修好了

MDK-ARM/CtrBoard-H7_ALL.uvoptx

@@ -153,40 +153,7 @@
           <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
+      <Breakpoint/>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>481</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134292468</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\User\device\mrobot.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\CtrBoard_H7_ALL\../User/device/mrobot.c\481</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>484</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134292488</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\User\device\mrobot.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\CtrBoard_H7_ALL\../User/device/mrobot.c\484</Expression>
-        </Bp>
-      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>

User/device/mrobot.c

@@ -484,9 +484,8 @@ void MRobot_Init(void) {
     /* 创建互斥锁 */
     ctx.mutex = xSemaphoreCreateMutex();
     
-    /* 初始化状态 */
+    /* 初始化状态（保留已注册的设备） */
-    memset(ctx.devices, 0, sizeof(ctx.devices));
+    // 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.device_count = 0;
     ctx.custom_cmd_count = 0;
     ctx.state = MROBOT_STATE_IDLE;
     strcpy(ctx.current_path, "/");

User/task/atti_esit.c

@@ -14,6 +14,7 @@
 #include "component/pid.h"
 #include "device/bmi088.h"
 #include "device/device.h"
+#include "device/mrobot.h"
 #include "module/balance_chassis.h"
 #include "task/user_task.h"
 #include <stdio.h>
@@ -52,6 +53,20 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
 /* Private function --------------------------------------------------------- */
 /* USER PRIVATE CODE BEGIN */
 
+/**
+ * @brief 底盘IMU数据打印回调
+ */
+static int print_chassis_imu(const void *data, char *buf, size_t size) {
+  const Chassis_IMU_t *imu = (const Chassis_IMU_t *)data;
+  return MRobot_Snprintf(buf, size,
+      "  Accel  : X=%.3f Y=%.3f Z=%.3f (m/s²)\r\n"
+      "  Gyro   : X=%.3f Y=%.3f Z=%.3f (rad/s)\r\n"
+      "  Euler  : R=%.2f P=%.2f Y=%.2f (deg)\r\n",
+      imu->accl.x, imu->accl.y, imu->accl.z,
+      imu->gyro.x, imu->gyro.y, imu->gyro.z,
+      imu->euler.rol, imu->euler.pit, imu->euler.yaw);
+}
+
 /* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_atti_esit(void *argument) {
@@ -70,7 +85,7 @@ void Task_atti_esit(void *argument) {
   PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
            1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
   BSP_PWM_Start(BSP_PWM_IMU_HEAT);
-  
+  MRobot_RegisterDevice("chassis_imu", &imu_for_chassis, print_chassis_imu);
   /* USER CODE INIT END */
 
   while (1) {

User/task/ctrl_chassis.c

@@ -9,6 +9,7 @@
 #include "bsp/can.h"
 #include "device/motor_lk.h"
 #include "device/motor_lz.h"
+#include "device/mrobot.h"
 #include "module/config.h"
 #include "module/balance_chassis.h"
 /* USER INCLUDE END */
@@ -34,6 +35,29 @@ Chassis_IMU_t chassis_imu;
 /* Private function --------------------------------------------------------- */
 /* USER PRIVATE CODE BEGIN */
 
+/**
+ * @brief 底盘数据打印回调
+ */
+static int print_chassis(const void *data, char *buf, size_t size) {
+  const Chassis_t *chassis = (const Chassis_t *)data;
+  return MRobot_Snprintf(buf, size,
+      "  Mode    : %d\r\n"
+      "  IMU     : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
+      "  Motors  : J0=%.1f J1=%.1f J2=%.1f J3=%.1f (rpm)\r\n"
+      "  Wheels  : W0=%.1f W1=%.1f (rpm)\r\n"
+      "  Output  : J0=%.1f J1=%.1f J2=%.1f J3=%.1f\r\n"
+      "  VelX    : %.3f m/s\r\n",
+      chassis->mode,
+      chassis->feedback.imu.euler.rol, chassis->feedback.imu.euler.pit, chassis->feedback.imu.euler.yaw,
+      chassis->feedback.joint[0].rotor_speed, chassis->feedback.joint[1].rotor_speed,
+      chassis->feedback.joint[2].rotor_speed, chassis->feedback.joint[3].rotor_speed,
+      chassis->feedback.wheel[0].rotor_speed, chassis->feedback.wheel[1].rotor_speed,
+      chassis->output.joint[0], chassis->output.joint[1],
+      chassis->output.joint[2], chassis->output.joint[3],
+      chassis->chassis_state.velocity_x);
+  return 0;
+}
+
 /* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_chassis(void *argument) {
@@ -49,6 +73,7 @@ void Task_ctrl_chassis(void *argument) {
   /* USER CODE INIT BEGIN */
 
   Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
+  MRobot_RegisterDevice("chassis", &chassis, print_chassis);
 
   /* USER CODE INIT END */
   

User/task/ctrl_gimbal.c

@@ -7,6 +7,7 @@
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "component/ahrs.h"
+#include "device/mrobot.h"
 #include "module/gimbal.h"
 #include "module/config.h"
 #include "bsp/can.h"
@@ -26,6 +27,25 @@ Gimbal_AI_t gimbal_ai;
 /* Private function --------------------------------------------------------- */
 /* USER PRIVATE CODE BEGIN */
 
