有点意思了

CMakeLists.txt

@@ -82,6 +82,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/motor_rm.c
     User/device/vision_bridge.c
     User/device/vofa.c
+    User/device/mrobot.c
 
     # User/module sources
     User/module/balance_chassis.c
@@ -99,6 +100,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/init.c
     User/task/monitor.c
     User/task/rc.c
+    User/task/cli.c
     User/task/user_task.c
     User/task/vofa.c
 )

Core/Inc/FreeRTOSConfig.h

@@ -72,7 +72,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x20000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1

User/component/freertos_cli.h

@@ -28,6 +28,9 @@
 #ifndef COMMAND_INTERPRETER_H
 #define COMMAND_INTERPRETER_H
 
+#include <stddef.h>
+#include "FreeRTOS.h"
+
 /* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */
 #define configCOMMAND_INT_MAX_OUTPUT_SIZE  512
 

User/device/mrobot.c

@@ -0,0 +1,272 @@
+/* Includes ----------------------------------------------------------------- */
+#include "device/mrobot.h"
+#include "component/freertos_cli.h"
+#include "bsp/uart.h"
+#include <string.h>
+#include <stdio.h>
+#include <FreeRTOS.h>
+#include <task.h>
+
+/* 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];
+
+/* Private function prototypes ---------------------------------------------- */
+static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
+
+/* CLI 命令定义 */
+static const CLI_Command_Definition_t cmd_def_help = {
+    "help",
+    "help: 显示所有可用命令\r\n",
+    cmd_help,
+    0
+};
+
+static const CLI_Command_Definition_t cmd_def_htop = {
+    "htop",
+    "htop: 显示 FreeRTOS 任务状态信息\r\n",
+    cmd_htop,
+    0
+};
+
+static const CLI_Command_Definition_t cmd_def_cd = {
+    "cd",
+    "cd <path>: 切换目录\r\n",
+    cmd_cd,
+    1
+};
+
+static const CLI_Command_Definition_t cmd_def_ls = {
+    "ls",
+    "ls: 列出当前目录内容\r\n",
+    cmd_ls,
+    0
+};
+
+static const CLI_Command_Definition_t cmd_def_show = {
+    "show",
+    "show [device]: 显示设备信息\r\n",
+    cmd_show,
+    -1  /* 可变参数 */
+};
+
+static const CLI_Command_Definition_t cmd_def_pwd = {
+    "pwd",
+    "pwd: 显示当前目录\r\n",
+    cmd_pwd,
+    0
+};
+
+/* Private functions -------------------------------------------------------- */
+
+/* help 命令实现 */
+static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
+    (void)pcCommandString;
+    snprintf(pcWriteBuffer, xWriteBufferLen,
+             "MRobot CLI v1.0\r\n"
+             "可用命令:\r\n"
+             "  help  - 显示帮助信息\r\n"
+             "  htop  - 显示任务状态\r\n"
+             "  cd    - 切换目录\r\n"
+             "  ls    - 列出目录内容\r\n"
+             "  pwd   - 显示当前路径\r\n"
+             "  show  - 显示设备信息\r\n"
+             "\r\n");
+    return pdFALSE;
+}
+
+/* htop 命令实现 */
+static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
+    (void)pcCommandString;
+    static char task_buffer[512];
+    
+    vTaskList(task_buffer);
+    snprintf(pcWriteBuffer, xWriteBufferLen,
+             "Task Name\tState\tPri\tStack\tNum\r\n"
+             "-----------------------------------------------\r\n"
+             "%s\r\n", task_buffer);
+    
+    return pdFALSE;
+}
+
+/* pwd 命令实现 */
+static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
+    (void)pcCommandString;
+    snprintf(pcWriteBuffer, xWriteBufferLen, "%s\r\n", current_path);
+    return pdFALSE;
+}
+
+/* cd 命令实现 */
+static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
+    const char *param;
+    BaseType_t param_len;
+    
+    param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
+    
+    if (param != NULL) {
+        char path[64];
+        strncpy(path, param, param_len);
+        path[param_len] = '\0';
+        
+        if (strcmp(path, "/") == 0 || strcmp(path, "..") == 0) {
+            strcpy(current_path, "/");
+        } else if (strcmp(path, "dev") == 0 || strcmp(path, "/dev") == 0) {
+            strcpy(current_path, "/dev");
+        } else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) {
+            strcpy(current_path, "/modules");
+        } else {
+            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 目录不存在\r\n");
+            return pdFALSE;
+        }
