main.cpp

#include <Arduino.h>
#include <MsgPacketizer.h>

#define SERIAL_SPEED 500000
#define MSGPACK_RECV_INDEX 0x01
#define MSGPACK_SEND_INDEX 0x02
#define SERIAL_PORT Serial1

struct ServoCommand {
    float left;
    float right;
    MSGPACK_DEFINE(left, right);
};

void handleCommand(const ServoCommand& cmd) {
    // ...
}

void setup() {
    SERIAL_PORT.begin(SERIAL_SPEED);
    MsgPacketizer::subscribe(SERIAL_PORT, MSGPACK_RECV_INDEX, &handleCommand);
}

void loop() {
    MsgPacketizer::update();
}

platformio.ini

[env:teensy40]
platform = teensy
board = teensy40
framework = arduino
upload_protocol = teensy-cli
lib_deps = hideakitai/MsgPacketizer@^0.5.1