| Name | libxr JSON |
| Version |
0.4.1
JSON |
| download |
| home_page | None |
| Summary | C++ code generator for LibXR-based embedded systems, supporting STM32 and modular robotics applications. |
| upload_time | 2025-07-08 15:29:10 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | >=3.8 |
| license | Apache-2.0 |
| keywords |
code generation
embedded systems
automation
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
<h1 align="center">
<img src="https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/raw/main/imgs/XRobot.jpeg" width="300">
</h1><br>
[](LICENSE)
[](https://github.com/Jiu-xiao/libxr)
[](https://jiu-xiao.github.io/libxr/)
[](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/issues)
[](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/actions/workflows/python-publish.yml)
[](https://app.fossa.com/projects/git%2Bgithub.com%2FJiu-xiao%2FLibXR_CppCodeGenerator?ref=badge_shield)
`libxr` 是一个 Python 包，用于自动化嵌入式系统开发。它通过解析硬件配置文件并生成对应的 C++ 工程代码，显著降低嵌入式开发中的重复性工作。目前默认支持 STM32 平台，后续将扩展至更多硬件体系结构。
`libxr` is a Python package for automating embedded system development. It parses hardware configuration files and generates corresponding C++ project code, significantly reducing repetitive manual work. STM32 is supported by default, with more hardware architectures planned.
## 🌟 Features 功能亮点
- 🧠 自动生成设备驱动和应用程序框架。
Automatically generates device drivers and application scaffolding.
- ⚙️ 支持多种后端架构，默认支持 STM32 平台。
Supports multiple backends; STM32 is the default.
- 🔌 支持多重别名注册与查找。
Supports multi-alias registration and lookup.
- 📦 可与 XRobot 框架集成，实现模块自动注册与调度管理。
Enables integration with the XRobot application framework.
## 📥 Installation 安装
### 使用pipx安装 (Install via `pipx`)
windows
```ps
python -m pip install --user pipx
python -m pipx ensurepath
pipx install libxr
pipx ensurepath
# Restart your terminal
```
linux
```bash
sudo apt install pipx
pipx install libxr
pipx ensurepath
# Restart your terminal
```
### 使用 pip 安装 (Install via `pip`)
```bash
pip install libxr
```
### 从源码安装 (Install from source)
```bash
git clone https://github.com/Jiu-xiao/LibXR_CppCodeGenerator.git
cd LibXR_CppCodeGenerator
python3 ./scripts/gen_libxr_version.py
pip install -e .
```
---
## 🔧 General 通用命令(跨平台支持)
以下命令适用于所有平台(如 STM32 及未来支持的架构)。
These commands work across platforms (STM32 and others):
### `xr_parse`
```bash
xr_parse -i config.yaml
```
解析通用的 YAML 硬件配置文件，提取外设定义。
Parses a generic YAML hardware configuration and extracts peripheral definitions.
### `xr_gen_code`
```bash
xr_gen_code -i config.yaml [--xrobot]
```
根据 YAML 配置生成平台无关的 C++ 硬件抽象层代码，可选生成 XRobot 集成代码。
Generates platform-agnostic C++ hardware abstraction code from YAML.
---
## STM32 工程工具 (STM32 Project Tools)
### `xr_cubemx_cfg`
自动配置 STM32CubeMX 工程
Automatically configures an STM32CubeMX project.
```bash
usage: xr_cubemx_cfg [-h] -d DIRECTORY [-t TERMINAL] [-c] [--xrobot]
```
解析 `.ioc` 文件，生成 YAML 和 C++ 驱动代码，补丁中断处理函数，并初始化项目结构
Parses `.ioc`, generates YAML and C++ code, patches interrupt handlers, and initializes the project structure.
#### 🔧 必选参数 (Required)
- `-d, --directory <DIRECTORY>`：
STM32CubeMX 工程路径
Path to the STM32CubeMX project.
#### ⚙️ 可选参数 (Optional)
- `-t, --terminal <TERMINAL>`：
串口设备名称(如 `usart1` `usb`)
Terminal device name (e.g. `usart1` `usb`).
- `-c, --clang`：
启用 Clang 构建支持
Enable Clang build support.
- `--xrobot`：
生成 XRobot Glue 代码
Enable XRobot glue code generation.
- `--commit`
指定 LibXR 仓库commit版本
Specify the LibXR repository commit version
#### 📦 输出内容 (Outputs)
- `.config.yaml`:
自动生成的 C++ 驱动代码(如 `app_main.cpp`
Generated C++ driver code (e.g. `app_main.cpp`)
- 补丁后的中断处理函数(如 `stm32xx_it.c`)
Patched interrupt handlers (e.g. `stm32xx_it.c`)
- `CMakeLists.txt`、`.gitignore`
- 初始化的 Git 仓库及 LibXR 子模块
Initialized Git repository and LibXR submodule
---
### `xr_parse_ioc`
自动解析 STM32CubeMX 工程配置
Parses `.ioc` files from STM32CubeMX projects and exports structured YAML.
```bash
usage: xr_parse_ioc [-h] -d DIRECTORY [-o OUTPUT] [--verbose]
```
解析 `.ioc` 文件为 `.config.yaml`，并在终端输出解析摘要
Parses `.ioc` files and creates `.config.yaml` with a readable summary.
#### 🔧 必选参数 (Required)
- `-d, --directory <DIRECTORY>`
`.ioc` 文件所在目录路径
Path to the input directory containing `.ioc` files.
#### ⚙️ 可选参数 (Optional)
- `-o, --output <FILE>`
自定义 YAML 输出路径(默认与 `.ioc` 同名)
Custom YAML output path (default: `<input_file>.yaml`).
- `--verbose`
启用调试日志，输出详细解析过程
Enable verbose logging.
#### 📦 输出内容 (Outputs)
- `.config.yaml`：
包含 GPIO、外设、DMA、FreeRTOS、MCU 等配置
YAML file containing GPIO, peripheral, DMA, FreeRTOS, and MCU configurations.
- 控制台摘要：MCU 信息、GPIO 数量、外设统计等
Console summary: MCU information, GPIO count, peripheral statistics, etc.
---
### `xr_gen_code_stm32`
根据 YAML 配置生成 STM32 硬件抽象层代码，可选生成 XRobot 集成代码。
Generates STM32 application code from YAML.
```bash
usage: xr_gen_code_stm32 [-h] -i INPUT -o OUTPUT [--xrobot] [--libxr-config LIBXR_CONFIG]
```
#### 🔧 Required
- `-i`：
`.config.yaml` 配置文件路径
Path to `.config.yaml`
- `-o`：
生成代码输出目录
Output directory
#### ⚙️ Optional
- `--xrobot`：
启用 XRobot glue 代码生成
Enable XRobot glue generation
- `--libxr-config`：
自定义 libxr_config.yaml 路径(可为本地或远程)
Path or URL to runtime config YAML
#### 📦 Outputs
- `app_main.cpp`：
主入口文件，包含所有初始化逻辑
Main entry point with all initialization logic
- `libxr_config.yaml`：
运行时配置文件，可自定义缓冲区大小、队列等参数
Runtime config YAML, can be customized with buffer size, queue, etc.
- `flash_map.hpp`：
自动生成的 Flash 扇区表，供 Flash 抽象层使用
Auto-generated flash sector layout for use with Flash abstraction layer
---
### `xr_stm32_flash`
解析 STM32 型号，生成 Flash 扇区信息表（YAML 格式输出）。
Parses STM32 model name and generates flash layout info (YAML output).
