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‎docs/code_gen/stm32/README.md

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@@ -34,13 +34,13 @@ xr_cubemx_cfg -d .
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[INFO] LibXR submodule already exists. Checking for updates...
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[INFO] [OK] cd . && git submodule update --init --recursive
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[INFO] LibXR submodule updated.
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Found .ioc file: .\atom.ioc
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Found .ioc file: ./atom.ioc
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Parsing .ioc file...
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[INFO] [OK] xr_parse_ioc -d . -o .\.config.yaml
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[INFO] [OK] xr_parse_ioc -d . -o ./.config.yaml
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Generating C++ code...
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[INFO] [OK] xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp
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[INFO] [OK] xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp
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Modifying STM32 interrupt files...
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[INFO] [OK] xr_stm32_it .\Core/Src
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[INFO] [OK] xr_stm32_it ./Core/Src
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[INFO] [OK] xr_stm32_cmake .
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[INFO] [Pass] All tasks completed successfully!
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```
@@ -62,7 +62,7 @@ Modifying STM32 interrupt files...
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├── Core/Src/stm32f1xx_it.c # 补丁后的中断处理函数
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├── cmake/LibXR.CMake # LibXR 构建配置
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├── CMakeLists.txt # 自动集成 LibXR
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└── Middlewares\Third_Party\LibXR # Git 子模块：LibXR 本体
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└── Middlewares/Third_Party/LibXR # Git 子模块：LibXR 本体
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```
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---

‎docs/code_gen/stm32/adc.md

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可直接修改该文件。如需应用更新配置，请执行以下任一命令以重新生成代码：
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`xr_cubemx_cfg -d .`
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或
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`xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp`
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`xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp`

‎docs/code_gen/stm32/can.md

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可直接修改该配置文件。如需应用更改，请执行以下命令重新生成代码：
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`xr_cubemx_cfg -d .`
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或
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`xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp`
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`xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp`

‎docs/code_gen/stm32/i2c.md

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可直接修改该文件。如需应用更新配置，请执行以下任一命令以重新生成代码：
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`xr_cubemx_cfg -d .`
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或
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`xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp`
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`xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp`

‎docs/code_gen/stm32/spi.md

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可直接修改该文件。如需应用更新配置，请执行以下任一命令以重新生成代码：
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`xr_cubemx_cfg -d .`
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或
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`xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp`
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`xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp`

‎docs/code_gen/stm32/timer.md

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## 配置文件
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对于非裸机环境，会在`User\libxr_config.yaml`中生成如下配置:
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对于非裸机环境，会在`User/libxr_config.yaml`中生成如下配置:
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```yaml
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software_timer:
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可直接修改该文件。如需应用更新配置，请执行以下任一命令以重新生成代码：
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`xr_cubemx_cfg -d .`
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或
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`xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp`
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`xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp`

‎docs/code_gen/stm32/uart.md

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可直接修改该文件。如需应用更新配置，请执行以下任一命令以重新生成代码：
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`xr_cubemx_cfg -d .`
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或
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`xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp`
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`xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp`

‎docs/code_gen/xrobot_inter.md

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---
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id: code-gen-xrobot-inter
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title: 与XRobot集成
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sidebar_position: 2
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---
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# 与XRobot集成
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在代码生成时加入`--xrobot`选项，可以生成对应的硬件容器（LibXR::HardwareContainer）以供XRobot初始化。
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## 示例
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```bash
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xr_gen_code_stm32 -i .\.config.yaml -o .\User\app_main.cpp --xrobot
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[INFO] Detected FreeRTOS configuration
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[INFO] FlashLayout is generated and injected, MCU: STM32G431KBU6
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[INFO] Flash layout map written to: .\User\flash_map.hpp
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[INFO] Successfully generated: .\User
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[INFO] Generated header file: app_main.h
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```
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会在app_main.cpp中额外生成以下代码：
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```cpp
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LibXR::HardwareContainer<
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LibXR::Entry<LibXR::PowerManager>,
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...
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> peripherals{
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LibXR::Entry<LibXR::PowerManager>(power_manager)
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...
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};
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XRobotMain(peripherals);
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```
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同时在libxr_config.yaml中添加外设别名，上层代码可依靠这些别名访问外设：
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```yaml
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device_aliases:
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power_manager:
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type: PowerManager
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aliases:
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- power_manager
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LED:
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type: GPIO
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aliases:
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- LED
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- led_red
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...
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```

