The no_std feature update

Cargo.toml

@@ -3,19 +3,23 @@ name = "multiwii_serial_protocol_v2"
 description = "A Multiwii Serial Protocol (MSP) implementation for Rust"
 repository = "https://github.com/amfern/multiwii_serial_protocol.rs"
 version = "0.1.12"
-authors = ["Rudi Benkovic <[email protected]>", "Ilya Guterman <[email protected]>"]
+authors = [
+    "Rudi Benkovic <[email protected]>",
+    "Ilya Guterman <[email protected]>",
+]
 license = "MIT OR Apache-2.0"
 readme = "README.md"
+edition = "2021"
 
 [dependencies]
-packed_struct = "0.4"
-packed_struct_codegen = "0.4"
-serde = "1.0"
-serde_derive = "1.0"
-crc-any = "2.3"
+packed_struct = { version = "0.10", default-features = false }
+packed_struct_codegen = { version = "0.10", default-features = false }
+serde = { version = "1.0", default-features = false, features = ["derive"] }
+crc-any = { version = "2.5", default-features = false }
+heapless = "0.8"
 
 [features]
 default = ["std"]
-std = []
+std = ["packed_struct/std"]
 no_std = []
-suppport_int32_setting_type = []
+suppport_int32_setting_type = []

src/commands.rs

@@ -1,3 +1,5 @@
+use packed_struct_codegen::PrimitiveEnum;
+
 #[derive(PrimitiveEnum, Debug, Copy, Clone, PartialEq)]
 #[allow(non_camel_case_types)]
 
@@ -70,6 +72,7 @@ pub enum MspCommandCode {
     MSP_BATTERY_STATE = 130,
 
     MSP_MOTOR_CONFIG = 131,
+    MSP_MOTOR_TELEMETRY = 139,
 
     // OSD commands
     MSP_OSD_VIDEO_CONFIG = 180,
@@ -105,6 +108,8 @@ pub enum MspCommandCode {
     MSP_RC_DEADBAND = 125,
     MSP_SENSOR_ALIGNMENT = 126,
 
+    MSP_ESC_SENSOR_DATA = 134,
+
     MSP_SET_RAW_RC = 200,
     MSP_SET_RAW_GPS = 201,
     MSP_SET_PID = 202,

src/lib.rs

@@ -3,23 +3,9 @@
 //! Incomplete. Includes some structures from Cleanflight and Betaflight.
 
 #![cfg_attr(not(feature = "std"), no_std)]
-#![cfg_attr(not(feature = "std"), feature(alloc))]
 
-#[cfg(not(feature = "std"))]
-#[macro_use]
-extern crate alloc;
-
-extern crate packed_struct;
-
-extern crate crc_any;
-
-#[macro_use]
-extern crate packed_struct_codegen;
-
-#[macro_use]
-extern crate serde_derive;
-
-extern crate serde;
+pub use packed_struct;
+pub use serde;
 
 mod prelude;
 

src/packet.rs

@@ -1,5 +1,7 @@
 use crc_any::CRCu8;
-use prelude::v1::*;
+use heapless::Vec;
+
+use crate::prelude::v1::*;
 
 /// Packet parsing error
 #[derive(Copy, Clone, Debug, PartialEq)]
@@ -41,7 +43,7 @@ impl MspPacketDirection {
 pub struct MspPacket {
     pub cmd: u16,
     pub direction: MspPacketDirection,
-    pub data: Vec<u8>,
+    pub data: Vec<u8, 255>,
 }
 
 #[derive(Copy, Clone, PartialEq, Debug)]
@@ -65,15 +67,15 @@ enum MSPVersion {
     V2,
 }
 
-#[derive(Debug)]
+// #[derive(Debug)]
 /// Parser that can find packets from a raw byte stream
 pub struct MspParser {
     state: MspParserState,
     packet_version: MSPVersion,
     packet_direction: MspPacketDirection,
     packet_cmd: u16,
     packet_data_length_remaining: usize,
-    packet_data: Vec<u8>,
+    packet_data: Vec<u8, 255>,
     packet_crc: u8,
     packet_crc_v2: CRCu8,
 }
@@ -143,15 +145,15 @@ impl MspParser {
             MspParserState::FlagV2 => {
                 // uint8, flag, usage to be defined (set to zero)
                 self.state = MspParserState::CommandV2;
-                self.packet_data = Vec::with_capacity(2);
+                self.packet_data.clear();
                 self.packet_crc_v2.digest(&[input]);
             }
 
