TlvOwned {
+        #[inline]
        fn tlv_type_field(&self) -> TlvTypeField {
            self.tlv_type_field
        }
@@ -323,6 +389,7 @@ pub mod alloc_mod {
    }
 }

+/// Entity ID TLV.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -331,6 +398,8 @@ pub struct EntityIdTlv {
 }

 impl EntityIdTlv {
+    /// Constructor.
+    #[inline]
    pub fn new(entity_id: UnsignedByteField) -> Self {
        Self { entity_id }
    }
@@ -345,18 +414,25 @@ impl EntityIdTlv {
        Ok(())
    }

+    /// Entity ID.
+    #[inline]
    pub fn entity_id(&self) -> &UnsignedByteField {
        &self.entity_id
    }

+    /// Length of the value field.
+    #[inline]
    pub fn len_value(&self) -> usize {
        self.entity_id.size()
    }

+    /// Full length of the TLV, including type and length fields.
+    #[inline]
    pub fn len_full(&self) -> usize {
        2 + self.entity_id.size()
    }

+    /// Create from a raw bytestream.
    pub fn from_bytes(buf: &[u8]) -> Result<Self, TlvLvError> {
        Self::len_check(buf)?;
        verify_tlv_type(buf[0], TlvType::EntityId)?;
@@ -370,16 +446,14 @@ impl EntityIdTlv {
    }

    /// Convert to a generic [Tlv], which also erases the programmatic type information.
-    pub fn to_tlv(self, buf: &mut [u8]) -> Result<Tlv, ByteConversionError> {
+    pub fn to_tlv(self, buf: &mut [u8]) -> Result<Tlv<'_>, ByteConversionError> {
        Self::len_check(buf)?;
        self.entity_id
            .write_to_be_bytes(&mut buf[2..2 + self.entity_id.size()])?;
        // Can't fail.
        Ok(Tlv::new(TlvType::EntityId, &buf[2..2 + self.entity_id.size()]).unwrap())
    }
-}

-impl WritableTlv for EntityIdTlv {
    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
        Self::len_check(buf)?;
        buf[0] = TlvType::EntityId as u8;
@@ -387,18 +461,31 @@ impl WritableTlv for EntityIdTlv {
        Ok(2 + self.entity_id.write_to_be_bytes(&mut buf[2..])?)
    }

+    #[inline]
    fn len_written(&self) -> usize {
        self.len_full()
    }
 }

+impl WritableTlv for EntityIdTlv {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        self.write_to_bytes(buf)
+    }
+
+    #[inline]
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 impl GenericTlv for EntityIdTlv {
+    #[inline]
    fn tlv_type_field(&self) -> TlvTypeField {
        TlvTypeField::Standard(TlvType::EntityId)
    }
 }

-impl<'data> TryFrom<Tlv<'data>> for EntityIdTlv {
+impl TryFrom<Tlv<'_>> for EntityIdTlv {
    type Error = TlvLvError;

    fn try_from(value: Tlv) -> Result<Self, TlvLvError> {
@@ -437,6 +524,8 @@ impl<'data> TryFrom<Tlv<'data>> for EntityIdTlv {
    }
 }

+/// Does the [FilestoreActionCode] have a second filename?
+#[inline]
 pub fn fs_request_has_second_filename(action_code: FilestoreActionCode) -> bool {
    if action_code == FilestoreActionCode::RenameFile
        || action_code == FilestoreActionCode::AppendFile
@@ -459,6 +548,7 @@ struct FilestoreTlvBase<'first_name, 'second_name> {
 }

 impl FilestoreTlvBase<'_, '_> {
+    #[inline]
    fn base_len_value(&self) -> usize {
        let mut len = 1 + self.first_name.len_full();
        if let Some(second_name) = self.second_name {
@@ -468,6 +558,7 @@ impl FilestoreTlvBase<'_, '_> {
    }
 }

+/// Filestore request TLV.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct FilestoreRequestTlv<'first_name, 'second_name> {
@@ -476,14 +567,17 @@ pub struct FilestoreRequestTlv<'first_name, 'second_name> {
 }

 impl<'first_name, 'second_name> FilestoreRequestTlv<'first_name, 'second_name> {
+    /// Constructor for file creation.
    pub fn new_create_file(file_name: Lv<'first_name>) -> Result<Self, TlvLvError> {
        Self::new(FilestoreActionCode::CreateFile, file_name, None)
    }

+    /// Constructor for file deletion.
    pub fn new_delete_file(file_name: Lv<'first_name>) -> Result<Self, TlvLvError> {
        Self::new(FilestoreActionCode::DeleteFile, file_name, None)
    }

+    /// Constructor for file renaming.
    pub fn new_rename_file(
        source_name: Lv<'first_name>,
        target_name: Lv<'second_name>,
@@ -523,18 +617,22 @@ impl<'first_name, 'second_name> FilestoreRequestTlv<'first_name, 'second_name> {
        )
    }

+    /// Constructor for directory creation.
    pub fn new_create_directory(dir_name: Lv<'first_name>) -> Result<Self, TlvLvError> {
        Self::new(FilestoreActionCode::CreateDirectory, dir_name, None)
    }

+    /// Constructor for directory removal.
    pub fn new_remove_directory(dir_name: Lv<'first_name>) -> Result<Self, TlvLvError> {
        Self::new(FilestoreActionCode::RemoveDirectory, dir_name, None)
    }

+    /// Constructor for file denial.
    pub fn new_deny_file(file_name: Lv<'first_name>) -> Result<Self, TlvLvError> {
        Self::new(FilestoreActionCode::DenyFile, file_name, None)
    }

+    /// Constructor for directory denial.
    pub fn new_deny_directory(dir_name: Lv<'first_name>) -> Result<Self, TlvLvError> {
        Self::new(FilestoreActionCode::DenyDirectory, dir_name, None)
    }
@@ -568,26 +666,37 @@ impl<'first_name, 'second_name> FilestoreRequestTlv<'first_name, 'second_name> {
        })
    }

+    /// Action code.
+    #[inline]
    pub fn action_code(&self) -> FilestoreActionCode {
        self.base.action_code
    }

+    /// First name as [Lv].
+    #[inline]
    pub fn first_name(&self) -> Lv<'first_name> {
        self.base.first_name
    }

+    /// First name as optional [Lv].
+    #[inline]
    pub fn second_name(&self) -> Option<Lv<'second_name>> {
        self.base.second_name
    }

+    /// Length of the value field.
+    #[inline]
    pub fn len_value(&self) -> usize {
        self.base.base_len_value()
    }

+    /// Full TLV length.
+    #[inline]
    pub fn len_full(&self) -> usize {
        2 + self.len_value()
    }

+    /// Construct from a raw bytestream.
    pub fn from_bytes<'longest: 'first_name + 'second_name>(
        buf: &'longest [u8],
    ) -> Result<Self, TlvLvError> {
@@ -622,9 +731,7 @@ impl<'first_name, 'second_name> FilestoreRequestTlv<'first_name, 'second_name> {
            },
        })
    }
-}

-impl WritableTlv for FilestoreRequestTlv<'_, '_> {
    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
        if buf.len() < self.len_full() {
            return Err(ByteConversionError::ToSliceTooSmall {
@@ -650,17 +757,31 @@ impl WritableTlv for FilestoreRequestTlv<'_, '_> {
        Ok(current_idx)
    }

+    #[inline]
    fn len_written(&self) -> usize {
        self.len_full()
    }
 }

+impl WritableTlv for FilestoreRequestTlv<'_, '_> {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        self.write_to_bytes(buf)
+    }
+
+    #[inline]
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 impl GenericTlv for FilestoreRequestTlv<'_, '_> {
+    #[inline]
    fn tlv_type_field(&self) -> TlvTypeField {
        TlvTypeField::Standard(TlvType::FilestoreRequest)
    }
 }

+/// Filestore response TLV.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -692,6 +813,8 @@ impl<'first_name, 'second_name, 'fs_msg> FilestoreResponseTlv<'first_name, 'seco
            Lv::new_empty(),
        )
    }
+
+    /// Generic constructor.
    pub fn new(
        action_code: FilestoreActionCode,
        status_code: u8,
@@ -720,6 +843,7 @@ impl<'first_name, 'second_name, 'fs_msg> FilestoreResponseTlv<'first_name, 'seco
        })
    }

+    /// Check whether this response has a second filename.
    pub fn has_second_filename(action_code: FilestoreActionCode) -> bool {
        if action_code == FilestoreActionCode::RenameFile
            || action_code == FilestoreActionCode::AppendFile
@@ -730,30 +854,43 @@ impl<'first_name, 'second_name, 'fs_msg> FilestoreResponseTlv<'first_name, 'seco
        false
    }

+    /// Action code.
+    #[inline]
    pub fn action_code(&self) -> FilestoreActionCode {
        self.base.action_code
    }

+    /// Status code.
+    #[inline]
    pub fn status_code(&self) -> u8 {
        self.status_code
    }

+    /// First name as [Lv].
+    #[inline]
    pub fn first_name(&self) -> Lv<'first_name> {
        self.base.first_name
    }

+    /// Optional second name as [Lv].
+    #[inline]
    pub fn second_name(&self) -> Option<Lv<'second_name>> {
        self.base.second_name
    }

+    /// Length of the value field.
+    #[inline]
    pub fn len_value(&self) -> usize {
        self.base.base_len_value() + self.filestore_message.len_full()
    }

+    /// Full length of the TLV.
+    #[inline]
    pub fn len_full(&self) -> usize {
        2 + self.len_value()
    }

+    /// Construct from a raw bytestream.
    pub fn from_bytes<'buf: 'first_name + 'second_name + 'fs_msg>(
        buf: &'buf [u8],
    ) -> Result<Self, TlvLvError> {
@@ -807,9 +944,7 @@ impl<'first_name, 'second_name, 'fs_msg> FilestoreResponseTlv<'first_name, 'seco
            filestore_message,
        })
    }
-}

-impl WritableTlv for FilestoreResponseTlv<'_, '_, '_> {
    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
        if buf.len() < self.len_full() {
            return Err(ByteConversionError::ToSliceTooSmall {
@@ -842,7 +977,19 @@ impl WritableTlv for FilestoreResponseTlv<'_, '_, '_> {
    }
 }

+impl WritableTlv for FilestoreResponseTlv<'_, '_, '_> {
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        self.write_to_bytes(buf)
+    }
+
+    #[inline]
+    fn len_written(&self) -> usize {
+        self.len_written()
+    }
+}
+
 impl GenericTlv for FilestoreResponseTlv<'_, '_, '_> {
+    #[inline]
    fn tlv_type_field(&self) -> TlvTypeField {
        TlvTypeField::Standard(TlvType::FilestoreResponse)
    }
--- a/src/cfdp/tlv/msg_to_user.rs
+++ b/src/cfdp/tlv/msg_to_user.rs
@@ -8,8 +8,10 @@ use crate::{
 };
 use delegate::delegate;

+/// Message To User TLV structure.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub struct MsgToUserTlv<'data> {
+    /// Wrapped generic TLV structure.
    pub tlv: Tlv<'data>,
 }

@@ -23,7 +25,9 @@ impl<'data> MsgToUserTlv<'data> {

    delegate! {
        to self.tlv {
+            /// Value field of the TLV.
            pub fn value(&self) -> &[u8];
+
            /// Helper method to retrieve the length of the value. Simply calls the [slice::len] method of
            /// [Self::value]
            pub fn len_value(&self) -> usize;
@@ -37,12 +41,16 @@ impl<'data> MsgToUserTlv<'data> {
        }
    }

+    /// Is this a standard TLV?
+    #[inline]
    pub fn is_standard_tlv(&self) -> bool {
        true
    }

-    pub fn tlv_type(&self) -> Option<TlvType> {
-        Some(TlvType::MsgToUser)
+    /// TLV type field.
+    #[inline]
+    pub fn tlv_type(&self) -> TlvType {
+        TlvType::MsgToUser
    }

    /// Check whether this message is a reserved CFDP message like a Proxy Operation Message.
@@ -83,14 +91,29 @@ impl<'data> MsgToUserTlv<'data> {
        Ok(msg_to_user)
    }

+    /// Convert to a generic [Tlv].
+    #[inline]
    pub fn to_tlv(&self) -> Tlv<'data> {
        self.tlv
    }

+    /// Convert to an [TlvOwned].
    #[cfg(feature = "alloc")]
    pub fn to_owned(&self) -> TlvOwned {
        self.tlv.to_owned()
    }
+
+    #[inline]
+    fn len_written(&self) -> usize {
+        self.len_full()
+    }
+
+    delegate!(
+        to self.tlv {
+            /// Write the TLV to a byte buffer.
+            pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
+        }
+    );
 }

 impl<'a> From<MsgToUserTlv<'a>> for Tlv<'a> {
@@ -100,18 +123,18 @@ impl<'a> From<MsgToUserTlv<'a>> for Tlv<'a> {
 }

 impl WritableTlv for MsgToUserTlv<'_> {
+    #[inline]
    fn len_written(&self) -> usize {
-        self.len_full()
+        self.len_written()
    }

-    delegate!(
-        to self.tlv {
-            fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
-        }
-    );
+    fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        self.tlv.write_to_bytes(buf)
+    }
 }

 impl GenericTlv for MsgToUserTlv<'_> {
+    #[inline]
    fn tlv_type_field(&self) -> TlvTypeField {
        self.tlv.tlv_type_field()
    }
@@ -128,7 +151,7 @@ mod tests {
        assert!(msg_to_user.is_ok());
        let msg_to_user = msg_to_user.unwrap();
        assert!(msg_to_user.is_standard_tlv());
-        assert_eq!(msg_to_user.tlv_type().unwrap(), TlvType::MsgToUser);
+        assert_eq!(msg_to_user.tlv_type(), TlvType::MsgToUser);
        assert_eq!(
            msg_to_user.tlv_type_field(),
            TlvTypeField::Standard(TlvType::MsgToUser)
--- a/src/crc.rs
+++ b/src/crc.rs
@@ -0,0 +1,15 @@
+//! # CRC checksum support.
+//!
+//! Thin wrapper around the [crc] crate.
+
+/// CRC algorithm used by the PUS standard, the CCSDS TC standard and the CFDP standard, using
+/// a [crc::NoTable] as the CRC implementation.
+pub const CRC_CCITT_FALSE_NO_TABLE: crc::Crc<u16, crc::NoTable> =
+    crc::Crc::<u16, crc::NoTable>::new(&crc::CRC_16_IBM_3740);
+/// CRC algorithm used by the PUS standard, the CCSDS TC standard and the CFDP standard, using
+/// [crc::Table<1>] as the CRC implementation.
+pub const CRC_CCITT_FALSE: crc::Crc<u16> = crc::Crc::<u16>::new(&crc::CRC_16_IBM_3740);
+/// CRC algorithm used by the PUS standard, the CCSDS TC standard and the CFDP standard, using
+/// a [crc::Table<16>] large table as the CRC implementation.
+pub const CRC_CCITT_FALSE_BIG_TABLE: crc::Crc<u16, crc::Table<16>> =
+    crc::Crc::<u16, crc::Table<16>>::new(&crc::CRC_16_IBM_3740);
--- a/src/ecss/event.rs
+++ b/src/ecss/event.rs
@@ -3,17 +3,26 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

