环形存储区

环形存储区

 

概念：当多个不同线程调用同一接口如串口时，会出现干涉情况。增加环形存储区后，会将不同线程的调用指令放入同一数组中轮询调用同一接口。

 

 

具体内码如下：

 

typedef struct 

{ 

    uint16_t send_cmd[50];          //发送指令

    uint16_t send_para[50];         //发送内容 

    uint8_t send_add_in_number;     //数组递增序列号，递增到50后变为0    

    uint8_t send_sub_out_number;    //数组递减序列号，递增到50后变为0  

    uint8_t send_times;             //表示数组里，待发送的数量  

}modbus_huiling_t;

extern modbus_huiling_t modbus_huiling; 

 

//将调用指令增加到环形数组 

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; 

} 

 

//环形数组递减，串口完成后调用此接口

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);  //增加退出果酱校准模式指令

 

    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);  /增加果酱重量检测指令

            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;

            

            //称重 

            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) 

                { //进入校准模式 

                    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) 

                { //退出校准模式 

                    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); 

    }    

}