LibXR Only
Use the LibXR core API, peripheral drivers and middleware in an existing project.
XROBOTLIBXR
The same Module code runs on different hardware and operating systems
LibXR is a cross-platform C++ compatibility layer with peripheral drivers, data structures, communication middleware, OS abstractions and math utilities, plus the USB protocol stack XRUSB.
The CodeGenerator and XRobot are two command-line tools used with LibXR: the CodeGenerator generates the peripheral objects and the entry function app_main from an STM32CubeMX project, and XRobot fetches Modules, locks each one to a commit, and generates the main function XRobotMain from a configuration.
Animation
LIBXRWEBASSEMBLYTERMINAL
The LibXR terminal runs in the browser
The terminal here is LibXR compiled to WebAssembly and running in the browser. Terminal provides line editing, history and path completion, and runs the commands stored in RamFS by path.
On a microcontroller, the same Terminal provides a command line over a UART or a USB virtual serial port.
LIBXRUARTREADPORT
UART receive: the hardware keeps writing, software reads on demand
On microcontrollers the UART driver keeps the receive DMA running. The interrupt works out the new bytes from the DMA write pointer, writes them with PushBatch into SPSCQueue, the ring queue of the ReadPort, and calls Publish() to complete pending reads.
The receive path has no step that stops and restarts the DMA; software only catches up with the hardware write pointer.
LIBXRMESSAGETOPIC
Topic: publish and subscribe with an exact type
Topic is an in-process publish/subscribe channel with an exact payload type. A publish is delivered synchronously to the registered subscribers, each of which receives it in one of four ways: synchronous, asynchronous, queued or callback.
On Linux, LinuxSharedTopic keeps the data in shared-memory slots and subscribers read the same memory through descriptors, so no data is copied between processes.
XROBOTMODULESCI
Fetching and locking Modules, generating the main function
A BSP lists the Modules it needs in Modules/modules.yaml. xrobot setup fetches them and locks each one to a commit in xrobot.lock, and xrobot gen generates the main function XRobotMain from a configuration under User/.
The CI of an STM32 BSP calls a shared workflow: it checks that the generated files match the commit, builds every configuration, and uploads the firmware on a push to master, a v* tag or a published release.
LIBXRXRUSBDAP
XRUSB: the device-side USB stack and debug interfaces
XRUSB is the USB device stack in LibXR. It provides device classes such as CDC, HID, UAC, GSUSB, CMSIS-DAP v1/v2 and DFU, and one device can contain several device classes at once.
The debug interfaces implement SWD and JTAG with GPIO timing; the DAPLink device classes use them to access a target chip, for example to read the DP IDCODE.
XROBOTMODULESROBOTS
Robots built from Modules
The official Source includes Modules for IMUs, magnetometers, barometers, optical flow, laser ranging, grey-scale line following, RC receivers, displays and attitude estimation.
A configuration selects Modules and fills in their parameters, and xrobot gen generates the main function of one robot from it; different configurations make up the firmware of different robots.
DOCS
Enter the docs by project type
The four entries match four kinds of projects; the scenario list gives starting points for common tasks.
STM32 and the CodeGenerator
Generate the peripheral objects and the entry function app_main from an STM32CubeMX project and add LibXR to its CMake build.
XRobot BSP
Fetching and locking Modules, configurations and main function generation.
Porting to a New Platform
The system layer and peripheral drivers a new operating system or chip implements.
By scenario
- 01New to LibXR / XRobotWhat LibXR, the CodeGenerator and XRobot each do, and the reading order for each kind of project.
- 02Porting to a new hardware platformA new chip adds a peripheral driver directory, a new operating system adds a system layer directory; each layer can reuse an existing implementation.
- 03Device-side interfaces and linksDevice interfaces, protocol stacks and link implementations, including device communication, identification and updates.
- 04Building a first programFrom installing the tools to building a first program, starting from an existing BSP, an STM32CubeMX project or a new BSP.
Documentation Baseline
Recent Development
- XRobot 1.0XRobot 1.0 generates the main function statically from the configurationThe entry source registers hardware with
XR_REGISTER, andxrobot gengenerates anXRobotMainthat constructs the instances in configuration order. - PlatformPlatform drivers cover STM32, CH32, ESP32, HPM, MSPM0, Linux, Webots and WebAssemblyEach platform's drivers are in their own subdirectory under
driverin LibXR. - XRUSBXRUSB provides the CDC, DAP, DFU, GSUSB, HID and UAC device classesThe documentation has one page per device class.
- DebugThe debug link supports SWD and JTAGThis includes SWD and JTAG implemented with GPIO timing, and the CMSIS-DAP v1/v2 device classes.
COMMUNITY
Getting Started and Contributing
Onboarding Tasks (Chinese)
Starting paths by platform that introduce the design ideas and the basic usage of XRobot and LibXR step by step.
Agent Quick Start
A one-page start-up context: the coding agent first decides whether the repository is an XRobot BSP, a platform project or a driver project, then opens the matching docs and code.
Module Catalogs
The official Source lists the Modules that a BSP can add; xrobot source searches and shows its entries.
Contribution Guide
Repository and branch conventions, coding and documentation style, testing rules, and how to submit changes.
XRobot is all you need