+/// Event service subtype ID.
 #[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[repr(u8)]
-pub enum Subservice {
+pub enum MessageSubtypeId {
+    /// Telemetry - Info report.
    TmInfoReport = 1,
+    /// Telemetry - Low severity report.
    TmLowSeverityReport = 2,
+    /// Telemetry - Medium severity report.
    TmMediumSeverityReport = 3,
+    /// Telemetry - High severity report.
    TmHighSeverityReport = 4,
+    /// Telecommand - Enable event generation.
    TcEnableEventGeneration = 5,
+    /// Telecommand - Disable event generation.
    TcDisableEventGeneration = 6,
+    /// Telecommand - Report disabled list.
    TcReportDisabledList = 7,
+    /// Telemetry - Disabled events report.
    TmDisabledEventsReport = 8,
 }

@@ -23,19 +32,19 @@ mod tests {

    #[test]
    fn test_conv_into_u8() {
-        let subservice: u8 = Subservice::TmLowSeverityReport.into();
+        let subservice: u8 = MessageSubtypeId::TmLowSeverityReport.into();
        assert_eq!(subservice, 2);
    }

    #[test]
    fn test_conv_from_u8() {
-        let subservice: Subservice = 2.try_into().unwrap();
-        assert_eq!(subservice, Subservice::TmLowSeverityReport);
+        let subservice: MessageSubtypeId = 2.try_into().unwrap();
+        assert_eq!(subservice, MessageSubtypeId::TmLowSeverityReport);
    }

    #[test]
    fn test_conv_fails() {
-        let conversion = Subservice::try_from(9);
+        let conversion = MessageSubtypeId::try_from(9);
        assert!(conversion.is_err());
        let err = conversion.unwrap_err();
        assert_eq!(err.number, 9);
--- a/src/ecss/hk.rs
+++ b/src/ecss/hk.rs
@@ -3,31 +3,49 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

+/// Housekeeping service subtype ID.
 #[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
-pub enum Subservice {
+pub enum MessageSubtypeId {
    // Regular HK
+    /// Telecommand - Create Housekeeping Report Structure.
    TcCreateHkReportStructure = 1,
+    /// Telecommand - Delete HK report structures.
    TcDeleteHkReportStructures = 3,
+    /// Telecommand - Enable HK generation.
    TcEnableHkGeneration = 5,
+    /// Telecommand - Disable HK generation.
    TcDisableHkGeneration = 6,
+    /// Telecommand - Report HK report structures.
    TcReportHkReportStructures = 9,
+    /// Telemetry - HK report.
    TmHkPacket = 25,
+    /// Telecommand - Generate one-shot report.
    TcGenerateOneShotHk = 27,
+    /// Telecommand - Modify collection interval.
    TcModifyHkCollectionInterval = 31,

-    // Diagnostics HK
+    /// Telecommand - Create diagnostics report structures.
    TcCreateDiagReportStructure = 2,
+    /// Telecommand - Delete diagnostics report structures.
    TcDeleteDiagReportStructures = 4,
+    /// Telecommand - Enable diagnostics generation.
    TcEnableDiagGeneration = 7,
+    /// Telecommand - Disable diagnostics generation.
    TcDisableDiagGeneration = 8,
+    /// Telemetry - HK structures report.
    TmHkStructuresReport = 10,
+    /// Telecommand - Report diagnostics report structures.
    TcReportDiagReportStructures = 11,
+    /// Telemetry - Diagnostics report structures.
    TmDiagStructuresReport = 12,
+    /// Telemetry - Diagnostics packet.
    TmDiagPacket = 26,
+    /// Telecommand - Generate one-shot diagnostics report.
    TcGenerateOneShotDiag = 28,
+    /// Telecommand - Modify diagnostics interval report.
    TcModifyDiagCollectionInterval = 32,
 }

@@ -37,25 +55,26 @@ mod tests {
    #[test]
    fn test_try_from_u8() {
        let hk_report_subservice_raw = 25;
-        let hk_report: Subservice = Subservice::try_from(hk_report_subservice_raw).unwrap();
-        assert_eq!(hk_report, Subservice::TmHkPacket);
+        let hk_report: MessageSubtypeId =
+            MessageSubtypeId::try_from(hk_report_subservice_raw).unwrap();
+        assert_eq!(hk_report, MessageSubtypeId::TmHkPacket);
    }

    #[test]
    fn test_into_u8() {
-        let hk_report_raw: u8 = Subservice::TmHkPacket.into();
+        let hk_report_raw: u8 = MessageSubtypeId::TmHkPacket.into();
        assert_eq!(hk_report_raw, 25);
    }

    #[test]
    fn test_partial_eq() {
-        let hk_report_raw = Subservice::TmHkPacket;
-        assert_ne!(hk_report_raw, Subservice::TcGenerateOneShotHk);
-        assert_eq!(hk_report_raw, Subservice::TmHkPacket);
+        let hk_report_raw = MessageSubtypeId::TmHkPacket;
+        assert_ne!(hk_report_raw, MessageSubtypeId::TcGenerateOneShotHk);
+        assert_eq!(hk_report_raw, MessageSubtypeId::TmHkPacket);
    }
    #[test]
    fn test_copy_clone() {
-        let hk_report = Subservice::TmHkPacket;
+        let hk_report = MessageSubtypeId::TmHkPacket;
        let hk_report_copy = hk_report;
        assert_eq!(hk_report, hk_report_copy);
    }
--- a/src/ecss/mod.rs
+++ b/src/ecss/mod.rs
@@ -3,9 +3,13 @@
 //!
 //! You can find the PUS telecommand types in the [tc] module and the the PUS telemetry
 //! types inside the [tm] module.
-use crate::{ByteConversionError, CcsdsPacket, CRC_CCITT_FALSE};
+use crate::{
+    crc::{CRC_CCITT_FALSE, CRC_CCITT_FALSE_NO_TABLE},
+    ByteConversionError, CcsdsPacket,
+};
 #[cfg(feature = "alloc")]
 use alloc::vec::Vec;
+use arbitrary_int::u4;
 use core::fmt::Debug;
 use core::mem::size_of;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
@@ -16,79 +20,88 @@ pub mod event;
 pub mod hk;
 pub mod scheduling;
 pub mod tc;
+pub mod tc_pus_a;
 pub mod tm;
+pub mod tm_pus_a;
 pub mod verification;

+/// Type alias for the CRC16 type.
 pub type CrcType = u16;

+/// Standard PUS service IDs.
 #[derive(Debug, Copy, Clone, Eq, PartialEq, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 #[non_exhaustive]
 pub enum PusServiceId {
-    /// Service 1
+    /// Service 1 Verification
    Verification = 1,
-    /// Service 2
+    /// Service 2 Device Access
    DeviceAccess = 2,
-    /// Service 3
+    /// Service 3 Housekeeping
    Housekeeping = 3,
-    /// Service 4
+    /// Service 4 Parameter Statistics
    ParameterStatistics = 4,
-    /// Service 5
+    /// Service 5 Event
    Event = 5,
-    /// Service 6
+    /// Service 6 Memory Management
    MemoryManagement = 6,
-    /// Service 8
+    /// Service 8 Action
    Action = 8,
-    /// Service 9
+    /// Service 9 Time Management
    TimeManagement = 9,
-    /// Service 11
+    /// Service 11 Scheduling
    Scheduling = 11,
-    /// Service 12
+    /// Service 12 On-Board Monitoring
    OnBoardMonitoring = 12,
-    /// Service 13
+    /// Service 13 Large Packet Transfer
    LargePacketTransfer = 13,
-    /// Service 14
+    /// Service 14 Real-Time Forwarding Control
    RealTimeForwardingControl = 14,
-    /// Service 15
+    /// Service 15 Storage And Retrival
    StorageAndRetrival = 15,
-    /// Service 17
+    /// Service 17 Test
    Test = 17,
-    /// Service 18
+    /// Service 18 Operations And Procedures
    OpsAndProcedures = 18,
-    /// Service 19
+    /// Service 19 Event Action
    EventAction = 19,
-    /// Service 20
+    /// Service 20 Parameter
    Parameter = 20,
-    /// Service 21
+    /// Service 21 Request Sequencing
    RequestSequencing = 21,
-    /// Service 22
+    /// Service 22 Position Based Scheduling
    PositionBasedScheduling = 22,
-    /// Service 23
+    /// Service 23 File Management
    FileManagement = 23,
 }

 /// All PUS versions. Only PUS C is supported by this library.
-#[derive(PartialEq, Eq, Copy, Clone, Debug)]
+#[derive(PartialEq, Eq, Debug, num_enum::TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[bitbybit::bitenum(u4, exhaustive = false)]
+#[repr(u8)]
 #[non_exhaustive]
 pub enum PusVersion {
+    /// ESA PUS
    EsaPus = 0,
+    /// PUS A
    PusA = 1,
+    /// PUS C
    PusC = 2,
-    Invalid = 0b1111,
 }

-impl TryFrom<u8> for PusVersion {
-    type Error = ();
+impl TryFrom<u4> for PusVersion {
+    type Error = u4;

-    fn try_from(value: u8) -> Result<Self, Self::Error> {
+    fn try_from(value: u4) -> Result<Self, Self::Error> {
        match value {
-            x if x == PusVersion::EsaPus as u8 => Ok(PusVersion::EsaPus),
-            x if x == PusVersion::PusA as u8 => Ok(PusVersion::PusA),
-            x if x == PusVersion::PusC as u8 => Ok(PusVersion::PusC),
-            _ => Err(()),
+            x if x == PusVersion::EsaPus.raw_value() => Ok(PusVersion::EsaPus),
+            x if x == PusVersion::PusA.raw_value() => Ok(PusVersion::PusA),
+            x if x == PusVersion::PusC.raw_value() => Ok(PusVersion::PusC),
+            _ => Err(value),
        }
    }
 }
@@ -96,44 +109,70 @@ impl TryFrom<u8> for PusVersion {
 /// ECSS Packet Type Codes (PTC)s.
 #[derive(Debug, Copy, Clone, Eq, PartialEq, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum PacketTypeCodes {
+    /// Boolean.
    Boolean = 1,
+    /// Enumerated.
    Enumerated = 2,
+    /// Unsigned Integer.
    UnsignedInt = 3,
+    /// Signed Integer.
    SignedInt = 4,
+    /// Real (floating point).
    Real = 5,
+    /// Bit string.
    BitString = 6,
+    /// Octet (byte) string.
    OctetString = 7,
+    /// Character string.
    CharString = 8,
+    /// Absolute time.
    AbsoluteTime = 9,
+    /// Relative time.
    RelativeTime = 10,
+    /// Deduced.
    Deduced = 11,
+    /// Packet.
    Packet = 12,
 }

+/// Type alias for the ECSS Packet Type Codes (PTC)s.
 pub type Ptc = PacketTypeCodes;

 /// ECSS Packet Field Codes (PFC)s for the unsigned [Ptc].
 #[derive(Debug, Copy, Clone, Eq, PartialEq, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum PfcUnsigned {
+    /// 1 byte.
    OneByte = 4,
+    /// 12 bits.
    TwelveBits = 8,
+    /// 2 bytes.
    TwoBytes = 12,
+    /// 3 bytes.
    ThreeBytes = 13,
+    /// 4 bytes.
    FourBytes = 14,
+    /// 6 bytes.
    SixBytes = 15,
+    /// 8 bytes.
    EightBytes = 16,
+    /// 1 bit.
    OneBit = 17,
+    /// 2 bits.
    TwoBits = 18,
+    /// 3 bits.
    ThreeBits = 19,
 }

 /// ECSS Packet Field Codes (PFC)s for the real (floating point) [Ptc].
 #[derive(Debug, Copy, Clone, Eq, PartialEq, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum PfcReal {
    /// 4 octets simple precision format (IEEE)
@@ -146,12 +185,15 @@ pub enum PfcReal {
    DoubleMilStd = 4,
 }

+/// Generic PUS error.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum PusError {
+    /// PUS version is not supported.
    #[error("PUS version {0:?} not supported")]
-    VersionNotSupported(PusVersion),
+    VersionNotSupported(u4),
+    /// Checksum failure.
    #[error("checksum verification for crc16 {0:#06x} failed")]
    ChecksumFailure(u16),
    /// CRC16 needs to be calculated first
@@ -161,16 +203,58 @@ pub enum PusError {
    ByteConversion(#[from] ByteConversionError),
 }

+/// Message type ID field.
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct MessageTypeId {
+    /// Service type ID.
+    pub type_id: u8,
+    /// Subtype ID.
+    pub subtype_id: u8,
+}
+
+impl MessageTypeId {
+    /// Generic constructor.
+    pub const fn new(type_id: u8, subtype_id: u8) -> Self {
+        Self {
+            type_id,
+            subtype_id,
+        }
+    }
+}
+
 /// Generic trait to describe common attributes for both PUS Telecommands (TC) and PUS Telemetry
 /// (TM) packets. All PUS packets are also a special type of [CcsdsPacket]s.
 pub trait PusPacket: CcsdsPacket {
-    const PUS_VERSION: PusVersion = PusVersion::PusC;
+    /// PUS version.
+    fn pus_version(&self) -> Result<PusVersion, u4>;

-    fn pus_version(&self) -> PusVersion;
-    fn service(&self) -> u8;
-    fn subservice(&self) -> u8;
+    /// Message type ID.
+    fn message_type_id(&self) -> MessageTypeId;
+
+    /// Service type ID.
+    #[inline]
+    fn service_type_id(&self) -> u8 {
+        self.message_type_id().type_id
+    }
+
+    /// Message subtype ID.
+    #[inline]
+    fn message_subtype_id(&self) -> u8 {
+        self.message_type_id().subtype_id
+    }
+
+    /// User data field.
    fn user_data(&self) -> &[u8];
-    fn crc16(&self) -> Option<u16>;
+
+    /// CRC-16-CCITT checksum.
+    fn checksum(&self) -> Option<u16>;
+
+    /// The presence of the CRC-16-CCITT checksum is optional.
+    fn has_checksum(&self) -> bool {
+        self.checksum().is_some()
+    }
 }

 pub(crate) fn crc_from_raw_data(raw_data: &[u8]) -> Result<u16, ByteConversionError> {
@@ -197,17 +281,23 @@ pub(crate) fn user_data_from_raw(
    current_idx: usize,
    total_len: usize,
    slice: &[u8],
+    has_checksum: bool,
 ) -> Result<&[u8], ByteConversionError> {
-    match current_idx {
-        _ if current_idx > total_len - 2 => Err(ByteConversionError::FromSliceTooSmall {
-            found: total_len - 2,
-            expected: current_idx,
-        }),
-        _ => Ok(&slice[current_idx..total_len - 2]),
+    if has_checksum {
+        if current_idx > total_len - 2 {
+            return Err(ByteConversionError::FromSliceTooSmall {
+                found: total_len - 2,
+                expected: current_idx,
+            });
+        }
+        Ok(&slice[current_idx..total_len - 2])
+    } else {
+        Ok(&slice[current_idx..total_len])
    }
 }

