diff --git a/User/device/bmi088.h b/User/device/bmi088.h index eb44e0c..c057918 100644 --- a/User/device/bmi088.h +++ b/User/device/bmi088.h @@ -1,5 +1,6 @@ #pragma once +#include #ifdef __cplusplus extern "C" { #endif @@ -30,6 +31,7 @@ typedef struct { } gyro_offset; /* 陀螺仪偏置 */ } BMI088_Cali_t; /* BMI088校准数据 */ + typedef struct { DEVICE_Header_t header; AHRS_Accl_t accl; diff --git a/User/device/device.h b/User/device/device.h index 18ffc73..cb03784 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -1,5 +1,6 @@ #pragma once +#include #ifdef __cplusplus extern "C" { #endif diff --git a/User/device/mrobot.c b/User/device/mrobot.c index 88eea76..9d74bef 100644 --- a/User/device/mrobot.c +++ b/User/device/mrobot.c @@ -13,6 +13,15 @@ static uint8_t device_count = 0; static char current_path[64] = "/"; static char output_buffer[MROBOT_MAX_OUTPUT_LEN]; +/* UART 相关变量 */ +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 volatile bool htop_mode = false; +static volatile bool htop_exit = false; +static volatile bool tx_complete = true; + /* 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); @@ -31,7 +40,7 @@ static const CLI_Command_Definition_t cmd_def_help = { static const CLI_Command_Definition_t cmd_def_htop = { "htop", - "htop: 显示 FreeRTOS 任务状态信息\r\n", + "htop: 动态显示 FreeRTOS 任务状态 (按 'q' 退出)\r\n", cmd_htop, 0 }; @@ -73,7 +82,7 @@ static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const ch "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" + " htop - 动态显示任务状态 (按 'q' 退出)\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" @@ -82,17 +91,12 @@ static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const ch return pdFALSE; } -/* htop 命令实现 */ +/* htop 命令实现 - 由 cli.c 处理动态显示 */ 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); - + (void)pcWriteBuffer; + (void)xWriteBufferLen; + /* htop 命令在 cli.c 中被特殊处理，这里返回空 */ return pdFALSE; } @@ -214,6 +218,50 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch return pdFALSE; } +/* UART 发送完成回调 */ +static void mrobot_uart_tx_callback(void) { + tx_complete = true; +} + +/* UART 接收中断回调 */ +static void mrobot_uart_rx_callback(void) { + uint8_t ch = uart_rx_char; + + /* 如果在 htop 模式，检查退出键 */ + if (htop_mode) { + if (ch == 'q' || ch == 'Q' || ch == 27) { /* q 或 ESC */ + htop_exit = true; + } + /* 重新启动接收 */ + BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false); + return; + } + + if (ch == '\r' || ch == '\n') { + if (cmd_index > 0) { + cmd_buffer[cmd_index] = '\0'; + cmd_ready = true; + /* 换行使用中断方式发送（数据量小） */ + 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（中断方式） */ + 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（中断方式） */ + 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 MRobot_Init(void) { @@ -228,6 +276,24 @@ void MRobot_Init(void) { FreeRTOS_CLIRegisterCommand(&cmd_def_ls); FreeRTOS_CLIRegisterCommand(&cmd_def_show); FreeRTOS_CLIRegisterCommand(&cmd_def_pwd); + + /* 注册 UART 回调 */ + BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_RX_CPLT_CB, mrobot_uart_rx_callback); + BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_TX_CPLT_CB, mrobot_uart_tx_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:~$ "; + tx_complete = false; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), true); + while (!tx_complete) { osDelay(1); } /* 等待发送完成 */ } int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type, @@ -249,24 +315,129 @@ int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type, 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; +void MRobot_Run(void) { + /* 动态 htop 模式 */ + if (htop_mode) { + /* 清屏并重置光标 */ + const char *clear = "\033[2J\033[H"; + tx_complete = false; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)clear, strlen(clear), true); + while (!tx_complete) { osDelay(1); } /* 等待发送完成 */ + + /* 显示 htop 头部 */ + const char *header = + "MRobot Task Monitor (按 'q' 退出)\r\n" + "================================================================================\r\n"; + tx_complete = false; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)header, strlen(header), true); + while (!tx_complete) { osDelay(1); } /* 等待发送完成 */ + + /* 获取任务列表 */ + char task_buffer[1024]; + vTaskList(task_buffer); + + /* 格式化输出 */ + char display_buffer[1536]; + int offset = snprintf(display_buffer, sizeof(display_buffer), + "%-16s %-8s %-4s %-8s %-4s\r\n" + "--------------------------------------------------------------------------------\r\n", + "Task Name", "State", "Prio", "Stack", "Num"); + + /* 解析并美化任务列表 */ + char *line = strtok(task_buffer, "\r\n"); + while (line != NULL && offset < (int)sizeof(display_buffer) - 100) { + char name[17] = {0}; + char state[9] = {0}; + int prio = 0; + int stack = 0; + int num = 0; + + if (sscanf(line, "%16s %c %d %d %d", name, &state[0], &prio, &stack, &num) == 5) { + /* 状态字符转换 */ + const char *state_str = "?"; + switch(state[0]) { + case 'R': state_str = "Running"; break; + case 'B': state_str = "Blocked"; break; + case 'S': state_str = "Suspend"; break; + case 'D': state_str = "Deleted"; break; + default: state_str = "Unknown"; break; + } + + offset += snprintf(display_buffer + offset, sizeof(display_buffer) - offset, + "%-16s %-8s %-4d %-8d %-4d\r\n", + name, state_str, prio, stack, num); + } + line = strtok(NULL, "\r\n"); + } + + /* 添加运行时统计 */ + offset += snprintf(display_buffer + offset, sizeof(display_buffer) - offset, + "--------------------------------------------------------------------------------\r\n" + "System Tick: %lu\r\n", + (unsigned long)xTaskGetTickCount()); + + tx_complete = false; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)display_buffer, strlen(display_buffer), true); + while (!tx_complete) { osDelay(1); } /* 等待发送完成 */ + + /* 检查退出标志 */ + if (htop_exit) { + htop_mode = false; + htop_exit = false; + + /* 清屏 */ + tx_complete = false; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)clear, strlen(clear), true); + while (!tx_complete) { osDelay(1); } /* 等待发送完成 */ + + /* 显示提示符 */ + char prompt[128]; + snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", current_path); + 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 */ + } + + osDelay(200); /* 每 200ms 刷新一次，5fps */ + return; } - BaseType_t result; - int offset = 0; + /* 检查是否有命令需要处理 */ + if (cmd_ready) { + /* 检查是否是 htop 命令 */ + if (strcmp((char *)cmd_buffer, "htop") == 0) { + htop_mode = true; + htop_exit = false; + } else { + /* 处理其他命令 */ + BaseType_t result; + int offset = 0; + + do { + result = FreeRTOS_CLIProcessCommand((char *)cmd_buffer, + output_buffer + offset, + sizeof(output_buffer) - offset); + offset = strlen(output_buffer); + } while (result != pdFALSE && offset < (int)sizeof(output_buffer)); + + 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 */ + } + + /* 发送提示符 */ + char prompt[128]; + snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", current_path); + 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 */ + } + + /* 重置状态 */ + cmd_index = 0; + cmd_ready = false; + } - 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; + osDelay(10); } diff --git a/User/device/mrobot.h b/User/device/mrobot.h index 4d427e9..ba67148 100644 --- a/User/device/mrobot.h +++ b/User/device/mrobot.h @@ -60,7 +60,7 @@ typedef struct { /* Exported functions ------------------------------------------------------- */ /** - * @brief 初始化 MRobot 命令行系统 + * @brief 初始化 MRobot 命令行系统（包含 UART 初始化） */ void MRobot_Init(void); @@ -76,19 +76,9 @@ 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 + * @brief MRobot 主循环，在 CLI 任务中调用 */ -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); +void MRobot_Run(void); #ifdef __cplusplus } diff --git a/User/task/atti_esit.c b/User/task/atti_esit.c index 382193a..a57caf6 100644 --- a/User/task/atti_esit.c +++ b/User/task/atti_esit.c @@ -16,6 +16,7 @@ #include "device/mrobot.h" #include "module/balance_chassis.h" #include "task/user_task.h" +#include /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -33,6 +34,17 @@ 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}, @@ -52,16 +64,46 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = { /* 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; + 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=%.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); + "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 ------------------------------------------------------- */ @@ -83,7 +125,7 @@ void Task_atti_esit(void *argument) { 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); + MRobot_RegisterDevice("bmi088", MROBOT_DEVICE_TYPE_IMU, &imu_display_data, bmi088_print_callback); /* USER CODE INIT END */ while (1) { diff --git a/User/task/cli.c b/User/task/cli.c index 18e56cc..1f417b7 100644 --- a/User/task/cli.c +++ b/User/task/cli.c @@ -7,9 +7,6 @@ #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "device/mrobot.h" -#include "bsp/uart.h" -#include -#include /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -17,43 +14,10 @@ /* 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 */ @@ -64,47 +28,12 @@ void Task_cli(void *argument) { /* 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); + /* 运行 MRobot 主循环 */ + MRobot_Run(); /* USER CODE END */ } diff --git a/User/task/user_task.c b/User/task/user_task.c index cfee731..bacdc33 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -57,5 +57,5 @@ const osThreadAttr_t attr_vofa = { const osThreadAttr_t attr_cli = { .name = "cli", .priority = osPriorityNormal, - .stack_size = 256 * 12, + .stack_size = 256 * 16, }; \ No newline at end of file