OK了

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 <string.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -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;
     }

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];
+ *     return MRobot_Snprintf(buf, size,
- *     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,
  *         "  Status: %s\r\n"
- *         "  Accel : X=%s Y=%s Z=%s\r\n"
+ *         "  Accel : X=%.3f Y=%.3f Z=%.3f\r\n"
- *         "  Euler : R=%s P=%s Y=%s\r\n"
+ *         "  Euler : R=%.2f P=%.2f Y=%.2f\r\n"
- *         "  Temp  : %s C\r\n",
+ *         "  Temp  : %.1f C\r\n",
- *         imu->online ? "Online" : "Offline", ax, ay, az, r, p, y, t);
+ *         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];
+ *     return MRobot_Snprintf(buf, size,
- *     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,
  *         "  Status : %s\r\n"
- *         "  Angle  : %s deg\r\n"
+ *         "  Angle  : %.2f deg\r\n"
- *         "  Speed  : %s RPM\r\n"
+ *         "  Speed  : %.1f RPM\r\n"
- *         "  Current: %s A\r\n",
+ *         "  Current: %.3f A\r\n",
- *         m->online ? "Online" : "Offline", ang, spd, cur);
+ *         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 <gyro|accel|save>\r\n");
+ *         return MRobot_Snprintf(buf, size, "Usage: cali <gyro|accel|save>\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

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) {