-pub(crate) fn verify_crc16_ccitt_false_from_raw_to_pus_error(
+/// Verify the CRC16 of a raw packet and return a [PusError] on failure.
+pub fn verify_crc16_ccitt_false_from_raw_to_pus_error(
    raw_data: &[u8],
    crc16: u16,
 ) -> Result<(), PusError> {
@@ -216,7 +306,19 @@ pub(crate) fn verify_crc16_ccitt_false_from_raw_to_pus_error(
        .ok_or(PusError::ChecksumFailure(crc16))
 }

-pub(crate) fn verify_crc16_ccitt_false_from_raw(raw_data: &[u8]) -> bool {
+/// Verify the CRC16 of a raw packet using a table-less implementation and return a [PusError] on
+/// failure.
+pub fn verify_crc16_ccitt_false_from_raw_to_pus_error_no_table(
+    raw_data: &[u8],
+    crc16: u16,
+) -> Result<(), PusError> {
+    verify_crc16_ccitt_false_from_raw_no_table(raw_data)
+        .then_some(())
+        .ok_or(PusError::ChecksumFailure(crc16))
+}
+
+/// Verify the CRC16 of a raw packet.
+pub fn verify_crc16_ccitt_false_from_raw(raw_data: &[u8]) -> bool {
    let mut digest = CRC_CCITT_FALSE.digest();
    digest.update(raw_data);
    if digest.finalize() == 0 {
@@ -225,28 +327,28 @@ pub(crate) fn verify_crc16_ccitt_false_from_raw(raw_data: &[u8]) -> bool {
    false
 }

-macro_rules! ccsds_impl {
-    () => {
-        delegate!(to self.sp_header {
-            #[inline]
-            fn ccsds_version(&self) -> u8;
-            #[inline]
-            fn packet_id(&self) -> crate::PacketId;
-            #[inline]
-            fn psc(&self) -> crate::PacketSequenceCtrl;
-            #[inline]
-            fn data_len(&self) -> u16;
-        });
+/// Verify the CRC16 of a raw packet, using the table-less implementation.
+pub fn verify_crc16_ccitt_false_from_raw_no_table(raw_data: &[u8]) -> bool {
+    let mut digest = CRC_CCITT_FALSE_NO_TABLE.digest();
+    digest.update(raw_data);
+    if digest.finalize() == 0 {
+        return true;
    }
+    false
 }

 macro_rules! sp_header_impls {
    () => {
        delegate!(to self.sp_header {
+            /// Set the CCSDS APID.
            #[inline]
-            pub fn set_apid(&mut self, apid: u16) -> bool;
+            pub fn set_apid(&mut self, apid: u11);
+
+            /// Set the CCSDS sequence count.
            #[inline]
-            pub fn set_seq_count(&mut self, seq_count: u16) -> bool;
+            pub fn set_seq_count(&mut self, seq_count: u14);
+
+            /// Set the CCSDS sequence flags.
            #[inline]
            pub fn set_seq_flags(&mut self, seq_flag: SequenceFlags);
        });
@@ -254,7 +356,6 @@ macro_rules! sp_header_impls {
 }

 use crate::util::{GenericUnsignedByteField, ToBeBytes, UnsignedEnum};
-pub(crate) use ccsds_impl;
 pub(crate) use sp_header_impls;

 /// Generic trait for ECSS enumeration which consist of a PFC field denoting their bit length
@@ -266,27 +367,28 @@ pub trait EcssEnumeration: UnsignedEnum {
    fn pfc(&self) -> u8;
 }

+/// Extension trait for [EcssEnumeration] which adds common trait bounds.
 pub trait EcssEnumerationExt: EcssEnumeration + Debug + Copy + Clone + PartialEq + Eq {}

+/// ECSS enumerated type wrapper.
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct GenericEcssEnumWrapper<TYPE: Copy + Into<u64>> {
-    field: GenericUnsignedByteField<TYPE>,
-}
+pub struct GenericEcssEnumWrapper<TYPE: Copy + Into<u64>>(GenericUnsignedByteField<TYPE>);

 impl<TYPE: Copy + Into<u64>> GenericEcssEnumWrapper<TYPE> {
+    /// Returns [PacketTypeCodes::Enumerated].
    pub const fn ptc() -> PacketTypeCodes {
        PacketTypeCodes::Enumerated
    }

-    pub const fn value_typed(&self) -> TYPE {
-        self.field.value_typed()
+    /// Value.
+    pub const fn value(&self) -> TYPE {
+        self.0.value()
    }

-    pub fn new(val: TYPE) -> Self {
-        Self {
-            field: GenericUnsignedByteField::new(val),
-        }
+    /// Generic constructor.
+    pub const fn new(val: TYPE) -> Self {
+        Self(GenericUnsignedByteField::new(val))
    }
 }

@@ -296,11 +398,11 @@ impl<TYPE: Copy + ToBeBytes + Into<u64>> UnsignedEnum for GenericEcssEnumWrapper
    }

    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        self.field.write_to_be_bytes(buf)
+        self.0.write_to_be_bytes(buf)
    }

-    fn value(&self) -> u64 {
-        self.field.value()
+    fn value_raw(&self) -> u64 {
+        self.0.value().into()
    }
 }

@@ -324,11 +426,12 @@ impl<T: Copy + Into<u64>> From<T> for GenericEcssEnumWrapper<T> {
 macro_rules! generic_ecss_enum_typedefs_and_from_impls {
    ($($ty:ty => $Enum:ident),*) => {
        $(
+            /// Type alias for ECSS enumeration wrapper around `$ty`
            pub type $Enum = GenericEcssEnumWrapper<$ty>;

            impl From<$Enum> for $ty {
                fn from(value: $Enum) -> Self {
-                    value.value_typed()
+                    value.value()
                }
            }
        )*
@@ -348,8 +451,48 @@ generic_ecss_enum_typedefs_and_from_impls! {
 /// byte representation. This is especially useful for generic abstractions which depend only
 /// on the serialization of those packets.
 pub trait WritablePusPacket {
+    /// The length here also includes the CRC length.
    fn len_written(&self) -> usize;
-    fn write_to_bytes(&self, slice: &mut [u8]) -> Result<usize, PusError>;
+
+    /// Checksum generation is enabled for the packet.
+    fn has_checksum(&self) -> bool;
+
+    /// Writes the packet to the given slice without writing the CRC checksum.
+    ///
+    /// The returned size is the written size WITHOUT the CRC checksum.
+    /// If the checksum generation is disabled, this function is identical to the APIs which
+    /// generate a checksum.
+    fn write_to_bytes_no_checksum(&self, slice: &mut [u8]) -> Result<usize, PusError>;
+
+    /// First uses [Self::write_to_bytes_no_checksum] to write the packet to the given slice and
+    /// then uses the [CRC_CCITT_FALSE] to calculate the CRC and write it to the slice if the
+    /// packet is configured to include a checksum.
+    fn write_to_bytes(&self, slice: &mut [u8]) -> Result<usize, PusError> {
+        let mut curr_idx = self.write_to_bytes_no_checksum(slice)?;
+        if self.has_checksum() {
+            let mut digest = CRC_CCITT_FALSE.digest();
+            digest.update(&slice[0..curr_idx]);
+            slice[curr_idx..curr_idx + 2].copy_from_slice(&digest.finalize().to_be_bytes());
+            curr_idx += 2;
+        }
+        Ok(curr_idx)
+    }
+
+    /// First uses [Self::write_to_bytes_no_checksum] to write the packet to the given slice and then
+    /// uses the [CRC_CCITT_FALSE_NO_TABLE] to calculate the CRC and write it to the slice if
+    /// the paket is configured to include a checksum.
+    fn write_to_bytes_checksum_no_table(&self, slice: &mut [u8]) -> Result<usize, PusError> {
+        let mut curr_idx = self.write_to_bytes_no_checksum(slice)?;
+        if self.has_checksum() {
+            let mut digest = CRC_CCITT_FALSE_NO_TABLE.digest();
+            digest.update(&slice[0..curr_idx]);
+            slice[curr_idx..curr_idx + 2].copy_from_slice(&digest.finalize().to_be_bytes());
+            curr_idx += 2;
+        }
+        Ok(curr_idx)
+    }
+
+    /// Converts the packet into an owned [alloc::vec::Vec].
    #[cfg(feature = "alloc")]
    fn to_vec(&self) -> Result<Vec<u8>, PusError> {
        // This is the correct way to do this. See
@@ -361,6 +504,26 @@ pub trait WritablePusPacket {
    }
 }

+/// PUS packet creator configuration.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct CreatorConfig {
+    /// Set the CCSDS data length field on construction.
+    pub set_ccsds_len: bool,
+    /// CRC-16-CCITT Checksum is present.
+    pub has_checksum: bool,
+}
+
+impl Default for CreatorConfig {
+    fn default() -> Self {
+        Self {
+            set_ccsds_len: true,
+            has_checksum: true,
+        }
+    }
+}
+
 #[cfg(test)]
 mod tests {
    use alloc::string::ToString;
@@ -384,7 +547,7 @@ mod tests {
            .expect("To byte conversion of u8 failed");
        assert_eq!(buf[1], 1);
        assert_eq!(my_enum.value(), 1);
-        assert_eq!(my_enum.value_typed(), 1);
+        assert_eq!(my_enum.value(), 1);
        let enum_as_u8: u8 = my_enum.into();
        assert_eq!(enum_as_u8, 1);
        let vec = my_enum.to_vec();
@@ -403,7 +566,7 @@ mod tests {
        assert_eq!(buf[1], 0x1f);
        assert_eq!(buf[2], 0x2f);
        assert_eq!(my_enum.value(), 0x1f2f);
-        assert_eq!(my_enum.value_typed(), 0x1f2f);
+        assert_eq!(my_enum.value(), 0x1f2f);
        let enum_as_raw: u16 = my_enum.into();
        assert_eq!(enum_as_raw, 0x1f2f);
        let vec = my_enum.to_vec();
@@ -440,7 +603,7 @@ mod tests {
        assert_eq!(buf[3], 0x3f);
        assert_eq!(buf[4], 0x4f);
        assert_eq!(my_enum.value(), 0x1f2f3f4f);
-        assert_eq!(my_enum.value_typed(), 0x1f2f3f4f);
+        assert_eq!(my_enum.value(), 0x1f2f3f4f);
        let enum_as_raw: u32 = my_enum.into();
        assert_eq!(enum_as_raw, 0x1f2f3f4f);
        let vec = my_enum.to_vec();
@@ -478,7 +641,7 @@ mod tests {
        assert_eq!(buf[6], 0x4f);
        assert_eq!(buf[7], 0x5f);
        assert_eq!(my_enum.value(), 0x1f2f3f4f5f);
-        assert_eq!(my_enum.value_typed(), 0x1f2f3f4f5f);
+        assert_eq!(my_enum.value(), 0x1f2f3f4f5f);
        let enum_as_raw: u64 = my_enum.into();
        assert_eq!(enum_as_raw, 0x1f2f3f4f5f);
        assert_eq!(u64::from_be_bytes(buf), 0x1f2f3f4f5f);
@@ -488,9 +651,10 @@ mod tests {

    #[test]
    fn test_pus_error_display() {
-        let unsupport_version = PusError::VersionNotSupported(super::PusVersion::EsaPus);
+        let unsupport_version =
+            PusError::VersionNotSupported(super::PusVersion::EsaPus.raw_value());
        let write_str = unsupport_version.to_string();
-        assert_eq!(write_str, "PUS version EsaPus not supported")
+        assert_eq!(write_str, "PUS version 0 not supported")
    }

    #[test]
@@ -524,8 +688,8 @@ mod tests {
    #[test]
    fn test_pus_error_eq_impl() {
        assert_eq!(
-            PusError::VersionNotSupported(PusVersion::EsaPus),
-            PusError::VersionNotSupported(PusVersion::EsaPus)
+            PusError::VersionNotSupported(PusVersion::EsaPus.raw_value()),
+            PusError::VersionNotSupported(PusVersion::EsaPus.raw_value())
        );
    }

--- a/src/ecss/scheduling.rs
+++ b/src/ecss/scheduling.rs
@@ -3,53 +3,85 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

+/// Scheduling service subtype ID.
 #[derive(Debug, PartialEq, Eq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
-pub enum Subservice {
+pub enum MessageSubtypeId {
    // Core subservices
+    /// Telecommand - Enable scheduling.
    TcEnableScheduling = 1,
+    /// Telecommand - Disable scheduling.
    TcDisableScheduling = 2,
+    /// Telecommand - Reset scheduling.
    TcResetScheduling = 3,
+    /// Telecommand - Insert activity.
    TcInsertActivity = 4,
+    /// Telecommand - Delete activity by request ID.
    TcDeleteActivityByRequestId = 5,
+    /// Telecommand - Delete activity by filter.
    TcDeleteActivitiesByFilter = 6,

    // Time shift subservices
+    /// Telecommand - Time shift activity by request ID.
    TcTimeShiftActivityWithRequestId = 7,
+    /// Telecommand - Time shift activity by filter.
    TcTimeShiftActivitiesByFilter = 8,
+    /// Telecommand - Time shift all.
    TcTimeShiftAll = 15,

    // Reporting subservices
+    /// Telecommand - Detail report by request ID.
    TcDetailReportByRequestId = 9,
+    /// Telemetry - Detail report.
    TmDetailReport = 10,
+    /// Telecommand - Detail report by filter.
    TcDetailReportByFilter = 11,
+    /// Telecommand - Summary report by request ID.
    TcSummaryReportByRequestId = 12,
+    /// Telemetry - Summary report.
    TmSummaryReport = 13,
+    /// Telecommand - Summary report by filter.
    TcSummaryReportByFilter = 14,
+    /// Telecommand - Detail report all.
    TcDetailReportAll = 16,
+    /// Telecommand - Summary report all.
    TcSummaryReportAll = 17,

