robofish/MRobot
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修复mrobot

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Robofish
2026-02-04 17:39:12 +08:00
parent e47d170066
commit 843936525f
5 changed files with 70 additions and 5 deletions
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8
assets/User_code/device/mrobot/mrobot.c
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@@ -169,7 +169,8 @@ static void uart_rx_callback(void) {
}
} else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
ctx.cmd_buffer[ctx.cmd_index++] = ch;
BSP_UART_Transmit(BSP_UART_MROBOT, &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(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, "/");