增加了hardfault调试支持,修复了消息队列在发布者先于订阅者创建话题时野指针的错误

application/robot.c

@@ -3,32 +3,40 @@
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
 #include "chassis.h"
+#include "chassis_cmd.h"
 #endif 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
 #include "gimbal.h"
 #include "shoot.h"
+#include "gimbal_cmd.h"
 #endif 
 
+
 void RobotInit()
 {
-    
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-
+    ChassisInit();
+    ChassisCMDInit();
 #endif 
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
-
+    GimbalCMDInit();
+    GimbalInit();
+    ShootInit();
 #endif 
 }
 
 void RobotTask()
 {
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-
+    ChassisTask();
+    ChassisCMDTask();
 #endif 
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
-
+    GimbalCMDTask();
+    GimbalTask();
+    ShootTask();
 #endif 
 }