    // Subschedule subservices
+    /// Telecommand - Report subschedule status.
    TcReportSubscheduleStatus = 18,
+    /// Telemetry - Subschedule status report.
    TmReportSubscheduleStatus = 19,
+    /// Telecommand - Enable subschedule.
    TcEnableSubschedule = 20,
+    /// Telecommand - Disable subschedule.
    TcDisableSubschedule = 21,

    // Group subservices
+    /// Telecommand - Create schedule group.
    TcCreateScheduleGroup = 22,
+    /// Telecommand - Delete schedule group.
    TcDeleteScheduleGroup = 23,
+    /// Telecommand - Enable schedule group.
    TcEnableScheduleGroup = 24,
+    /// Telecommand - Disable schedule group.
    TcDisableScheduleGroup = 25,
+    /// Telecommand - Report all group status.
    TcReportAllGroupsStatus = 26,
+    /// Telemetry - All group status report.
    TmReportAllGroupsStatus = 27,
 }

 /// This status applies to sub-schedules and groups as well as specified in ECSS-E-ST-70-41C 8.11.3
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum SchedStatus {
+    /// Scheduling disabled.
    Disabled = 0,
+    /// Scheduling enabled.
    Enabled = 1,
 }

@@ -66,11 +98,16 @@ impl From<bool> for SchedStatus {

 /// Time window types as specified in  ECSS-E-ST-70-41C 8.11.3
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum TimeWindowType {
+    /// Select all.
    SelectAll = 0,
+    /// From time tag to time tag.
    TimeTagToTimeTag = 1,
+    /// Starting from a time tag.
    FromTimeTag = 2,
+    /// Until a time tag.
    ToTimeTag = 3,
 }

@@ -96,20 +133,20 @@ mod tests {

    #[test]
    fn test_conv_into_u8() {
-        let subservice: u8 = Subservice::TcCreateScheduleGroup.into();
+        let subservice: u8 = MessageSubtypeId::TcCreateScheduleGroup.into();
        assert_eq!(subservice, 22);
    }

    #[test]
    fn test_conv_from_u8() {
-        let subservice: Subservice = 22u8.try_into().unwrap();
-        assert_eq!(subservice, Subservice::TcCreateScheduleGroup);
+        let subservice: MessageSubtypeId = 22u8.try_into().unwrap();
+        assert_eq!(subservice, MessageSubtypeId::TcCreateScheduleGroup);
    }

    #[test]
    #[cfg(feature = "serde")]
    fn test_serde_subservice_id() {
-        generic_serde_test(Subservice::TcEnableScheduling);
+        generic_serde_test(MessageSubtypeId::TcEnableScheduling);
    }

    #[test]
--- a/src/ecss/tc.rs
+++ b/src/ecss/tc.rs
--- a/src/ecss/tc_pus_a.rs
+++ b/src/ecss/tc_pus_a.rs
--- a/src/ecss/tm.rs
+++ b/src/ecss/tm.rs
--- a/src/ecss/tm_pus_a.rs
+++ b/src/ecss/tm_pus_a.rs
--- a/src/ecss/verification.rs
+++ b/src/ecss/verification.rs
@@ -3,17 +3,27 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

+/// Message subtype ID.
 #[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
-pub enum Subservice {
+pub enum MessageSubtypeId {
+    /// Telemetry - Acceptance success.
    TmAcceptanceSuccess = 1,
+    /// Telemetry - Acceptance failure.
    TmAcceptanceFailure = 2,
+    /// Telemetry - Start success.
    TmStartSuccess = 3,
+    /// Telemetry - Start failure.
    TmStartFailure = 4,
+    /// Telemetry - Step success.
    TmStepSuccess = 5,
+    /// Telemetry - Step failure.
    TmStepFailure = 6,
+    /// Telemetry - Completion success.
    TmCompletionSuccess = 7,
+    /// Telemetry - Completion failure.
    TmCompletionFailure = 8,
 }

@@ -23,13 +33,13 @@ mod tests {

    #[test]
    fn test_conv_into_u8() {
-        let subservice: u8 = Subservice::TmCompletionSuccess.into();
+        let subservice: u8 = MessageSubtypeId::TmCompletionSuccess.into();
        assert_eq!(subservice, 7);
    }

    #[test]
    fn test_conv_from_u8() {
-        let subservice: Subservice = 7.try_into().unwrap();
-        assert_eq!(subservice, Subservice::TmCompletionSuccess);
+        let subservice: MessageSubtypeId = 7.try_into().unwrap();
+        assert_eq!(subservice, MessageSubtypeId::TmCompletionSuccess);
    }
 }
--- a/src/lib.rs
+++ b/src/lib.rs
--- a/src/seq_count.rs
+++ b/src/seq_count.rs
@@ -1,32 +1,54 @@
+//! # Sequence counter module.
+//!
+//! CCSDS and ECSS packet standard oftentimes use sequence counters, for example to allow detecting
+//! packet gaps. This module provides basic abstractions and helper components to implement
+//! sequence counters.
 use crate::MAX_SEQ_COUNT;
+use arbitrary_int::traits::Integer;
 use core::cell::Cell;
 use paste::paste;
-#[cfg(feature = "std")]
-pub use stdmod::*;

 /// Core trait for objects which can provide a sequence count.
 ///
 /// The core functions are not mutable on purpose to allow easier usage with
 /// static structs when using the interior mutability pattern. This can be achieved by using
 /// [Cell], [core::cell::RefCell] or atomic types.
-pub trait SequenceCountProvider {
+pub trait SequenceCounter {
+    /// Raw type of the counter.
    type Raw: Into<u64>;
+
+    /// Bit width of the counter.
    const MAX_BIT_WIDTH: usize;

+    /// Get the current sequence count value.
    fn get(&self) -> Self::Raw;

+    /// Increment the sequence count by one.
    fn increment(&self);

+    /// Increment the sequence count by one, mutable API.
+    fn increment_mut(&mut self) {
+        self.increment();
+    }
+
+    /// Get the current sequence count value and increment the counter by one.
    fn get_and_increment(&self) -> Self::Raw {
        let val = self.get();
        self.increment();
        val
    }
+
+    /// Get the current sequence count value and increment the counter by one, mutable API.
+    fn get_and_increment_mut(&mut self) -> Self::Raw {
+        self.get_and_increment()
+    }
 }

+/// Simple sequence counter which wraps at ´T::MAX´.
 #[derive(Clone)]
-pub struct SeqCountProviderSimple<T: Copy> {
+pub struct SequenceCounterSimple<T: Copy> {
    seq_count: Cell<T>,
+    // The maximum value
    max_val: T,
 }

@@ -34,13 +56,16 @@ macro_rules! impl_for_primitives {
    ($($ty: ident,)+) => {
        $(
            paste! {
-                impl SeqCountProviderSimple<$ty> {
+                impl SequenceCounterSimple<$ty> {
+                    /// Constructor with a custom maximum value.
                    pub fn [<new_custom_max_val_ $ty>](max_val: $ty) -> Self {
                        Self {
                            seq_count: Cell::new(0),
                            max_val,
                        }
                    }
+
+                    /// Generic constructor.
                    pub fn [<new_ $ty>]() -> Self {
                        Self {
                            seq_count: Cell::new(0),
@@ -49,13 +74,13 @@ macro_rules! impl_for_primitives {
                    }
                }

-                impl Default for SeqCountProviderSimple<$ty> {
+                impl Default for SequenceCounterSimple<$ty> {
                    fn default() -> Self {
                        Self::[<new_ $ty>]()
                    }
                }

-                impl SequenceCountProvider for SeqCountProviderSimple<$ty> {
+                impl SequenceCounter for SequenceCounterSimple<$ty> {
                    type Raw = $ty;
                    const MAX_BIT_WIDTH: usize = core::mem::size_of::<Self::Raw>() * 8;

@@ -87,19 +112,19 @@ impl_for_primitives!(u8, u16, u32, u64,);

 /// This is a sequence count provider which wraps around at [MAX_SEQ_COUNT].
 #[derive(Clone)]
-pub struct CcsdsSimpleSeqCountProvider {
-    provider: SeqCountProviderSimple<u16>,
+pub struct SequenceCounterCcsdsSimple {
+    provider: SequenceCounterSimple<u16>,
 }

-impl Default for CcsdsSimpleSeqCountProvider {
+impl Default for SequenceCounterCcsdsSimple {
    fn default() -> Self {
        Self {
-            provider: SeqCountProviderSimple::new_custom_max_val_u16(MAX_SEQ_COUNT),
+            provider: SequenceCounterSimple::new_custom_max_val_u16(MAX_SEQ_COUNT.as_u16()),
        }
    }
 }

-impl SequenceCountProvider for CcsdsSimpleSeqCountProvider {
+impl SequenceCounter for SequenceCounterCcsdsSimple {
    type Raw = u16;
    const MAX_BIT_WIDTH: usize = core::mem::size_of::<Self::Raw>() * 8;
    delegate::delegate! {
@@ -111,83 +136,216 @@ impl SequenceCountProvider for CcsdsSimpleSeqCountProvider {
    }
 }

-#[cfg(feature = "std")]
-pub mod stdmod {
-    use super::*;
-    use std::sync::{Arc, Mutex};
+#[cfg(target_has_atomic = "8")]
+impl SequenceCounter for core::sync::atomic::AtomicU8 {
+    type Raw = u8;

-    macro_rules! sync_clonable_seq_counter_impl {
-         ($($ty: ident,)+) => {
-             $(paste! {
-                 /// These sequence counters can be shared between threads and can also be
-                 /// configured to wrap around at specified maximum values. Please note that
-                 /// that the API provided by this class will not panic und [Mutex] lock errors,
-                 /// but it will yield 0 for the getter functions.
-                 #[derive(Clone, Default)]
-                 pub struct [<SeqCountProviderSync $ty:upper>] {
-                     seq_count: Arc<Mutex<$ty>>,
-                     max_val: $ty
-                 }
+    const MAX_BIT_WIDTH: usize = 8;

-                 impl [<SeqCountProviderSync $ty:upper>] {
-                     pub fn new() -> Self {
-                        Self::new_with_max_val($ty::MAX)
-                     }
-
-                     pub fn new_with_max_val(max_val: $ty) -> Self {
-                         Self {
-                             seq_count: Arc::default(),
-                             max_val
-                         }
-                     }
-                 }
-                 impl SequenceCountProvider for [<SeqCountProviderSync $ty:upper>] {
-                    type Raw = $ty;
-                    const MAX_BIT_WIDTH: usize = core::mem::size_of::<Self::Raw>() * 8;
-
-                    fn get(&self) -> $ty {
-                        match self.seq_count.lock() {
-                            Ok(counter) => *counter,
-                            Err(_) => 0
-                        }
-                    }
-
-                    fn increment(&self) {
-                        self.get_and_increment();
-                    }
-
-                    fn get_and_increment(&self) -> $ty {
-                        match self.seq_count.lock() {
-                            Ok(mut counter) => {
-                                let val = *counter;
-                                if val == self.max_val {
-                                    *counter = 0;
-                                } else {
-                                    *counter += 1;
-                                }
-                                val
-                            }
-                            Err(_) => 0,
-                        }
-                    }
-                 }
-             })+
-         }
+    fn get(&self) -> Self::Raw {
+        self.load(core::sync::atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
    }
-    sync_clonable_seq_counter_impl!(u8, u16, u32, u64,);
 }

+#[cfg(target_has_atomic = "16")]
+impl SequenceCounter for core::sync::atomic::AtomicU16 {
+    type Raw = u16;
+
+    const MAX_BIT_WIDTH: usize = 16;
+
+    fn get(&self) -> Self::Raw {
+        self.load(core::sync::atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
+    }
+}
+
+#[cfg(target_has_atomic = "32")]
+impl SequenceCounter for core::sync::atomic::AtomicU32 {
+    type Raw = u32;
+
+    const MAX_BIT_WIDTH: usize = 32;
+
+    fn get(&self) -> Self::Raw {
+        self.load(core::sync::atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
+    }
+}
+
+#[cfg(target_has_atomic = "64")]
+impl SequenceCounter for core::sync::atomic::AtomicU64 {
+    type Raw = u64;
+
+    const MAX_BIT_WIDTH: usize = 64;
+
+    fn get(&self) -> Self::Raw {
+        self.load(core::sync::atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
+    }
+}
+
+#[cfg(feature = "portable-atomic")]
+impl SequenceCounter for portable_atomic::AtomicU8 {
+    type Raw = u8;
+
+    const MAX_BIT_WIDTH: usize = 8;
+
+    fn get(&self) -> Self::Raw {
+        self.load(portable_atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, portable_atomic::Ordering::Relaxed);
+    }
+}
+
+#[cfg(feature = "portable-atomic")]
+impl SequenceCounter for portable_atomic::AtomicU16 {
+    type Raw = u16;
+
+    const MAX_BIT_WIDTH: usize = 16;
+
+    fn get(&self) -> Self::Raw {
+        self.load(portable_atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, portable_atomic::Ordering::Relaxed);
+    }
+}
+
+#[cfg(feature = "portable-atomic")]
+impl SequenceCounter for portable_atomic::AtomicU32 {
+    type Raw = u32;
+
+    const MAX_BIT_WIDTH: usize = 32;
+
+    fn get(&self) -> Self::Raw {
+        self.load(portable_atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, portable_atomic::Ordering::Relaxed);
+    }
+}
+
+#[cfg(feature = "portable-atomic")]
+impl SequenceCounter for portable_atomic::AtomicU64 {
+    type Raw = u64;
+
+    const MAX_BIT_WIDTH: usize = 64;
+
+    fn get(&self) -> Self::Raw {
+        self.load(portable_atomic::Ordering::Relaxed)
+    }
+
+    fn increment(&self) {
+        self.fetch_add(1, portable_atomic::Ordering::Relaxed);
+    }
+}
+
+impl<T: SequenceCounter + ?Sized> SequenceCounter for &T {
+    type Raw = T::Raw;
+    const MAX_BIT_WIDTH: usize = T::MAX_BIT_WIDTH;
+
+    fn get(&self) -> Self::Raw {
+        (**self).get()
+    }
+
+    fn increment(&self) {
+        (**self).increment()
+    }
+}
+
+#[cfg(any(
+    target_has_atomic = "8",
+    target_has_atomic = "16",
+    target_has_atomic = "32",
+    target_has_atomic = "64"
+))]
+macro_rules! sync_clonable_seq_counter_impl {
+    ($ty: ident) => {
+        paste::paste! {
+            /// This can be used if a custom wrap value is required when using a thread-safe
+            /// atomic based sequence counter.
+            #[derive(Debug)]
+            pub struct [<SequenceCounterSyncCustomWrap $ty:upper>] {
+                seq_count: core::sync::atomic::[<Atomic $ty:upper>],
+                max_val: $ty,
+            }
+
+            impl [<SequenceCounterSyncCustomWrap $ty:upper>] {
+                /// Generic constructor.
+                pub fn new(max_val: $ty) -> Self {
+                    Self {
+                        seq_count: core::sync::atomic::[<Atomic $ty:upper>]::new(0),
+                        max_val,
+                    }
+                }
+            }
+
+            impl SequenceCounter for [<SequenceCounterSyncCustomWrap $ty:upper>] {
+                type Raw = $ty;
+                const MAX_BIT_WIDTH: usize = core::mem::size_of::<Self::Raw>() * 8;
+
+                fn get(&self) -> $ty {
+                    self.seq_count.load(core::sync::atomic::Ordering::Relaxed)
+                }
+
+                fn increment(&self) {
+                    self.get_and_increment();
+                }
+
+                fn get_and_increment(&self) -> $ty {
+                    self.seq_count.fetch_update(
+                        core::sync::atomic::Ordering::Relaxed,
+                        core::sync::atomic::Ordering::Relaxed,
+                        |cur| {
+                            // compute the next value, wrapping at MAX_VAL
+                            let next = if cur == self.max_val { 0 } else { cur + 1 };
+                            Some(next)
+                        },
+                    ).unwrap()
+                }
+            }
+        }
+    };
+}
+
+#[cfg(target_has_atomic = "8")]
+sync_clonable_seq_counter_impl!(u8);
+#[cfg(target_has_atomic = "16")]
+sync_clonable_seq_counter_impl!(u16);
+#[cfg(target_has_atomic = "32")]
+sync_clonable_seq_counter_impl!(u32);
+#[cfg(target_has_atomic = "64")]
+sync_clonable_seq_counter_impl!(u64);
+
 #[cfg(test)]
 mod tests {
+    use core::sync::atomic::{AtomicU16, AtomicU32, AtomicU64, AtomicU8};
+
    use crate::seq_count::{
-        CcsdsSimpleSeqCountProvider, SeqCountProviderSimple, SeqCountProviderSyncU8,
-        SequenceCountProvider,
+        SequenceCounter, SequenceCounterCcsdsSimple, SequenceCounterSimple,
+        SequenceCounterSyncCustomWrapU8,
    };
    use crate::MAX_SEQ_COUNT;