‎docs/proj_man/add_mod.md

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---
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id: proj-man-add-mod
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title: 添加模块
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sidebar_position: 4
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---
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# 添加模块
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通过`xrobot_add_mod`工具可以快速添加一个新模块到仓库，或者从仓库中选择一个模块创建实例。
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## 使用方法
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### 添加远程模块到仓库
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--version可以省略，使用时要确保对应分支存在。
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```bash
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$ xrobot_add_mod https://github.com/yourorg/BlinkLED.git --version main
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[SUCCESS] Added repo module 'BlinkLED' to Modules/modules.yaml
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```
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然后拉取模块：
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```bash
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$ xrobot_init_mod
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[INFO] Cloning new module: BlinkLED
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Cloning into 'Modules/BlinkLED'...
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remote: Enumerating objects: 22, done.
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remote: Counting objects: 100% (22/22), done.
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remote: Compressing objects: 100% (15/15), done.
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remote: Total 22 (delta 7), reused 22 (delta 7), pack-reused 0 (from 0)
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Receiving objects: 100% (22/22), done.
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Resolving deltas: 100% (7/7), done.
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[SUCCESS] All modules processed
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```
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### 创建模块实例
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```bash
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$ xrobot_add_mod BlinkLED
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[SUCCESS] Appended module instance 'BlinkLED' to User/xrobot.yaml
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# 重新生成代码
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$ xrobot_gen_main
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...
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```

‎docs/proj_man/create_mod.md

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---
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id: proj-man-create-mod
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title: 快速创建模块
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sidebar_position: 3
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---
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XRobot 提供了快速创建模块的工具 `xrobot_create_mod`，可以从模板中快速创建一个新模块，用于快速开发模块，无需手动创建模块仓库和模块头文件。
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## 使用方法
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```bash
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$ xrobot_create_mod MySensor --desc "IMU interface module" --hw imu scl sda
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[OK] Module MySensor generated at Modules/MySensor
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```
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通过xrobot_mod_parser查看模块信息：
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```bash
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$ xrobot_mod_parser --path ./Modules/MySensor/
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=== Module: MySensor ===
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Description : IMU interface module
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Constructor Args :
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- name = your_arg_name_here
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Required Hardware : imu scl sda
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```
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模块的目录结构如下:
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```bash
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Modules/
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└── BlinkLED/
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├── BlinkLED.hpp # 带 manifest 的头文件
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├── README.md # 模块文档
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└── CMakeLists.txt # 构建配置
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```
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标准的MANIFEST（模块信息）格式如下：
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```yaml
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// clang-format off
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/* === MODULE MANIFEST ===
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module_name: BlinkLED
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module_description: 控制 LED 闪烁的简单模块 / A simple module to control LED blinking
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constructor_args:
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- blink_cycle: 250
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required_hardware: led/LED/led1/LED1
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repository: https://github.com/xrobot-org/BlinkLED
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=== END MANIFEST === */
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// clang-format on
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```

‎docs/proj_man/gen_main.md

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---
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id: proj-man-gen-main
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title: 生成主函数
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sidebar_position: 2
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---
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XRobot 提供了自动主函数生成工具 `gen_xrobot_main.py`，可根据每个模块头文件中的 MANIFEST 信息，自动提取构造参数并生成统一入口函数 `XRobotMain`，用于快速搭建完整的嵌入式应用框架。
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## 基本用法
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### 无配置文件
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会创建一个模板yaml文件，并在当前目录下生成函数入口文件。模板文件会为当前所有模块创建一个实例，并填入默认参数。
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```bash
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$ xrobot_gen_main
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Discovered modules: BlinkLED
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[INFO] Successfully parsed manifest for BlinkLED
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[INFO] Writing configuration to User/xrobot.yaml
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[SUCCESS] Generated entry file: User/xrobot_main.hpp
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```
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User/xrobot.yaml如下所示，可以直接修改此文件并重新生成代码：
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```yaml
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global_settings:
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monitor_sleep_ms: 1000
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modules:
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- name: BlinkLED
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constructor_args:
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blink_cycle: 250
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```
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生成的xrobot_main.hpp如下所示:
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```cpp
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#include "app_framework.hpp"
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#include "libxr.hpp"
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// Module headers
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#include "BlinkLED.hpp"
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template <typename HardwareContainer>
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static void XRobotMain(HardwareContainer &hw) {
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using namespace LibXR;
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ApplicationManager appmgr;
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// Auto-generated module instantiations
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static BlinkLED<HardwareContainer> blinkled(hw, appmgr, 250);
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while (true) {
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appmgr.MonitorAll();
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Thread::Sleep(1000);
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}
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}
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```
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### 存在配置文件
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会直接读取配置文件，并生成函数入口文件。
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```bash
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$ xrobot_gen_main --config User/xrobot.yaml
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[INFO] Using existing configuration file: User/xrobot.yaml
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[SUCCESS] Generated entry file: User/xrobot_main.hpp
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```

