9 Star 64 Fork 19

XRobot / XRobot

加入 Gitee
与超过 1200万 开发者一起发现、参与优秀开源项目,私有仓库也完全免费 :)
免费加入
克隆/下载
贡献代码
同步代码
取消
提示: 由于 Git 不支持空文件夾,创建文件夹后会生成空的 .keep 文件
Loading...
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!

star

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。

Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. "You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License. "Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files. "Object" form shall mean any form resulting from mechanical transformation or translation of a Source form, including but not limited to compiled object code, generated documentation, and conversions to other media types. "Work" shall mean the work of authorship, whether in Source or Object form, made available under the License, as indicated by a copyright notice that is included in or attached to the work (an example is provided in the Appendix below). "Derivative Works" shall mean any work, whether in Source or Object form, that is based on (or derived from) the Work and for which the editorial revisions, annotations, elaborations, or other modifications represent, as a whole, an original work of authorship. For the purposes of this License, Derivative Works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work and Derivative Works thereof. "Contribution" shall mean any work of authorship, including the original version of the Work and any modifications or additions to that Work or Derivative Works thereof, that is intentionally submitted to Licensor for inclusion in the Work by the copyright owner or by an individual or Legal Entity authorized to submit on behalf of the copyright owner. For the purposes of this definition, "submitted" means any form of electronic, verbal, or written communication sent to the Licensor or its representatives, including but not limited to communication on electronic mailing lists, source code control systems, and issue tracking systems that are managed by, or on behalf of, the Licensor for the purpose of discussing and improving the Work, but excluding communication that is conspicuously marked or otherwise designated in writing by the copyright owner as "Not a Contribution." "Contributor" shall mean Licensor and any individual or Legal Entity on behalf of whom a Contribution has been received by Licensor and subsequently incorporated within the Work. 2. Grant of Copyright License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form. 3. Grant of Patent License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted. If You institute patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within the Work constitutes direct or contributory patent infringement, then any patent licenses granted to You under this License for that Work shall terminate as of the date such litigation is filed. 4. Redistribution. You may reproduce and distribute copies of the Work or Derivative Works thereof in any medium, with or without modifications, and in Source or Object form, provided that You meet the following conditions: (a) You must give any other recipients of the Work or Derivative Works a copy of this License; and (b) You must cause any modified files to carry prominent notices stating that You changed the files; and (c) You must retain, in the Source form of any Derivative Works that You distribute, all copyright, patent, trademark, and attribution notices from the Source form of the Work, excluding those notices that do not pertain to any part of the Derivative Works; and (d) If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative Works that You distribute must include a readable copy of the attribution notices contained within such NOTICE file, excluding those notices that do not pertain to any part of the Derivative Works, in at least one of the following places: within a NOTICE text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated by the Derivative Works, if and wherever such third-party notices normally appear. The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License. You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License. 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. 6. Trademarks. This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor, except as required for reasonable and customary use in describing the origin of the Work and reproducing the content of the NOTICE file. 7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. 8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. 9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. END OF TERMS AND CONDITIONS APPENDIX: How to apply the Apache License to your work. To apply the Apache License to your work, attach the following boilerplate notice, with the fields enclosed by brackets "[]" replaced with your own identifying information. (Don't include the brackets!) The text should be enclosed in the appropriate comment syntax for the file format. We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. Copyright [yyyy] [name of copyright owner] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

简介

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。 展开 收起
Apache-2.0
取消

发行版

暂无发行版

贡献者

全部

近期动态

加载更多
不能加载更多了
1
https://gitee.com/x-robot/XRobot.git
git@gitee.com:x-robot/XRobot.git
x-robot
XRobot
XRobot
master

搜索帮助