    #[test]
    fn test_u8_counter() {
-        let u8_counter = SeqCountProviderSimple::<u8>::default();
+        let u8_counter = SequenceCounterSimple::<u8>::default();
        assert_eq!(u8_counter.get(), 0);
        assert_eq!(u8_counter.get_and_increment(), 0);
        assert_eq!(u8_counter.get_and_increment(), 1);
@@ -196,7 +354,7 @@ mod tests {

    #[test]
    fn test_u8_counter_overflow() {
-        let u8_counter = SeqCountProviderSimple::new_u8();
+        let u8_counter = SequenceCounterSimple::new_u8();
        for _ in 0..256 {
            u8_counter.increment();
        }
@@ -205,7 +363,7 @@ mod tests {

    #[test]
    fn test_ccsds_counter() {
-        let ccsds_counter = CcsdsSimpleSeqCountProvider::default();
+        let ccsds_counter = SequenceCounterCcsdsSimple::default();
        assert_eq!(ccsds_counter.get(), 0);
        assert_eq!(ccsds_counter.get_and_increment(), 0);
        assert_eq!(ccsds_counter.get_and_increment(), 1);
@@ -214,34 +372,99 @@ mod tests {

    #[test]
    fn test_ccsds_counter_overflow() {
-        let ccsds_counter = CcsdsSimpleSeqCountProvider::default();
-        for _ in 0..MAX_SEQ_COUNT + 1 {
+        let ccsds_counter = SequenceCounterCcsdsSimple::default();
+        for _ in 0..MAX_SEQ_COUNT.value() + 1 {
            ccsds_counter.increment();
        }
        assert_eq!(ccsds_counter.get(), 0);
    }

-    #[test]
-    fn test_atomic_ref_counters() {
-        let sync_u8_counter = SeqCountProviderSyncU8::new();
-        assert_eq!(sync_u8_counter.get(), 0);
-        assert_eq!(sync_u8_counter.get_and_increment(), 0);
-        assert_eq!(sync_u8_counter.get_and_increment(), 1);
-        assert_eq!(sync_u8_counter.get(), 2);
+    fn common_counter_test(seq_counter: &mut impl SequenceCounter) {
+        assert_eq!(seq_counter.get().into(), 0);
+        assert_eq!(seq_counter.get_and_increment().into(), 0);
+        assert_eq!(seq_counter.get_and_increment().into(), 1);
+        assert_eq!(seq_counter.get().into(), 2);
+        seq_counter.increment_mut();
+        assert_eq!(seq_counter.get().into(), 3);
+        assert_eq!(seq_counter.get_and_increment_mut().into(), 3);
+        assert_eq!(seq_counter.get().into(), 4);
    }

    #[test]
-    fn test_atomic_ref_counters_overflow() {
-        let sync_u8_counter = SeqCountProviderSyncU8::new();
+    fn test_atomic_counter_u8() {
+        let mut sync_u8_counter = AtomicU8::new(0);
+        common_counter_test(&mut sync_u8_counter);
+    }
+
+    #[test]
+    fn test_atomic_counter_u16() {
+        let mut sync_u16_counter = AtomicU16::new(0);
+        common_counter_test(&mut sync_u16_counter);
+    }
+
+    #[test]
+    fn test_atomic_counter_u32() {
+        let mut sync_u32_counter = AtomicU32::new(0);
+        common_counter_test(&mut sync_u32_counter);
+    }
+
+    #[test]
+    fn test_atomic_counter_u64() {
+        let mut sync_u64_counter = AtomicU64::new(0);
+        common_counter_test(&mut sync_u64_counter);
+    }
+
+    #[test]
+    #[cfg(feature = "portable-atomic")]
+    fn test_portable_atomic_counter_u8() {
+        let mut sync_u8_counter = portable_atomic::AtomicU8::new(0);
+        common_counter_test(&mut sync_u8_counter);
+    }
+
+    #[test]
+    #[cfg(feature = "portable-atomic")]
+    fn test_portable_atomic_counter_u16() {
+        let mut sync_u16_counter = portable_atomic::AtomicU16::new(0);
+        common_counter_test(&mut sync_u16_counter);
+    }
+
+    #[test]
+    #[cfg(feature = "portable-atomic")]
+    fn test_portable_atomic_counter_u32() {
+        let mut sync_u32_counter = portable_atomic::AtomicU32::new(0);
+        common_counter_test(&mut sync_u32_counter);
+    }
+
+    #[test]
+    #[cfg(feature = "portable-atomic")]
+    fn test_portable_atomic_counter_u64() {
+        let mut sync_u64_counter = portable_atomic::AtomicU64::new(0);
+        common_counter_test(&mut sync_u64_counter);
+    }
+
+    fn common_overflow_test_u8(seq_counter: &impl SequenceCounter) {
        for _ in 0..u8::MAX as u16 + 1 {
-            sync_u8_counter.increment();
+            seq_counter.increment();
        }
-        assert_eq!(sync_u8_counter.get(), 0);
+        assert_eq!(seq_counter.get().into(), 0);
+    }
+
+    #[test]
+    fn test_atomic_u8_counter_overflow() {
+        let sync_u8_counter = AtomicU8::new(0);
+        common_overflow_test_u8(&sync_u8_counter);
+    }
+
+    #[test]
+    #[cfg(feature = "portable-atomic")]
+    fn test_portable_atomic_u8_counter_overflow() {
+        let sync_u8_counter = portable_atomic::AtomicU8::new(0);
+        common_overflow_test_u8(&sync_u8_counter);
    }

    #[test]
    fn test_atomic_ref_counters_overflow_custom_max_val() {
-        let sync_u8_counter = SeqCountProviderSyncU8::new_with_max_val(128);
+        let sync_u8_counter = SequenceCounterSyncCustomWrapU8::new(128);
        for _ in 0..129 {
            sync_u8_counter.increment();
        }
--- a/src/time/ascii.rs
+++ b/src/time/ascii.rs
@@ -31,6 +31,7 @@ pub const FMT_STR_CODE_B_WITH_SIZE: (&str, usize) = ("%Y-%jT%T%.3f", 21);
 /// Three digits are used for the decimal fraction and a terminator is added at the end.
 pub const FMT_STR_CODE_B_TERMINATED_WITH_SIZE: (&str, usize) = ("%Y-%jT%T%.3fZ", 22);

+/// Functions requiring both [chrono] and [alloc] support.
 #[cfg(all(feature = "alloc", feature = "chrono"))]
 pub mod alloc_mod_chrono {
    use super::*;
--- a/src/time/cds.rs
+++ b/src/time/cds.rs
--- a/src/time/cuc.rs
+++ b/src/time/cuc.rs
@@ -6,7 +6,7 @@
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

-use core::fmt::{Debug, Display, Formatter};
+use core::fmt::Debug;
 use core::ops::{Add, AddAssign};
 use core::time::Duration;

@@ -20,8 +20,6 @@ use super::{
    TimestampError, UnixTime,
 };
 #[cfg(feature = "std")]
-use std::error::Error;
-#[cfg(feature = "std")]
 use std::time::SystemTime;

 #[cfg(feature = "chrono")]
@@ -34,6 +32,7 @@ pub const P_FIELD_BASE: u8 = (CcsdsTimeCode::CucCcsdsEpoch as u8) << 4;
 /// Maximum length if the preamble field is not extended.
 pub const MAX_CUC_LEN_SMALL_PREAMBLE: usize = 8;

+/// Fractional resolution for the fractional part of the CUC time code.
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -72,13 +71,14 @@ pub fn convert_fractional_part_to_ns(fractional_part: FractionalPart) -> u64 {
    10_u64.pow(9) * fractional_part.counter as u64 / div as u64
 }

+/// Convert the fractional resolution to the divisor used to calculate the fractional part.
 #[inline(always)]
 pub const fn fractional_res_to_div(res: FractionalResolution) -> u32 {
    // We do not use the full possible range for a given resolution. This is because if we did
    // that, the largest value would be equal to the counter being incremented by one. Thus, the
    // smallest allowed fractions value is 0 while the largest allowed fractions value is the
    // closest fractions value to the next counter increment.
-    2_u32.pow(8 * res as u32) - 1
+    (1u32 << (8 * res as u32)) - 1
 }

 /// Calculate the fractional part for a given resolution and subsecond nanoseconds.
@@ -103,63 +103,36 @@ pub fn fractional_part_from_subsec_ns(res: FractionalResolution, ns: u64) -> Fra
    }
 }

-#[derive(Copy, Clone, PartialEq, Eq, Debug)]
+/// CUC error.
+#[derive(Copy, Clone, PartialEq, Eq, Debug, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum CucError {
+    /// Invalid CUC counter width.
+    #[error("invalid cuc counter byte width {0}")]
    InvalidCounterWidth(u8),
    /// Invalid counter supplied.
+    #[error("invalid cuc counter {counter} for width {width}")]
    InvalidCounter {
+        /// Width.
        width: u8,
+        /// Counter.
        counter: u64,
    },
+    /// Invalid fractions.
+    #[error("invalid cuc fractional part {value} for resolution {resolution:?}")]
    InvalidFractions {
+        /// Resolution.
        resolution: FractionalResolution,
+        /// Value.
        value: u64,
    },
+    /// Error while correcting for leap seconds.
+    #[error("error while correcting for leap seconds")]
    LeapSecondCorrectionError,
-    DateBeforeCcsdsEpoch(DateBeforeCcsdsEpochError),
-}
-
-impl Display for CucError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            CucError::InvalidCounterWidth(w) => {
-                write!(f, "invalid cuc counter byte width {w}")
-            }
-            CucError::InvalidCounter { width, counter } => {
-                write!(f, "invalid cuc counter {counter} for width {width}")
-            }
-            CucError::InvalidFractions { resolution, value } => {
-                write!(
-                    f,
-                    "invalid cuc fractional part {value} for resolution {resolution:?}"
-                )
-            }
-            CucError::LeapSecondCorrectionError => {
-                write!(f, "error while correcting for leap seconds")
-            }
-            CucError::DateBeforeCcsdsEpoch(e) => {
-                write!(f, "date before ccsds epoch: {e}")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for CucError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            CucError::DateBeforeCcsdsEpoch(e) => Some(e),
-            _ => None,
-        }
-    }
-}
-
-impl From<DateBeforeCcsdsEpochError> for CucError {
-    fn from(e: DateBeforeCcsdsEpochError) -> Self {
-        Self::DateBeforeCcsdsEpoch(e)
-    }
+    /// Data is before the CCSDS epoch.
+    #[error("date before ccsds epoch: {0}")]
+    DateBeforeCcsdsEpoch(#[from] DateBeforeCcsdsEpochError),
 }

 /// Tuple object where the first value is the width of the counter and the second value
@@ -168,14 +141,20 @@ impl From<DateBeforeCcsdsEpochError> for CucError {
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct WidthCounterPair(pub u8, pub u32);

+/// Fractional part of the CUC time code.
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct FractionalPart {
+    /// Resolution.
    pub resolution: FractionalResolution,
+    /// Counter.
    pub counter: u32,
 }

 impl FractionalPart {
+    /// Generic constructor.
+    ///
+    /// This function will panic if the counter is smaller than the calculated divisor.
    #[inline]
    pub const fn new(resolution: FractionalResolution, counter: u32) -> Self {
        let div = fractional_res_to_div(resolution);
@@ -198,6 +177,7 @@ impl FractionalPart {
        Self::new_with_seconds_resolution()
    }

+    /// Check constructor which verifies that the counter is larger than the divisor.
    #[inline]
    pub fn new_checked(resolution: FractionalResolution, counter: u32) -> Option<Self> {
        let div = fractional_res_to_div(resolution);
@@ -210,16 +190,19 @@ impl FractionalPart {
        })
    }

+    /// Fractional resolution.
    #[inline]
    pub fn resolution(&self) -> FractionalResolution {
        self.resolution
    }

+    /// Counter value.
    #[inline]
    pub fn counter(&self) -> u32 {
        self.counter
    }

+    /// Check whether the timestamp does not have a fractional part.
    #[inline]
    pub fn no_fractional_part(&self) -> bool {
        self.resolution == FractionalResolution::Seconds
@@ -286,17 +269,21 @@ pub struct CucTime {
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct CucTimeWithLeapSecs {
+    /// CUC time.
    pub time: CucTime,
+    /// Leap seconds.
    pub leap_seconds: u32,
 }

 impl CucTimeWithLeapSecs {
+    /// Generic constructor.
    #[inline]
    pub fn new(time: CucTime, leap_seconds: u32) -> Self {
        Self { time, leap_seconds }
    }
 }

+/// p-field length.
 #[inline]
 pub fn pfield_len(pfield: u8) -> usize {
    if ((pfield >> 7) & 0b1) == 1 {
@@ -422,6 +409,7 @@ impl CucTime {
        Ok(())
    }