‎docs/proj_man/init_mod.md

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---
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id: proj-man-init-mod
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title: 初始化模块仓库
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sidebar_position: 1
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---
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# 初始化模块仓库
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XRobot提供了模块初始化工具`xrobot_init_mod`，可以通过本地或远程yaml文件初始化模块仓库。
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## 使用方法
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### 无本地/远程配置文件
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```bash
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# 第一次运行会创建一个模板yaml文件
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$ xrobot_init_mod
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[WARN] Configuration file not found, creating template: Modules/modules.yaml
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[INFO] Please edit the configuration file and rerun this script.
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# 第二次运行会根据配置文件初始化模块仓库
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$ xrobot_init_mod
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[INFO] Cloning new module: BlinkLED
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Cloning into 'Modules/BlinkLED'...
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remote: Enumerating objects: 22, done.
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remote: Counting objects: 100% (22/22), done.
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remote: Compressing objects: 100% (15/15), done.
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remote: Total 22 (delta 7), reused 22 (delta 7), pack-reused 0 (from 0)
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Receiving objects: 100% (22/22), done.
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Resolving deltas: 100% (7/7), done.
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[SUCCESS] All modules processed
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```
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### 本地配置文件
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使用--config选项指定本地配置文件，初始化模块仓库。
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```bash
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$ xrobot_init_mod --config Modules/modules.yaml
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[INFO] Updating module: BlinkLED
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Already up to date.
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Already on 'master'
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Your branch is up to date with 'origin/master'.
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[SUCCESS] All modules processed
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```
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### 远程配置文件
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使用--config选项指定远程配置文件，初始化模块仓库。
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```bash
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$ xrobot_init_mod --config https://raw.githubusercontent.com/${user_or_org_name}/${repo_name}/refs/heads/${branch_name}/${yaml_file_name}.yaml
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[INFO] Cloning new module: BlinkLED
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Cloning into 'Modules/BlinkLED'...
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remote: Enumerating objects: 22, done.
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remote: Counting objects: 100% (22/22), done.
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remote: Compressing objects: 100% (15/15), done.
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remote: Total 22 (delta 7), reused 22 (delta 7), pack-reused 0 (from 0)
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Receiving objects: 100% (22/22), done.
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Resolving deltas: 100% (7/7), done.
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[SUCCESS] All modules processed
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```
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## CMakeLists.txt 集成 XRobot
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在工程的CMakeLists.txt文件中添加:
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```cmake
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# Add XRobot Modules
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include(${CMAKE_CURRENT_LIST_DIR}/Modules/CMakeLists.txt)
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```

‎docs/proj_man/setup.md

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---
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id: proj-man-setup
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title: 一键配置
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sidebar_position: 5
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---
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# 一键配置
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XRobot 提供了一键配置的工具 `xrobot_setup`，可以快速配置项目，包括模块拉取、配置和主函数生成等。
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## 使用方法
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```bash
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$ xrobot_setup
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Starting XRobot auto-configuration
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[EXEC] xrobot_init_mod --config Modules/modules.yaml --dir Modules
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[INFO] Updating module: BlinkLED
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Already up to date.
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Already on 'master'
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Your branch is up to date with 'origin/master'.
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[SUCCESS] All modules processed
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[INFO] Generated default Modules/CMakeLists.txt at: Modules/CMakeLists.txt
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[EXEC] xrobot_gen_main --output User/xrobot_main.hpp --config User/xrobot.yaml
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Discovered modules: BlinkLED
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[INFO] Using existing configuration file: User/xrobot.yaml
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[SUCCESS] Generated entry file: User/xrobot_main.hpp
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```

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