feat(f722): add usb mavlink transport

firmware/Cargo.lock

@@ -98,6 +98,12 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "embedded-io"
 version = "0.7.1"
@@ -110,7 +116,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2564b9f813c544241430e147d8bc454815ef9ac998878d30cc3055449f7fd4c0"
 dependencies = [
- "embedded-io",
+ "embedded-io 0.7.1",
 ]
 
 [[package]]
@@ -125,12 +131,31 @@ version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e4eba85ea1d0a966a983acd07deee566e67395d2d96b6fb39e62b5a833f1eb0b"
 
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a"
 
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "indexmap"
 version = "2.14.0"
@@ -197,11 +222,11 @@ dependencies = [
 name = "kaptan-data-channel"
 version = "0.1.0"
 dependencies = [
- "kaptan-dma",
  "kaptan-err-reportable",
  "kaptan-mavlink",
  "kaptan-sensor",
  "kaptan-time",
+ "kaptan-tx",
  "mavlink-core",
 ]
 
@@ -408,7 +433,7 @@ checksum = "b31cc9f930c7edce0c1933659d405a330a28346cdf087bd283a56a6d72eb3d85"
 dependencies = [
  "byteorder",
  "crc-any",
- "embedded-io",
+ "embedded-io 0.7.1",
  "embedded-io-async",
 ]
 
@@ -498,9 +523,13 @@ dependencies = [
  "kaptan-sensor",
  "kaptan-spi",
  "kaptan-time",
+ "kaptan-tx",
  "panic-halt",
  "rtic",
  "stm32f7",
+ "synopsys-usb-otg",
+ "usb-device",
+ "usbd-serial",
 ]
 
 [[package]]
@@ -672,6 +701,12 @@ dependencies = [
  "serde_core",
 ]
 
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
+
 [[package]]
 name = "stm32f7"
 version = "0.16.0"
@@ -705,6 +740,18 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "synopsys-usb-otg"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e948d523b316939545d8b21a48c27aef150ce25321b9f95ff7978647a806a6fe"
+dependencies = [
+ "cortex-m",
+ "embedded-hal",
+ "usb-device",
+ "vcell",
+]
+
 [[package]]
 name = "target-triple"
 version = "1.0.1"
@@ -800,6 +847,28 @@ version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
+[[package]]
+name = "usb-device"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
+dependencies = [
+ "heapless",
+ "portable-atomic",
+]
+
+[[package]]
+name = "usbd-serial"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
+dependencies = [
+ "embedded-hal",
+ "embedded-io 0.6.1",
+ "nb 1.1.0",
+ "usb-device",
+]
+
 [[package]]
 name = "vcell"
 version = "0.1.3"