             MspParserState::CommandV2 => {
-                self.packet_data.push(input);
+                self.packet_data.push(input).unwrap();
 
                 if self.packet_data.len() == 2 {
-                    let mut s = [0u8; size_of::<u16>()];
+                    let mut s = [0u8; core::mem::size_of::<u16>()];
                     s.copy_from_slice(&self.packet_data);
                     self.packet_cmd = u16::from_le_bytes(s);
 
@@ -162,15 +164,14 @@ impl MspParser {
             }
 
             MspParserState::DataLengthV2 => {
-                self.packet_data.push(input);
+                self.packet_data.push(input).unwrap();
 
                 if self.packet_data.len() == 2 {
-                    let mut s = [0u8; size_of::<u16>()];
+                    let mut s = [0u8; core::mem::size_of::<u16>()];
                     s.copy_from_slice(&self.packet_data);
                     self.packet_data_length_remaining = u16::from_le_bytes(s).into();
                     self.packet_crc_v2.digest(&self.packet_data);
-                    self.packet_data =
-                        Vec::with_capacity(self.packet_data_length_remaining as usize);
+                    self.packet_data.clear();
 
                     if self.packet_data_length_remaining == 0 {
                         self.state = MspParserState::Crc;
@@ -181,7 +182,7 @@ impl MspParser {
             }
 
             MspParserState::DataV2 => {
-                self.packet_data.push(input);
+                self.packet_data.push(input).unwrap();
                 self.packet_data_length_remaining -= 1;
 
                 if self.packet_data_length_remaining == 0 {
@@ -193,7 +194,7 @@ impl MspParser {
                 self.packet_data_length_remaining = input as usize;
                 self.state = MspParserState::Command;
                 self.packet_crc ^= input;
-                self.packet_data = Vec::with_capacity(input as usize);
+                self.packet_data.clear();
             }
 
             MspParserState::Command => {
@@ -209,7 +210,7 @@ impl MspParser {
             }
 
             MspParserState::Data => {
-                self.packet_data.push(input);
+                self.packet_data.push(input).unwrap();
                 self.packet_data_length_remaining -= 1;
 
                 self.packet_crc ^= input;
@@ -263,7 +264,7 @@ impl MspParser {
     }
 }
 
-impl Default for ::MspParser {
+impl Default for MspParser {
     fn default() -> Self {
         Self::new()
     }

src/prelude/no_std.rs

@@ -1,23 +1,4 @@
-pub use core::cell::RefCell;
 pub use core::cmp::*;
-pub use core::fmt;
 pub use core::fmt::Debug;
-pub use core::fmt::Error as FmtError;
 pub use core::fmt::Write as FmtWrite;
-pub use core::intrinsics::write_bytes;
-pub use core::iter;
-pub use core::marker::PhantomData;
 pub use core::mem;
-pub use core::num::Wrapping;
-pub use core::ops::Deref;
-pub use core::ops::Range;
-
-pub use alloc::arc::Arc;
-pub use alloc::borrow::Cow;
-pub use alloc::boxed::Box;
-pub use alloc::fmt::format as format_to_string;
-pub use alloc::fmt::{Display, Formatter};
-pub use alloc::rc::Rc;
-pub use alloc::str::{from_utf8, FromStr};
-pub use alloc::string::*;
-pub use alloc::vec::Vec;

src/prelude/std.rs

@@ -1,25 +1,5 @@
-pub use std::borrow::Cow;
-pub use std::cell::RefCell;
-pub use std::cmp::{max, min};
 pub use std::convert::TryFrom;
-pub use std::fmt;
-pub use std::fmt::format as format_to_string;
-pub use std::fmt::Error as FmtError;
-pub use std::fmt::Formatter;
 pub use std::fmt::Write as FmtWrite;
 pub use std::fmt::{Debug, Display};
-pub use std::io;
-pub use std::io::Write;
-pub use std::iter;
-pub use std::marker::PhantomData;
 pub use std::mem;
-pub use std::mem::size_of;
-pub use std::num::Wrapping;
-pub use std::ops::Deref;
-pub use std::ops::Range;
 pub use std::prelude::v1::*;
-pub use std::ptr::write_bytes;
-pub use std::rc::Rc;
-pub use std::str::from_utf8;
-pub use std::str::FromStr;
-pub use std::sync::Arc;

src/structs.rs

@@ -1,6 +1,9 @@
 //! MSP structures
+use heapless::Vec;
+use packed_struct_codegen::{PackedStruct, PrimitiveEnum};
+use serde::{Deserialize, Serialize};
 
