全自动测试治具7寸触摸串口屏+电流读取+电压读取+称重模块

使用：
1，HX711 100克称重模块
2，INA226电流传感器（也可以读取电压）
3，mega2560 模拟口直接读取电压
4，7寸触摸串口屏

本程序使用freerots作为框架取代定时器，与串口屏通讯并在串口屏上操作下发指令。
先放出部分代码和部分触摸屏截屏

/*
  Name:    uno_AD_I2C_UART.ino
  Created: 2020/5/8 12:07:30
  Author:  黄军杰
*/
#include <Arduino_FreeRTOS.h>
#include <INA226.h>
INA226 inaR1;
INA226 inaR2;
INA226 inaR3;
INA226 inaR4;
INA226 inaR5;
INA226 inaR6;
INA226 inaR7;
INA226 inaR8;
INA226 inaR9;
INA226 inaR10;

//马达控制pin
const int motor1 = 2;
const int motor2 = 3;
const int motor3 = 4;
const int motor4 = 5;
const int motor5 = 6;
const int motor6 = 7;
const int motor7 = 8;
const int motor8 = 9;
const int motor9 = 10;
const int motor10 = 11;

//马达状态
bool motor1state = true;
bool motor2state = true;
bool motor3state = true;
bool motor4state = true;
bool motor5state = true;
bool motor6state = true;
bool motor7state = true;
bool motor8state = true;
bool motor9state = true;
bool motor10state = true;

//ina226地址
const int inaAdd1 = 0x40;
const int inaAdd2 = 0x42;
const int inaAdd3 = 0x42;
const int inaAdd4 = 0x42;
const int inaAdd5 = 0x42;
const int inaAdd6 = 0x42;
const int inaAdd7 = 0x42;
const int inaAdd8 = 0x42;
const int inaAdd9 = 0x42;
const int inaAdd10 = 0x42;


char ina_read_Voltage[10] = {
    0 };  //INA226读取电压数据
int ina_read_Current[10] = {
    0 };   //INA226读取电流数据
int ina_read_busVoltage[10] = {
    0 }; //INA226读取bus侧电压数据

//马达计数器
int motor1cont = 0;
int motor2cont = 0;
int motor3cont = 0;
int motor4cont = 0;
int motor5cont = 0;
int motor6cont = 0;
int motor7cont = 0;
int motor8cont = 0;
int motor9cont = 0;
int motor10cont = 0;

double hx_data[10] = {
    0 };
const int adc_pin[10] = {
    A0, A1, A2, A3, A4, A5, A6, A7, A8, A9 };   //马达侧电压探测PIN
float adc_data[10] = {
    0 };  //马达电压储存

//rtos 任务句柄
static TaskHandle_t xHandleTaskmotor1run = NULL;
static TaskHandle_t xHandleTaskmotor2run = NULL;
static TaskHandle_t xHandleTaskmotor3run = NULL;
static TaskHandle_t xHandleTaskmotor4run = NULL;
static TaskHandle_t xHandleTaskmotor5run = NULL;
static TaskHandle_t xHandleTaskmotor6run = NULL;
static TaskHandle_t xHandleTaskmotor7run = NULL;
static TaskHandle_t xHandleTaskmotor8run = NULL;
static TaskHandle_t xHandleTaskmotor9run = NULL;
static TaskHandle_t xHandleTaskmotor10run = NULL;
static  TaskHandle_t xHandleTaskinaread = NULL;
static TaskHandle_t xHandleTaskreadvoltage = NULL;

int endcont = 1000;  //马达运行次数
int motorruntime = 80; //工作制  rtos 15MS一个cycle

void setup() {
   
    Serial.begin(115200);
    Serial1.begin(115200);
    //while (!Serial);
    for (size_t i = 22; i < 41; i = i + 2)
    {
   
        pinMode(i, OUTPUT);
    }
    for (size_t i = 21; i < 43; i = i + 2)
    {
   
        pinMode(i, INPUT);
    }
    for (size_t i = 0; i < 10; i++)
    {
   
        pinMode(adc_pin[i], INPUT);
    }
    for (size_t i = 2; i < 12; i++)
    {
   
        pinMode(i, OUTPUT);
    }

    INA_SETUP();
    tasksetup();
    delay(1000);
    Serial.println("all ready! ");
}
void loop()
{
   
    SERIAL_READ();
}

//显示屏数据结尾3个OXFF
void HMI_OXFF()
{
   
    Serial1.write("0XFF");
    Serial1.write("0XFF");
    Serial1.write("0XFF");
}

void SERIAL_READ()
{
   
    char SerialInData = 'Z';
    if (Serial.available() > 0)
    {
   
        SerialInData = Serial.read();
        delay(2);
        Serial.println(SerialInData);
    }
    switch (SerialInData)
    {
   
    case 'A':
        motor1state = false;
        digitalWrite(motor1, motor1state);
        Serial.println("motor1 off");
        vTaskSuspend(xHandleTaskmotor1run);
        break;
    case 'B':
        motor1state = true;
        digitalWrite(motor1, motor1state);
        Serial.println("motor1 on");
        vTaskResume(xHandleTaskmotor1run);
        break;
    case 'C':
        digitalWrite(motor2, LOW);
        Serial.println("motor2 off");
        vTaskSuspend(xHandleTaskmotor2run);
        break;
    case 'D':
        digitalWrite(motor2, HIGH);
        Serial.println("motor2 on");
        vTask