LibXR

Want to be the best embedded framework

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Who is this library for

• People who do not require desktop and web applications.
• Realtime and high performance.
• Finish the entire project quickly and reliably.
• Don't want to care about the differences in APIs.

Support

System Layer

1. The application will never exit unless it reboot or enter into low-power mode.
2. All memory is only allocated during initializtion and will never be released.
3. The minimum Non-blocking delay is 1us, minimum blocking delay is 1ms.
4. All unused functions will not be linked.

System	Thread	Timer	Semaphore	Mutex	Signal	ConditionVar	Queue	ASync
None	✅	✅	✅	✅	✅	✅	✅	✅
FreeRTOS	✅	✅	✅	✅	✅	✅	✅	✅
RT-Thread	❌	❌	❌	❌	❌	❌	❌	❌
ThreadX	❌	❌	❌	❌	❌	❌	❌	❌
PX5	❌	❌	❌	❌	❌	❌	❌	❌
Linux	✅	✅	✅	✅	✅	✅	✅	✅
Webots(Linux)	✅	✅	✅	✅	✅	✅	✅	✅

Data structure

1. Except list and tree, the memory of other data structures are determined before construction.
2. No blocking APIs except Queue. If you want one, use Semaphore.

Structure	List	Stack	RBTree	LockFreeQueue	ChunkQueue
	✅	✅	✅	✅	✅

Middleware

A collection of commonly used software.

Middleware	Event	Message	Ramfs	Terminal	Database	Log
	✅	✅	✅	✅	✅	❌

Periheral Layer

Only have virtual class, you can find the drivers in Platfrom folder. For example class STM32Uart based on the virtual class Uart.

Peripheral	POWER	GPIO	WDG	PWM	ADC	DAC	UART	SPI	I2C	CAN/CANFD	USB-CDC
STM32	✅	✅	❌	✅	✅	❌	✅	✅	✅	✅	✅
ESP32	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌
Linux	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌
GD32	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌
HC32	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌
WCH32	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌
HPM	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌	❌

Network	TCP/UDP	WIFI	Bluetooth	SmartConfig
Linux	❌	❌	❌	❌
ESP32	❌	❌	❌	❌
STM32	❌	❌	❌	❌

Utils

Some useful tools for debugging, robotics, and communication.

Kinematics	Forward-Kinematics	Inverse-Kinematics	Coordinate	Pose and Position
	✅	✅	❌	✅

Dynamics	Inertia	Torque	G-Compensation
	✅	❌	❌

Control	PID	LQR	MPC
	✅	❌	❌

Signal	LP Filter	Kalman Filter	FFT	FunctionGen
	❌	❌	❌	❌

Math	CycleValue	CRC8/16/32	Triangle
	✅	✅	❌

Usage

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
# LibXR
set(LIBXR_SYSTEM FreeRTOS) # None/Linux/FreeRTOS
set(LIBXR_DRIVER st)       # st/Linux/empty
add_subdirectory(path_to_libxr)
 
target_link_libraries(${CMAKE_PROJECT_NAME}
    xr
)
 
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
    PUBLIC $<TARGET_PROPERTY:xr,INTERFACE_INCLUDE_DIRECTORIES>
)

Others

STM32 C++ Code Generator

libxr-python-package

Video Tutorial

Bilibili