+        snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", current_path);
+    } else {
+        snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 缺少路径参数\r\n");
+    }
+    
+    return pdFALSE;
+}
+
+/* ls 命令实现 */
+static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
+    (void)pcCommandString;
+    int offset = 0;
+    
+    if (strcmp(current_path, "/") == 0) {
+        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "dev/\r\nmodules/\r\n");
+    } else if (strcmp(current_path, "/dev") == 0) {
+        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "设备列表:\r\n");
+        for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
+            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
+                             "  %s\r\n", devices[i].name);
+        }
+        if (device_count == 0) {
+            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
+                             "  (无设备)\r\n");
+        }
+    } else if (strcmp(current_path, "/modules") == 0) {
+        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "(模块功能暂未实现)\r\n");
+    }
+    
+    return pdFALSE;
+}
+
+/* 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;
+    
+    param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &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) {
+        /* 显示所有设备 */
+        int offset = snprintf(pcWriteBuffer, xWriteBufferLen, "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);
+            if (devices[i].print_callback != NULL) {
+                devices[i].print_callback(devices[i].data, 
+                                         pcWriteBuffer + offset, 
+                                         xWriteBufferLen - offset);
+                offset = strlen(pcWriteBuffer);
+            }
+        }
+    } 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) {
+                found = true;
+                int 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, 
+                                             xWriteBufferLen - offset);
+                } else {
+                    snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
+                           "无打印函数\r\n");
+                }
+                break;
+            }
+        }
+        
+        if (!found) {
+            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", device_name);
+        }
+    }
+    
+    return pdFALSE;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+void MRobot_Init(void) {
+    /* 初始化设备数组 */
+    memset(devices, 0, sizeof(devices));
+    device_count = 0;
+    
+    /* 注册 CLI 命令 */
+    FreeRTOS_CLIRegisterCommand(&cmd_def_help);
+    FreeRTOS_CLIRegisterCommand(&cmd_def_htop);
+    FreeRTOS_CLIRegisterCommand(&cmd_def_cd);
+    FreeRTOS_CLIRegisterCommand(&cmd_def_ls);
+    FreeRTOS_CLIRegisterCommand(&cmd_def_show);
+    FreeRTOS_CLIRegisterCommand(&cmd_def_pwd);
+}
+
+int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type,
+                             void *data, MRobot_PrintCallback_t print_callback) {
+    if (device_count >= MROBOT_MAX_DEVICES) {
+        return -1;
+    }
+    
+    if (name == NULL || data == NULL) {
+        return -1;
+    }
+    
+    strncpy(devices[device_count].name, name, sizeof(devices[device_count].name) - 1);
+    devices[device_count].type = type;
+    devices[device_count].data = data;
+    devices[device_count].print_callback = print_callback;
+    device_count++;
+    
+    return 0;
+}
+
+int8_t MRobot_ProcessCommand(const char *cmd_string, char *output_buffer, uint16_t buffer_size) {
+    if (cmd_string == NULL || output_buffer == NULL || buffer_size == 0) {
+        return -1;
+    }
+    
+    BaseType_t result;
+    int offset = 0;
+    
+    do {
+        result = FreeRTOS_CLIProcessCommand(cmd_string, 
+                                            output_buffer + offset, 
+                                            buffer_size - offset);
+        offset = strlen(output_buffer);
+    } while (result != pdFALSE && offset < (int)buffer_size);
+    
+    return 0;
+}
+
+const char *MRobot_GetCurrentPath(void) {
+    return current_path;
+}

