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Robofish 2026-02-04 17:59:22 +08:00
parent 8138a777bd
commit 10a15bdff9
10 changed files with 93 additions and 20 deletions
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.DS_Store vendored
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6
bsp/fdcan/fdcan.c
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@ -21,19 +21,19 @@
#define FDCAN1_FILTER_CONFIG_TABLE(X) \
X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \
X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0)
#define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
#define FDCAN1_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
#endif
#ifdef FDCAN2_EN
#define FDCAN2_FILTER_CONFIG_TABLE(X) \
X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \
X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0)
#define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
#define FDCAN2_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
#endif
#ifdef FDCAN3_EN
#define FDCAN3_FILTER_CONFIG_TABLE(X) \
X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \
X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0)
#define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
#define FDCAN3_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
#endif
/* ====宏展开实现==== */

3
component/freertos_cli/FreeRTOS_CLI.h
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@ -28,6 +28,9 @@
#ifndef COMMAND_INTERPRETER_H
#define COMMAND_INTERPRETER_H
#include <stddef.h>
#include "FreeRTOS.h"
/* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */
#define configCOMMAND_INT_MAX_OUTPUT_SIZE 512

5
component/limiter/limiter.c
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@ -105,3 +105,8 @@ float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
else
return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
}
/* USER CODE BEGIN */
/* USER CODE END */

4
component/limiter/limiter.h
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@ -61,3 +61,7 @@ float PowerLimit_TargetPower(float power_limit, float power_buffer);
*/
float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
float heat_increase, bool is_big);
/* USER CODE BEGIN */
/* USER CODE END */

24
device/mrobot/mrobot.c
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@ -120,7 +120,7 @@ static void send_string(const char *str) {
if (str == NULL || *str == '\0') return;
ctx.tx_complete = false;
BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)str, strlen(str), true);
BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)str, strlen(str), true);
while (!ctx.tx_complete) { osDelay(1); }
}
@ -151,7 +151,7 @@ static void uart_rx_callback(void) {
if (ch == 'q' || ch == 'Q' || ch == 27) {
ctx.htop_exit = true;
}
BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
return;
}
@ -160,19 +160,20 @@ static void uart_rx_callback(void) {
if (ctx.cmd_index > 0) {
ctx.cmd_buffer[ctx.cmd_index] = '\0';
ctx.cmd_ready = true;
BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)"\r\n", 2, false);
BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)"\r\n", 2, false);
}
} else if (ch == 127 || ch == 8) { /* 退格键 */
if (ctx.cmd_index > 0) {
ctx.cmd_index--;
BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)ANSI_BACKSPACE, 3, false);
BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)ANSI_BACKSPACE, 3, false);
}
} else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
ctx.cmd_buffer[ctx.cmd_index++] = ch;
BSP_UART_Transmit(MROBOT_UART_PORT, &ch, 1, false);
/* 回显：使用静态变量地址，避免异步发送时局部变量已失效 */
BSP_UART_Transmit(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
}
BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
}
/* ========================================================================== */
@ -483,9 +484,8 @@ void MRobot_Init(void) {
/* 创建互斥锁 */
ctx.mutex = xSemaphoreCreateMutex();
/* 初始化状态 */
memset(ctx.devices, 0, sizeof(ctx.devices));
ctx.device_count = 0;
/* 初始化状态（保留已注册的设备） */
// 注意：不清除 devices 和 device_count，因为其他任务可能已经注册了设备
ctx.custom_cmd_count = 0;
ctx.state = MROBOT_STATE_IDLE;
strcpy(ctx.current_path, "/");
@ -500,11 +500,11 @@ void MRobot_Init(void) {
}
/* 注册 UART 回调 */
BSP_UART_RegisterCallback(MROBOT_UART_PORT, BSP_UART_RX_CPLT_CB, uart_rx_callback);
BSP_UART_RegisterCallback(MROBOT_UART_PORT, BSP_UART_TX_CPLT_CB, uart_tx_callback);
BSP_UART_RegisterCallback(BSP_UART_MROBOT, BSP_UART_RX_CPLT_CB, uart_rx_callback);
BSP_UART_RegisterCallback(BSP_UART_MROBOT, BSP_UART_TX_CPLT_CB, uart_tx_callback);
/* 启动 UART 接收 */
BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
/* 等待用户按下回车 */
while (ctx.uart_rx_char != '\r' && ctx.uart_rx_char != '\n') {

4
device/mrobot/mrobot.h
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@ -143,10 +143,6 @@ extern "C" {
#define MROBOT_HTOP_REFRESH_MS 200 /* htop 刷新间隔 (ms) */
#endif
#ifndef MROBOT_UART_PORT
#define MROBOT_UART_PORT BSP_UART_VOFA /* 默认 UART 端口 */
#endif
#ifndef MROBOT_USER_NAME
#define MROBOT_USER_NAME "root" /* CLI 用户名 */
#endif

3
task/task.c.template
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@ -18,6 +18,9 @@
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void {{task_function}}(void *argument) {
(void)argument; /* 未使用argument，消除警告 */

52
task/template_task/cli.c Normal file
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@ -0,0 +1,52 @@
/*
cli Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/mrobot.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/**
* @brief hello 命令回调
* @note 命令回调必须返回 0 (pdFALSE) 表示完成，返回非0会继续调用
*/
static long Cli_Hello(char *buffer, size_t size, const char *cmd) {
(void)cmd; /* 未使用cmd，消除警告 */
MRobot_Snprintf(buffer, size, "Ciallo～(∠・ω< )⌒★\r\n");
return 0; /* 返回0表示命令执行完成 */
}
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_cli(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
osDelay(CLI_INIT_DELAY); /* 延时一段时间再开启任务 */
/* USER CODE INIT BEGIN */
/* 初始化 MRobot CLI 系统 */
MRobot_Init();
MRobot_RegisterCommand("hello", " --hello: 打印问候语\r\n", Cli_Hello, -1);
/* USER CODE INIT END */
while (1) {
/* USER CODE BEGIN */
/* 运行 MRobot 主循环 */
MRobot_Run();
/* USER CODE END */
}
}

12
task/template_task/task.yaml
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@ -1,7 +1,7 @@
atti_esti:
name: "atti_esti"
frequency: 1000
delay: 100
delay: 0
stack: 512
freq_control: false
description: |
@ -16,3 +16,13 @@ atti_esti:
- 陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中
- 无磁力计版本，适用于干净的电磁环境
- 需要配置PWM通道用于IMU加热控制
cli:
name: "cli"
frequency: 500
delay: 0
stack: 1024
freq_control: false
description: |
命令行接口任务
通过串口实现的虚拟终端，配合putty食用更佳
需要freertos_cli组件支持，还有mrobot设备驱动