OSCP IMU Rust Library

oscp-imu is a Rust crate for communicating with OSCP MK2 IMU units. It decodes the operating frames emitted by the unit and encodes the command set for both supported transports: RS422 (byte stream) and CAN-FD (message based).

https://github.com/OSCPS/oscp-imu-rs

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Build & install

The crate is distributed as a Git dependency. It is not yet published on crates.io.

Dependencies

Crate	Source	Role
oscp-imu	https://github.com/OSCPS/oscp-imu-rs.git	Library crate
cobs	crates.io, resolved by Cargo	COBS encoding and decoding
serde	crates.io, resolved by Cargo, optional	Serialize implementations for decoded types

Add it to your project

1. Add the dependency to Cargo.toml:

   [dependencies]
   oscp-imu = { git = "https://github.com/OSCPS/oscp-imu-rs.git" }
   

2. To derive serde::Serialize on frames and command responses, enable the serde feature:

   [dependencies]
   oscp-imu = { git = "https://github.com/OSCPS/oscp-imu-rs.git", features = ["serde"] }
   

3. For reproducible builds, pin a commit with rev = "<commit>".

4. Import items from the crate root:

use oscp_imu::{OscpParser, OscpFrame, OscpTransport};

Requirements

Rust 1.85 or later (edition 2024). Fields are decoded with from_le_bytes, so the crate is independent of host byte order.

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Features

• No dynamic allocation

  Parser state is held in a caller-owned OscpParser containing fixed-size arrays. The crate uses core only and does not allocate, so it is no_std-compatible.

• Two transports, one frame type

  A byte-stream parser for RS422 and a stateless decode function for CAN-FD. Both return OscpFrame.

• Frame coverage

  Raw, Euler, Quaternion, Rotation Matrix, GNSS, Debug 1/2 and Startup frames are decoded into typed structs.

• Command set

  16 commands, encoded for either transport. Each argument is a typed enum.

• Integrity checks

  CRC-16 on every frame. COBS framing on RS422.

• Error handling

  Fallible functions return Result. The RS422 parser counts dropped frames in OscpStats.

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Supported hardware

Model	Description
MK2M2	OSCP Tactical-Grade MEMS IMU
MK2E2	OSCP Tactical-Grade MEMS + Optical Gyroscope IMU
MK2Z	OSCP Navigation-Grade MEMS + Optical Gyroscope IMU

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Documentation map

• Integration Paths

  RS422 byte-stream parser and CAN-FD message decoder.

• Frame Reference

  Operating frames, field by field, with types and units.

• Command Reference

  Commands, state classes and argument enumerations.

• API Reference

  Public functions, types and errors.

• Examples

  RS422 and CAN-FD reception, and command transmission.

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Revision

This documentation tracks oscp-imu v0.1.0.