User/device/mrobot.h

@@ -0,0 +1,95 @@
+/*基于freertos_cli实现的虚拟命令行
+自身作为一个设备存在，通过串口和上位机进行交互，获得类似命令行的体验，
+例如输入help可以获得帮助
+输出htop 可以获得freertos任务状态等信息
+
+通过cd可以切换目录
+目录结构是
+/ (root)
+  |-- /dev
+        |-- bmi088
+        |-- chassis_motor1
+  |-- /modules
+        |-- balance_chassis
+        |-- gimbal
+        |-- shoot
+在dev里可以用show命令查看设备信息
+modules暂无实现
+
+至于dev里的设备有哪些，需要通过一个函数MRobot_RegisterDevices(设备名（字符串），结构体指针)来注册设备，我可以在任何一个任务里调用这个函数。
+然后我在我的一个单独的线程里打印和发送他们。
+例如我在atti_esit任务里注册了bmi088和他的结构体，我在cli线程里需要能够打印bmi088的数据。
+然后我在show的时候就可以看到imu的数据了，
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include <stdbool.h>
+
+/* Exported constants ------------------------------------------------------- */
+#define MROBOT_MAX_DEVICES 32
+#define MROBOT_MAX_CMD_LEN 128
+#define MROBOT_MAX_OUTPUT_LEN 512
+#define MROBOT_RX_BUFFER_SIZE 256
+
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+  MROBOT_DEVICE_TYPE_IMU,
+  MROBOT_DEVICE_TYPE_MOTOR,
+  MROBOT_DEVICE_TYPE_SENSOR,
+  MROBOT_DEVICE_TYPE_CUSTOM,
+} MRobot_DeviceType_t;
+
+/* 设备打印回调函数类型 */
+typedef void (*MRobot_PrintCallback_t)(void *device_data, char *buffer, uint16_t buffer_size);
+
+/* 注册的设备结构 */
+typedef struct {
+  char name[32];
+  MRobot_DeviceType_t type;
+  void *data;  /* 指向实际设备数据的指针 */
+  MRobot_PrintCallback_t print_callback;  /* 打印设备信息的回调函数 */
+} MRobot_Device_t;
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 初始化 MRobot 命令行系统
+ */
+void MRobot_Init(void);
+
+/**
+ * @brief 注册设备到 MRobot 系统
+ * @param name 设备名称
+ * @param type 设备类型
+ * @param data 指向设备数据结构的指针
+ * @param print_callback 打印设备信息的回调函数
+ * @retval 0 成功, -1 失败
+ */
+int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type, 
+                             void *data, MRobot_PrintCallback_t print_callback);
+
+/**
+ * @brief 处理命令字符串
+ * @param cmd_string 命令字符串
+ * @param output_buffer 输出缓冲区
+ * @param buffer_size 缓冲区大小
+ * @retval 0 成功, -1 失败
+ */
+int8_t MRobot_ProcessCommand(const char *cmd_string, char *output_buffer, uint16_t buffer_size);
+
+/**
+ * @brief 获取当前路径
+ * @return 当前路径字符串
+ */
+const char *MRobot_GetCurrentPath(void);
+
+#ifdef __cplusplus
+}
+#endif

User/task/atti_esit.c

@@ -13,15 +13,13 @@
 #include "component/QuaternionEKF.h"
 #include "component/pid.h"
 #include "device/bmi088.h"
+#include "device/mrobot.h"
 #include "module/balance_chassis.h"
 #include "task/user_task.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
-/* 姿态解算算法选择: 定义USE_QEKF使用EKF算法，注释掉则使用AHRS算法 */
-#define USE_QEKF
-
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
@@ -52,6 +50,20 @@ 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) {
+  BMI088_t *imu = (BMI088_t *)device_data;
+  snprintf(buffer, buffer_size,
+           "加速度计: X=%.3f Y=%.3f Z=%.3f m/s²\r\n"
+           "陀螺仪:   X=%.3f Y=%.3f Z=%.3f rad/s\r\n"
+           "温度:     %.2f °C\r\n"
+           "欧拉角:   Roll=%.2f Pitch=%.2f Yaw=%.2f °\r\n",
+           imu->accl.x, imu->accl.y, imu->accl.z,
+           imu->gyro.x, imu->gyro.y, imu->gyro.z,
+           imu->temp,
+           eulr_to_send.rol * 57.2958f, eulr_to_send.pit * 57.2958f, eulr_to_send.yaw * 57.2958f);
+}
+
 /* Exported functions ------------------------------------------------------- */
 void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
@@ -69,6 +81,9 @@ 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);
+  
+  /* 注册 BMI088 设备到 MRobot */
+  MRobot_RegisterDevice("bmi088", MROBOT_DEVICE_TYPE_IMU, &bmi088, bmi088_print_callback);
   /* USER CODE INIT END */
 
