好的

User/device/mrobot.c

@@ -11,12 +11,28 @@
 #include <task.h>
 #include <cmsis_os2.h>
 
+/* Private constants -------------------------------------------------------- */
+static const char *const CLI_WELCOME_MESSAGE =
+    "\r\n"
+   "  ______         __           _______               __              \r\n"
+   " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |-.-----.-----.\r\n"
+   " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
+   " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
+    " -------------------------------------------------------------------\r\n"
+    " FreeRTOS CLI. Type 'help' to view a list of registered commands.   \r\n"
+    "\r\n";
+
 /* Private variables -------------------------------------------------------- */
 static MRobot_Device_t devices[MROBOT_MAX_DEVICES];
 static uint8_t device_count = 0;
 static char current_path[64] = "/";
 static char output_buffer[MROBOT_MAX_OUTPUT_LEN];
 
+/* 自定义命令存储（最多16个） */
+#define MROBOT_MAX_CUSTOM_COMMANDS 16
+static CLI_Command_Definition_t *custom_commands[MROBOT_MAX_CUSTOM_COMMANDS];
+static uint8_t custom_command_count = 0;
+
 /* UART 相关变量 */
 static uint8_t uart_rx_char;
 static uint8_t cmd_buffer[128];
@@ -295,7 +311,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
         /* 显示所有设备 */
         if (print_count > 1) {
             offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, 
-                             "[第 %u/%u 次]\r\n", current_iteration + 1, print_count);
+                             "[第 %lu/%lu 次]\r\n", (unsigned long)(current_iteration + 1), (unsigned long)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++) {
@@ -317,8 +333,8 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
                 int offset = 0;
                 if (print_count > 1) {
                     offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
-                                     "[第 %u/%u 次] === %s ===\r\n", 
+                                     "[第 %lu/%lu 次] === %s ===\r\n", 
-                                     current_iteration + 1, print_count, devices[i].name);
+                                     (unsigned long)(current_iteration + 1), (unsigned long)print_count, devices[i].name);
                 } else {
                     offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
                                      "=== %s ===\r\n", devices[i].name);
@@ -419,15 +435,24 @@ void MRobot_Init(void) {
     /* 启动 UART 接收 */
     BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
     
+    /* 等待用户按下回车键再显示欢迎消息 */
+    volatile bool enter_pressed = false;
+    while (!enter_pressed) {
+        if (uart_rx_char == '\r' || uart_rx_char == '\n') {
+            enter_pressed = true;
+        }
+        osDelay(10);
+    }
+    
     /* 发送欢迎消息 */
-    const char *welcome = "\r\n\r\n"
-                         "================================\r\n"
-                         "  MRobot CLI v1.0\r\n"
-                         "  输入 'help' 获取帮助\r\n"
-                         "================================\r\n"
-                         "root@mrobot:~$ ";
     tx_complete = false;
-    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), true);
+    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)CLI_WELCOME_MESSAGE, strlen(CLI_WELCOME_MESSAGE), true);
+    while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
+    
+    /* 发送提示符 */
+    const char *prompt = "root@mrobot:~$ ";
+    tx_complete = false;
+    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), true);
     while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
 }
 
@@ -458,6 +483,37 @@ int8_t MRobot_RegisterMotor(const char *name, void *motor) {
     return MRobot_RegisterDevice(name, MROBOT_DEVICE_TYPE_MOTOR, motor, mrobot_print_motor);
 }
 
+int8_t MRobot_RegisterCommand(const char *command, const char *help_text,
+                              MRobot_CommandCallback_t callback, int8_t param_count) {
+    if (custom_command_count >= MROBOT_MAX_CUSTOM_COMMANDS) {
+        return -1;  /* 命令数量已达上限 */
+    }
+    
+    if (command == NULL || help_text == NULL || callback == NULL) {
+        return -1;  /* 参数无效 */
+    }
+    
+    /* 动态分配命令定义结构体 */
+    CLI_Command_Definition_t *cmd_def = (CLI_Command_Definition_t *)pvPortMalloc(sizeof(CLI_Command_Definition_t));
+    if (cmd_def == NULL) {
+        return -1;  /* 内存分配失败 */
+    }
+    
+    /* 强制转换以移除 const 限制（仅用于初始化） */
+    *(const char **)&cmd_def->pcCommand = command;
+    *(const char **)&cmd_def->pcHelpString = help_text;
+    *(pdCOMMAND_LINE_CALLBACK *)&cmd_def->pxCommandInterpreter = (pdCOMMAND_LINE_CALLBACK)callback;
+    cmd_def->cExpectedNumberOfParameters = param_count;
+    
+    /* 注册到 FreeRTOS CLI */
+    FreeRTOS_CLIRegisterCommand(cmd_def);
+    
+    /* 保存指针以便后续可能的清理（虽然一般不需要） */
+    custom_commands[custom_command_count] = cmd_def;
+    custom_command_count++;
+    return 0;
+}
+
 void MRobot_Run(void) {
     /* 动态 htop 模式 */
     if (htop_mode) {

User/device/mrobot.h

@@ -51,6 +51,9 @@ typedef enum {
 /* 设备打印回调函数类型 */
 typedef void (*MRobot_PrintCallback_t)(void *device_data, char *buffer, uint16_t buffer_size);
 
+/* 命令处理回调函数类型（与 pdCOMMAND_LINE_CALLBACK 相同） */
+typedef long (*MRobot_CommandCallback_t)(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+
 /* 注册的设备结构 */
 typedef struct {
   char name[32];
@@ -116,6 +119,17 @@ int8_t MRobot_RegisterIMU(const char *name, void *imu_device);
  */
 int8_t MRobot_RegisterMotor(const char *name, void *motor);
 
+/**
+ * @brief 注册自定义命令到 MRobot CLI
+ * @param command 命令名称（例如 "test"）
+ * @param help_text 帮助文本（例如 "test: 测试命令\r\n"）
+ * @param callback 命令处理回调函数
+ * @param param_count 参数个数（0=无参数，-1=可变参数）
+ * @retval 0 成功, -1 失败
+ */
+int8_t MRobot_RegisterCommand(const char *command, const char *help_text,
+                              MRobot_CommandCallback_t callback, int8_t param_count);
+
 /**
  * @brief MRobot 主循环，在 CLI 任务中调用
  */