Added an optimized MSP library crate.

.config/_typos.toml

@@ -1,3 +1,4 @@
 [default.extend-words]
 mis = "mis"
 ratatui = "ratatui"
+thr = "thr"

Cargo.toml

@@ -14,6 +14,7 @@ members = [
     "core/cu29_soa_derive",
     "core/cu29_traits",
     "core/cu29_unifiedlog",
+    "components/common/cu_msplib",
     "components/monitors/cu_consolemon",
     "components/payloads/cu_sensor_payloads",
     "components/payloads/cu_spatial_payloads",

components/common/cu_msplib/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+name = "cu_msplib"
+version.workspace = true
+authors.workspace = true
+edition.workspace = true
+license.workspace = true
+keywords.workspace = true
+categories.workspace = true
+homepage.workspace = true
+repository.workspace = true
+
+[dependencies]
+anyhow = "1.0.96"
+serialport = "4.7.0"
+crc-any = "2.5.0"
+smallvec = "1.14.0"
+packed_struct = "0.10.1"
+serde = { version = "1.0.218", features = ["derive"] }

components/common/cu_msplib/README.md

@@ -0,0 +1,5 @@
+## Multiwii Serial Protocol
+
+This is a spin on: https://docs.rs/multiwii_serial_protocol_v2/latest/multiwii_serial_protocol_v2/
+
+The main difference are optimizations and cleanups.