+    /// Creates a CUC timestamp from a Chrono DateTime object.
    #[cfg(feature = "chrono")]
    pub fn from_chrono_date_time(
        dt: &chrono::DateTime<chrono::Utc>,
@@ -489,21 +477,25 @@ impl CucTime {
        })
    }

+    /// CCSDS time code.
    #[inline]
    pub fn ccsds_time_code(&self) -> CcsdsTimeCode {
        CcsdsTimeCode::CucCcsdsEpoch
    }

+    /// Width and counter pair.
    #[inline]
    pub fn width_counter_pair(&self) -> WidthCounterPair {
        self.counter
    }

+    /// Counter width.
    #[inline]
    pub fn counter_width(&self) -> u8 {
        self.counter.0
    }

+    /// Counter value.
    #[inline]
    pub fn counter(&self) -> u32 {
        self.counter.1
@@ -515,11 +507,13 @@ impl CucTime {
        self.fractions
    }

+    /// Convert to the leap seconds helper.
    #[inline]
    pub fn to_leap_sec_helper(&self, leap_seconds: u32) -> CucTimeWithLeapSecs {
        CucTimeWithLeapSecs::new(*self, leap_seconds)
    }

+    /// Set the fractional part.
    #[inline]
    pub fn set_fractions(&mut self, fractions: FractionalPart) -> Result<(), CucError> {
        Self::verify_fractions_value(fractions)?;
@@ -566,16 +560,19 @@ impl CucTime {
        self.pfield |= self.fractions.resolution() as u8;
    }

+    /// Length of the counter from the p-field.
    #[inline]
    pub fn len_cntr_from_pfield(pfield: u8) -> u8 {
        ((pfield >> 2) & 0b11) + 1
    }

+    /// Length of the fractional part from the p-field.
    #[inline]
    pub fn len_fractions_from_pfield(pfield: u8) -> u8 {
        pfield & 0b11
    }

+    /// UNIX seconds.
    #[inline]
    pub fn unix_secs(&self, leap_seconds: u32) -> i64 {
        ccsds_epoch_to_unix_epoch(self.counter.1 as i64)
@@ -583,6 +580,7 @@ impl CucTime {
            .unwrap()
    }

+    /// Subsecond milliseconds part of the CUC time.
    #[inline]
    pub fn subsec_millis(&self) -> u16 {
        (self.subsec_nanos() / 1_000_000) as u16
@@ -605,6 +603,7 @@ impl CucTime {
        )
    }

+    /// Packed length from the raw p-field.
    #[inline]
    pub fn len_packed_from_pfield(pfield: u8) -> usize {
        let mut base_len: usize = 1;
--- a/src/time/mod.rs
+++ b/src/time/mod.rs
@@ -3,7 +3,6 @@ use crate::ByteConversionError;
 #[cfg(feature = "chrono")]
 use chrono::{TimeZone, Utc};
 use core::cmp::Ordering;
-use core::fmt::{Display, Formatter};
 use core::ops::{Add, AddAssign, Sub};
 use core::time::Duration;

@@ -14,8 +13,6 @@ use num_traits::float::FloatCore;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};

-#[cfg(feature = "std")]
-use std::error::Error;
 #[cfg(feature = "std")]
 use std::time::{SystemTime, SystemTimeError};
 #[cfg(feature = "std")]
@@ -25,19 +22,29 @@ pub mod ascii;
 pub mod cds;
 pub mod cuc;

+/// Conversion constant for converting CCSDS days to UNIX days.
 pub const DAYS_CCSDS_TO_UNIX: i32 = -4383;
+/// Seconds per day.
 pub const SECONDS_PER_DAY: u32 = 86400;
+/// Milliseconds per day.
 pub const MS_PER_DAY: u32 = SECONDS_PER_DAY * 1000;
+/// Nanoseconds per second.
 pub const NANOS_PER_SECOND: u32 = 1_000_000_000;

+/// CCSDS time code identifiers.
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum CcsdsTimeCode {
+    /// CUC with a CCSDS epoch (1958-01-01T00:00:00+00:00).
    CucCcsdsEpoch = 0b001,
+    /// CUC with a custom agency epoch.
    CucAgencyEpoch = 0b010,
+    /// CDS time code.
    Cds = 0b100,
+    /// CCS time code.
    Ccs = 0b101,
+    /// Agency defined time code.
    AgencyDefined = 0b110,
 }

@@ -63,88 +70,61 @@ pub fn ccsds_time_code_from_p_field(pfield: u8) -> Result<CcsdsTimeCode, u8> {
    CcsdsTimeCode::try_from(raw_bits).map_err(|_| raw_bits)
 }

+/// Date is before the CCSDS epoch.
 #[derive(Debug, PartialEq, Eq, Copy, Clone, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[error("date before ccsds epoch: {0:?}")]
 pub struct DateBeforeCcsdsEpochError(UnixTime);

-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+/// Generic timestamp error.
+#[derive(Debug, PartialEq, Eq, Copy, Clone, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
 pub enum TimestampError {
-    InvalidTimeCode { expected: CcsdsTimeCode, found: u8 },
-    ByteConversion(ByteConversionError),
-    Cds(cds::CdsError),
-    Cuc(cuc::CucError),
+    /// Invalid time code.
+    #[error("invalid time code, expected {expected:?}, found {found}")]
+    InvalidTimeCode {
+        /// Expected time code.
+        expected: CcsdsTimeCode,
+        /// Found raw time code.
+        found: u8,
+    },
+    /// Byte conversion error.
+    #[error("time stamp: byte conversion error: {0}")]
+    ByteConversion(#[from] ByteConversionError),
+    /// CDS timestamp error.
+    #[error("CDS error: {0}")]
+    Cds(#[from] cds::CdsError),
+    /// CUC timestamp error.
+    #[error("CUC error: {0}")]
+    Cuc(#[from] cuc::CucError),
+    /// Custom epoch is not supported.
+    #[error("custom epoch not supported")]
    CustomEpochNotSupported,
 }

-impl Display for TimestampError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            TimestampError::InvalidTimeCode { expected, found } => {
-                write!(
-                    f,
-                    "invalid raw time code value {found} for time code {expected:?}"
-                )
-            }
-            TimestampError::Cds(e) => {
-                write!(f, "cds error: {e}")
-            }
-            TimestampError::Cuc(e) => {
-                write!(f, "cuc error: {e}")
-            }
-            TimestampError::ByteConversion(e) => {
-                write!(f, "time stamp: {e}")
-            }
-            TimestampError::CustomEpochNotSupported => {
-                write!(f, "custom epochs are not supported")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for TimestampError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            TimestampError::ByteConversion(e) => Some(e),
-            TimestampError::Cds(e) => Some(e),
-            TimestampError::Cuc(e) => Some(e),
-            _ => None,
-        }
-    }
-}
-
-impl From<cds::CdsError> for TimestampError {
-    fn from(e: cds::CdsError) -> Self {
-        TimestampError::Cds(e)
-    }
-}
-
-impl From<cuc::CucError> for TimestampError {
-    fn from(e: cuc::CucError) -> Self {
-        TimestampError::Cuc(e)
-    }
-}
-
+/// [std] module.
 #[cfg(feature = "std")]
 pub mod std_mod {
    use crate::time::TimestampError;
    use std::time::SystemTimeError;
    use thiserror::Error;

+    /// [std] timestamp error.
    #[derive(Debug, Clone, Error)]
    pub enum StdTimestampError {
+        /// System time error.
        #[error("system time error: {0:?}")]
        SystemTime(#[from] SystemTimeError),
+        /// Generic timestamp error.
        #[error("timestamp error: {0}")]
        Timestamp(#[from] TimestampError),
    }
 }

+/// Seconds since epoch for the current system time.
 #[cfg(feature = "std")]
 pub fn seconds_since_epoch() -> f64 {
    SystemTime::now()
@@ -178,16 +158,19 @@ pub const fn unix_epoch_to_ccsds_epoch(unix_epoch: i64) -> i64 {
    unix_epoch - (DAYS_CCSDS_TO_UNIX as i64 * SECONDS_PER_DAY as i64)
 }

+/// Convert CCSDS epoch to UNIX epoch.
 #[inline]
 pub const fn ccsds_epoch_to_unix_epoch(ccsds_epoch: i64) -> i64 {
    ccsds_epoch + (DAYS_CCSDS_TO_UNIX as i64 * SECONDS_PER_DAY as i64)
 }

+/// Milliseconds of day for the current system time.
 #[cfg(feature = "std")]
 pub fn ms_of_day_using_sysclock() -> u32 {
    ms_of_day(seconds_since_epoch())
 }

+/// Milliseconds for the given seconds since epoch.
 pub fn ms_of_day(seconds_since_epoch: f64) -> u32 {
    let fraction_ms = seconds_since_epoch - seconds_since_epoch.floor();
    let ms_of_day: u32 = (((seconds_since_epoch.floor() as u32 % SECONDS_PER_DAY) * 1000) as f64
@@ -196,13 +179,16 @@ pub fn ms_of_day(seconds_since_epoch: f64) -> u32 {
    ms_of_day
 }

+/// Generic writable timestamp trait.
 pub trait TimeWriter {
+    /// Written length.
    fn len_written(&self) -> usize;

    /// Generic function to convert write a timestamp into a raw buffer.
    /// Returns the number of written bytes on success.
    fn write_to_bytes(&self, bytes: &mut [u8]) -> Result<usize, TimestampError>;

+    /// Convert to a owned [alloc::vec::Vec].
    #[cfg(feature = "alloc")]
    fn to_vec(&self) -> Result<alloc::vec::Vec<u8>, TimestampError> {
        let mut vec = alloc::vec![0; self.len_written()];
@@ -211,7 +197,9 @@ pub trait TimeWriter {
    }
 }

+/// Genmeric readable timestamp trait.
 pub trait TimeReader: Sized {
+    /// Create a timestamp from a raw byte buffer.
    fn from_bytes(buf: &[u8]) -> Result<Self, TimestampError>;
 }

@@ -221,6 +209,7 @@ pub trait TimeReader: Sized {
 /// practical because they are a very common and simple exchange format for time information.
 /// Therefore, it was decided to keep them in this trait as well.
 pub trait CcsdsTimeProvider {
+    /// Length when written to bytes.
    fn len_as_bytes(&self) -> usize;

    /// Returns the pfield of the time provider. The pfield can have one or two bytes depending
@@ -228,24 +217,37 @@ pub trait CcsdsTimeProvider {
    /// entry denotes the length of the pfield and the second entry is the value of the pfield
    /// in big endian format.
    fn p_field(&self) -> (usize, [u8; 2]);
+
+    /// CCSDS time code field.
    fn ccdsd_time_code(&self) -> CcsdsTimeCode;

-    fn unix_secs(&self) -> i64;
-    fn subsec_nanos(&self) -> u32;
+    /// UNIX time as seconds.
+    fn unix_secs(&self) -> i64 {
+        self.unix_time().secs
+    }

+    /// Subsecond nanoseconds.
+    fn subsec_nanos(&self) -> u32 {
+        self.unix_time().subsec_nanos
+    }
+
+    /// Subsecond milliseconds.
    fn subsec_millis(&self) -> u16 {
        (self.subsec_nanos() / 1_000_000) as u16
    }

+    /// UNIX time.
    fn unix_time(&self) -> UnixTime {
        UnixTime::new(self.unix_secs(), self.subsec_nanos())
    }

+    /// [chrono] date time.
    #[cfg(feature = "chrono")]
    fn chrono_date_time(&self) -> chrono::LocalResult<chrono::DateTime<chrono::Utc>> {
        chrono::Utc.timestamp_opt(self.unix_secs(), self.subsec_nanos())
    }

+    /// [time] library date] library date time.
    #[cfg(feature = "timelib")]
    fn timelib_date_time(&self) -> Result<time::OffsetDateTime, time::error::ComponentRange> {
        Ok(time::OffsetDateTime::from_unix_timestamp(self.unix_secs())?
@@ -327,6 +329,7 @@ impl UnixTime {
        }
    }

+    /// New UNIX time with only seconds, subseconds set to zero.
    pub fn new_only_secs(unix_seconds: i64) -> Self {
        Self {
            secs: unix_seconds,
@@ -334,15 +337,18 @@ impl UnixTime {
        }
    }

+    /// Sub-second milliseconds.
    #[inline]
    pub fn subsec_millis(&self) -> u16 {
        (self.subsec_nanos / 1_000_000) as u16
    }

+    /// Sub-second nanoseconds.
    pub fn subsec_nanos(&self) -> u32 {
        self.subsec_nanos
    }

+    /// Create a UNIX timestamp from the current system time.
    #[cfg(feature = "std")]
    pub fn now() -> Result<Self, SystemTimeError> {
        let now = SystemTime::now().duration_since(SystemTime::UNIX_EPOCH)?;
@@ -350,27 +356,31 @@ impl UnixTime {
        Ok(Self::new(epoch as i64, now.subsec_nanos()))
    }

+    /// UNIX timestamp as a floating point number in seconds.
    #[inline]
    pub fn unix_secs_f64(&self) -> f64 {
        self.secs as f64 + (self.subsec_nanos as f64 / 1_000_000_000.0)
    }

+    /// UNIX timestamp as seconds, discards the sub-second part.
    pub fn as_secs(&self) -> i64 {
        self.secs
    }

+    /// UNIX timestamp as [chrono] date time.
    #[cfg(feature = "chrono")]
    pub fn chrono_date_time(&self) -> chrono::LocalResult<chrono::DateTime<chrono::Utc>> {
        Utc.timestamp_opt(self.secs, self.subsec_nanos)
    }

+    /// UNIX timestamp as [time] library date time.
    #[cfg(feature = "timelib")]
    pub fn timelib_date_time(&self) -> Result<time::OffsetDateTime, time::error::ComponentRange> {
        Ok(time::OffsetDateTime::from_unix_timestamp(self.as_secs())?
            + time::Duration::nanoseconds(self.subsec_nanos().into()))
    }

-    // Calculate the difference in milliseconds between two UnixTimestamps
+    /// Calculate the difference in milliseconds between two UnixTimestamps
    pub fn diff_in_millis(&self, other: &UnixTime) -> Option<i64> {
        let seconds_difference = self.secs.checked_sub(other.secs)?;
        // Convert seconds difference to milliseconds
@@ -440,7 +450,9 @@ impl Ord for UnixTime {
 /// so the sign information is supplied separately.
 #[derive(Clone, Copy, PartialEq, Eq)]
 pub struct StampDiff {
+    /// Positive duration flag.
    pub positive_duration: bool,
+    /// Absolute duration.
    pub duration_absolute: Duration,
 }

