可以了

User/device/mrobot.c

@@ -1,11 +1,15 @@
 /* Includes ----------------------------------------------------------------- */
 #include "device/mrobot.h"
+#include "device/device.h"
+#include "device/motor.h"
 #include "component/freertos_cli.h"
 #include "bsp/uart.h"
 #include <string.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <FreeRTOS.h>
 #include <task.h>
+#include <cmsis_os2.h>
 
 /* Private variables -------------------------------------------------------- */
 static MRobot_Device_t devices[MROBOT_MAX_DEVICES];
@@ -61,7 +65,7 @@ static const CLI_Command_Definition_t cmd_def_ls = {
 
 static const CLI_Command_Definition_t cmd_def_show = {
     "show",
-    "show [device]: 显示设备信息\r\n",
+    "show [device] [count]: 显示设备信息，count 默认为 1\r\n",
     cmd_show,
     -1  /* 可变参数 */
 };
@@ -75,6 +79,83 @@ static const CLI_Command_Definition_t cmd_def_pwd = {
 
 /* Private functions -------------------------------------------------------- */
 
+/* 通用 IMU 设备打印函数 */
+static void mrobot_print_imu(void *device_data, char *buffer, uint16_t buffer_size) {
+    DEVICE_IMU_t *imu = (DEVICE_IMU_t *)device_data;
+    
+    /* 将浮点数转换为整数和小数部分，避免 printf 浮点数支持问题 */
+    int accl_x_int = (int)(imu->accl.x);
+    int accl_x_frac = (int)((imu->accl.x - accl_x_int) * 1000);
+    int accl_y_int = (int)(imu->accl.y);
+    int accl_y_frac = (int)((imu->accl.y - accl_y_int) * 1000);
+    int accl_z_int = (int)(imu->accl.z);
+    int accl_z_frac = (int)((imu->accl.z - accl_z_int) * 1000);
+    
+    int gyro_x_int = (int)(imu->gyro.x);
+    int gyro_x_frac = (int)((imu->gyro.x - gyro_x_int) * 1000);
+    int gyro_y_int = (int)(imu->gyro.y);
+    int gyro_y_frac = (int)((imu->gyro.y - gyro_y_int) * 1000);
+    int gyro_z_int = (int)(imu->gyro.z);
+    int gyro_z_frac = (int)((imu->gyro.z - gyro_z_int) * 1000);
+    
+    int temp_int = (int)(imu->temp);
+    int temp_frac = (int)((imu->temp - temp_int) * 100);
+    
+    float roll_deg = imu->euler.rol * 57.2958f;
+    float pitch_deg = imu->euler.pit * 57.2958f;
+    float yaw_deg = imu->euler.yaw * 57.2958f;
+    
+    int roll_int = (int)roll_deg;
+    int roll_frac = (int)((roll_deg - roll_int) * 100);
+    int pitch_int = (int)pitch_deg;
+    int pitch_frac = (int)((pitch_deg - pitch_int) * 100);
+    int yaw_int = (int)yaw_deg;
+    int yaw_frac = (int)((yaw_deg - yaw_int) * 100);
+    
+    snprintf(buffer, buffer_size,
+             "状态:     %s\r\n"
+             "加速度计: X=%d.%03d Y=%d.%03d Z=%d.%03d m/s²\r\n"
+             "陀螺仪:   X=%d.%03d Y=%d.%03d Z=%d.%03d rad/s\r\n"
+             "温度:     %d.%02d °C\r\n"
+             "欧拉角:   Roll=%d.%02d Pitch=%d.%02d Yaw=%d.%02d °\r\n",
+             imu->header.online ? "在线" : "离线",
+             accl_x_int, abs(accl_x_frac), accl_y_int, abs(accl_y_frac), accl_z_int, abs(accl_z_frac),
+             gyro_x_int, abs(gyro_x_frac), gyro_y_int, abs(gyro_y_frac), gyro_z_int, abs(gyro_z_frac),
+             temp_int, abs(temp_frac),
+             roll_int, abs(roll_frac), pitch_int, abs(pitch_frac), yaw_int, abs(yaw_frac));
+}
+
+/* 通用电机设备打印函数 */
+static void mrobot_print_motor(void *device_data, char *buffer, uint16_t buffer_size) {
+    MOTOR_t *motor = (MOTOR_t *)device_data;
+    
+    int angle_int = (int)(motor->feedback.rotor_abs_angle);
+    int angle_frac = (int)((motor->feedback.rotor_abs_angle - angle_int) * 100);
+    
+    int speed_int = (int)(motor->feedback.rotor_speed);
+    int speed_frac = (int)((motor->feedback.rotor_speed - speed_int) * 100);
+    
+    int current_int = (int)(motor->feedback.torque_current);
+    int current_frac = (int)((motor->feedback.torque_current - current_int) * 100);
+    
+    int temp_int = (int)(motor->feedback.temp);
+    int temp_frac = (int)((motor->feedback.temp - temp_int) * 10);
+    
+    snprintf(buffer, buffer_size,
+             "状态:     %s\r\n"
+             "反装:     %s\r\n"
+             "角度:     %d.%02d °\r\n"
+             "转速:     %d.%02d RPM\r\n"
+             "电流:     %d.%02d A\r\n"
+             "温度:     %d.%01d °C\r\n",
+             motor->header.online ? "在线" : "离线",
+             motor->reverse ? "是" : "否",
+             angle_int, abs(angle_frac),
+             speed_int, abs(speed_frac),
+             current_int, abs(current_frac),
+             temp_int, abs(temp_frac));
+}
+
 /* help 命令实现 */
 static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
     (void)pcCommandString;
@@ -164,18 +245,59 @@ static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char
 /* show 命令实现 */
 static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
     const char *param;
-    BaseType_t param_len;
+    const char *count_param;
+    BaseType_t param_len, count_param_len;
+    static uint32_t print_count = 0;
+    static uint32_t current_iteration = 0;
+    static char saved_device_name[32] = {0};
     