```bash
usage: xr_stm32_flash <STM32_MODEL>
```
### 🧠 功能说明 (Functionality)
- 根据 STM32 型号名称自动推导 Flash 大小
Automatically infers flash size from the STM32 model string
- 根据芯片系列（如 F1/F4/H7/U5 等）生成对应的扇区布局
Generates sector layout depending on the chip series (e.g., F1/F4/H7/U5)
- 输出包括每个扇区的地址、大小和索引
Output includes address, size, and index of each sector
### 📦 输出内容 (Outputs)
- YAML 格式的 Flash 信息
Flash info in YAML format:
```yaml
model: STM32F103C8
flash_base: '0x08000000'
flash_size_kb: 64
sectors:
- index: 0
address: '0x08000000'
size_kb: 1.0
- index: 1
address: '0x08000400'
size_kb: 1.0
...
```
---
### `xr_stm32_it`
批量修改 STM32 中断处理文件，插入 UART IDLE 回调和 USB F1 回调支持。
Modifies STM32 interrupt handlers to add UART IDLE callback and USB F1 callback support for LibXR.
```bash
usage: xr_stm32_it [-h] input_dir
```
#### 🔧 必选参数 (Required)
- `input_dir`：
包含 `*_it.c` 文件的文件夹路径
Directory containing the `*_it.c` source files.
#### ⚙️ 功能说明 (Functionality)
- 查找每个 `*_it.c` 文件中的 `HAL_UART_IRQHandler(&huartX)` 调用
Find `HAL_UART_IRQHandler(&huartX)` calls in each `*_it.c` file
- 查找 `USB_HP_CAN1_TX_IRQHandler` 和 `USB_LP_CAN1_RX0_IRQHandler` 中断函数
Find `USB_HP_CAN1_TX_IRQHandler` and `USB_LP_CAN1_RX0_IRQHandler` handlers
- 向对应中断函数的 `/* USER CODE BEGIN XXX_IRQn 0/1 */` 区域插入：
Add to the `/* USER CODE BEGIN XXX_IRQn 0/1 */` section of the corresponding interrupt function
```c
/* LibXR UART IDLE callback (Auto-generated) */
#ifdef HAL_UART_MODULE_ENABLED
STM32_UART_ISR_Handler_IDLE(&huartX);
#endif
```
- 对于 USB 中断（仅 STM32F1，且启用 HAL_PCD_MODULE），插入：
For USB interrupts (STM32F1 only, with HAL_PCD_MODULE enabled)
```c
/* LibXR USB Tx Cplt callback (Auto-generated, For STM32F1) */
#if defined(STM32F1) && defined(HAL_PCD_MODULE_ENABLED)
STM32_USB_ISR_Handler_F1();
#endif
```
- 若未定义 `STM32_UART_ISR_Handler_IDLE`和 `STM32_USB_ISR_Handler_F1`的 `extern` 声明，将插入至 `/* USER CODE BEGIN 0 */` 区域下
Insert at `/* USER CODE BEGIN 0 */` if `STM32_UART_ISR_Handler_IDLE` and `STM32_USB_ISR_Handler_F1` is not defined
- 支持多个 UART 和 USB 接口
Support for multiple UART and USB interfaces
#### 📦 输出内容 (Outputs)
- 被修改的 `*_it.c` 文件
Modified `*_it.c` files
- 控制台输出修改摘要，包括修改的文件与函数名称
Console output summary, including modified files and function names
---
### `xr_stm32_clang`
自动修改 STM32 工程，适配 Clang 编译工具链。
Creates Clang-compatible toolchain file.
```bash
usage: xr_stm32_clang [-h] input_dir
```
#### 🔧 必选参数 (Required)
- `input_dir`：
包含 `gcc-arm-none-eabi.cmake` 的 STM32 工程目录路径
Directory containing `gcc-arm-none-eabi.cmake` for the STM32 project
#### ⚙️ 功能说明 (Functionality)
- 在 `{input_dir}/cmake/` 中查找 `gcc-arm-none-eabi.cmake` 文件
Locate `gcc-arm-none-eabi.cmake` inside `{input_dir}/cmake/`
- 解析其中的 `linker_script` 路径与 `-mcpu` 编译器参数
Extract `linker_script` path and `-mcpu` target flag
- 自动生成 `gcc-arm-none-eabi.cmake` 文件，适配 Clang 编译工具链
Generate Clang-compatible `gcc-arm-none-eabi.cmake` toolchain file
- 自动修改 `CMakeLists.txt` 文件，插入
Automatically modify `CMakeLists.txt` to include:
```cmake
include("cmake/gcc-arm-none-eabi.cmake")
```
#### 📦 输出内容 (Outputs)
- 覆盖原有 `gcc-arm-none-eabi.cmake` 文件
Overwrites original `gcc-arm-none-eabi.cmake` file
- 自动添加或更新 `CMakeLists.txt` 文件中的 include 指令
Auto-updates `CMakeLists.txt` to include the toolchain file
---
### `xr_libxr_cmake`
为 STM32CubeMX 工程生成 `LibXR.CMake` 配置，并自动集成至 `CMakeLists.txt`。
Generates `LibXR.CMake` file and injects it into the STM32CubeMX CMake project.
```bash
usage: xr_libxr_cmake [-h] input_dir
```
#### 🔧 必选参数 (Required)
- `input_dir`：
指定 CubeMX 生成的 CMake 工程根目录
Path to the CubeMX-generated CMake project root
#### ⚙️ 功能说明 (Functionality)
- 自动生成 `cmake/LibXR.CMake` 文件，内容包括：
Generate `cmake/LibXR.CMake` containing:
- 添加 `LibXR` 子目录
Add `LibXR` as a subdirectory
- 链接 `xr` 静态库
Link the `xr` static library
- 添加 `Core/Inc`、`User` 目录为包含路径
Include `Core/Inc` and `User` directories
- 添加 `User/*.cpp` 为源文件
Add `User/*.cpp` to project sources
- 自动检测是否启用 FreeRTOS：
Auto-detect FreeRTOS configuration:
- 存在 `Core/Inc/FreeRTOSConfig.h` → `LIBXR_SYSTEM=FreeRTOS`
- 否则设置为 `None`
- 自动删除旧的 `build/` 目录(如存在)
Automatically deletes existing `build/` directory if found
- 自动向主 `CMakeLists.txt` 添加以下指令(若尚未包含)：
Auto-appends the following line to `CMakeLists.txt` if missing:
```cmake
include(${CMAKE_CURRENT_LIST_DIR}/cmake/LibXR.CMake)
```
#### 📦 输出内容 (Outputs)
- 生成 `cmake/LibXR.CMake` 文件
Generates `cmake/LibXR.CMake` file
- 修改主工程的 `CMakeLists.txt`，插入 `include(...)`
Updates `CMakeLists.txt` to include `LibXR.CMake`
- 删除原有构建缓存目录 `build/`(如存在)
Deletes the old `build/` directory if present
---
### STM32 工程要求 (STM32 Project Requirements)
#### 📁 项目结构要求(Project Structure)
- 必须为 **STM32CubeMX 导出的 CMake 工程**
Must be a CMake project exported from STM32CubeMX
- 项目应包含以下路径：
Project should contain the following directories:
- `xx.ioc`
- `CMakeLists.txt`
- `cmake/gcc-arm-none-eabi.cmake`
- `Core/Inc`, `Core/Src`
#### ⚙️ 配置要求(Peripheral & Middleware)
- 所有 **UART / SPI / I2C** 外设必须启用 **DMA**
All **UART / SPI / I2C** peripherals must have **DMA** enabled
- 如果ADC启用了DMA，请开启连续转换模式
If ADC has DMA enabled, enable continuous mode
- 推荐启用 **FreeRTOS**，自动生成 `FreeRTOSConfig.h`
Recommended to enable **FreeRTOS** and generate `FreeRTOSConfig.h`
- 若使用 USB 作为终端：
If using USB as a terminal:
- 启用 `USB_DEVICE` 中间件，并选择 `Communication Device Class (CDC)`
Enable `USB_DEVICE` middleware and select `Communication Device Class (CDC)`
#### ⏱️ Timebase 配置建议(Timebase Configuration)
> ✅ 强烈推荐使用 `TIM6`/`TIM7` 等 Timer 作为 Timebase
Strongly recommended to use `TIM6`/`TIM7` Timers as Timebase
> ✅ 并将该中断优先级设置为 **最高(0)**
And set the interrupt priority to **highest (0)**
---
## 🧩 代码生成后操作 (After Code Generation)
生成代码后，你需要**手动添加**以下内容：
After generating code, you must **manually add** the following:
```cpp
#include "app_main.h"
```
并在合适位置调用 `app_main();`：
And call `app_main();` in the appropriate location:
| 场景 (Scenario) | 添加位置 |Where to add|
|-----------------------|------------------------------------| -----------|
| 🟢 Bare metal 裸机工程 | `main()` 函数末尾 | End of `main()` |
| 🔵 FreeRTOS 工程 | 线程入口 | Thread entry function |
---
## LibXR / LibXR_CppCodeGenerator / XRobot Relationship
LibXR、LibXR_CppCodeGenerator 与 XRobot 三者形成了一套完整的嵌入式与机器人软件开发体系，分工明确，协同紧密。
LibXR, LibXR_CppCodeGenerator and XRobot together form a complete software ecosystem for embedded and robotics development, with clear separation of concerns and tight integration.
