求教使用Arduino+scoop库实现多线程的问题 -

#include #include double analog; char buff[10]; unsigned char a, addr; unsigned int delay_time, work_time, cold_time; volatile unsigned char count = 0, temp = 0, start_flag = 0, display_flag = 0, shake_flag = 0, text_flag = 0; volatile unsigned long frq, run_time = 0, time_now = 0, time_old = 0; static unsigned char Frq_buff[7] = {0X6E, 0X30, 0X2E, 0X76, 0X61, 0X6C, 0X3D}; //ASCLL码 n0.val= static unsigned char Analog_buff[7] = {0X78, 0X30, 0X2E, 0X76, 0X61, 0X6C, 0X3D}; //ASCLL码 x0.val= static unsigned char End_buff[3] = {0XFF, 0XFF, 0XFF}; //结束符 /********************************主程序区*****************************************/ void setup() { Serial.begin(9600); Serial.print("setup"); attachInterrupt(1, counter, LOW); //脉冲输入 attachInterrupt(0, Stop, HIGH); //急停 pinMode(4, OUTPUT); //音波测试 pinMode(5, OUTPUT); //电磁阀 pinMode(6, INPUT_PULLUP); //启动 pinMode(7, OUTPUT); //复位 pinMode(13, OUTPUT); //led digitalWrite(13,HIGH); digitalWrite(7,HIGH); Scheduler.startLoop(loop2); Scheduler.startLoop(loop3); Scheduler.startLoop(loop4); Scheduler.startLoop(loop5); Scheduler.start(); Serial.print(2); } void loop() { //yield(); Serial.print(3); Scheduler.delay(1000); } /********************************任务1程序区*****************************************/ // 显示屏数据更新 //defineTaskLoop(Task1) void loop2() { if (display_flag) { Serial.write("task1"); analog = (double)(analogRead(A0) / 1023.00) * 5; //计算模拟量 frq = 2000 / (double)(run_time / 1000.00) * 1000; //频率计算 PrintFrq(); PrintAnalog(); Scheduler.delay(100); //刷新间隔 } } /********************************任务2程序区*****************************************/ //控制程序 //defineTaskLoop(Task2) void loop3() { if (!digitalRead(6)) { Serial.write("task2"); //LEDshake(); digitalWrite(5, HIGH); //开电磁阀 Scheduler.delay(delay_time*10); //延时启动 //sleep(100); digitalWrite(4, HIGH); //开超声 display_flag = 1; //显示更新允许 Scheduler.delay(work_time*10); //焊接延时 //sleep(200); display_flag = 0; //显示更新禁止 digitalWrite(4, LOW); //关超声 Scheduler.delay(cold_time*10); //冷却延时 //sleep(100); if (shake_flag) { for (int i = 10; i > 0; i--) { digitalWrite(5, HIGH); Scheduler.delay(200); //振动 digitalWrite(5, LOW); Scheduler.delay(200); } shake_flag = 0; } else { digitalWrite(5, LOW); //关电磁阀 } start_flag = 0; //清除标志 } } /********************************任务3程序区*****************************************/ //defineTaskLoop(Task3) //通讯 void loop4() { if (Serial.available()) { Serial.write("tesk3"); a = Serial.available(); Serial.readBytes(buff, a); switch (buff[0]) { case 0x66 : text_flag = 1; break; //音波测试 case 0x99 : addr = buff[1]; break; //确定参数序号 case 0xaa : Data_change(); break; //修改参数 case 0xbb : Updata(); break; //参数上传更新 case 0xcc : shake(); break; //振落开关 } } Data_handle(); //数据转化 //Scheduler.delay(100); //通讯数据处理间隔 } /********************************任务4程序区*****************************************/ //defineTaskLoop(Task4) //音波测试 void loop5() { if (text_flag) { Serial.write("task4"); digitalWrite(4, HIGH); //开超声 display_flag = 1; //开频率更新 Scheduler.delay(1000); display_flag = 0; digitalWrite(4, LOW); text_flag = 0; } } /********************************中断程序区*****************************************/ //脉冲定时下降沿 void counter() { count++; //脉冲计数 if (count == 20) //以20Khz为标准0.1S 20*100=2000个脉冲更新一次频率 { temp++; time_now = micros(); //读时间 count = 0; //计数清零 run_time = time_now - time_old; //时间差 time_old = time_now; //时间移位 } } //急停动作上升沿 void Stop() { digitalWrite(4, LOW); //关超声 digitalWrite(5, LOW); //关电磁阀 digitalWrite(7, LOW); //复位 delay(999999); //如果复位失败，则假死机 } /********************************函数程序区*****************************************/ void PrintFrq() { unsigned char data[5]; data[4] = frq % 10 + 0x30; data[3] = frq / 10 % 10 + 0x30; data[2] = frq / 100 % 10 + 0x30; data[1] = frq / 1000 % 10 + 0x30; data[0] = frq / 10000 % 10 + 0x30; Serial.write(Frq_buff, 7); Serial.write(data, 5); Serial.write(End_buff, 3); } void PrintAnalog() { unsigned char data[3]; data[2] = (unsigned int)(analog * 100) % 10 + 0x30; data[1] = (unsigned int)(analog * 100) / 10 % 10 + 0x30; data[0] = (unsigned int)(analog * 100) / 100 % 10 + 0x30; Serial.write(Analog_buff, 7); Serial.write(data, 3); Serial.write(End_buff, 3); } void Data_change() { while (1) { if (a == 6) { EEPROM.write(addr * 10 , buff[1]); //规定延时数据三位HEX 范围 0.00s~9.99s EEPROM.write(addr * 10 + 1, buff[3]); EEPROM.write(addr * 10 + 2, buff[4]); break; } if (a == 5) { EEPROM.write(addr * 10 , buff[1]); EEPROM.write(addr * 10 + 1 , buff[3]); EEPROM.write(addr * 10 + 2 , 0); break; } if (a == 3) { EEPROM.write(addr * 10 , buff[1]); EEPROM.write(addr * 10 + 1, 0); EEPROM.write(addr * 10 + 2, 0); break; } } } void Updata() { int i, j; for (i = 1; i < 4; i++) { Serial.write(Frq_buff, 7); Frq_buff[1] += 1; for (j = 0; j < 3; j++) { Serial.write(EEPROM.read(i * 10 + j)); //数据地址 10 11 12 20 21 22 30 31 32 } Serial.write(0xff); Serial.write(0xff); Serial.write(0xff); } Frq_buff[1] = 0x30; } void Data_handle() //数据处理规定delaytime 10 11 12 worktime 20 21 22 coldtime 30 31 32 { delay_time = (unsigned int)(EEPROM.read(10) - 0x30) * 100 + (unsigned int)(EEPROM.read(11) - 0x30) * 10 + (unsigned int)(EEPROM.read(12) - 0x30); work_time = (unsigned int)(EEPROM.read(20) - 0x30) * 100 + (unsigned int)(EEPROM.read(21) - 0x30) * 10 + (unsigned int)(EEPROM.read(22) - 0x30); cold_time = (unsigned int)(EEPROM.read(30) - 0x30) * 100 + (unsigned int)(EEPROM.read(31) - 0x30) * 10 + (unsigned int)(EEPROM.read(32) - 0x30); } void shake() { if (buff[1] == 0x00) { shake_flag = 1; } else { shake_flag = 0; } } void EEPROMwrite() { EEPROM.write(10,0x32); EEPROM.write(11,0x30); EEPROM.write(12,0x30); EEPROM.write(20,0x34); EEPROM.write(21,0x30); EEPROM.write(22,0x30); EEPROM.write(30,0x32); EEPROM.write(31,0x30); EEPROM.write(32,0x30); }

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