+    /* 首次调用时解析参数 */
+    if (current_iteration == 0) {
         param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
+        count_param = FreeRTOS_CLIGetParameter(pcCommandString, 2, &count_param_len);
         
         if (strcmp(current_path, "/dev") != 0) {
             snprintf(pcWriteBuffer, xWriteBufferLen, "错误: show 命令仅在 /dev 目录下可用\r\n");
             return pdFALSE;
         }
         
-    if (param == NULL) {
+        /* 解析打印次数，默认为 1 */
+        print_count = 1;
+        if (count_param != NULL) {
+            char count_str[16];
+            strncpy(count_str, count_param, count_param_len < 15 ? count_param_len : 15);
+            count_str[count_param_len < 15 ? count_param_len : 15] = '\0';
+            int parsed_count = atoi(count_str);
+            if (parsed_count > 0 && parsed_count <= 100) {
+                print_count = parsed_count;
+            }
+        }
+        
+        /* 保存设备名称 */
+        if (param != NULL) {
+            strncpy(saved_device_name, param, param_len);
+            saved_device_name[param_len] = '\0';
+        } else {
+            saved_device_name[0] = '\0';
+        }
+    }
+    
+    /* 执行打印 */
+    int offset = 0;
+    
+    /* 多次打印时清屏（像htop一样） */
+    if (print_count > 1) {
+        const char *clear = "\033[2J\033[H";  /* ANSI清屏 + 光标归位 */
+        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "%s", clear);
+    }
+    
+    if (saved_device_name[0] == '\0') {
         /* 显示所有设备 */
-        int offset = snprintf(pcWriteBuffer, xWriteBufferLen, "所有设备信息:\r\n");
+        if (print_count > 1) {
+            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, 
+                             "[第 %u/%u 次]\r\n", current_iteration + 1, print_count);
+        }
+        offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, "所有设备信息:\r\n");
         for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
             offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                              "\r\n=== %s ===\r\n", devices[i].name);
@@ -188,16 +310,19 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
         }
     } else {
         /* 显示特定设备 */
-        char device_name[32];
-        strncpy(device_name, param, param_len);
-        device_name[param_len] = '\0';
-        
         bool found = false;
         for (uint8_t i = 0; i < device_count; i++) {
-            if (strcmp(devices[i].name, device_name) == 0) {
+            if (strcmp(devices[i].name, saved_device_name) == 0) {
                 found = true;
-                int offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
+                int offset = 0;
+                if (print_count > 1) {
+                    offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
+                                     "[第 %u/%u 次] === %s ===\r\n", 
+                                     current_iteration + 1, print_count, devices[i].name);
+                } else {
+                    offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
                                      "=== %s ===\r\n", devices[i].name);
+                }
                 if (devices[i].print_callback != NULL) {
                     devices[i].print_callback(devices[i].data, 
                                              pcWriteBuffer + offset, 
@@ -210,13 +335,23 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
             }
         }
         
