LibXR 是一款轻量级、高性能的嵌入式软件开发框架，旨在简化嵌入式软件开发流程，为应用层代码提供可移植的C++接口。可无缝衔接CubeMX，无需额外配置。所有未调用的代码都不会被链接在固件中。

除了能够为外设与RTOS提供C++的封装，本框架还有以下功能：

支持gcc/clang的CMake生成
虚拟文件系统与命令行
两种flash文件系统，普通flash（STM32F407 STM32F103）与不支持逆序写入的flash（STM32G431KB）
Event（事件触发）与Message（订阅发布）
多种数据结构（有锁/无锁队列/栈/链表/红黑树...）
循环角度计算/CRC8/16/32
运动学正逆解/转动惯量计算
欧拉角/四元数/旋转矩阵等（互相转换/重载基本运算符/不同旋转方式）
单元测试覆盖

目前代码生成工具已经测试通过的型号：STM32F103, STM32H723VG(仅编译), STM32F401RC, STM32F407IG

示例工程合集

编译测试CI

为C型开发板自动生成的代码如下：

#include "app_main.h"
#include "database.hpp"
#include "libxr.hpp"
#include "main.h"
#include "stm32_adc.hpp"
#include "stm32_can.hpp"
#include "stm32_canfd.hpp"
#include "stm32_gpio.hpp"
#include "stm32_i2c.hpp"
#include "stm32_power.hpp"
#include "stm32_pwm.hpp"
#include "stm32_spi.hpp"
#include "stm32_timebase.hpp"
#include "stm32_uart.hpp"
#include "stm32_usb.hpp"

using namespace LibXR;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc3;
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern I2C_HandleTypeDef hi2c1;
extern I2C_HandleTypeDef hi2c2;
extern I2C_HandleTypeDef hi2c3;
extern SPI_HandleTypeDef hspi1;
extern TIM_HandleTypeDef htim10;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim7;
extern TIM_HandleTypeDef htim8;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
extern USBD_HandleTypeDef hUsbDeviceFS;
extern uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];
extern uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];


/* DMA Buffers */
static uint8_t adc1_buffer[32];
static uint8_t adc3_buffer[32];
static uint8_t i2c1_buffer[32];
static uint8_t i2c2_buffer[32];
static uint8_t i2c3_buffer[32];
static uint8_t spi1_buff_tx[32], spi1_buff_rx[32];
static uint8_t usart1_buff_tx[128], usart1_buff_rx[128];
static uint8_t usart3_buff_tx[128], usart3_buff_rx[128];
static uint8_t usart6_buff_tx[128], usart6_buff_rx[128];

/* User Code Begin 1 */

/* User Code End 1 */

extern "C" void app_main(void) {
 /* User Code Begin 2 */

 /* User Code End 2 */

 LibXR::STM32Timebase stm32_timebase;
 LibXR::PlatformInit(2, 512);
 LibXR::STM32PowerManager power_manager;

 /* GPIO Configuration */
 LibXR::STM32GPIO USER_KEY(USER_KEY_GPIO_Port, USER_KEY_Pin, EXTI0_IRQn);
 LibXR::STM32GPIO ACCL_CS(ACCL_CS_GPIO_Port, ACCL_CS_Pin);
 LibXR::STM32GPIO GYRO_CS(GYRO_CS_GPIO_Port, GYRO_CS_Pin);
 LibXR::STM32GPIO HW0(HW0_GPIO_Port, HW0_Pin);
 LibXR::STM32GPIO HW1(HW1_GPIO_Port, HW1_Pin);
 LibXR::STM32GPIO HW2(HW2_GPIO_Port, HW2_Pin);
 LibXR::STM32GPIO ACCL_INT(ACCL_INT_GPIO_Port, ACCL_INT_Pin, EXTI4_IRQn);
 LibXR::STM32GPIO GYRO_INT(GYRO_INT_GPIO_Port, GYRO_INT_Pin, EXTI9_5_IRQn);
 LibXR::STM32GPIO CMPS_INT(CMPS_INT_GPIO_Port, CMPS_INT_Pin, EXTI3_IRQn);
 LibXR::STM32GPIO CMPS_RST(CMPS_RST_GPIO_Port, CMPS_RST_Pin);

 std::array<uint32_t, 2> adc1_channels = {ADC_CHANNEL_TEMPSENSOR, ADC_CHANNEL_VREFINT};
 std::array<uint32_t, 1> adc3_channels = {ADC_CHANNEL_8};
 LibXR::STM32PWM pwm_tim1_ch1(&htim1, TIM_CHANNEL_1);
 LibXR::STM32PWM pwm_tim1_ch2(&htim1, TIM_CHANNEL_2);
 LibXR::STM32PWM pwm_tim1_ch3(&htim1, TIM_CHANNEL_3);
 LibXR::STM32PWM pwm_tim1_ch4(&htim1, TIM_CHANNEL_4);
 LibXR::STM32PWM pwm_tim3_ch3(&htim3, TIM_CHANNEL_3);
 LibXR::STM32PWM pwm_tim4_ch3(&htim4, TIM_CHANNEL_3);
 LibXR::STM32PWM pwm_tim5_ch1(&htim5, TIM_CHANNEL_1);
 LibXR::STM32PWM pwm_tim5_ch2(&htim5, TIM_CHANNEL_2);
 LibXR::STM32PWM pwm_tim5_ch3(&htim5, TIM_CHANNEL_3);
 LibXR::STM32PWM pwm_tim8_ch1(&htim8, TIM_CHANNEL_1);
 LibXR::STM32PWM pwm_tim8_ch2(&htim8, TIM_CHANNEL_2);
 LibXR::STM32PWM pwm_tim8_ch3(&htim8, TIM_CHANNEL_3);

 /* Peripheral Configuration */
 LibXR::STM32ADC adc1(&hadc1, RawData(adc1_buffer), adc1_channels, 3.3f);
 LibXR::STM32ADC adc3(&hadc3, RawData(adc3_buffer), adc3_channels, 3.3f);
 LibXR::STM32CAN can1(&hcan1, "can1", 5);
 LibXR::STM32CAN can2(&hcan2, "can2", 5);
 LibXR::STM32I2C i2c1(&hi2c1, i2c1_buffer);
 LibXR::STM32I2C i2c2(&hi2c2, i2c2_buffer);
 LibXR::STM32I2C i2c3(&hi2c3, i2c3_buffer);
 LibXR::STM32SPI spi1(&hspi1, spi1_buff_rx, spi1_buff_tx);
 LibXR::STM32UART usart1(&huart1, usart1_buff_rx, usart1_buff_tx, 5, 5);
 LibXR::STM32UART usart3(&huart3, usart3_buff_rx, {nullptr, 0}, 5, 0);
 LibXR::STM32UART usart6(&huart6, usart6_buff_rx, usart6_buff_tx, 5, 5);
 LibXR::STM32VirtualUART uart_cdc(hUsbDeviceFS, UserTxBufferFS, UserRxBufferFS, 5, 5);
 STDIO::read_ = &uart_cdc.read_port_;
 STDIO::write_ = &uart_cdc.write_port_;
 RamFS ramfs("XRobot");
 Terminal terminal(ramfs);
 auto terminal_task = Timer::CreateTask(terminal.TaskFun, &terminal, 10);
 Timer::Add(terminal_task);
 Timer::Start(terminal_task);

 /* User Code Begin 3 */
 
 while (true) {
 Thread::Sleep(UINT32_MAX);
 }

 /* User Code End 3 */
}

仓库地址

API文档地址

STM32代码生成工具（python包&文档）

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