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README
Apache-2.0

XRobot

颠覆传统理念的嵌入式软件开发框架。诞生于Robomaster比赛,但绝不局限于此。

是时候使用现代化的方式来进行嵌入式开发了!

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Doc

请阅读我们的文档,学习如何从驱动一个电机开始,搭建起完整的机器人系统。

引言

提起嵌入式开发,绝大多数团队或者公司都在以一种效率极其低下的方式来拼凑逻辑和功能,很难将现代的软件开发的思想融入到当中去。当然,其中不乏有优秀的项目和例子,其规范的代码风格,先进的架构和编译系统都值得深究。但他们往往都局限于某种平台或者应用,例如PX4专注于无人机系统,主要支持ROS和Nuttx。而那些主要面向MCU的框架,例如ESP-IDF、BabyOS等,自身都有较大的局限性。所以是否能有一种方式,既能实现现代化的开发,又能完美兼容裸机到RTOS再到Linux,甚至是运动学仿真呢?这就是我们的尝试——XRobot。

获取源代码

github主仓库: git clone https://github.com/xrobot-org/XRobot.git

gitee镜像: git clone https://gitee.com/x-robot/XRobot.git

性能、空间与开发效率兼得

最小32k flash + 8k ram即可运行完整demo。

MCU

can总线微动模块

使用STM32F103C8,通过CAN总线上报多个微动开关状态。自带命令行更改CAN ID与上报频率。SRAM占用4.35kb,Flash占用46.3kb。

双canfd转uart模块

使用STM32G0B1,实现两路canfd(5mbps)转uart,保证不丢包的前提下,两路canfd总线可以跑到满速。SRAM占用5.2kb,Flash占用45.6kb。

canfd九轴imu模块

使用STM32G431KB,传感器为icm42688+mmc5603。USB命令行实现陀螺仪零偏与磁力计椭圆校准,uart和canfd接口最高1000hz发送数据,数据包含四元数、欧拉角、加速度、角速度和磁场。SRAM占用28.5kb,Flash占用91kb。

工程机器人

使用STM32F407IG,单板实现控制底盘、抓取机构等十五个电机和三个can总线微动模块。同时接收自定义控制器/裁判系统/遥控器数据,绘制自定义UI,板载bmi088陀螺仪AHRS姿态解算,命令行和日志打印。SRAM占用30.6k,CCMRAM占用64k,flash占用197.5k。

Linux

使用Raspberry 4B,实现8路CAN转UART模块数据接收,校验,统计与UDP转发。最高速率60000pps,ram占用1.3mb,连续一周稳定运行。

主要特色

  • 利用现代化的构建系统(CMake & Clang & Ninja)实现跨平台高速编译
  • VSCode/CLion一键编译调试与ClangTidy代码检查
  • 完善的文档与入门教程
  • CI/CD自动构建和固件发布
  • 应用层全部使用C++编写,代码复用率高
  • 兼容多开发板和操作系统(Linux/Webots仿真/FreeRTOS/裸机)
  • 图形化/命令行参数配置
  • 命令行界面(CLI)与消息订阅发布
  • 部分支持Arduino

组成

嵌入式程序层次图

XRobot基本部分是一套开发板与功能模块的管理系统,能够让使用者选择所需的模块并搭建成完整的机器人系统。基于模块化开发即插即用,尽可能对代码进行复用,又基于配置文件对功能细节进行定制和调整以便适应多种场景。同时统一底层与操作系统API以便标准化代码。

  • hw/bsp 包含底层外设驱动的通用封装,主函数入口,开发板的调试工程和配置文件等。
  • hw/mcu 不同厂家和型号MCU的通用SDK和配置脚本。
  • src/system 包含不同操作系统的兼容层,提供信号量/线程管理/队列/定时器等通用接口。
  • src/device 通过操作底层接口对外部设备实现通信和控制的模块。
  • src/module 包含多个设备,实现特定功能的模块。
  • src/component 与硬件无关的数学运算
  • src/robot 将多个模块和设备组合,完成复杂机器人功能

软件工具

以下工具在所有框架支持的设备上,甚至包括裸机平台都提供了实现,保证系统API的统一

  • 消息订阅
  • 命令行
  • 数据库
  • 线程管理、软定时器、信号量、实时信号、互斥锁等系统API
  • 队列/链表等数据结构
  • 原生支持内存分配(new/malloc)和printf
  • log打印

应用案例

Robomaster

  • 麦轮/舵轮/平衡步兵
  • 英雄
  • 哨兵
  • 工程
  • 飞镖架
  • 无人机

成品模块

  • 六轴/九轴CAN总线IMU模块
  • CAN转UART模块
  • BLE配网模块
  • CAN总线微动检测模块
  • ...

上市产品

  • 敬请期待

机器人展示

以上机器人均使用XRobot驱动

硬件支持

MCU Board Image
STM32F407IG Robomaster C型开发板
STM32F302CB IMU-DEV-BOARD
STM32F446RE C-Mini
STM32F103 F103 CAN
ESP32-C3 ESP32C3-Core
Linux x86 Intel NUC
Linux arm Raspberry pi 4B
Linux arm mCore-R818

图片展示

Linux下VSCode与openOCD联合调试

VSCode调试界面

Windows使用Mingw64原生开发

Windows

Windows11使用CLion在WSL下开发

CLion调试界面

XRobot作为外部控制器在Webots进行运动学仿真

Webots仿真

利用命令行查看log、校准陀螺仪、监控电机运行数据和机器人参数配置

命令行

自定义UI框架

客户端UI

相关依赖

订阅发布/日志相关功能由OneMessage提供: 一个基于发布-订阅模型的跨平台消息框架,纯C语言编写,性能和灵活性极高

命令行/文件系统相关功能由MiniShell提供: 无需操作系统与动态内存分配的嵌入式Shell

Flash数据库由MiniFlashDBEasyFlash提供。

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XRobot是一套适用于微控制器、Arm/x86 Linux和模拟器的机器人开发框架,能够让使用者选择所需的模块并快速搭建成完整的机器人系统。 expand collapse
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