-        if (!found) {
+        if (!found && current_iteration == 0) {
-            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", device_name);
+            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", saved_device_name);
+            current_iteration = 0;
+            return pdFALSE;
         }
     }
     
+    /* 判断是否需要继续打印 */
+    current_iteration++;
+    if (current_iteration < print_count) {
+        osDelay(200);  /* 延时 200ms 再打印下一次 */
+        return pdTRUE;  /* 返回 pdTRUE 表示还有更多输出 */
+    } else {
+        current_iteration = 0;  /* 重置计数器 */
         return pdFALSE;
     }
+}
 
 /* UART 发送完成回调 */
 static void mrobot_uart_tx_callback(void) {
@@ -315,6 +450,14 @@ int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type,
     return 0;
 }
 
+int8_t MRobot_RegisterIMU(const char *name, void *imu_device) {
+    return MRobot_RegisterDevice(name, MROBOT_DEVICE_TYPE_IMU, imu_device, mrobot_print_imu);
+}
+
+int8_t MRobot_RegisterMotor(const char *name, void *motor) {
+    return MRobot_RegisterDevice(name, MROBOT_DEVICE_TYPE_MOTOR, motor, mrobot_print_motor);
+}
+
 void MRobot_Run(void) {
     /* 动态 htop 模式 */
     if (htop_mode) {
@@ -411,20 +554,21 @@ void MRobot_Run(void) {
         } else {
             /* 处理其他命令 */
             BaseType_t result;
-            int offset = 0;
+            output_buffer[0] = '\0';  /* 清空输出缓冲区 */
             
             do {
                 result = FreeRTOS_CLIProcessCommand((char *)cmd_buffer, 
-                                                    output_buffer + offset, 
+                                                    output_buffer, 
-                                                    sizeof(output_buffer) - offset);
+                                                    sizeof(output_buffer));
-                offset = strlen(output_buffer);
-            } while (result != pdFALSE && offset < (int)sizeof(output_buffer));
                 
+                /* 立即发送输出 */
                 if (strlen(output_buffer) > 0) {
                     tx_complete = false;
                     BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)output_buffer, strlen(output_buffer), true);
-                while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
+                    while (!tx_complete) { osDelay(1); }
+                    output_buffer[0] = '\0';  /* 清空缓冲区准备下一次 */
                 }
+            } while (result != pdFALSE);
             
             /* 发送提示符 */
             char prompt[128];

User/device/mrobot.h

@@ -31,6 +31,8 @@ extern "C" {
 /* Includes ----------------------------------------------------------------- */
 #include <stdint.h>
 #include <stdbool.h>
+#include "component/ahrs.h"
+#include "device/device.h"
 
 /* Exported constants ------------------------------------------------------- */
 #define MROBOT_MAX_DEVICES 32
@@ -57,6 +59,29 @@ typedef struct {
   MRobot_PrintCallback_t print_callback;  /* 打印设备信息的回调函数 */
 } MRobot_Device_t;
 
