From 05dae2219e22823d82b6c612a123cabbd0d9faea Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Wed, 4 Feb 2026 15:24:56 +0800 Subject: [PATCH] =?UTF-8?q?OK=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/device/mrobot.c | 5 +++-- User/device/mrobot.h | 44 ++++++++++++++++++-------------------------- User/task/cli.c | 10 ++++++++++ 3 files changed, 31 insertions(+), 28 deletions(-) diff --git a/User/device/mrobot.c b/User/device/mrobot.c index 65cfe1b..e96471a 100644 --- a/User/device/mrobot.c +++ b/User/device/mrobot.c @@ -7,6 +7,7 @@ #include "device/mrobot.h" #include "component/freertos_cli.h" #include "bsp/uart.h" +#include "bsp/mm.h" #include #include #include @@ -523,7 +524,7 @@ void MRobot_DeInit(void) { /* 释放自定义命令内存 */ for (uint8_t i = 0; i < ctx.custom_cmd_count; i++) { if (ctx.custom_cmds[i] != NULL) { - vPortFree(ctx.custom_cmds[i]); + BSP_Free(ctx.custom_cmds[i]); ctx.custom_cmds[i] = NULL; } } @@ -616,7 +617,7 @@ MRobot_Error_t MRobot_RegisterCommand(const char *command, const char *help_text } /* 动态分配命令结构体 */ - CLI_Command_Definition_t *cmd_def = pvPortMalloc(sizeof(CLI_Command_Definition_t)); + CLI_Command_Definition_t *cmd_def = BSP_Malloc(sizeof(CLI_Command_Definition_t)); if (cmd_def == NULL) { return MROBOT_ERR_ALLOC; } diff --git a/User/device/mrobot.h b/User/device/mrobot.h index 99c1164..74c0875 100644 --- a/User/device/mrobot.h +++ b/User/device/mrobot.h @@ -25,20 +25,15 @@ * // 2. 实现打印回调 * static int print_imu(const void *data, char *buf, size_t size) { * const MyIMU_t *imu = (const MyIMU_t *)data; - * char ax[16], ay[16], az[16], r[16], p[16], y[16], t[16]; - * MRobot_FormatFloat(ax, 16, imu->accl[0], 3); - * MRobot_FormatFloat(ay, 16, imu->accl[1], 3); - * MRobot_FormatFloat(az, 16, imu->accl[2], 3); - * MRobot_FormatFloat(r, 16, imu->euler[0], 2); - * MRobot_FormatFloat(p, 16, imu->euler[1], 2); - * MRobot_FormatFloat(y, 16, imu->euler[2], 2); - * MRobot_FormatFloat(t, 16, imu->temp, 1); - * return snprintf(buf, size, + * return MRobot_Snprintf(buf, size, * " Status: %s\r\n" - * " Accel : X=%s Y=%s Z=%s\r\n" - * " Euler : R=%s P=%s Y=%s\r\n" - * " Temp : %s C\r\n", - * imu->online ? "Online" : "Offline", ax, ay, az, r, p, y, t); + * " Accel : X=%.3f Y=%.3f Z=%.3f\r\n" + * " Euler : R=%.2f P=%.2f Y=%.2f\r\n" + * " Temp : %.1f C\r\n", + * imu->online ? "Online" : "Offline", + * imu->accl[0], imu->accl[1], imu->accl[2], + * imu->euler[0], imu->euler[1], imu->euler[2], + * imu->temp); * } * * // 3. 注册设备 @@ -58,16 +53,13 @@ * * static int print_motor(const void *data, char *buf, size_t size) { * const MyMotor_t *m = (const MyMotor_t *)data; - * char ang[16], spd[16], cur[16]; - * MRobot_FormatFloat(ang, 16, m->angle, 2); - * MRobot_FormatFloat(spd, 16, m->speed, 1); - * MRobot_FormatFloat(cur, 16, m->current, 3); - * return snprintf(buf, size, + * return MRobot_Snprintf(buf, size, * " Status : %s\r\n" - * " Angle : %s deg\r\n" - * " Speed : %s RPM\r\n" - * " Current: %s A\r\n", - * m->online ? "Online" : "Offline", ang, spd, cur); + * " Angle : %.2f deg\r\n" + * " Speed : %.1f RPM\r\n" + * " Current: %.3f A\r\n", + * m->online ? "Online" : "Offline", + * m->angle, m->speed, m->current); * } * * // 注册 4 个电机 @@ -87,20 +79,20 @@ * const char *param = FreeRTOS_CLIGetParameter(cmd, 1, NULL); * * if (param == NULL) { - * return snprintf(buf, size, "Usage: cali \r\n"); + * return MRobot_Snprintf(buf, size, "Usage: cali \r\n"); * } * if (strncmp(param, "gyro", 4) == 0) { * // 采集 1000 次陀螺仪数据求平均 - * snprintf(buf, size, "Calibrating gyro... keep IMU still!\r\n"); + * MRobot_Snprintf(buf, size, "Calibrating gyro... keep IMU still!\r\n"); * // ... 校准逻辑 ... * return 0; * } * if (strncmp(param, "save", 4) == 0) { * // 保存到 Flash - * snprintf(buf, size, "Calibration saved to flash.\r\n"); + * MRobot_Snprintf(buf, size, "Calibration saved to flash.\r\n"); * return 0; * } - * return snprintf(buf, size, "Unknown: %s\r\n", param); + * return MRobot_Snprintf(buf, size, "Unknown: %s\r\n", param); * } * * // 注册命令 diff --git a/User/task/cli.c b/User/task/cli.c index 1f417b7..40b5446 100644 --- a/User/task/cli.c +++ b/User/task/cli.c @@ -18,6 +18,15 @@ /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ +/** + * @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 */ +} /* Exported functions ------------------------------------------------------- */ void Task_cli(void *argument) { (void)argument; /* 未使用argument，消除警告 */ @@ -28,6 +37,7 @@ void Task_cli(void *argument) { /* 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) {