Index: lib/MsgUtils/cmake/MsgUtils.cmake
===================================================================
diff -u -r5d7e5fb0ae59ff93b2c5756ade0093eb2d5fe41f -ra52c25b8231e90a9de0421db171cde2336007733
--- lib/MsgUtils/cmake/MsgUtils.cmake	(.../MsgUtils.cmake)	(revision 5d7e5fb0ae59ff93b2c5756ade0093eb2d5fe41f)
+++ lib/MsgUtils/cmake/MsgUtils.cmake	(.../MsgUtils.cmake)	(revision a52c25b8231e90a9de0421db171cde2336007733)
@@ -17,6 +17,10 @@
     # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _source_path)
     string(JOIN "/" _source_path ${_source_dir} ${_device_name}MsgDefs.cpp)
 
+    # protobuf utility files (struct <-> protobuf conversions) generated alongside the structs
+    string(JOIN "/" _proto_utils_header_path ${_header_dir} ${_device_name}MsgProtoUtils.h)
+    string(JOIN "/" _proto_utils_source_path ${_source_dir} ${_device_name}MsgProtoUtils.cpp)
+
     # generate a pretty string containing a list of the relative paths of all csv files
     foreach(_path ${${_input_confs}})
         # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _path)
@@ -32,15 +36,20 @@
             ${MSGUTILS_SCRIPTS_DIR}/GenerateMsgDefsCpp.py
             ${MSGUTILS_SCRIPTS_DIR}/msgutils/templates/MsgDefs_h.jinja
             ${MSGUTILS_SCRIPTS_DIR}/msgutils/templates/MsgDefs_cpp.jinja
+            ${MSGUTILS_SCRIPTS_DIR}/msgutils/templates/MsgProtoUtils_h.jinja
+            ${MSGUTILS_SCRIPTS_DIR}/msgutils/templates/MsgProtoUtils_cpp.jinja
             ${${_input_confs}}
         OUTPUT
             ${_header_path}
             ${_source_path}
+            ${_proto_utils_header_path}
+            ${_proto_utils_source_path}
         COMMAND
             ${PROJECT_PYTHON} ${MSGUTILS_SCRIPTS_DIR}/GenerateMsgDefsCpp.py
                 --namespace ${_namespace}
                 --header_dir ${_header_dir}
                 --source_dir ${_source_dir}
+                --proto
                 ${${_input_confs}}
                 ${_device_name}
         COMMENT "Generating MsgDefs C++ header ${_header_path} and source ${_source_path} from input ${_file_list}"