+/* 设备模板结构体 - 使用 AHRS 标准结构 */
+typedef struct {
+    DEVICE_Header_t header;
+    AHRS_Accl_t accl;         /* 加速度 m/s² */
+    AHRS_Gyro_t gyro;         /* 角速度 rad/s */
+    AHRS_Eulr_t euler;        /* 欧拉角 rad */
+    AHRS_Quaternion_t quat;   /* 四元数 */
+    float temp;               /* 温度 °C */
+} DEVICE_IMU_t;
+
+typedef struct {
+    float rotor_abs_angle; /* 转子绝对角度 */
+    float rotor_speed;     /* 实际转子转速 */
+    float torque_current;  /* 转矩电流 */
+    float temp;            /* 温度 */
+} DEVICE_MOTOR_Feedback_t;
+
+typedef struct {
+    DEVICE_Header_t header;
+    bool reverse;  /* 是否反装 true表示反装 */
+    DEVICE_MOTOR_Feedback_t feedback;
+} DEVICE_MOTOR_t;
+
 /* Exported functions ------------------------------------------------------- */
 
 /**
@@ -75,6 +100,22 @@ void MRobot_Init(void);
 int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type, 
                              void *data, MRobot_PrintCallback_t print_callback);
 
+/**
+ * @brief 注册 IMU 设备到 MRobot（使用通用打印函数）
+ * @param name 设备名称
+ * @param imu_device 指向 DEVICE_IMU_t 结构的指针
+ * @retval 0 成功, -1 失败
+ */
+int8_t MRobot_RegisterIMU(const char *name, void *imu_device);
+
+/**
+ * @brief 注册电机设备到 MRobot（使用通用打印函数）
+ * @param name 设备名称
+ * @param motor 指向 MOTOR_t 结构的指针
+ * @retval 0 成功, -1 失败
+ */
+int8_t MRobot_RegisterMotor(const char *name, void *motor);
+
 /**
  * @brief MRobot 主循环，在 CLI 任务中调用
  */

User/task/atti_esit.c

@@ -14,9 +14,9 @@
 #include "component/pid.h"
 #include "device/bmi088.h"
 #include "device/mrobot.h"
+#include "device/device.h"
 #include "module/balance_chassis.h"
 #include "task/user_task.h"
-#include <stdlib.h>
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -25,7 +25,7 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 BMI088_t bmi088;
-
+DEVICE_IMU_t imu_device;
 #ifndef USE_QEKF
 AHRS_t gimbal_ahrs;
 AHRS_Magn_t magn;
@@ -34,17 +34,6 @@ AHRS_Eulr_t eulr_to_send;
 Chassis_IMU_t imu_for_chassis;
 KPID_t imu_temp_ctrl_pid;
 