---
### 🧠 LibXR
**LibXR 是跨平台的驱动抽象与工具库**，支持 STM32、Linux 等平台，包含：
LibXR is a cross-platform driver abstraction and utility library supporting STM32, Linux, and more. It provides:
- 通用外设接口封装
Unified peripheral interface abstraction
- 嵌入式组件（如 Terminal、PowerManager、Database 等）
Embedded modules like Terminal, PowerManager, Database, etc.
- FreeRTOS / bare-metal 支持
FreeRTOS and bare-metal support
- 机器人运动学与导航
Kinematics and navigation libraries for robotics
- 自动代码生成支持
Code generation support
#### 🔗 Links
- **Repository**: [libxr](https://github.com/Jiu-xiao/libxr)
- **API Documentation**: [API](https://jiu-xiao.github.io/libxr/)
- **Issues**: [Issue Tracker](https://github.com/Jiu-xiao/libxr/issues)
---
### 🔧 LibXR_CppCodeGenerator
**LibXR_CppCodeGenerator 是用于 LibXR 的代码生成工具链**，当前支持 STM32 + CubeMX，未来将扩展至 Zephyr、ESP-IDF 等平台。
LibXR_CppCodeGenerator is a code generation toolchain for LibXR. It currently supports STM32 with CubeMX, and is planned to support Zephyr, ESP-IDF, and more.
- 从不同平台的工程文件生成 `.yaml` 配置
Parse project files from different platforms to generate `.yaml` configurations
- 基于 `.yaml` 自动生成 `app_main.cpp`、中断、CMake 等
Generate `app_main.cpp`, interrupt handlers, and CMake integration
- 支持 `XRobot` glue 层集成
Supports optional integration with XRobot framework
- 支持用户代码保留与多文件结构
Preserves user code blocks and supports modular output
#### 🔗 Links
- **Repository**: [LibXR_CppCodeGenerator](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator)
- **Documentation and Releases**: [PyPI](https://pypi.org/project/libxr/)
- **Issues**: [Issue Tracker](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/issues)
---
### 🤖 XRobot
XRobot 是一个轻量级的模块化应用管理框架，专为嵌入式设备而设计。它本身不包含任何驱动或业务代码，专注于模块的注册、调度、生命周期管理、事件处理与参数配置。
**XRobot is a lightweight modular application management framework designed for embedded systems.**
It does not include any drivers or business logic by itself. Instead, it focuses on module registration, scheduling, lifecycle management, event handling, and parameter configuration.
- 模块注册与生命周期管理
Module registration and lifecycle management
- 参数管理 / 配置系统 / 事件系统
Parameter management, configuration system, and event system
- ApplicationRunner / ThreadManager 等应用调度器
ApplicationRunner and ThreadManager for runtime coordination
- 不直接访问硬件，依赖 LibXR 的 PeripheralManager
Does not access hardware directly, relies on LibXR's PeripheralManager
---
#### ✅ Recommended For 推荐使用场景
- 拥有多个子模块（如传感器、通信、控制器）且希望统一管理初始化、调度与资源依赖
For projects with multiple submodules (e.g., sensors, communication, controllers) needing unified lifecycle and dependency management.
- 希望构建平台无关的应用层逻辑，与底层驱动解耦
For building platform-independent application logic decoupled from hardware drivers.
- 与 **LibXR** 结合使用，实现自动注册硬件对象（通过 `HardwareContainer`）
When used with **LibXR**, supports automatic hardware registration via `HardwareContainer`.
- 支持生成模块入口代码、配置逻辑名与硬件名的映射，便于快速适配不同硬件配置
Supports generating module entry code and logical-to-physical hardware name mapping for quick adaptation to different platforms.
#### 🔗 Links
- **Repository**: [XRobot](https://github.com/xrobot-org/XRobot)
- **Documentation**: [GitHub Pages](https://xrobot-org.github.io)
- **Releases**: [PyPI](https://pypi.org/project/xrobot)
- **Issues**: [Issue Tracker](https://github.com/xrobot-org/XRobot/issues)
---
## 📄 License
Licensed under **Apache-2.0**. See [LICENSE](LICENSE).
