環形存儲區

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概念：當多個不同線程調用同一接口如串口時，會出現干涉情況。增加環形存儲區后，會將不同線程的調用指令放入同一數組中輪詢調用同一接口。

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具體內碼如下：

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typedef?struct?

{?

????uint16_t?send_cmd[50];??????????//發送指令

????uint16_t?send_para[50];?????????//發送內容?

????uint8_t?send_add_in_number;?????//數組遞增序列號，遞增到50后變為0????

????uint8_t?send_sub_out_number;????//數組遞減序列號，遞增到50后變為0??

????uint8_t?send_times;?????????????//表示數組里，待發送的數量??

}modbus_huiling_t;

extern?modbus_huiling_t?modbus_huiling;?

?

//將調用指令增加到環形數組?

int?add_modbus_cmd(uint8_t?huiling_cmd,?uint16_t?para_time)?

{

????modbus_huiling.send_times++;?

????modbus_huiling.send_cmd[modbus_huiling.send_add_in_number]?=?huiling_cmd;?

????modbus_huiling.send_para[modbus_huiling.send_add_in_number]?=?para_time;??

?

????log_d("send_times?=?%d?\r\n",?modbus_huiling.send_times);??

????log_d("send_add_in_number?=?%d\r\n",?modbus_huiling.send_add_in_number);?

?

????if(modbus_huiling.send_add_in_number?>=?49)?????

????????modbus_huiling.send_add_in_number?=?0;

????else?

????????modbus_huiling.send_add_in_number++;

????return?0;?

}?

?

//環形數組遞減，串口完成后調用此接口

static?int?sub_modbus_cmd(void)???

{

????modbus_huiling.send_times?--;?

????if(modbus_huiling.send_sub_out_number?>=49)??

????????modbus_huiling.send_sub_out_number?=?0;

????else

????????modbus_huiling.send_sub_out_number?++;?

}

?

static?void?task_weight(void?const?*arg)?

{?

????uint16_t?em_temp?=?0;

????uint8_t?send_out_number?=?0;?

????uint32_t?current_value?=?0;?

?

????memset(&modbus_huiling,?0,?sizeof(modbus_huiling)?);

????ms_master_init();

????need_read_weight?=?1;

?

????current_value?=?STEP_CAL_INIT;

????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????add_modbus_cmd(MODULE_WEIGHT_CAL_JAW_OFF,?0);? //增加退出果醬校準模式指令

?

????get_cur_time(&Last_time);

?

????while?(1)?

????{?

????????//?get_temp_adc_value(&em_temp);??

????????dur_time?=?cal_timeoff_us(&Last_time);?

?

????????if(?(dur_time?>=?1000000)?&&?(need_read_weight?==?1)?)??//1s?

????????{

????????????add_modbus_cmd(MODULE_WEIGHT_READ,?0);??/增加果醬重量檢測指令

????????????get_cur_time(&Last_time);?

????????}

????????

????????if(modbus_huiling.send_times?!=?0)

????????{

????????????log_d("send_times?=?%d?\r\n",?modbus_huiling.send_times);?

????????????log_d("send_sub_out_number?=?%d?\r\n",?modbus_huiling.send_sub_out_number);?

????????????log_d("send_sub_out_cmd?=?%d?\r\n",?modbus_huiling.send_cmd[modbus_huiling.send_sub_out_number]);??

????????????send_out_number?=?modbus_huiling.send_sub_out_number;?

?

????????????switch?(modbus_huiling.send_cmd[send_out_number])?

????????????{

????????????case?MODULE_MOTOR_DIR_WRITE:

????????????{

????????????????motor_dir_write(&mb,?modbus_huiling.send_para[send_out_number]);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_DIR_READ:

????????????{

????????????????motor_dir_read(&mb,?&modbus_huiling.send_para[send_out_number]);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_DATA_READ:

????????????{

????????????????piece_motor_sensor_read(&mb,?&modbus_huiling.send_para[send_out_number]);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_JAW1_WRITE:?

????????????{

????????????????jaw_run_time_write(&mb,?JAW1,?modbus_huiling.send_para[send_out_number]);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_JAW1_READ:

????????????{

????????????????jaw_run_time_read(&mb,?JAW1,?&jaw1_remain_run_time);???