@@ -735,7 +747,7 @@ mod tests {
    fn test_cuc_error_printout() {
        let cuc_error = CucError::InvalidCounterWidth(12);
        let stamp_error = TimestampError::from(cuc_error);
-        assert_eq!(stamp_error.to_string(), format!("cuc error: {cuc_error}"));
+        assert_eq!(stamp_error.to_string(), format!("CUC error: {cuc_error}"));
    }

    #[test]
--- a/src/uslp/mod.rs
+++ b/src/uslp/mod.rs
--- a/src/util.rs
+++ b/src/util.rs
@@ -1,14 +1,16 @@
+//! # Utility module.
 use crate::ByteConversionError;
-use core::fmt::{Debug, Display, Formatter};
+use core::fmt::Debug;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
-#[cfg(feature = "std")]
-use std::error::Error;

+/// Helper traits for types which can be converted to a byte array.
 pub trait ToBeBytes {
+    /// Concrete byte array type.
    type ByteArray: AsRef<[u8]>;
    /// Length when written to big endian bytes.
    fn written_len(&self) -> usize;
+    /// Convert to big endian byte array.
    fn to_be_bytes(&self) -> Self::ByteArray;
 }

@@ -82,14 +84,17 @@ impl ToBeBytes for u64 {
    }
 }

+/// Helper trait for unsigned enumerations.
 pub trait UnsignedEnum {
    /// Size of the unsigned enumeration in bytes.
    fn size(&self) -> usize;
    /// Write the unsigned enumeration to a raw buffer. Returns the written size on success.
    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;

-    fn value(&self) -> u64;
+    /// Type-erased raw value.
+    fn value_raw(&self) -> u64;

+    /// Convert to a [alloc::vec::Vec].
    #[cfg(feature = "alloc")]
    fn to_vec(&self) -> alloc::vec::Vec<u8> {
        let mut buf = alloc::vec![0; self.size()];
@@ -98,51 +103,36 @@ pub trait UnsignedEnum {
    }
 }

+/// Extension trait for unsigned enumerations.
 pub trait UnsignedEnumExt: UnsignedEnum + Debug + Copy + Clone + PartialEq + Eq {}

-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+/// Unsigned byte field errors.
+#[derive(Debug, Copy, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum UnsignedByteFieldError {
    /// Value is too large for specified width of byte field.
+    #[error("value {value} too large for width {width}")]
    ValueTooLargeForWidth {
+        /// Width in bytes.
        width: usize,
+        /// Value.
        value: u64,
    },
    /// Only 1, 2, 4 and 8 are allow width values. Optionally contains the expected width if
    /// applicable, for example for conversions.
+    #[error("invalid width {found}, expected {expected:?}")]
    InvalidWidth {
+        /// Found width.
        found: usize,
+        /// Expected width.
        expected: Option<usize>,
    },
-    ByteConversionError(ByteConversionError),
+    /// Error during byte conversion.
+    #[error("byte conversion error: {0}")]
+    ByteConversionError(#[from] ByteConversionError),
 }

-impl From<ByteConversionError> for UnsignedByteFieldError {
-    #[inline]
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversionError(value)
-    }
-}
-
-impl Display for UnsignedByteFieldError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            Self::ByteConversionError(e) => {
-                write!(f, "low level byte conversion error: {e}")
-            }
-            Self::InvalidWidth { found, .. } => {
-                write!(f, "invalid width {found}, only 1, 2, 4 and 8 are allowed.")
-            }
-            Self::ValueTooLargeForWidth { width, value } => {
-                write!(f, "value {value} too large for width {width}")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for UnsignedByteFieldError {}
-
 /// Type erased variant.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
@@ -153,16 +143,19 @@ pub struct UnsignedByteField {
 }

 impl UnsignedByteField {
+    /// Generic constructor.
    #[inline]
    pub const fn new(width: usize, value: u64) -> Self {
        Self { width, value }
    }

+    /// Type-erased raw value.
    #[inline]
-    pub const fn value_const(&self) -> u64 {
+    pub const fn value(&self) -> u64 {
        self.value
    }

+    /// Construct from raw bytes, assuming big-endian byte order.
    #[inline]
    pub fn new_from_be_bytes(width: usize, buf: &[u8]) -> Result<Self, UnsignedByteFieldError> {
        if width > buf.len() {
@@ -202,8 +195,8 @@ impl UnsignedEnum for UnsignedByteField {
    }

    #[inline]
-    fn value(&self) -> u64 {
-        self.value_const()
+    fn value_raw(&self) -> u64 {
+        self.value()
    }

    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
@@ -239,6 +232,7 @@ impl UnsignedEnum for UnsignedByteField {
    }
 }

+/// Generic type erased unsigned byte field.
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -247,11 +241,13 @@ pub struct GenericUnsignedByteField<TYPE: Copy + Into<u64>> {
 }

 impl<TYPE: Copy + Into<u64>> GenericUnsignedByteField<TYPE> {
+    /// Generic constructor.
    pub const fn new(val: TYPE) -> Self {
        Self { value: val }
    }

-    pub const fn value_typed(&self) -> TYPE {
+    /// Raw value.
+    pub const fn value(&self) -> TYPE {
        self.value
    }
 }
@@ -274,20 +270,29 @@ impl<TYPE: Copy + ToBeBytes + Into<u64>> UnsignedEnum for GenericUnsignedByteFie
    }

    #[inline]
-    fn value(&self) -> u64 {
-        self.value_typed().into()
+    fn value_raw(&self) -> u64 {
+        self.value().into()
    }
 }

+/// Alias for [GenericUnsignedByteField] with [()] generic.
 pub type UnsignedByteFieldEmpty = GenericUnsignedByteField<()>;
+/// Alias for [GenericUnsignedByteField] with [u8] generic.
 pub type UnsignedByteFieldU8 = GenericUnsignedByteField<u8>;
+/// Alias for [GenericUnsignedByteField] with [u16] generic.
 pub type UnsignedByteFieldU16 = GenericUnsignedByteField<u16>;
+/// Alias for [GenericUnsignedByteField] with [u32] generic.
 pub type UnsignedByteFieldU32 = GenericUnsignedByteField<u32>;
+/// Alias for [GenericUnsignedByteField] with [u64] generic.
 pub type UnsignedByteFieldU64 = GenericUnsignedByteField<u64>;

+/// Alias for [UnsignedByteFieldU8]
 pub type UbfU8 = UnsignedByteFieldU8;
+/// Alias for [UnsignedByteFieldU16]
 pub type UbfU16 = UnsignedByteFieldU16;
+/// Alias for [UnsignedByteFieldU32]
 pub type UbfU32 = UnsignedByteFieldU32;
+/// Alias for [UnsignedByteFieldU64]
 pub type UbfU64 = UnsignedByteFieldU64;

 impl From<UnsignedByteFieldU8> for UnsignedByteField {
@@ -378,7 +383,7 @@ impl TryFrom<UnsignedByteField> for UnsignedByteFieldU64 {
 }

 #[cfg(test)]
-pub mod tests {
+mod tests {
    use crate::util::{
        UnsignedByteField, UnsignedByteFieldError, UnsignedByteFieldU16, UnsignedByteFieldU32,
        UnsignedByteFieldU64, UnsignedByteFieldU8, UnsignedEnum,
@@ -399,7 +404,7 @@ pub mod tests {
        for val in buf.iter().skip(1) {
            assert_eq!(*val, 0);
        }
-        assert_eq!(u8.value_typed(), 5);
+        assert_eq!(u8.value_raw(), 5);
        assert_eq!(u8.value(), 5);
    }

@@ -417,7 +422,7 @@ pub mod tests {
        for val in buf.iter().skip(2) {
            assert_eq!(*val, 0);
        }
-        assert_eq!(u16.value_typed(), 3823);
+        assert_eq!(u16.value_raw(), 3823);
        assert_eq!(u16.value(), 3823);
    }

@@ -435,7 +440,7 @@ pub mod tests {
        (4..8).for_each(|i| {
            assert_eq!(buf[i], 0);
        });
-        assert_eq!(u32.value_typed(), 80932);
+        assert_eq!(u32.value_raw(), 80932);
        assert_eq!(u32.value(), 80932);
    }