[](https://app.fossa.com/projects/git%2Bgithub.com%2FJiu-xiao%2FLibXR_CppCodeGenerator?ref=badge_large)
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"download_url": "https://files.pythonhosted.org/packages/dc/85/7b04df7844cd50246692c4b2e3e191763e3a755394258820553090b86287/libxr-0.4.1.tar.gz",
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"description": "<h1 align=\"center\">\r\n<img src=\"https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/raw/main/imgs/XRobot.jpeg\" width=\"300\">\r\n</h1><br>\r\n\r\n[](LICENSE)\r\n[](https://github.com/Jiu-xiao/libxr)\r\n[](https://jiu-xiao.github.io/libxr/)\r\n[](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/issues)\r\n[](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/actions/workflows/python-publish.yml)\r\n[](https://app.fossa.com/projects/git%2Bgithub.com%2FJiu-xiao%2FLibXR_CppCodeGenerator?ref=badge_shield)\r\n\r\n`libxr` \u662f\u4e00\u4e2a Python \u5305\uff0c\u7528\u4e8e\u81ea\u52a8\u5316\u5d4c\u5165\u5f0f\u7cfb\u7edf\u5f00\u53d1\u3002\u5b83\u901a\u8fc7\u89e3\u6790\u786c\u4ef6\u914d\u7f6e\u6587\u4ef6\u5e76\u751f\u6210\u5bf9\u5e94\u7684 C++ \u5de5\u7a0b\u4ee3\u7801\uff0c\u663e\u8457\u964d\u4f4e\u5d4c\u5165\u5f0f\u5f00\u53d1\u4e2d\u7684\u91cd\u590d\u6027\u5de5\u4f5c\u3002\u76ee\u524d\u9ed8\u8ba4\u652f\u6301 STM32 \u5e73\u53f0\uff0c\u540e\u7eed\u5c06\u6269\u5c55\u81f3\u66f4\u591a\u786c\u4ef6\u4f53\u7cfb\u7ed3\u6784\u3002\r\n\r\n`libxr` is a Python package for automating embedded system development. It parses hardware configuration files and generates corresponding C++ project code, significantly reducing repetitive manual work. STM32 is supported by default, with more hardware architectures planned.\r\n\r\n## \ud83c\udf1f Features \u529f\u80fd\u4eae\u70b9\r\n\r\n- \ud83e\udde0 \u81ea\u52a8\u751f\u6210\u8bbe\u5907\u9a71\u52a8\u548c\u5e94\u7528\u7a0b\u5e8f\u6846\u67b6\u3002 \r\n Automatically generates device drivers and application scaffolding.\r\n\r\n- \u2699\ufe0f \u652f\u6301\u591a\u79cd\u540e\u7aef\u67b6\u6784\uff0c\u9ed8\u8ba4\u652f\u6301 STM32 \u5e73\u53f0\u3002 \r\n Supports multiple backends; STM32 is the default.\r\n\r\n- \ud83d\udd0c \u652f\u6301\u591a\u91cd\u522b\u540d\u6ce8\u518c\u4e0e\u67e5\u627e\u3002 \r\n Supports multi-alias registration and lookup.\r\n\r\n- \ud83d\udce6 \u53ef\u4e0e XRobot \u6846\u67b6\u96c6\u6210\uff0c\u5b9e\u73b0\u6a21\u5757\u81ea\u52a8\u6ce8\u518c\u4e0e\u8c03\u5ea6\u7ba1\u7406\u3002 \r\n Enables integration with the XRobot application framework.\r\n\r\n## \ud83d\udce5 Installation \u5b89\u88c5\r\n\r\n### \u4f7f\u7528pipx\u5b89\u88c5 (Install via `pipx`)\r\n\r\nwindows\r\n\r\n```ps\r\npython -m pip install --user pipx\r\npython -m pipx ensurepath\r\npipx install libxr\r\npipx ensurepath\r\n# Restart your terminal\r\n```\r\n\r\nlinux\r\n\r\n```bash\r\nsudo apt install pipx\r\npipx install libxr\r\npipx ensurepath\r\n# Restart your terminal\r\n```\r\n\r\n### \u4f7f\u7528 pip \u5b89\u88c5 (Install via `pip`)\r\n\r\n```bash\r\npip install libxr\r\n```\r\n\r\n### \u4ece\u6e90\u7801\u5b89\u88c5 (Install from source)\r\n\r\n```bash\r\ngit clone https://github.com/Jiu-xiao/LibXR_CppCodeGenerator.git\r\ncd LibXR_CppCodeGenerator\r\npython3 ./scripts/gen_libxr_version.py\r\npip install -e .\r\n```\r\n\r\n---\r\n\r\n## \ud83d\udd27 General \u901a\u7528\u547d\u4ee4(\u8de8\u5e73\u53f0\u652f\u6301)\r\n\r\n\u4ee5\u4e0b\u547d\u4ee4\u9002\u7528\u4e8e\u6240\u6709\u5e73\u53f0(\u5982 STM32 \u53ca\u672a\u6765\u652f\u6301\u7684\u67b6\u6784)\u3002 \r\nThese commands work across platforms (STM32 and others):\r\n\r\n### `xr_parse`\r\n\r\n```bash\r\nxr_parse -i config.yaml\r\n```\r\n\r\n\u89e3\u6790\u901a\u7528\u7684 YAML \u786c\u4ef6\u914d\u7f6e\u6587\u4ef6\uff0c\u63d0\u53d6\u5916\u8bbe\u5b9a\u4e49\u3002 \r\nParses a generic YAML hardware configuration and extracts peripheral definitions.\r\n\r\n### `xr_gen_code`\r\n\r\n```bash\r\nxr_gen_code -i config.yaml [--xrobot]\r\n```\r\n\r\n\u6839\u636e YAML \u914d\u7f6e\u751f\u6210\u5e73\u53f0\u65e0\u5173\u7684 C++ \u786c\u4ef6\u62bd\u8c61\u5c42\u4ee3\u7801\uff0c\u53ef\u9009\u751f\u6210 XRobot \u96c6\u6210\u4ee3\u7801\u3002 \r\nGenerates platform-agnostic C++ hardware abstraction code from YAML.\r\n\r\n---\r\n\r\n## STM32 \u5de5\u7a0b\u5de5\u5177 (STM32 Project Tools)\r\n\r\n### `xr_cubemx_cfg`\r\n\r\n\u81ea\u52a8\u914d\u7f6e STM32CubeMX \u5de5\u7a0b \r\nAutomatically configures an STM32CubeMX project.\r\n\r\n```bash\r\nusage: xr_cubemx_cfg [-h] -d DIRECTORY [-t TERMINAL] [-c] [--xrobot]\r\n```\r\n\r\n\u89e3\u6790 `.ioc` \u6587\u4ef6\uff0c\u751f\u6210 YAML \u548c C++ \u9a71\u52a8\u4ee3\u7801\uff0c\u8865\u4e01\u4e2d\u65ad\u5904\u7406\u51fd\u6570\uff0c\u5e76\u521d\u59cb\u5316\u9879\u76ee\u7ed3\u6784 \r\nParses `.ioc`, generates YAML and C++ code, patches interrupt handlers, and initializes the project structure.\r\n\r\n#### \ud83d\udd27 \u5fc5\u9009\u53c2\u6570 (Required)\r\n\r\n- `-d, --directory <DIRECTORY>`\uff1a\r\n\r\n STM32CubeMX \u5de5\u7a0b\u8def\u5f84 \r\n Path to the STM32CubeMX project.\r\n\r\n#### \u2699\ufe0f \u53ef\u9009\u53c2\u6570 (Optional)\r\n\r\n- `-t, --terminal <TERMINAL>`\uff1a\r\n \r\n \u4e32\u53e3\u8bbe\u5907\u540d\u79f0(\u5982 `usart1` `usb`) \r\n Terminal device name (e.g. `usart1` `usb`).