+/**
+ * @brief 云台数据打印回调
+ */
+static int print_gimbal(const void *data, char *buf, size_t size) {
+  const Gimbal_t *gimbal = (const Gimbal_t *)data;
+  return MRobot_Snprintf(buf, size,
+      "  Mode   : %d\r\n"
+      "  IMU    : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
+      "  GyroX  : %.3f  GyroY : %.3f  GyroZ : %.3f (rad/s)\r\n"
+      "  Motor  : Yaw=%.1f(rpm) Pit=%.1f(rpm)\r\n"
+      "  Output : Yaw=%.1f  Pit=%.1f\r\n",
+      gimbal->mode,
+      gimbal->imu.data.eulr.rol, gimbal->imu.data.eulr.pit, gimbal->imu.data.eulr.yaw,
+      gimbal->imu.data.gyro.x, gimbal->imu.data.gyro.y, gimbal->imu.data.gyro.z,
+      gimbal->feedback.motor.yaw.rotor_speed, gimbal->feedback.motor.pit.rotor_speed,
+      gimbal->out.yaw, gimbal->out.pit);
+  return 0;
+}
+
 /* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_gimbal(void *argument) {
@@ -39,7 +59,9 @@ void Task_ctrl_gimbal(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
+  
   Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_FREQ);
+  MRobot_RegisterDevice("gimbal", &gimbal, print_gimbal);
   /* USER CODE INIT END */
   
   while (1) {

User/task/ctrl_shoot.c

@@ -6,6 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
+#include "device/mrobot.h"
 #include "module/shoot.h"
 #include "module/config.h"
 /* USER INCLUDE END */
@@ -22,6 +23,27 @@ Shoot_CMD_t shoot_cmd;
 /* Private function --------------------------------------------------------- */
 /* USER PRIVATE CODE BEGIN */
 
+/**
+ * @brief 发射模块数据打印回调
+ */
+static int print_shoot(const void *data, char *buf, size_t size) {
+  const Shoot_t *shoot = (const Shoot_t *)data;
+  return MRobot_Snprintf(buf, size,
+      "  State    : %d\r\n"
+      "  Fric0    : %.1f rpm (target: %.1f)\r\n"
+      "  Fric1    : %.1f rpm (target: %.1f)\r\n"
+      "  Fric_Avg : %.1f rpm\r\n"
+      "  Trig     : %.1f rpm (angle: %.2f deg)\r\n"
+      "  Output   : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n",
+      shoot->running_state,
+      shoot->feedback.fric_rpm[0], shoot->target_variable.target_rpm,
+      shoot->feedback.fric_rpm[1], shoot->target_variable.target_rpm,
+      shoot->feedback.fric_avgrpm,
+      shoot->feedback.trig_rpm, shoot->feedback.trig_angle_cicle,
+      shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig);
+  return 0;
+}
+
 /* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_shoot(void *argument) {
@@ -35,7 +57,9 @@ void Task_ctrl_shoot(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
+  
   Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
+  MRobot_RegisterDevice("shoot", &shoot, print_shoot);
 
   /* USER CODE INIT END */
   

User/task/rc.c

@@ -7,6 +7,7 @@
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/dr16.h"
+#include "device/mrobot.h"
 #include "module/shoot.h"
 #include "module/balance_chassis.h"
 #include "module/gimbal.h"
@@ -27,6 +28,29 @@ Gimbal_CMD_t cmd_for_gimbal;
 /* Private function --------------------------------------------------------- */
 /* USER PRIVATE CODE BEGIN */
 
+/**
+ * @brief DR16数据打印回调
+ */
+static int print_dr16(const void *data, char *buf, size_t size) {
+  const DR16_t *dr16 = (const DR16_t *)data;
+  return MRobot_Snprintf(buf, size,
+      "  Status : %s\r\n"
+      "  ChLX   : %.3f  ChLY : %.3f\r\n"
+      "  ChRX   : %.3f  ChRY : %.3f\r\n"
+      "  ChRes  : %.3f\r\n"
+      "  SwL    : %d    SwR  : %d\r\n"
+      "  Mouse  : X=%d Y=%d Z=%d (L:%d R:%d)\r\n"
+      "  Keys   : 0x%04X\r\n",
+      dr16->header.online ? "Online" : "Offline",
+      dr16->data.ch_l_x, dr16->data.ch_l_y,
+      dr16->data.ch_r_x, dr16->data.ch_r_y,
+      dr16->data.ch_res,
+      dr16->data.sw_l, dr16->data.sw_r,
+      dr16->data.mouse.x, dr16->data.mouse.y, dr16->data.mouse.z,
+      dr16->data.mouse.l_click, dr16->data.mouse.r_click,
+      dr16->data.keyboard.value);
+}
+
 /* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_rc(void *argument) {
@@ -41,6 +65,7 @@ void Task_rc(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
   DR16_Init(&dr16);
+  MRobot_RegisterDevice("dr16", &dr16, print_dr16);
   /* USER CODE INIT END */
   
   while (1) {

User/task/user_task.c

@@ -5,7 +5,7 @@ Task_Runtime_t task_runtime;
 const osThreadAttr_t attr_init = {
     .name = "Task_Init",
     .priority = osPriorityRealtime,
-    .stack_size = 256 * 4,
+    .stack_size = 256 * 16,
 };
 
 /* User_task */