   while (1) {

User/task/cli.c

@@ -0,0 +1,111 @@
+/*
+    cli Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/mrobot.h"
+#include "bsp/uart.h"
+#include <string.h>
+#include <stdbool.h>
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+static uint8_t uart_rx_char;
+static uint8_t cmd_buffer[128];
+static volatile uint8_t cmd_index = 0;
+static volatile bool cmd_ready = false;
+static char output_buffer[512];
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* UART 接收中断回调 */
+static void cli_uart_rx_callback(void) {
+  uint8_t ch = uart_rx_char;
+  
+  if (ch == '\r' || ch == '\n') {
+    if (cmd_index > 0) {
+      cmd_buffer[cmd_index] = '\0';
+      cmd_ready = true;
+      /* 发送换行 */
+      BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)"\r\n", 2, false);
+    }
+  } else if (ch == 127 || ch == 8) {  /* 退格键 */
+    if (cmd_index > 0) {
+      cmd_index--;
+      /* 回显退格 */
+      const char *backspace = "\b \b";
+      BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)backspace, 3, false);
+    }
+  } else if (ch >= 32 && ch < 127 && cmd_index < sizeof(cmd_buffer) - 1) {
+    /* 只接受可打印字符 */
+    cmd_buffer[cmd_index++] = ch;
+    /* 回显字符 */
+    BSP_UART_Transmit(BSP_UART_VOFA, &ch, 1, false);
+  }
+  
+  /* 重新启动接收 */
+  BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
+}
+
+/* Exported functions ------------------------------------------------------- */
+void Task_cli(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  osDelay(CLI_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN */
+  /* 初始化 MRobot CLI 系统 */
+  MRobot_Init();
+  
+  /* 注册 UART 接收回调 */
+  BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_RX_CPLT_CB, cli_uart_rx_callback);
+  
+  /* 启动 UART 接收 */
+  BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
+  
+  /* 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:~$ ";
+  BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), false);
+  /* USER CODE INIT END */
+
+  while (1) {
+    /* USER CODE BEGIN */
+    /* 检查是否有命令需要处理 */
+    if (cmd_ready) {
+      /* 处理命令 */
+      if (MRobot_ProcessCommand((char *)cmd_buffer, output_buffer, sizeof(output_buffer)) == 0) {
+        if (strlen(output_buffer) > 0) {
+          BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)output_buffer, strlen(output_buffer), false);
+          osDelay(10); /* 等待发送完成 */
+        }
+      }
+      
+      /* 发送提示符 */
+      char prompt[128];
+      snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", MRobot_GetCurrentPath());
+      BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), false);
+      osDelay(5); /* 等待发送完成 */
+      
+      /* 重置状态 */
+      cmd_index = 0;
+      cmd_ready = false;
+    }
+    
+    osDelay(10);
+    /* USER CODE END */
+  }
+  
+}

User/task/config.yaml

@@ -60,3 +60,9 @@
   function: Task_vofa
   name: vofa
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: false
+  function: Task_cli
+  name: cli
+  stack: 1024

User/task/init.c

@@ -41,6 +41,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
   // task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
+  task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/user_task.c

@@ -54,3 +54,8 @@ const osThreadAttr_t attr_vofa = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
+const osThreadAttr_t attr_cli = {
+    .name = "cli",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 12,
+};

User/task/user_task.h

@@ -33,6 +33,7 @@ extern "C" {
 #define CTRL_SHOOT_INIT_DELAY (0)
 #define AI_INIT_DELAY (0)
 #define VOFA_INIT_DELAY (0)
+#define CLI_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -51,6 +52,7 @@ typedef struct {
         osThreadId_t ctrl_shoot;
         osThreadId_t ai;
         osThreadId_t vofa;
+        osThreadId_t cli;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -106,6 +108,7 @@ typedef struct {
         UBaseType_t ctrl_shoot;
         UBaseType_t ai;
         UBaseType_t vofa;
+        UBaseType_t cli;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -148,6 +151,7 @@ extern const osThreadAttr_t attr_blink;
 extern const osThreadAttr_t attr_ctrl_shoot;
 extern const osThreadAttr_t attr_ai;
 extern const osThreadAttr_t attr_vofa;
+extern const osThreadAttr_t attr_cli;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -160,6 +164,7 @@ void Task_blink(void *argument);
 void Task_ctrl_shoot(void *argument);
 void Task_ai(void *argument);
 void Task_vofa(void *argument);
+void Task_cli(void *argument);
 
 #ifdef __cplusplus
 }