\r\n\r\n- `-c, --clang`\uff1a\r\n\r\n \u542f\u7528 Clang \u6784\u5efa\u652f\u6301 \r\n Enable Clang build support.\r\n\r\n- `--xrobot`\uff1a\r\n\r\n \u751f\u6210 XRobot Glue \u4ee3\u7801 \r\n Enable XRobot glue code generation.\r\n\r\n- `--commit`\r\n \r\n \u6307\u5b9a LibXR \u4ed3\u5e93commit\u7248\u672c \r\n Specify the LibXR repository commit version\r\n\r\n#### \ud83d\udce6 \u8f93\u51fa\u5185\u5bb9 (Outputs)\r\n\r\n- `.config.yaml`:\r\n\r\n \u81ea\u52a8\u751f\u6210\u7684 C++ \u9a71\u52a8\u4ee3\u7801(\u5982 `app_main.cpp` \r\n Generated C++ driver code (e.g. `app_main.cpp`)\r\n\r\n- \u8865\u4e01\u540e\u7684\u4e2d\u65ad\u5904\u7406\u51fd\u6570(\u5982 `stm32xx_it.c`) \r\n Patched interrupt handlers (e.g. `stm32xx_it.c`)\r\n\r\n- `CMakeLists.txt`\u3001`.gitignore` \r\n\r\n- \u521d\u59cb\u5316\u7684 Git \u4ed3\u5e93\u53ca LibXR \u5b50\u6a21\u5757 \r\n Initialized Git repository and LibXR submodule\r\n\r\n---\r\n\r\n### `xr_parse_ioc`\r\n\r\n\u81ea\u52a8\u89e3\u6790 STM32CubeMX \u5de5\u7a0b\u914d\u7f6e \r\nParses `.ioc` files from STM32CubeMX projects and exports structured YAML.\r\n\r\n```bash\r\nusage: xr_parse_ioc [-h] -d DIRECTORY [-o OUTPUT] [--verbose]\r\n```\r\n\r\n\u89e3\u6790 `.ioc` \u6587\u4ef6\u4e3a `.config.yaml`\uff0c\u5e76\u5728\u7ec8\u7aef\u8f93\u51fa\u89e3\u6790\u6458\u8981 \r\nParses `.ioc` files and creates `.config.yaml` with a readable summary.\r\n\r\n#### \ud83d\udd27 \u5fc5\u9009\u53c2\u6570 (Required)\r\n\r\n- `-d, --directory <DIRECTORY>` \r\n `.ioc` \u6587\u4ef6\u6240\u5728\u76ee\u5f55\u8def\u5f84 \r\n Path to the input directory containing `.ioc` files.\r\n\r\n#### \u2699\ufe0f \u53ef\u9009\u53c2\u6570 (Optional)\r\n\r\n- `-o, --output <FILE>` \r\n \u81ea\u5b9a\u4e49 YAML \u8f93\u51fa\u8def\u5f84(\u9ed8\u8ba4\u4e0e `.ioc` \u540c\u540d) \r\n Custom YAML output path (default: `<input_file>.yaml`).\r\n\r\n- `--verbose` \r\n \u542f\u7528\u8c03\u8bd5\u65e5\u5fd7\uff0c\u8f93\u51fa\u8be6\u7ec6\u89e3\u6790\u8fc7\u7a0b \r\n Enable verbose logging.\r\n\r\n#### \ud83d\udce6 \u8f93\u51fa\u5185\u5bb9 (Outputs)\r\n\r\n- `.config.yaml`\uff1a\r\n\r\n \u5305\u542b GPIO\u3001\u5916\u8bbe\u3001DMA\u3001FreeRTOS\u3001MCU \u7b49\u914d\u7f6e \r\n YAML file containing GPIO, peripheral, DMA, FreeRTOS, and MCU configurations.\r\n\r\n- \u63a7\u5236\u53f0\u6458\u8981\uff1aMCU \u4fe1\u606f\u3001GPIO \u6570\u91cf\u3001\u5916\u8bbe\u7edf\u8ba1\u7b49 \r\n Console summary: MCU information, GPIO count, peripheral statistics, etc.\r\n\r\n---\r\n\r\n### `xr_gen_code_stm32`\r\n\r\n\u6839\u636e YAML \u914d\u7f6e\u751f\u6210 STM32 \u786c\u4ef6\u62bd\u8c61\u5c42\u4ee3\u7801\uff0c\u53ef\u9009\u751f\u6210 XRobot \u96c6\u6210\u4ee3\u7801\u3002 \r\nGenerates STM32 application code from YAML.\r\n\r\n```bash\r\nusage: xr_gen_code_stm32 [-h] -i INPUT -o OUTPUT [--xrobot] [--libxr-config LIBXR_CONFIG]\r\n```\r\n\r\n#### \ud83d\udd27 Required\r\n\r\n- `-i`\uff1a\r\n\r\n `.config.yaml` \u914d\u7f6e\u6587\u4ef6\u8def\u5f84 \r\n Path to `.config.yaml`\r\n\r\n- `-o`\uff1a\r\n\r\n \u751f\u6210\u4ee3\u7801\u8f93\u51fa\u76ee\u5f55 \r\n Output directory\r\n\r\n#### \u2699\ufe0f Optional\r\n\r\n- `--xrobot`\uff1a\r\n\r\n \u542f\u7528 XRobot glue \u4ee3\u7801\u751f\u6210 \r\n Enable XRobot glue generation\r\n\r\n- `--libxr-config`\uff1a\r\n\r\n \u81ea\u5b9a\u4e49 libxr_config.yaml \u8def\u5f84(\u53ef\u4e3a\u672c\u5730\u6216\u8fdc\u7a0b) \r\n Path or URL to runtime config YAML\r\n\r\n#### \ud83d\udce6 Outputs\r\n\r\n- `app_main.cpp`\uff1a \r\n \u4e3b\u5165\u53e3\u6587\u4ef6\uff0c\u5305\u542b\u6240\u6709\u521d\u59cb\u5316\u903b\u8f91 \r\n Main entry point with all initialization logic\r\n\r\n- `libxr_config.yaml`\uff1a \r\n \u8fd0\u884c\u65f6\u914d\u7f6e\u6587\u4ef6\uff0c\u53ef\u81ea\u5b9a\u4e49\u7f13\u51b2\u533a\u5927\u5c0f\u3001\u961f\u5217\u7b49\u53c2\u6570 \r\n Runtime config YAML, can be customized with buffer size, queue, etc.\r\n\r\n- `flash_map.hpp`\uff1a \r\n \u81ea\u52a8\u751f\u6210\u7684 Flash \u6247\u533a\u8868\uff0c\u4f9b Flash \u62bd\u8c61\u5c42\u4f7f\u7528 \r\n Auto-generated flash sector layout for use with Flash abstraction layer\r\n\r\n---\r\n\r\n### `xr_stm32_flash`\r\n\r\n\u89e3\u6790 STM32 \u578b\u53f7\uff0c\u751f\u6210 Flash \u6247\u533a\u4fe1\u606f\u8868\uff08YAML \u683c\u5f0f\u8f93\u51fa\uff09\u3002 \r\nParses STM32 model name and generates flash layout info (YAML output).\r\n\r\n```bash\r\nusage: xr_stm32_flash <STM32_MODEL>\r\n```\r\n\r\n### \ud83e\udde0 \u529f\u80fd\u8bf4\u660e (Functionality)\r\n\r\n- \u6839\u636e STM32 \u578b\u53f7\u540d\u79f0\u81ea\u52a8\u63a8\u5bfc Flash \u5927\u5c0f \r\n Automatically infers flash size from the STM32 model string\r\n\r\n- \u6839\u636e\u82af\u7247\u7cfb\u5217\uff08\u5982 F1/F4/H7/U5 \u7b49\uff09\u751f\u6210\u5bf9\u5e94\u7684\u6247\u533a\u5e03\u5c40 \r\n Generates sector layout depending on the chip series (e.g., F1/F4/H7/U5)\r\n\r\n- \u8f93\u51fa\u5305\u62ec\u6bcf\u4e2a\u6247\u533a\u7684\u5730\u5740\u3001\u5927\u5c0f\u548c\u7d22\u5f15 \r\n Output includes address, size, and index of each sector\r\n\r\n### \ud83d\udce6 \u8f93\u51fa\u5185\u5bb9 (Outputs)\r\n\r\n- YAML \u683c\u5f0f\u7684 Flash \u4fe1\u606f \r\n Flash info in YAML format:\r\n\r\n```yaml\r\nmodel: STM32F103C8\r\nflash_base: '0x08000000'\r\nflash_size_kb: 64\r\nsectors:\r\n- index: 0\r\n address: '0x08000000'\r\n size_kb: 1.0\r\n- index: 1\r\n address: '0x08000400'\r\n size_kb: 1.0\r\n ...