Document MessagePack ext types and fix related doc errors

Add an "Extension types (ext, fixext)" section to the MessagePack page:
ext/fixext are read as binary, the signed ext type is exposed as an
unsigned subtype 0..255 (-1 reads as 255), Timestamp is not interpreted,
subtypes are always written as ext/fixext, and subtypes above 255 throw
out_of_range.415. Add the 0xC1 row to the deserialization table, note
that duplicate keys keep the last value, and correct the NaN/Infinity
explanation, the "31 bytes / 15 elements" wording, the ill-formed UTF-8
sentence, and the generic 0xC1-key error message.

Add fixext16 and the unsigned subtype mapping to binary_t.md and
binary_values.md, reword "maximum of the MessagePack ext type" in
to_msgpack.md and exceptions.md, and mark MessagePack deserialization
as incomplete (non-string keys) in the binary formats overview.

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

docs/mkdocs/docs/features/binary_formats/messagepack.md

@@ -11,7 +11,7 @@ extra byte in addition to the strings themselves.
 
 ## Byte layout
 
-MessagePack encodes each value as a one-byte *format marker*, optionally followed by a length or the payload. The marker range is partitioned to keep common values small: small non-negative integers (0 to 127) and small negative integers (-32 to -1) are the marker byte itself; short strings, arrays, and maps (up to 31 or 15 elements) hide their length in the marker's lower bits. Larger values use dedicated markers that announce the width (8, 16, 32, or 64 bits) of the length or number that follows, in big-endian byte order. Like CBOR, containers are length-prefixed, so no terminator is needed.
+MessagePack encodes each value as a one-byte *format marker*, optionally followed by a length or the payload. The marker range is partitioned to keep common values small: small non-negative integers (0 to 127) and small negative integers (-32 to -1) are the marker byte itself; short strings, arrays, and maps (up to 31 bytes for strings and up to 15 elements for arrays and maps) hide their length in the marker's lower bits. Larger values use dedicated markers that announce the width (8, 16, 32, or 64 bits) of the length or number that follows, in big-endian byte order. Like CBOR, containers are length-prefixed, so no terminator is needed.
 
 Consider the following JSON value (shown formatted for readability):
 
@@ -109,8 +109,9 @@ specification:
 !!! note
 
     Prior to version 3.13.0, NaN and Infinity were instead serialized as a MessagePack float 64 (type 0xCB, 9 bytes
-    total), because the check used to select the smaller float 32 encoding compared magnitudes with NaN, which is
-    always `false` and caused the float 32 path to be skipped.
+    total), because the check used to select the smaller float 32 encoding failed for NaN (all comparisons are `false`)
+    and for Infinity and -Infinity (outside the float range checked against `std::numeric_limits<float>::lowest()` and
+    `max()`), so the float 32 path was skipped.
 
 ??? example "Example: serialize a JSON value to MessagePack"
 
@@ -166,6 +167,29 @@ The library maps MessagePack types to JSON value types as follows:
 | fixext 8         | binary          | 0xD7       |
 | fixext 16        | binary          | 0xD8       |
 | negative fixint  | number_integer  | 0xE0-0xFF  |
+| (never used)     | –               | 0xC1       |
+
+The byte 0xC1 is reserved as "never used" by the specification and is rejected with
+[`parse_error.112`](../../home/exceptions.md#jsonexceptionparse_error112).
+
+### Extension types (ext, fixext)
+
+MessagePack ext and fixext values are read as binary values, and the ext type byte is stored as the binary subtype.
+Although the specification defines the type as a signed 8-bit integer (0 to 127 for applications, -128 to -1 reserved,
+with -1 being the Timestamp extension), the library reads it as an unsigned byte: a negative ext type `n` becomes
+subtype `256+n`, so ext type -1 is read as subtype 255 and -128 as subtype 128. The Timestamp extension is not
+interpreted; it is returned as binary with subtype 255. Use
+[`has_subtype()`](../../api/byte_container_with_subtype/has_subtype.md) to tell a `bin` value (no subtype) from an ext
+value (subtype, even if it is 0).
+
+When serializing, a binary value with a subtype is always written as fixext (1, 2, 4, 8, or 16 bytes) or ext, even
+for subtype 0 (`d6 00 01 02 03 04`); a binary value without a subtype is written as bin. Subtypes 128 to 255 are
+written as the reserved negative ext types (255 as -1), so `json::binary({1,2,3,4}, 255)` becomes
+`d6 ff 01 02 03 04`, which other MessagePack libraries decode as a 32-bit timestamp. A subtype above 255 throws
+[`out_of_range.415`](../../home/exceptions.md#jsonexceptionout_of_range415). The payload length is limited to
+4294967295 bytes like all other lengths.
+
+Duplicate keys in a map are accepted; the last value wins.
 
 !!! info
 
@@ -177,7 +201,8 @@ The library maps MessagePack types to JSON value types as follows:
     JSON-compatible [profile](https://github.com/msgpack/msgpack/blob/master/spec.md#profile) sketched in the
     MessagePack specification, this library restricts map keys to `str` values. Maps with keys of any other type are
     rejected with a [`parse_error.113`](../../home/exceptions.md#jsonexceptionparse_error113) exception (or, with
-    `allow_exceptions` set to `false`, a discarded value) naming the type of the key that was found, for instance:
+    `allow_exceptions` set to `false`, a discarded value). For most key types the message names the type that was
+    found, for instance:
 
     ```
     [json.exception.parse_error.113] parse error at byte 2: syntax error while parsing MessagePack object key: only string keys are supported, but found nil; last byte: 0xC0
@@ -189,7 +214,7 @@ The library maps MessagePack types to JSON value types as follows:
 !!! warning "Ill-formed UTF-8 in string values"
 
     The MessagePack specification explicitly allows a `str` value (`fixstr`, `str 8`, `str 16`, `str 32`) to contain
-    a byte sequence that is not valid UTF-8, and expects a deserializer to hand the original bytes back unchanged.
+    a byte sequence that is not valid UTF-8, and recommends that a deserializer provide a way to obtain the original bytes.
     This library follows that by default: with its
     [`error_handler`](../../api/basic_json/from_msgpack.md) parameter left at `keep` (the default),
     `from_msgpack()` reads `str` bytes (object keys included) as-is, without validating them, so such a value