????????????}

????????????????break;

????????????case?MODULE_MOTOR_JAW2_WRITE:

????????????{

????????????????jaw_run_time_write(&mb,?JAW2,?modbus_huiling.send_para[send_out_number]);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_JAW2_READ:

????????????{

????????????????jaw_run_time_read(&mb,?JAW2,?&jaw2_remain_run_time);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_JAW3_WRITE:

????????????{

????????????????jaw_run_time_write(&mb,?JAW3,?modbus_huiling.send_para[send_out_number]);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_JAW3_READ:

????????????{

????????????????jaw_run_time_read(&mb,?JAW3,?&jaw3_remain_run_time);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_PIECE1_WRITE:

????????????{

????????????????fruit_piece_run_time_write(&mb,?FRUIT_PIECE1,?modbus_huiling.send_para[send_out_number]);

????????????}

????????????????break;

????????????case?MODULE_MOTOR_PIECE1_READ:

????????????{

????????????????fruit_piece_run_time_read(&mb,?FRUIT_PIECE1,?&piece1_remain_run_time);???

????????????}

????????????????break;

????????????case?MODULE_MOTOR_PIECE2_WRITE:

????????????{

????????????????fruit_piece_run_time_write(&mb,?FRUIT_PIECE2,?modbus_huiling.send_para[send_out_number]);

????????????}

????????????????break;

????????????case?MODULE_MOTOR_PIECE2_READ:

????????????{

????????????????fruit_piece_run_time_read(&mb,?FRUIT_PIECE2,?&piece2_remain_run_time);?

????????????}

????????????????break;

????????????case?MODULE_MOTOR_PIECE3_WRITE:?

????????????{

????????????????fruit_piece_run_time_write(&mb,?FRUIT_PIECE3,?modbus_huiling.send_para[send_out_number]);

????????????}

????????????????break;

????????????case?MODULE_MOTOR_PIECE3_READ:??

????????????{

????????????????fruit_piece_run_time_read(&mb,?FRUIT_PIECE3,?&piece3_remain_run_time);????

????????????}

????????????????break;

????????????

????????????//稱重?

????????????case?MODULE_WEIGHT_READ:?

????????????{???

????????????????weight_read_weight(&weight1_value,?&weight2_value,?&weight3_value);?

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_ON:?

????????????{

????????????????

????????????????if(weight_enter_cal()?==?0)?

????????????????{?//進入校準模式?

????????????????????need_read_weight?=?0;?

????????????????????current_value?=?STEP_CAL_ENTER;???

????????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????????}

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_OFF:?

????????????{

????????????????if(weight_exit_cal()?==?0)?

????????????????{?//退出校準模式?

????????????????????need_read_weight?=?1;

????????????????????current_value?=?STEP_CAL_EXIT;???

????????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????????}

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_1_0KG:

????????????{

????????????????if(weight_cal_channel(Jaw1,?0)?==?0)?

????????????????{?//

????????????????????current_value?=?STEP_CAL_JAW1_0_success;???

????????????????}

????????????????else

????????????????{

????????????????????current_value?=?STEP_CAL_JAW1_0_fail;???

????????????????}

????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_1_1KG:

????????????{????

????????????????if(weight_cal_channel(Jaw1,?1)?==?0)?

????????????????{?//

????????????????????current_value?=?STEP_CAL_JAW1_1_success;????

????????????????}

????????????????else

????????????????{

????????????????????current_value?=?STEP_CAL_JAW1_1_fail;???

????????????????}?

????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);???

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_2_0KG:

????????????{

????????????????if(weight_cal_channel(Jaw2,?0)?==?0)?

????????????????{?//

????????????????????current_value?=?STEP_CAL_JAW2_0_success;????

????????????????}

????????????????else

????????????????{

????????????????????current_value?=?STEP_CAL_JAW2_0_fail;???

????????????????}

????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_2_1KG:

????????????{

????????????????if(weight_cal_channel(Jaw2,?1)?==?0)?

????????????????{?//

????????????????????current_value?=?STEP_CAL_JAW2_1_success;????

????????????????}

????????????????else

????????????????{

????????????????????current_value?=?STEP_CAL_JAW2_1_fail;???

????????????????}

?

????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_3_0KG:

????????????{

????????????????if(weight_cal_channel(Jaw3,?0)?==?0)?

????????????????{?//

????????????????????current_value?=?STEP_CAL_JAW3_0_success;????

????????????????}

????????????????else

????????????????{

????????????????????current_value?=?STEP_CAL_JAW3_0_fail;???

????????????????}

????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????}

????????????????break;

????????????case?MODULE_WEIGHT_CAL_JAW_3_1KG:

????????????{

????????????????if(weight_cal_channel(Jaw3,?1)?==?0)?

????????????????{?//

????????????????????current_value?=?STEP_CAL_JAW3_1_success;????

????????????????}

????????????????else

????????????????{

????????????????????current_value?=?STEP_CAL_JAW3_1_fail;???

????????????????}

????????????????handle_write_app_register(&current_value,?1,?CMS_JAW_CAL_STEP_STATIC);?

????????????}?

????????????????break;???

?

????????????default:

????????????????break;

????????????}

????????????

????????????sub_modbus_cmd();?

????????}???

????????osDelay(20);?

????}????

}?

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