\r\n```\r\n\r\n---\r\n\r\n### `xr_stm32_it`\r\n\r\n\u6279\u91cf\u4fee\u6539 STM32 \u4e2d\u65ad\u5904\u7406\u6587\u4ef6\uff0c\u63d2\u5165 UART IDLE \u56de\u8c03\u548c USB F1 \u56de\u8c03\u652f\u6301\u3002\r\nModifies STM32 interrupt handlers to add UART IDLE callback and USB F1 callback support for LibXR.\r\n\r\n```bash\r\nusage: xr_stm32_it [-h] input_dir\r\n```\r\n\r\n#### \ud83d\udd27 \u5fc5\u9009\u53c2\u6570 (Required)\r\n\r\n- `input_dir`\uff1a\r\n\r\n \u5305\u542b `*_it.c` \u6587\u4ef6\u7684\u6587\u4ef6\u5939\u8def\u5f84 \r\n Directory containing the `*_it.c` source files.\r\n\r\n#### \u2699\ufe0f \u529f\u80fd\u8bf4\u660e (Functionality)\r\n\r\n- \u67e5\u627e\u6bcf\u4e2a `*_it.c` \u6587\u4ef6\u4e2d\u7684 `HAL_UART_IRQHandler(&huartX)` \u8c03\u7528 \r\n Find `HAL_UART_IRQHandler(&huartX)` calls in each `*_it.c` file\r\n\r\n- \u67e5\u627e `USB_HP_CAN1_TX_IRQHandler` \u548c `USB_LP_CAN1_RX0_IRQHandler` \u4e2d\u65ad\u51fd\u6570 \r\n Find `USB_HP_CAN1_TX_IRQHandler` and `USB_LP_CAN1_RX0_IRQHandler` handlers\r\n\r\n- \u5411\u5bf9\u5e94\u4e2d\u65ad\u51fd\u6570\u7684 `/* USER CODE BEGIN XXX_IRQn 0/1 */` \u533a\u57df\u63d2\u5165\uff1a \r\n Add to the `/* USER CODE BEGIN XXX_IRQn 0/1 */` section of the corresponding interrupt function\r\n \r\n```c\r\n /* LibXR UART IDLE callback (Auto-generated) */\r\n#ifdef HAL_UART_MODULE_ENABLED\r\n STM32_UART_ISR_Handler_IDLE(&huartX);\r\n#endif\r\n```\r\n\r\n- \u5bf9\u4e8e USB \u4e2d\u65ad\uff08\u4ec5 STM32F1\uff0c\u4e14\u542f\u7528 HAL_PCD_MODULE\uff09\uff0c\u63d2\u5165\uff1a \r\n For USB interrupts (STM32F1 only, with HAL_PCD_MODULE enabled)\r\n\r\n```c\r\n/* LibXR USB Tx Cplt callback (Auto-generated, For STM32F1) */\r\n#if defined(STM32F1) && defined(HAL_PCD_MODULE_ENABLED)\r\n STM32_USB_ISR_Handler_F1();\r\n#endif\r\n```\r\n\r\n- \u82e5\u672a\u5b9a\u4e49 `STM32_UART_ISR_Handler_IDLE`\u548c `STM32_USB_ISR_Handler_F1`\u7684 `extern` \u58f0\u660e\uff0c\u5c06\u63d2\u5165\u81f3 `/* USER CODE BEGIN 0 */` \u533a\u57df\u4e0b \r\n Insert at `/* USER CODE BEGIN 0 */` if `STM32_UART_ISR_Handler_IDLE` and `STM32_USB_ISR_Handler_F1` is not defined\r\n\r\n- \u652f\u6301\u591a\u4e2a UART \u548c USB \u63a5\u53e3 \r\n Support for multiple UART and USB interfaces\r\n\r\n#### \ud83d\udce6 \u8f93\u51fa\u5185\u5bb9 (Outputs)\r\n\r\n- \u88ab\u4fee\u6539\u7684 `*_it.c` \u6587\u4ef6 \r\n Modified `*_it.c` files\r\n\r\n- \u63a7\u5236\u53f0\u8f93\u51fa\u4fee\u6539\u6458\u8981\uff0c\u5305\u62ec\u4fee\u6539\u7684\u6587\u4ef6\u4e0e\u51fd\u6570\u540d\u79f0 \r\n Console output summary, including modified files and function names\r\n\r\n---\r\n\r\n### `xr_stm32_clang`\r\n\r\n\u81ea\u52a8\u4fee\u6539 STM32 \u5de5\u7a0b\uff0c\u9002\u914d Clang \u7f16\u8bd1\u5de5\u5177\u94fe\u3002 \r\nCreates Clang-compatible toolchain file.\r\n\r\n```bash\r\nusage: xr_stm32_clang [-h] input_dir\r\n```\r\n\r\n#### \ud83d\udd27 \u5fc5\u9009\u53c2\u6570 (Required)\r\n\r\n- `input_dir`\uff1a\r\n\r\n \u5305\u542b `gcc-arm-none-eabi.cmake` \u7684 STM32 \u5de5\u7a0b\u76ee\u5f55\u8def\u5f84 \r\n Directory containing `gcc-arm-none-eabi.cmake` for the STM32 project\r\n\r\n#### \u2699\ufe0f \u529f\u80fd\u8bf4\u660e (Functionality)\r\n\r\n- \u5728 `{input_dir}/cmake/` \u4e2d\u67e5\u627e `gcc-arm-none-eabi.cmake` \u6587\u4ef6 \r\n Locate `gcc-arm-none-eabi.cmake` inside `{input_dir}/cmake/`\r\n\r\n- \u89e3\u6790\u5176\u4e2d\u7684 `linker_script` \u8def\u5f84\u4e0e `-mcpu` \u7f16\u8bd1\u5668\u53c2\u6570 \r\n Extract `linker_script` path and `-mcpu` target flag\r\n\r\n- \u81ea\u52a8\u751f\u6210 `gcc-arm-none-eabi.cmake` \u6587\u4ef6\uff0c\u9002\u914d Clang \u7f16\u8bd1\u5de5\u5177\u94fe \r\n Generate Clang-compatible `gcc-arm-none-eabi.cmake` toolchain file\r\n\r\n- \u81ea\u52a8\u4fee\u6539 `CMakeLists.txt` \u6587\u4ef6\uff0c\u63d2\u5165 \r\n Automatically modify `CMakeLists.txt` to include:\r\n \r\n ```cmake\r\n include(\"cmake/gcc-arm-none-eabi.cmake\")\r\n ```\r\n\r\n#### \ud83d\udce6 \u8f93\u51fa\u5185\u5bb9 (Outputs)\r\n\r\n- \u8986\u76d6\u539f\u6709 `gcc-arm-none-eabi.cmake` \u6587\u4ef6 \r\n Overwrites original `gcc-arm-none-eabi.cmake` file\r\n\r\n- \u81ea\u52a8\u6dfb\u52a0\u6216\u66f4\u65b0 `CMakeLists.txt` \u6587\u4ef6\u4e2d\u7684 include \u6307\u4ee4 \r\n Auto-updates `CMakeLists.txt` to include the toolchain file\r\n\r\n---\r\n\r\n### `xr_libxr_cmake`\r\n\r\n\u4e3a STM32CubeMX \u5de5\u7a0b\u751f\u6210 `LibXR.CMake` \u914d\u7f6e\uff0c\u5e76\u81ea\u52a8\u96c6\u6210\u81f3 `CMakeLists.txt`\u3002 \r\nGenerates `LibXR.CMake` file and injects it into the STM32CubeMX CMake project.