components/common/cu_msplib/src/commands.rs

@@ -0,0 +1,195 @@
+use packed_struct::derive::PrimitiveEnum;
+use packed_struct::PrimitiveEnum;
+
+#[derive(PrimitiveEnum, Debug, Copy, Clone, PartialEq)]
+#[allow(non_camel_case_types)]
+/// MSP command values, used for command encapsulation
+pub enum MspCommandCode {
+    MSP_API_VERSION = 1,
+    MSP_FC_VARIANT = 2,
+    MSP_FC_VERSION = 3,
+    MSP_BOARD_INFO = 4,
+    MSP_BUILD_INFO = 5,
+
+    // MSP commands for Cleanflight original features
+    MSP_BATTERY_CONFIG = 32,
+    MSP_SET_BATTERY_CONFIG = 33,
+    MSP_MODE_RANGES = 34,
+    MSP_SET_MODE_RANGE = 35,
+    MSP_FEATURE = 36,
+    MSP_SET_FEATURE = 37,
+    MSP_BOARD_ALIGNMENT = 38,
+    MSP_SET_BOARD_ALIGNMENT = 39,
+    MSP_AMPERAGE_METER_CONFIG = 40,
+    MSP_SET_AMPERAGE_METER_CONFIG = 41,
+    MSP_MIXER = 42,
+    MSP_SET_MIXER = 43,
+    MSP_RX_CONFIG = 44,
+    MSP_SET_RX_CONFIG = 45,
+    MSP_LED_COLORS = 46,
+    MSP_SET_LED_COLORS = 47,
+    MSP_LED_STRIP_CONFIG = 48,
+    MSP_SET_LED_STRIP_CONFIG = 49,
+    MSP_RSSI_CONFIG = 50,
+    MSP_SET_RSSI_CONFIG = 51,
+    MSP_ADJUSTMENT_RANGES = 52,
+    MSP_SET_ADJUSTMENT_RANGE = 53,
+    MSP_CF_SERIAL_CONFIG = 54,
+    MSP_SET_CF_SERIAL_CONFIG = 55,
+    MSP_VOLTAGE_METER_CONFIG = 56,
+    MSP_SET_VOLTAGE_METER_CONFIG = 57,
+    MSP_SONAR = 58,
+    MSP_PID_CONTROLLER = 59,
+    MSP_SET_PID_CONTROLLER = 60,
+    MSP_ARMING_CONFIG = 61,
+    MSP_SET_ARMING_CONFIG = 62,
+    MSP_DATAFLASH_SUMMARY = 70,
+    MSP_DATAFLASH_READ = 71,
+    MSP_DATAFLASH_ERASE = 72,
+    MSP_LOOP_TIME = 73,
+    MSP_SET_LOOP_TIME = 74,
+    MSP_FAILSAFE_CONFIG = 75,
+    MSP_SET_FAILSAFE_CONFIG = 76,
+    MSP_RXFAIL_CONFIG = 77,
+    MSP_SET_RXFAIL_CONFIG = 78,
+    MSP_SDCARD_SUMMARY = 79,
+    MSP_BLACKBOX_CONFIG = 80,
+    MSP_SET_BLACKBOX_CONFIG = 81,
+    MSP_TRANSPONDER_CONFIG = 82,
+    MSP_SET_TRANSPONDER_CONFIG = 83,
+
+    MSP_OSD_CONFIG = 84,     //out message         Get osd settings - baseflight
+    MSP_SET_OSD_CONFIG = 85, //in message          Set osd settings - baseflight
+
+    MSP_OSD_CHAR_READ = 86, //out message         Get osd settings - betaflight
+    MSP_OSD_CHAR_WRITE = 87, //in message          Set osd settings - betaflight
+
+    MSP_LED_STRIP_MODECOLOR = 127,
+    MSP_SET_LED_STRIP_MODECOLOR = 221,
+
+    MSP_VOLTAGE_METERS = 128,
+    MSP_AMPERAGE_METERS = 129,
+    MSP_BATTERY_STATE = 130,
+
+    MSP_MOTOR_CONFIG = 131,
+
+    // OSD commands
+    MSP_OSD_VIDEO_CONFIG = 180,
+    MSP_SET_OSD_VIDEO_CONFIG = 181,
+    MSP_OSD_VIDEO_STATUS = 182,
+    MSP_OSD_ELEMENT_SUMMARY = 183,
+    MSP_OSD_LAYOUT_CONFIG = 184,
+    MSP_SET_OSD_LAYOUT_CONFIG = 185,
+
+    // Multiwii MSP commands
+    MSP_IDENT = 100,
+    MSP_STATUS = 101,
+    MSP_RAW_IMU = 102,
+    MSP_SERVO = 103,
+    MSP_MOTOR = 104,
+    MSP_RC = 105,
+    MSP_RAW_GPS = 106,
+    MSP_COMP_GPS = 107,
+    MSP_ATTITUDE = 108,
+    MSP_ALTITUDE = 109,
+    MSP_ANALOG = 110,
+    MSP_RC_TUNING = 111,
+    MSP_PID = 112,
+    MSP_BOX = 113,
+    MSP_MISC = 114,
+    MSP_MOTOR_PINS = 115,
+    MSP_BOXNAMES = 116,
+    MSP_PIDNAMES = 117,
+    MSP_WP = 118,
+    MSP_BOXIDS = 119,
+    MSP_SERVO_CONFIGURATIONS = 120,
+    MSP_MOTOR_3D_CONFIG = 124,
+    MSP_RC_DEADBAND = 125,
+    MSP_SENSOR_ALIGNMENT = 126,
+
+    MSP_SET_RAW_RC = 200,
+    MSP_SET_RAW_GPS = 201,
+    MSP_SET_PID = 202,
+    MSP_SET_BOX = 203,
+    MSP_SET_RC_TUNING = 204,
+    MSP_ACC_CALIBRATION = 205,
+    MSP_MAG_CALIBRATION = 206,
+    MSP_SET_MISC = 207,
+    MSP_RESET_CONF = 208,
+    MSP_SET_WP = 209,
+    MSP_SELECT_SETTING = 210,
+    MSP_SET_HEAD = 211,
+    MSP_SET_SERVO_CONFIGURATION = 212,
+    MSP_SET_MOTOR = 214,
+    MSP_SET_3D = 217,
+    MSP_SET_RC_DEADBAND = 218,
+    MSP_SET_RESET_CURR_PID = 219,
+    MSP_SET_SENSOR_ALIGNMENT = 220,
+
+    // MSP_BIND =               240,
+    MSP_SERVO_MIX_RULES = 241,
+    MSP_SET_SERVO_MIX_RULE = 242,
+
+    MSP_EEPROM_WRITE = 250,
+
+    MSP_DEBUGMSG = 253,
+    MSP_DEBUG = 254,
+
+    MSP_BF_CONFIG = 66,
+
+    // Additional baseflight commands that are not compatible with MultiWii
+    MSP_UID = 160,          // Unique device ID
+    MSP_STATUS_EX = 150,    // cycletime, errors_count, CPU load, sensor present etc
+    MSP_ACC_TRIM = 240,     // get acc angle trim values
+    MSP_SET_ACC_TRIM = 239, // set acc angle trim values
+    MSP_GPS_SV_INFO = 164,  // get Signal Strength
+
+    // Additional private MSP for baseflight configurator
+    MSP_RX_MAP = 64,     // get channel map (also returns number of channels total)
+    MSP_SET_RX_MAP = 65, // set rc map, numchannels to set comes from MSP_RX_MAP
+
+    MSP_SET_REBOOT = 68,    // reboot settings
+    MSP_BF_BUILD_INFO = 69, // build date as well as some space for future expansion,
+
+    // Betaflight
+    MSP_ADVANCED_CONFIG = 90,
+    MSP_SET_ADVANCED_CONFIG = 91,
+
+    MSP_FILTER_CONFIG = 92,
+    MSP_SET_FILTER_CONFIG = 93,
+
+    MSP_PID_ADVANCED = 94,
+    MSP_SET_PID_ADVANCED = 95,
+
+    MSP_SENSOR_CONFIG = 96,
+    MSP_SET_SENSOR_CONFIG = 97,
+
+    // Inav
+    MSP2_COMMON_SETTING = 0x1003, //in/out message    Returns the value for a setting
+    MSP2_COMMON_SET_SETTING = 0x1004, //in message        Sets the value for a setting
+
+    MSP2_MOTOR_MIXER = 0x1005,
+    MSP2_SET_MOTOR_MIXER = 0x1006,
+
+    MSP2_COMMON_SETTING_INFO = 0x1007,
+    MSP2_COMMON_PG_LIST = 0x1008,
+
+    MSP2_SERIAL_CONFIG = 0x1009,
+    MSP2_SET_SERIAL_CONFIG = 0x100A,
+
+    MSP2_INAV_OSD_LAYOUTS = 0x2012,
+    MSP2_INAV_OSD_SET_LAYOUT_ITEM = 0x2013,
+    MSP2_INAV_OSD_ALARMS = 0x2014,
+    MSP2_INAV_OSD_SET_ALARMS = 0x2015,
+    MSP2_INAV_OSD_PREFERENCES = 0x2016,
+    MSP2_INAV_OSD_SET_PREFERENCES = 0x2017,
+
+    MSP2_INAV_SERVO_MIXER = 0x2020,
+    MSP2_INAV_SET_SERVO_MIXER = 0x2021,
+}
+
+impl From<u16> for MspCommandCode {
+    fn from(value: u16) -> Self {
+        Self::from_primitive(value).unwrap_or_else(|| panic!("Invalid MSP command code: {}", value))
+    }
+}