Integrate with XRobot

With --xrobot, the code generator writes one XR_REGISTER(name, Type) line per generated peripheral object into app_main.cpp and calls XROBOT_MAIN(); after the User Code 3 region. With --no-xrobot, no XRobot code is generated; with neither, libxr gen and libxr stm32 setup keep the choice of the existing app_main.cpp, and a new project gets no XRobot code. Configurations refer to hardware by these names; see Project Management (XRobot).

When an existing project switches to --xrobot and User Code 3 still holds the default loop generated without --xrobot, regeneration empties the loop, so that the XROBOT_MAIN() after it runs; any other content of User Code 3 is kept.

Example

libxr stm32 setup -d . --xrobot
# or regenerate only app_main.cpp:
libxr parse -d . -o .config.yaml
libxr gen -i .config.yaml -o User/app_main.cpp --xrobot --libxr-config User/libxr_config.yaml

app_main.cpp generated for an STM32F407 project (excerpt; omitted lines are marked // ...):

#include "app_main.h"

#include "cdc_uart.hpp"
#include "flash_map.hpp"
// ...
#include "xrobot_main.hpp"

// ...

extern "C" void app_main(void)
{
  // ...
  // Hardware registration
  XR_REGISTER(power_manager, LibXR::PowerManager);

  XR_REGISTER(USER_KEY, LibXR::GPIO);
  // ...

  XR_REGISTER(spi1, LibXR::SPI);

  XR_REGISTER(usart1, LibXR::UART);
  // ...
  XR_REGISTER(usb_otg_hs_cdc2, LibXR::UART);

  // ...
  XR_REGISTER(can1, LibXR::CAN);
  XR_REGISTER(can2, LibXR::CAN);

  XR_REGISTER(ramfs, LibXR::RamFS);

  XR_REGISTER(terminal, LibXR::Terminal<32, 32, 5, 5>);

  XR_REGISTER(database, LibXR::Database);

  /* User Code Begin 3 */
  /* User Code End 3 */
  XROBOT_MAIN();
}

Code block collapsed

The registered name is the generated C++ object name. The table gives the registered name and type of each kind of object, in the order the generated code registers them:

Object	Registered name	Type
Power manager	`power_manager`	`LibXR::PowerManager`
GPIO pin	The CubeMX pin label, or the pin name without a label, such as `USER_KEY` or `PA8`	`LibXR::GPIO`
ADC channel	`<ADC instance>_<channel>`, such as `adc3_adc_channel_8`; when a channel is configured in several Ranks, the later names carry a `_rank<N>` suffix	`LibXR::ADC`
DAC output	`<DAC instance>_<output>`, such as `dac1_out2`; `dac_out2` when the instance is named `DAC`	`LibXR::DAC`
PWM channel	`pwm_<timer>_ch<channel>`, such as `pwm_tim1_ch1`; `pwm_tim1_ch1n` for a complementary output	`LibXR::PWM`
SPI	The lower-case instance name, such as `spi1`	`LibXR::SPI`
Hardware UART (USART, UART, LPUART)	The lower-case instance name, such as `usart1` or `uart7`	`LibXR::UART`
USB CDC	`<USB instance>_cdc`, `<USB instance>_cdc2` and so on, such as `usb_otg_fs_cdc`	`LibXR::UART`
I2C	The lower-case instance name, such as `i2c1`	`LibXR::I2C`
CAN	The lower-case instance name, such as `can1`; each FDCAN instance also gets a reference `canN` (`LibXR::CAN& canN = fdcanN;`)	`LibXR::CAN`
FDCAN	The lower-case instance name, such as `fdcan1`	`LibXR::FDCAN`
Independent watchdog	The lower-case instance name, such as `iwdg` or `iwdg1`	`LibXR::Watchdog`
RamFS	`ramfs`, generated when `terminal_source` names a generated serial port	`LibXR::RamFS`
Terminal	`terminal`, generated together with `ramfs`	`LibXR::Terminal<...>`, whose template arguments are the first four `Terminal` settings, such as `LibXR::Terminal<32, 32, 5, 5>`
Database	`database`, generated when `database.enable` is `true`; see Flash Database	`LibXR::Database`

One name registers one type, and generation fails when generated names collide, for example canN on a chip with both CAN and FDCAN.
To register more objects (for example an extra serial port created in User Code 3), write XR_REGISTER in User Code 3; that code is kept on regeneration.
XROBOT_MAIN(); is owned by the generator. Older versions placed it in User Code 3; if a User Code region still calls it, the generator reports the line and stops without writing anything. Delete that line and regenerate.

libxr stm32 cmake and libxr stm32 setup add or remove set(XROBOT_MODULES_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Modules") in the “Project settings” block at the top of cmake/LibXR.CMake according to whether User/app_main.cpp was generated with --xrobot; an added line goes after set(LIBXR_DRIVER st). libxr gen on its own does not change this file.

Generator Version

generator: at the top level of User/libxr_config.yaml pins the code generator (a release version or a 40-hex commit); BSP CI installs that version. When the generator creates this file, its first line holds the installed version, e.g. generator: 6.0.1; regeneration keeps the key and the file's comments. When an existing file has no such key, libxr gen warns and generates as usual:

[WARNING] libxr_config.yaml does not pin the generator; add `generator: 6.0.1` (the BSP CI installs the pinned version)

After Generation

libxr stm32 setup -d . --xrobot writes the registrations and XROBOT_MAIN(); into the entry source and sets the Modules directory in cmake/LibXR.CMake; the files under Modules/ and User/xrobot.yaml are created by XRobot. When the BSP root has no Modules/modules.yaml yet, XRobot is set up in the following order. The example adds the BlinkLED Module for an LED on the pin labeled LED_B:

xrobot init                                     # create Modules/modules.yaml, Modules/sources.yaml and User/xrobot.yaml
xrobot module add xrobot-org/BlinkLED@dev       # add the Module
xrobot setup                                    # fetch Modules, check configs, generate User/xrobot_main.hpp
xrobot instance add xrobot-org/BlinkLED         # add the instance blinkled_0
xrobot instance set blinkled_0 args.led LED_B   # fill the dependency with a registered name
xrobot gen                                      # regenerate User/xrobot_main.hpp

The output of each command is shown in Quick Start. A Module dependency of type LibXR::RamFS& needs terminal_source set in User/libxr_config.yaml (or -t passed to libxr stm32 setup), and one of type LibXR::Database& needs database.enable: true. After the change, running libxr stm32 setup -d . again generates and registers ramfs or database. Without these settings xrobot instance add finds no object to fill in for such dependencies.

User/xrobot_main.hpp is generated by XRobot; see Main Function Generation.

Example​

Generator Version​

After Generation​

Example

Generator Version

After Generation