\r\n\r\n```bash\r\nusage: xr_libxr_cmake [-h] input_dir\r\n```\r\n\r\n#### \ud83d\udd27 \u5fc5\u9009\u53c2\u6570 (Required)\r\n\r\n- `input_dir`\uff1a\r\n\r\n \u6307\u5b9a CubeMX \u751f\u6210\u7684 CMake \u5de5\u7a0b\u6839\u76ee\u5f55 \r\n Path to the CubeMX-generated CMake project root\r\n\r\n#### \u2699\ufe0f \u529f\u80fd\u8bf4\u660e (Functionality)\r\n\r\n- \u81ea\u52a8\u751f\u6210 `cmake/LibXR.CMake` \u6587\u4ef6\uff0c\u5185\u5bb9\u5305\u62ec\uff1a \r\n Generate `cmake/LibXR.CMake` containing:\r\n \r\n - \u6dfb\u52a0 `LibXR` \u5b50\u76ee\u5f55 \r\n Add `LibXR` as a subdirectory\r\n \r\n - \u94fe\u63a5 `xr` \u9759\u6001\u5e93 \r\n Link the `xr` static library\r\n \r\n - \u6dfb\u52a0 `Core/Inc`\u3001`User` \u76ee\u5f55\u4e3a\u5305\u542b\u8def\u5f84 \r\n Include `Core/Inc` and `User` directories\r\n \r\n - \u6dfb\u52a0 `User/*.cpp` \u4e3a\u6e90\u6587\u4ef6 \r\n Add `User/*.cpp` to project sources\r\n\r\n- \u81ea\u52a8\u68c0\u6d4b\u662f\u5426\u542f\u7528 FreeRTOS\uff1a \r\n Auto-detect FreeRTOS configuration:\r\n \r\n - \u5b58\u5728 `Core/Inc/FreeRTOSConfig.h` \u2192 `LIBXR_SYSTEM=FreeRTOS`\r\n - \u5426\u5219\u8bbe\u7f6e\u4e3a `None`\r\n\r\n- \u81ea\u52a8\u5220\u9664\u65e7\u7684 `build/` \u76ee\u5f55(\u5982\u5b58\u5728) \r\n Automatically deletes existing `build/` directory if found\r\n\r\n- \u81ea\u52a8\u5411\u4e3b `CMakeLists.txt` \u6dfb\u52a0\u4ee5\u4e0b\u6307\u4ee4(\u82e5\u5c1a\u672a\u5305\u542b)\uff1a \r\n Auto-appends the following line to `CMakeLists.txt` if missing:\r\n\r\n ```cmake\r\n include(${CMAKE_CURRENT_LIST_DIR}/cmake/LibXR.CMake)\r\n ```\r\n\r\n#### \ud83d\udce6 \u8f93\u51fa\u5185\u5bb9 (Outputs)\r\n\r\n- \u751f\u6210 `cmake/LibXR.CMake` \u6587\u4ef6 \r\n Generates `cmake/LibXR.CMake` file\r\n\r\n- \u4fee\u6539\u4e3b\u5de5\u7a0b\u7684 `CMakeLists.txt`\uff0c\u63d2\u5165 `include(...)` \r\n Updates `CMakeLists.txt` to include `LibXR.CMake`\r\n\r\n- \u5220\u9664\u539f\u6709\u6784\u5efa\u7f13\u5b58\u76ee\u5f55 `build/`(\u5982\u5b58\u5728) \r\n Deletes the old `build/` directory if present\r\n\r\n---\r\n\r\n### STM32 \u5de5\u7a0b\u8981\u6c42 (STM32 Project Requirements)\r\n\r\n#### \ud83d\udcc1 \u9879\u76ee\u7ed3\u6784\u8981\u6c42(Project Structure)\r\n\r\n- \u5fc5\u987b\u4e3a **STM32CubeMX \u5bfc\u51fa\u7684 CMake \u5de5\u7a0b** \r\n Must be a CMake project exported from STM32CubeMX\r\n\r\n- \u9879\u76ee\u5e94\u5305\u542b\u4ee5\u4e0b\u8def\u5f84\uff1a \r\n Project should contain the following directories:\r\n\r\n - `xx.ioc`\r\n - `CMakeLists.txt`\r\n - `cmake/gcc-arm-none-eabi.cmake`\r\n - `Core/Inc`, `Core/Src`\r\n\r\n#### \u2699\ufe0f \u914d\u7f6e\u8981\u6c42(Peripheral & Middleware)\r\n\r\n- \u6240\u6709 **UART / SPI / I2C** \u5916\u8bbe\u5fc5\u987b\u542f\u7528 **DMA** \r\n All **UART / SPI / I2C** peripherals must have **DMA** enabled\r\n\r\n- \u5982\u679cADC\u542f\u7528\u4e86DMA\uff0c\u8bf7\u5f00\u542f\u8fde\u7eed\u8f6c\u6362\u6a21\u5f0f \r\n If ADC has DMA enabled, enable continuous mode\r\n\r\n- \u63a8\u8350\u542f\u7528 **FreeRTOS**\uff0c\u81ea\u52a8\u751f\u6210 `FreeRTOSConfig.h` \r\n Recommended to enable **FreeRTOS** and generate `FreeRTOSConfig.h`\r\n\r\n- \u82e5\u4f7f\u7528 USB \u4f5c\u4e3a\u7ec8\u7aef\uff1a \r\n If using USB as a terminal:\r\n\r\n - \u542f\u7528 `USB_DEVICE` \u4e2d\u95f4\u4ef6\uff0c\u5e76\u9009\u62e9 `Communication Device Class (CDC)` \r\n Enable `USB_DEVICE` middleware and select `Communication Device Class (CDC)`\r\n\r\n#### \u23f1\ufe0f Timebase \u914d\u7f6e\u5efa\u8bae(Timebase Configuration)\r\n\r\n> \u2705 \u5f3a\u70c8\u63a8\u8350\u4f7f\u7528 `TIM6`/`TIM7` \u7b49 Timer \u4f5c\u4e3a Timebase \r\n Strongly recommended to use `TIM6`/`TIM7` Timers as Timebase \r\n> \u2705 \u5e76\u5c06\u8be5\u4e2d\u65ad\u4f18\u5148\u7ea7\u8bbe\u7f6e\u4e3a **\u6700\u9ad8(0)** \r\n And set the interrupt priority to **highest (0)**\r\n\r\n---\r\n\r\n## \ud83e\udde9 \u4ee3\u7801\u751f\u6210\u540e\u64cd\u4f5c (After Code Generation)\r\n\r\n\u751f\u6210\u4ee3\u7801\u540e\uff0c\u4f60\u9700\u8981**\u624b\u52a8\u6dfb\u52a0**\u4ee5\u4e0b\u5185\u5bb9\uff1a \r\nAfter generating code, you must **manually add** the following: \r\n\r\n```cpp\r\n#include \"app_main.h\"\r\n```\r\n\r\n\u5e76\u5728\u5408\u9002\u4f4d\u7f6e\u8c03\u7528 `app_main();`\uff1a \r\nAnd call `app_main();` in the appropriate location:\r\n\r\n| \u573a\u666f (Scenario) | \u6dfb\u52a0\u4f4d\u7f6e |Where to add|\r\n|-----------------------|------------------------------------| -----------|\r\n| \ud83d\udfe2 Bare metal \u88f8\u673a\u5de5\u7a0b | `main()` \u51fd\u6570\u672b\u5c3e | End of `main()` |\r\n| \ud83d\udd35 FreeRTOS \u5de5\u7a0b | \u7ebf\u7a0b\u5165\u53e3 | Thread entry function |\r\n\r\n---\r\n\r\n## LibXR / LibXR_CppCodeGenerator / XRobot Relationship\r\n\r\nLibXR\u3001LibXR_CppCodeGenerator \u4e0e XRobot \u4e09\u8005\u5f62\u6210\u4e86\u4e00\u5957\u5b8c\u6574\u7684\u5d4c\u5165\u5f0f\u4e0e\u673a\u5668\u4eba\u8f6f\u4ef6\u5f00\u53d1\u4f53\u7cfb\uff0c\u5206\u5de5\u660e\u786e\uff0c\u534f\u540c\u7d27\u5bc6\u3002 \r\nLibXR, LibXR_CppCodeGenerator and XRobot together form a complete software ecosystem for embedded and robotics development, with clear separation of concerns and tight integration.