-/* 用于 MRobot 显示的 IMU 数据结构 */
-typedef struct {
-  BMI088_t *bmi088;
-  AHRS_Eulr_t *euler;
-} IMU_Display_Data_t;
-
-static IMU_Display_Data_t imu_display_data = {
-  .bmi088 = &bmi088,
-  .euler = &eulr_to_send,
-};
-
 /*默认校准参数*/
 BMI088_Cali_t cali_bmi088 = {
     .gyro_offset = {-0.00147764047f, -0.00273479894f, 0.00154074503f},
@@ -62,50 +51,6 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
-/* BMI088 设备信息打印回调 */
-static void bmi088_print_callback(void *device_data, char *buffer, uint16_t buffer_size) {
-  IMU_Display_Data_t *data = (IMU_Display_Data_t *)device_data;
-  
-  /* 将浮点数转换为整数和小数部分，避免 printf 浮点数支持问题 */
-  int accl_x_int = (int)(data->bmi088->accl.x);
-  int accl_x_frac = (int)((data->bmi088->accl.x - accl_x_int) * 1000);
-  int accl_y_int = (int)(data->bmi088->accl.y);
-  int accl_y_frac = (int)((data->bmi088->accl.y - accl_y_int) * 1000);
-  int accl_z_int = (int)(data->bmi088->accl.z);
-  int accl_z_frac = (int)((data->bmi088->accl.z - accl_z_int) * 1000);
-  
-  int gyro_x_int = (int)(data->bmi088->gyro.x);
-  int gyro_x_frac = (int)((data->bmi088->gyro.x - gyro_x_int) * 1000);
-  int gyro_y_int = (int)(data->bmi088->gyro.y);
-  int gyro_y_frac = (int)((data->bmi088->gyro.y - gyro_y_int) * 1000);
-  int gyro_z_int = (int)(data->bmi088->gyro.z);
-  int gyro_z_frac = (int)((data->bmi088->gyro.z - gyro_z_int) * 1000);
-  
-  int temp_int = (int)(data->bmi088->temp);
-  int temp_frac = (int)((data->bmi088->temp - temp_int) * 100);
-  
-  float roll_deg = data->euler->rol * 57.2958f;
-  float pitch_deg = data->euler->pit * 57.2958f;
-  float yaw_deg = data->euler->yaw * 57.2958f;
-  
-  int roll_int = (int)roll_deg;
-  int roll_frac = (int)((roll_deg - roll_int) * 100);
-  int pitch_int = (int)pitch_deg;
-  int pitch_frac = (int)((pitch_deg - pitch_int) * 100);
-  int yaw_int = (int)yaw_deg;
-  int yaw_frac = (int)((yaw_deg - yaw_int) * 100);
-  
-  snprintf(buffer, buffer_size,
-           "加速度计: X=%d.%03d Y=%d.%03d Z=%d.%03d m/s²\r\n"
-           "陀螺仪:   X=%d.%03d Y=%d.%03d Z=%d.%03d rad/s\r\n"
-           "温度:     %d.%02d °C\r\n"
-           "欧拉角:   Roll=%d.%02d Pitch=%d.%02d Yaw=%d.%02d °\r\n",
-           accl_x_int, abs(accl_x_frac), accl_y_int, abs(accl_y_frac), accl_z_int, abs(accl_z_frac),
-           gyro_x_int, abs(gyro_x_frac), gyro_y_int, abs(gyro_y_frac), gyro_z_int, abs(gyro_z_frac),
-           temp_int, abs(temp_frac),
-           roll_int, abs(roll_frac), pitch_int, abs(pitch_frac), yaw_int, abs(yaw_frac));
-}
-
 /* Exported functions ------------------------------------------------------- */
 void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
@@ -124,8 +69,8 @@ void Task_atti_esit(void *argument) {
            1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
   BSP_PWM_Start(BSP_PWM_IMU_HEAT);
   
-  /* 注册 BMI088 设备到 MRobot */
+  /* 注册 IMU 设备到 MRobot（使用通用打印函数） */
-  MRobot_RegisterDevice("bmi088", MROBOT_DEVICE_TYPE_IMU, &imu_display_data, bmi088_print_callback);
+  MRobot_RegisterIMU("bmi088", &imu_device);
   /* USER CODE INIT END */
 
   while (1) {
@@ -176,6 +121,20 @@ void Task_atti_esit(void *argument) {
                       0); // 非阻塞发送底盘IMU数据
     BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
                                                bmi088.temp, 0.0f, 0.0f));
+    /* 直接赋值 AHRS 结构体 - 完美兼容 */
+    imu_device.accl = bmi088.accl;
+    imu_device.gyro = bmi088.gyro;
+    imu_device.euler = eulr_to_send;
+#ifdef USE_QEKF
+    imu_device.quat.q0 = QEKF_INS.q[0];
+    imu_device.quat.q1 = QEKF_INS.q[1];
+    imu_device.quat.q2 = QEKF_INS.q[2];
+    imu_device.quat.q3 = QEKF_INS.q[3];
+#else
+    imu_device.quat = gimbal_ahrs.quat;
+#endif
+    imu_device.temp = bmi088.temp;
+    imu_device.header = bmi088.header;
     osKernelUnlock();
 
     /* USER CODE END */