@@ -450,7 +455,7 @@ pub mod tests {
        assert_eq!(len, 8);
        let raw_val = u64::from_be_bytes(buf[0..8].try_into().unwrap());
        assert_eq!(raw_val, 5999999);
-        assert_eq!(u64.value_typed(), 5999999);
+        assert_eq!(u64.value_raw(), 5999999);
        assert_eq!(u64.value(), 5999999);
    }
Author	SHA1	Message	Date
Robin Müller	f001234025	Merge pull request 'clippy' (#190 ) from clippy into main Reviewed-on: #190	2025-11-06 13:43:48 +01:00
Robin Mueller	e5a7839901	clippy	2025-11-06 13:43:20 +01:00
Robin Müller	5707c6322a	Merge pull request 'changelog' (#189 ) from prep-v0.17.0 into main Reviewed-on: #189	2025-11-06 13:27:09 +01:00
Robin Mueller	093f82ae86	changelog	2025-11-06 13:26:46 +01:00
Robin Müller	e68d1ade48	Merge pull request 'Finish full crate docs' (#188 ) from renaming-docs-for-ecss into main Reviewed-on: #188	2025-11-05 20:20:35 +01:00
Robin Mueller	fbdc325d0d	Finish full crate docs	2025-11-05 20:18:31 +01:00
Robin Müller	4bc0219cb2	Merge pull request 'docs and minor cfdp change' (#187 ) from cfdp-update-docs into main Reviewed-on: #187	2025-11-04 18:54:33 +01:00
Robin Mueller	3f4f76849f	docs and minor cfdp change	2025-11-04 18:50:53 +01:00
Robin Müller	fb1e2fc583	Merge pull request 'added missing derives' (#186 ) from add-missing-derives into main Reviewed-on: #186	2025-11-04 15:57:46 +01:00
Robin Mueller	96e5851864	added missing derives	2025-11-04 15:57:09 +01:00
Robin Müller	b4d00c26c5	Merge pull request 'add direct APID getter' (#185 ) from add-direct-ccsds-apid-getter into main Reviewed-on: #185	2025-11-04 15:40:10 +01:00
Robin Mueller	a8b64f2fef	add direct APID getter	2025-11-04 15:39:37 +01:00
Robin Müller	e7cb6f2a7a	Merge pull request 'error reporting bugfix' (#184 ) from ccsds-packet-reader-error-reporting-fix into main Reviewed-on: #184	2025-11-04 15:34:54 +01:00
Robin Mueller	973ba4d3c4	error reporting bugfix	2025-11-04 15:34:15 +01:00
Robin Müller	8789e34c14	Merge pull request 'added missing function to reader' (#183 ) from add-ccsds-id-function-to-reader into main Reviewed-on: #183	2025-10-31 16:56:12 +01:00
Robin Mueller	a68e82a825	added missing function to reader	2025-10-31 16:55:45 +01:00
Robin Müller	0b46fa785b	Merge pull request 'better naming' (#182 ) from naming-improvement into main Reviewed-on: #182	2025-10-31 16:03:40 +01:00
Robin Mueller	c57ee3e131	better naming	2025-10-31 16:03:08 +01:00
Robin Müller	6ac84c3dca	Merge pull request 'add option to ignore checksum for CCSDS' (#181 ) from add-option-to-ignore-checksum into main Reviewed-on: #181	2025-10-31 16:01:11 +01:00
Robin Mueller	374f39f13b	add option to ignore checksum for CCSDS	2025-10-31 15:59:41 +01:00
Robin Müller	2bc6167710	Merge pull request 'less confusing naming' (#180 ) from less-confusing-naming into main Reviewed-on: #180	2025-10-31 12:55:53 +01:00
Robin Mueller	cfe0937afe	less confusing naming	2025-10-31 12:55:07 +01:00
Robin Müller	e1c693cb29	Merge pull request 'update ECSS PUS naming convention' (#179 ) from update-ecss-pus-naming-convention into main Reviewed-on: #179	2025-10-31 12:39:39 +01:00
Robin Mueller	38165420b7	update ECSS PUS naming convention	2025-10-31 12:38:59 +01:00
Robin Müller	0d09ff7825	Merge pull request 'add docs and minor changes' (#178 ) from add-docs-minor-changes into main Reviewed-on: #178	2025-10-31 11:45:06 +01:00
Robin Mueller	8f2096ca35	add docs and minor changes	2025-10-31 11:39:23 +01:00
Robin Müller	3f35e9dba9	Merge pull request 'add owned CCSDS packet creator' (#177 ) from add-owned-ccsds-packet-creator into main Reviewed-on: #177	2025-10-31 10:10:50 +01:00
Robin Mueller	ea96099f55	add owned CCSDS packet creator	2025-10-31 10:10:11 +01:00
Robin Müller	e117239852	Merge pull request 'add useful functions' (#176 ) from add-ccsds-id-functions into main Reviewed-on: #176	2025-10-30 18:58:27 +01:00
Robin Mueller	844c517a94	add useful functions	2025-10-30 18:58:10 +01:00
Robin Müller	0ae2ac149b	Merge pull request 'add CCSDS packet ID' (#175 ) from add-ccsds-packet-id into main Reviewed-on: #175	2025-10-29 21:58:56 +01:00
Robin Mueller	2b41f9754d	add CCSDS packet ID	2025-10-29 21:45:07 +01:00
Robin Müller	8e2e0ce632	Merge pull request 'fix portable atomic support' (#174 ) from fix-portable-atomic-support into main Reviewed-on: #174	2025-10-29 16:13:09 +01:00
Robin Mueller	14d935ac2a	fix portable atomic support	2025-10-29 16:05:11 +01:00
Robin Müller	756a803213	Merge pull request 'prepare v0.17.0' (#173 ) from prepare-v0.17.0 into main Reviewed-on: #173	2025-10-29 16:04:19 +01:00
Robin Mueller	937bdeaf54	prepare v0.17.0	2025-10-29 15:48:29 +01:00
Robin Müller	bc30143d61	Merge pull request 'start adding improved CCSDS packet support' (#172 ) from add-better-ccsds-packet-support into main Reviewed-on: #172	2025-10-29 15:44:38 +01:00
Robin Mueller	549e323211	start adding improved CCSDS packet support	2025-10-29 15:28:25 +01:00
Robin Müller	82c3e06ac0	Merge pull request 'feature gate all core atomics' (#171 ) from feature-gate-all-core-atomics into main Reviewed-on: #171	2025-10-29 11:26:57 +01:00
Robin Mueller	750add26ef	feature gate all core atomics	2025-10-29 11:24:05 +01:00
Robin Müller	c3ff947fb0	Merge pull request 'move some modules' (#170 ) from clean-up-cds-time-mod into main Reviewed-on: #170	2025-10-15 15:26:39 +02:00
Robin Mueller	8d86ecc8ee	move some modules	2025-10-15 15:26:06 +02:00
Robin Müller	4b2bebb8cb	Merge pull request 'simplified CDS short impl' (#169 ) from simplify-cds-timestamp-impl into main Reviewed-on: #169	2025-10-15 15:01:06 +02:00
Robin Mueller	e0b7a6a6bb	simplified CDS short impl	2025-10-15 11:57:44 +02:00
Robin Müller	49983a5d6c	Merge pull request 'update for docs generation' (#168 ) from doc-generation-update into main Reviewed-on: #168	2025-10-02 09:45:45 +02:00
Robin Mueller	04c864d6a2	update for docs generation	2025-10-01 00:20:47 +02:00
Robin Müller	922801cc74	Merge pull request 'try to fix CI' (#167 ) from ci-fix into main Reviewed-on: #167	2025-09-26 15:14:20 +02:00
Robin Mueller	f5717d98cd	try to fix CI	2025-09-26 15:10:27 +02:00
Robin Müller	6ea7b8902a	Merge pull request 'SpHeader::packet_len is pub now' (#166 ) from sp-packet-len-pub into main Reviewed-on: #166	2025-09-26 15:09:07 +02:00
Robin Mueller	f6ac9ee918	SpHeader::packet_len is pub now	2025-09-26 15:08:29 +02:00
Robin Müller	0aa41fee92	Merge pull request 'prepare v0.16.0' (#165 ) from prep-v0.16.0 into main Reviewed-on: #165	2025-09-24 19:58:02 +02:00
Robin Mueller	d1516d669d	prepare v0.16.0	2025-09-24 19:56:52 +02:00
Robin Müller	b1ebb4d7c4	Merge pull request 'update docs on coverage' (#164 ) from update-coverage-docs into main Reviewed-on: #164	2025-09-24 19:55:47 +02:00
Robin Mueller	cd79af4440	update docs on coverage	2025-09-24 19:54:45 +02:00
Robin Müller	6a760c8585	Merge pull request 'improve backwards compatibility' (#163 ) from improve-backwards-compat into main Reviewed-on: #163	2025-09-24 19:54:11 +02:00
Robin Mueller	5eb409f1ec	improve backwards compatibility	2025-09-24 19:49:51 +02:00
Robin Müller	69d416d6ff	Merge pull request 'improvement for NAK API' (#162 ) from nak-api-improvement into main Reviewed-on: #162	2025-09-23 17:08:15 +02:00
Robin Mueller	e2b239ae61	improvement for NAK API	2025-09-23 17:06:45 +02:00
Robin Müller	b06d7c1a87	Merge pull request 'better error handling' (#161 ) from better-nak-error into main Reviewed-on: #161	2025-09-18 17:37:00 +02:00
Robin Mueller	ec1ddbde81	better error handling	2025-09-18 17:36:51 +02:00
Robin Müller	7f4ada1734	Merge pull request 'NAK constructor is pub' (#160 ) from nak-new-pub into main Reviewed-on: #160	2025-09-18 17:35:48 +02:00
Robin Mueller	15f97e960b	NAK constructor is pub	2025-09-18 17:32:11 +02:00
Robin Müller	49b7c2d072	Merge pull request 'PDU header improvements' (#159 ) from pdu-header-improvements into main Reviewed-on: #159	2025-09-18 16:56:26 +02:00
Robin Mueller	1ed23bd7ef	PDU header improvements	2025-09-18 16:54:28 +02:00
Robin Müller	a82cdb1e82	Merge pull request 'nak docs' (#158 ) from nak-docs into main Reviewed-on: #158	2025-09-17 13:42:04 +02:00
Robin Mueller	12e7062075	nak docs	2025-09-17 13:40:49 +02:00
Robin Müller	a1e40834f5	Merge pull request 'improve ACK PDU' (#157 ) from improve-ack-pdu into main Reviewed-on: #157	2025-09-15 13:02:30 +02:00
Robin Mueller	3f6a5df8e7	improve ACK PDU	2025-09-15 13:02:16 +02:00
Robin Müller	a8d5fdf8d3	Merge pull request 'extend NAK PDU' (#156 ) from extend-nak-pdu into main Reviewed-on: #156	2025-09-15 10:30:02 +02:00
Robin Mueller	62326da276	extend NAK PDU	2025-09-15 10:16:07 +02:00
Robin Müller	477890346a	Merge pull request 'improve CFDP module' (#154 ) from cfdp-module-improvements into main Reviewed-on: #154	2025-09-11 16:10:47 +02:00
Robin Mueller	9394beea38	improve CFDP module	2025-09-11 16:03:58 +02:00
Robin Müller	6c425e137a	Merge pull request 'add coverage to justfile' (#155 ) from update-justfile into main Reviewed-on: #155	2025-09-11 16:03:41 +02:00
Robin Mueller	24b91a7a83	add coverage to justfile	2025-09-11 13:22:27 +02:00
Robin Müller	a7c6ce7d44	Merge pull request 'improve CFDP module' (#153 ) from cfdp-module-improvements into main Reviewed-on: #153	2025-09-11 09:12:59 +02:00
Robin Mueller	c68e71a25e	improve CFDP module	2025-09-11 09:09:41 +02:00
Robin Müller	272a961a70	Merge pull request 'add packet_len direct method for SpHeader' (#152 ) from sp-header-tweak into main Reviewed-on: #152	2025-09-10 21:05:56 +02:00
Robin Mueller	6f4df7e3c2	add packet_len direct method for SpHeader	2025-09-10 19:04:47 +02:00
Robin Müller	15c477e810	Merge pull request 'prepare v0.16.0' (#151 ) from prep-v0.16.0 into main Reviewed-on: #151	2025-09-10 18:08:10 +02:00
Robin Mueller	e5b10920a0	prepare v0.16.0	2025-09-10 18:03:35 +02:00
Robin Müller	3f8434e1fa	Merge pull request 'add missing Error impls' (#150 ) from add-missing-error-impls into main Reviewed-on: #150	2025-09-10 17:54:46 +02:00
Robin Mueller	ec3f462931	add missing Error impls	2025-09-10 17:52:49 +02:00
Robin Müller	e6686caba1	Merge pull request 'add-missing-defmt-impls' (#149 ) from add-missing-defmt-impls into main Reviewed-on: #149	2025-09-10 17:52:39 +02:00
Robin Mueller	2a0b21983e	add some missing defmt impls	2025-09-10 17:48:49 +02:00
Robin Müller	4e153e0b68	Merge pull request 'Add TM builder API' (#148 ) from add-tm-builder-api into main Reviewed-on: #148	2025-09-10 17:39:05 +02:00
Robin Mueller	aaac15e3d0	Add TM builder API	2025-09-10 17:36:39 +02:00
Robin Müller	89788c1341	Merge pull request 'add first builder API' (#147 ) from add-tc-builder-api into main Reviewed-on: #147	2025-09-10 16:38:25 +02:00
Robin Mueller	578be2da8f	add first TC builder API	2025-09-10 16:12:06 +02:00
Robin Müller	3a21daf8de	Merge pull request 'refactor and improve ECSS module' (#146 ) from refactor-improve-ecss-module into main Reviewed-on: #146	2025-09-10 15:37:27 +02:00
Robin Mueller	8fd46f6a30	refactor and improve ECSS module	2025-09-10 15:28:58 +02:00
Robin Müller	c6b74fecbd	Merge pull request 'start making ECSS checksum optional' (#144 ) from ecss-checksum-optional into main Reviewed-on: #144	2025-09-09 16:14:45 +02:00
Robin Mueller	60e35559e5	start making ECSS checksum optional	2025-09-09 16:14:11 +02:00
Robin Müller	e708f1b861	Merge pull request 'some more tests' (#145 ) from add-some-more-tests into main Reviewed-on: #145	2025-09-09 15:57:11 +02:00
Robin Mueller	91490b5dd6	some more tests	2025-09-09 15:56:44 +02:00
Robin Müller	e151b8e761	Merge pull request 'fix for embedded systems, introduce portable atomic seq counters' (#143 ) from portable-atomic-seq-counters-embedded-fix into main Reviewed-on: #143	2025-09-09 13:49:23 +02:00
Robin Mueller	2839174e5f	fix for embedded systems, introduce portable atomic seq counters	2025-09-09 13:34:12 +02:00
Robin Müller	6e2db87fa9	Merge pull request 'improve sequence counters' (#141 ) from improve-seq-counters into main Reviewed-on: #141	2025-09-09 11:53:31 +02:00
Robin Mueller	e8a01dc6b2	improve sequence counters	2025-09-09 11:51:59 +02:00
Robin Müller	20403bda32	Merge pull request 'sequence counter improvements' (#140 ) from seq-counter-improvements into main Reviewed-on: #140	2025-09-09 10:27:08 +02:00
Robin Mueller	2cbd48331c	sequence counter improvements	2025-09-09 10:24:20 +02:00
Robin Müller	c1346f2b12	Merge pull request 'add some more tests' (#138 ) from some-more-tests into main Reviewed-on: #138	2025-09-08 17:01:45 +02:00
Robin Mueller	2e3a7849a7	add some more tests	2025-09-08 16:59:41 +02:00
Robin Müller	86ebea8eb8	Merge pull request 'Add basic USLP support' (#137 ) from add-basic-uslp-support into main Reviewed-on: #137	2025-09-08 16:59:21 +02:00
Robin Mueller	2c8c77acb8	add basic USLP support	2025-09-08 16:51:33 +02:00
Robin Müller	63d74aa58b	Merge pull request 'PUS version fixes' (#136 ) from small-bugfix-pus-tm-a into main Reviewed-on: #136	2025-08-26 16:41:13 +02:00
Robin Mueller	5a86f89c83	version fixes	2025-08-26 16:40:44 +02:00
Robin Müller	b8ae26c302	Merge pull request 'improvement for naming' (#135 ) from naming-improvement into main Reviewed-on: #135	2025-08-26 16:22:19 +02:00
Robin Mueller	160b1dedf9	improvement for naming	2025-08-26 16:16:54 +02:00
Robin Müller	8eccf1fa29	Merge pull request 'NAK PDU reader update' (#134 ) from nak-pdu-reader-refactoring into main Reviewed-on: #134	2025-08-20 17:53:32 +02:00
Robin Mueller	8445b7cc31	NAK PDU reader update	2025-08-20 16:02:08 +02:00
Robin Müller	a2971f8f73	Merge pull request 'add badge' (#133 ) from add-chat-badge into main Reviewed-on: #133	2025-08-14 14:22:09 +02:00
Robin Mueller	ba3b66326d	add badge	2025-08-14 14:21:37 +02:00
Robin Müller	de2675e602	Merge pull request 'add PUS A support' (#132 ) from add-pus-a-support into main Reviewed-on: #132	2025-08-13 17:24:50 +02:00
Robin Mueller	3d344c11cc	add PUS A support	2025-08-13 17:04:39 +02:00
Robin Müller	6e2c35e0c0	Merge pull request 'prepare next release' (#131 ) from prep-v0.15.0 into main Reviewed-on: #131	2025-07-18 19:32:28 +02:00
Robin Mueller	026e1a50b9	prepare next release	2025-07-18 19:31:55 +02:00
Robin Müller	440b836b70	Merge pull request 'allow arbitrary crc minor version' (#130 ) from allow-arbitrary-crc-minor-version into main Reviewed-on: #130	2025-07-18 19:28:31 +02:00
Robin Mueller	00e28e4a96	allow arbitrary crc minor version	2025-07-18 19:27:59 +02:00
Robin Müller	4c1cad5b72	Merge pull request 'reserved data variants for ECSS TM and TC' (#129 ) from ecss-tm-tc-reserved-data-variants into main Reviewed-on: #129	2025-05-16 19:06:08 +02:00
Robin Mueller	5cd5c1ce6d	reserved data variants for ECSS TM and TC	2025-05-16 19:04:23 +02:00
Robin Müller	de99bb926a	Merge pull request 'small changelog tweak' (#128 ) from small-changelog-tweak into main Reviewed-on: #128	2025-05-10 15:08:18 +02:00
Robin Mueller	167f53cac7	small changelog tweak	2025-05-10 15:07:58 +02:00
Robin Müller	172227b843	Merge pull request 'update MSRV check' (#127 ) from update-msrv-check into main Reviewed-on: #127	2025-05-10 15:04:21 +02:00
Robin Mueller	1bbca6866b	update MSRV check	2025-05-10 15:03:05 +02:00
Robin Müller	b569208d45	Merge pull request 'prepare v0.14.0' (#126 ) from prepare-release into main Reviewed-on: #126	2025-05-10 14:58:45 +02:00
Robin Mueller	d9709ffd6c	prepare v0.14.0	2025-05-10 14:54:27 +02:00
Robin Müller	243dc64a78	Merge pull request 'remove badge' (#125 ) from remove-badge into main Reviewed-on: #125	2025-05-10 14:38:23 +02:00
Robin Müller	a6dc173f7f	Merge branch 'main' into remove-badge	2025-05-10 14:38:19 +02:00
Robin Mueller	86dddbeef5	remove badge	2025-05-10 14:36:00 +02:00
Robin Müller	17d112e838	Merge pull request 'one more test fix' (#124 ) from one-more-test-fix into main Reviewed-on: #124	2025-05-10 14:31:53 +02:00
Robin Mueller	9c8467ccfe	one more test fix	2025-05-10 14:30:00 +02:00
Robin Müller	217a8c2cc7	Merge pull request 'formatting' (#123 ) from formatting into main Reviewed-on: #123	2025-05-10 14:26:27 +02:00
Robin Mueller	349e34bed6	formatting	2025-05-10 14:25:44 +02:00
Robin Müller	d6a76ca360	Merge pull request 'CRC handling and dependency update' (#122 ) from msp430-tweak into main Reviewed-on: #122	2025-05-10 14:24:54 +02:00
Robin Mueller	8f4351771b	API variants which use table-less CRC	2025-05-10 13:58:10 +02:00
Robin Müller	b08c3329f4	Merge pull request 'bump patch release' (#120 ) from prep-v0.13.1 into main Reviewed-on: #120	2025-03-21 14:53:01 +01:00
Robin Mueller	08e0d39154	bump patch release	2025-03-21 14:50:10 +01:00
Robin Müller	ab97607024	Merge pull request 'clippy fixes' (#119 ) from clippy-fixes into main Reviewed-on: #119	2025-03-21 14:47:06 +01:00
Robin Mueller	60d1f77844	bugfix due to operator precendence and clippy fixes	2025-03-21 14:46:13 +01:00
Robin Müller	5a112b7f39	Merge pull request 'add funding file' (#118 ) from add-funding-file into main Reviewed-on: #118	2025-03-17 16:33:46 +01:00
Robin Mueller	e774dd69d4	add funding file	2025-03-17 16:32:43 +01:00