\r\n\r\n---\r\n\r\n### \ud83e\udde0 LibXR\r\n\r\n**LibXR \u662f\u8de8\u5e73\u53f0\u7684\u9a71\u52a8\u62bd\u8c61\u4e0e\u5de5\u5177\u5e93**\uff0c\u652f\u6301 STM32\u3001Linux \u7b49\u5e73\u53f0\uff0c\u5305\u542b\uff1a \r\nLibXR is a cross-platform driver abstraction and utility library supporting STM32, Linux, and more. It provides:\r\n\r\n- \u901a\u7528\u5916\u8bbe\u63a5\u53e3\u5c01\u88c5 \r\n Unified peripheral interface abstraction \r\n- \u5d4c\u5165\u5f0f\u7ec4\u4ef6\uff08\u5982 Terminal\u3001PowerManager\u3001Database \u7b49\uff09 \r\n Embedded modules like Terminal, PowerManager, Database, etc. \r\n- FreeRTOS / bare-metal \u652f\u6301 \r\n FreeRTOS and bare-metal support \r\n- \u673a\u5668\u4eba\u8fd0\u52a8\u5b66\u4e0e\u5bfc\u822a \r\n Kinematics and navigation libraries for robotics \r\n- \u81ea\u52a8\u4ee3\u7801\u751f\u6210\u652f\u6301 \r\n Code generation support\r\n\r\n#### \ud83d\udd17 Links\r\n\r\n- **Repository**: [libxr](https://github.com/Jiu-xiao/libxr) \r\n- **API Documentation**: [API](https://jiu-xiao.github.io/libxr/) \r\n- **Issues**: [Issue Tracker](https://github.com/Jiu-xiao/libxr/issues)\r\n\r\n---\r\n\r\n### \ud83d\udd27 LibXR_CppCodeGenerator\r\n\r\n**LibXR_CppCodeGenerator \u662f\u7528\u4e8e LibXR \u7684\u4ee3\u7801\u751f\u6210\u5de5\u5177\u94fe**\uff0c\u5f53\u524d\u652f\u6301 STM32 + CubeMX\uff0c\u672a\u6765\u5c06\u6269\u5c55\u81f3 Zephyr\u3001ESP-IDF \u7b49\u5e73\u53f0\u3002 \r\nLibXR_CppCodeGenerator is a code generation toolchain for LibXR. It currently supports STM32 with CubeMX, and is planned to support Zephyr, ESP-IDF, and more.\r\n\r\n- \u4ece\u4e0d\u540c\u5e73\u53f0\u7684\u5de5\u7a0b\u6587\u4ef6\u751f\u6210 `.yaml` \u914d\u7f6e \r\n Parse project files from different platforms to generate `.yaml` configurations\r\n- \u57fa\u4e8e `.yaml` \u81ea\u52a8\u751f\u6210 `app_main.cpp`\u3001\u4e2d\u65ad\u3001CMake \u7b49 \r\n Generate `app_main.cpp`, interrupt handlers, and CMake integration \r\n- \u652f\u6301 `XRobot` glue \u5c42\u96c6\u6210 \r\n Supports optional integration with XRobot framework \r\n- \u652f\u6301\u7528\u6237\u4ee3\u7801\u4fdd\u7559\u4e0e\u591a\u6587\u4ef6\u7ed3\u6784 \r\n Preserves user code blocks and supports modular output\r\n\r\n#### \ud83d\udd17 Links\r\n\r\n- **Repository**: [LibXR_CppCodeGenerator](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator) \r\n- **Documentation and Releases**: [PyPI](https://pypi.org/project/libxr/) \r\n- **Issues**: [Issue Tracker](https://github.com/Jiu-xiao/LibXR_CppCodeGenerator/issues)\r\n\r\n---\r\n\r\n### \ud83e\udd16 XRobot\r\n\r\nXRobot \u662f\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684\u6a21\u5757\u5316\u5e94\u7528\u7ba1\u7406\u6846\u67b6\uff0c\u4e13\u4e3a\u5d4c\u5165\u5f0f\u8bbe\u5907\u800c\u8bbe\u8ba1\u3002\u5b83\u672c\u8eab\u4e0d\u5305\u542b\u4efb\u4f55\u9a71\u52a8\u6216\u4e1a\u52a1\u4ee3\u7801\uff0c\u4e13\u6ce8\u4e8e\u6a21\u5757\u7684\u6ce8\u518c\u3001\u8c03\u5ea6\u3001\u751f\u547d\u5468\u671f\u7ba1\u7406\u3001\u4e8b\u4ef6\u5904\u7406\u4e0e\u53c2\u6570\u914d\u7f6e\u3002 \r\n**XRobot is a lightweight modular application management framework designed for embedded systems.** \r\nIt does not include any drivers or business logic by itself. Instead, it focuses on module registration, scheduling, lifecycle management, event handling, and parameter configuration.\r\n\r\n- \u6a21\u5757\u6ce8\u518c\u4e0e\u751f\u547d\u5468\u671f\u7ba1\u7406 \r\n Module registration and lifecycle management \r\n- \u53c2\u6570\u7ba1\u7406 / \u914d\u7f6e\u7cfb\u7edf / \u4e8b\u4ef6\u7cfb\u7edf \r\n Parameter management, configuration system, and event system \r\n- ApplicationRunner / ThreadManager \u7b49\u5e94\u7528\u8c03\u5ea6\u5668 \r\n ApplicationRunner and ThreadManager for runtime coordination \r\n- \u4e0d\u76f4\u63a5\u8bbf\u95ee\u786c\u4ef6\uff0c\u4f9d\u8d56 LibXR \u7684 PeripheralManager \r\n Does not access hardware directly, relies on LibXR's PeripheralManager\r\n\r\n---\r\n\r\n#### \u2705 Recommended For \u63a8\u8350\u4f7f\u7528\u573a\u666f\r\n\r\n- \u62e5\u6709\u591a\u4e2a\u5b50\u6a21\u5757\uff08\u5982\u4f20\u611f\u5668\u3001\u901a\u4fe1\u3001\u63a7\u5236\u5668\uff09\u4e14\u5e0c\u671b\u7edf\u4e00\u7ba1\u7406\u521d\u59cb\u5316\u3001\u8c03\u5ea6\u4e0e\u8d44\u6e90\u4f9d\u8d56 \r\n For projects with multiple submodules (e.g., sensors, communication, controllers) needing unified lifecycle and dependency management.\r\n\r\n- \u5e0c\u671b\u6784\u5efa\u5e73\u53f0\u65e0\u5173\u7684\u5e94\u7528\u5c42\u903b\u8f91\uff0c\u4e0e\u5e95\u5c42\u9a71\u52a8\u89e3\u8026 \r\n For building platform-independent application logic decoupled from hardware drivers.\r\n\r\n- \u4e0e **LibXR** \u7ed3\u5408\u4f7f\u7528\uff0c\u5b9e\u73b0\u81ea\u52a8\u6ce8\u518c\u786c\u4ef6\u5bf9\u8c61\uff08\u901a\u8fc7 `HardwareContainer`\uff09 \r\n When used with **LibXR**, supports automatic hardware registration via `HardwareContainer`.\r\n\r\n- \u652f\u6301\u751f\u6210\u6a21\u5757\u5165\u53e3\u4ee3\u7801\u3001\u914d\u7f6e\u903b\u8f91\u540d\u4e0e\u786c\u4ef6\u540d\u7684\u6620\u5c04\uff0c\u4fbf\u4e8e\u5feb\u901f\u9002\u914d\u4e0d\u540c\u786c\u4ef6\u914d\u7f6e \r\n Supports generating module entry code and logical-to-physical hardware name mapping for quick adaptation to different platforms.\r\n\r\n#### \ud83d\udd17 Links\r\n\r\n- **Repository**: [XRobot](https://github.com/xrobot-org/XRobot) \r\n- **Documentation**: [GitHub Pages](https://xrobot-org.github.io) \r\n- **Releases**: [PyPI](https://pypi.org/project/xrobot) \r\n- **Issues**: [Issue Tracker](https://github.com/xrobot-org/XRobot/issues)\r\n\r\n---\r\n\r\n## \ud83d\udcc4 License\r\n\r\nLicensed under **Apache-2.0**. See [LICENSE](LICENSE).\r\n\r\n\r\n[](https://app.fossa.com/projects/git%2Bgithub.com%2FJiu-xiao%2FLibXR_CppCodeGenerator?ref=badge_large)\r\n",
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