-use prelude::v1::*;
+use crate::prelude::v1::*;
 
 #[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
 pub struct MspApiVersion {
@@ -42,7 +45,7 @@ pub struct MspUniqueId {
 }
 
 #[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
-#[packed_struct(bytes = "1", endian = "lsb", bit_numbering = "msb0")]
+#[packed_struct(bytes = "2", endian = "lsb", bit_numbering = "msb0")]
 pub struct MspAvailableSensors {
     #[packed_field(bits = "2")]
     pub sonar: bool,
@@ -61,12 +64,16 @@ pub struct MspAvailableSensors {
 pub struct MspStatus {
     pub cycle_time: u16,
     pub i2c_errors: u16,
-    #[packed_field(size_bits = "8")]
-    pub sensors: MspAvailableSensors,
-    pub null1: u8,
+    pub sensors: u16,
     pub flight_mode: u32,
     pub profile: u8,
     pub system_load: u16,
+    pub gyro_cycle_time: u16,
+    pub flight_mode_flag_bits: u8,
+    pub flight_mode_flags: u16,
+    pub arming_disable_flags_count: u8,
+    pub arming_disable_flags: u32,
+    pub config_state_flags: u8,
 }
 
 #[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
@@ -190,6 +197,47 @@ pub struct MspAltitude {
     pub vario: i16,
 }
 
+#[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
+#[packed_struct(endian = "lsb")]
+pub struct MotorStatus {
+    /// temperature
+    pub temperature: u8,
+    /// rpm
+    pub rpm: u16,
+}
+
+#[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
+#[packed_struct(endian = "lsb")]
+pub struct MotorTelemetry {
+    /// rpm
+    pub rpm: u32,
+    /// invalid pct
+    pub invalid_pct: u16,
+    pub temperature: u8,
+    pub voltage: u16,
+    pub current: u16,
+    pub cinsuption: u16,
+}
+
+#[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
+#[packed_struct(endian = "lsb")]
+pub struct MspMotorTelemetry {
+    /// Motor count
+    pub motor_count: u8,
+    /// motors [temp:u8, rpm: u16]
+    #[packed_field(element_size_bits = "104")]
+    pub motor_sensor_data: [MotorTelemetry; 4],
+}
+
+#[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
+#[packed_struct(endian = "lsb")]
+pub struct MspEscSensorData {
+    /// Motor count
+    pub motor_count: u8,
+    /// motors [temp:u8, rpm: u16]
+    #[packed_field(element_size_bits = "24")]
+    pub motor_sensor_data: [MotorStatus; 4],
+}
 #[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
 #[packed_struct(endian = "lsb")]
 pub struct MspBatteryConfig {
@@ -204,11 +252,12 @@ pub struct MspBatteryConfig {
 #[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
 #[packed_struct(endian = "lsb")]
 pub struct MspAnalog {
-    pub battery_voltage: u8,
+    pub leagcy_battery_voltage: u8,
     pub mah_drawn: u16,
     pub rssi: u16,
     /// Current in 0.01A steps, range is -320A to 320A
     pub amperage: i16,
+    pub battery_voltage: u16,
 }
 
 #[derive(PackedStruct, Serialize, Deserialize, Debug, Copy, Clone)]
@@ -554,7 +603,7 @@ pub struct MspSetOsdLayoutItem {
 pub struct MspOsdSettings {
     pub osd_support: u8,
     pub config: MspOsdConfig,
-    pub item_positions: Vec<MspOsdItemPosition>,
+    pub item_positions: Vec<MspOsdItemPosition, 32>,
 }
 
 #[derive(PackedStruct, Debug, Copy, Clone)]
@@ -654,6 +703,7 @@ impl TryFrom<&str> for Baudrate {
     }
 }
 
+#[cfg(feature = "std")]
 impl From<Baudrate> for String {
     fn from(value: Baudrate) -> Self {
         match value {