修复mrobot

assets/User_code/task/task.c.template

@@ -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 */

assets/User_code/task/template_task/cli.c

@@ -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 */
+  }
+  
+}

assets/User_code/task/template_task/task.yaml

@@ -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