同时使用核心变量和任务变量( ESP32 )

Question

我试图从核心0接收到的i2c设备中读取数据，然后将数据存储到一些全局值中，然后由核心1读取这些值，然后打印出来。问题是，每当核心0试图访问这些变量时，它就会输出“古鲁冥想错误核心0恐慌”(加载禁止)，异常没有得到处理。两个核心之间的通信方式是什么？

TaskHandle_t Task1;
TaskHandle_t Task2;
#include <Adafruit_ADS1X15.h>
Adafruit_ADS1015 ads; 
volatile int16_t adc0, adc1, adc2, adc3;
volatile float volts0, volts1, volts2, volts3;
void setup() {
  Serial.begin(115200); 
  delay(1000);
  Serial.println("Hello!");
  Serial.println("Getting single-ended readings from AIN0..3");
  Serial.println("ADC Range: +/- 6.144V (1 bit = 3mV/ADS1015, 0.1875mV/ADS1115");
  //create a task that will be executed in the Task1code() function, with priority 1 and executed on core 0
  xTaskCreatePinnedToCore(
                    Task1code,   /* Task function. */
                    "Task1",     /* name of task. */
                    10000,       /* Stack size of task */
                    NULL,        /* parameter of the task */
                    1,           /* priority of the task */
                    &Task1,      /* Task handle to keep track of created task */
                    0);          /* pin task to core 0 */                  
  delay(500); 

  //create a task that will be executed in the Task2code() function, with priority 1 and executed on core 1
  xTaskCreatePinnedToCore(
                    Task2code,   /* Task function. */
                    "Task2",     /* name of task. */
                    10000,       /* Stack size of task */
                    NULL,        /* parameter of the task */
                    2,           /* priority of the task */
                    &Task2,      /* Task handle to keep track of created task */
                    1);          /* pin task to core 1 */
    delay(500); 
    if (!ads.begin()) {
    Serial.println("Failed to initialize ADS.");
    while (1);
  }
}

void Task1code( void * pvParameters ){
  for(;;){
  Serial.print("Task1 running on core ");
  Serial.println(xPortGetCoreID());
adc0 = ads.readADC_SingleEnded(0);
  adc1 = ads.readADC_SingleEnded(1);
  adc2 = ads.readADC_SingleEnded(2);
  adc3 = ads.readADC_SingleEnded(3);

  volts0 = ads.computeVolts(adc0);
  volts1 = ads.computeVolts(adc1);
  volts2 = ads.computeVolts(adc2);
  volts3 = ads.computeVolts(adc3);
  delay(100);
  }
}

void Task2code( void * pvParameters ){
  delay(500);
  Serial.print("Task2 running on core ");
  Serial.println(xPortGetCoreID());

  for(;;){}{
    Serial.println("-----------------------------------------------------------");
  Serial.print("AIN0: "); Serial.print(adc0); Serial.print("  "); Serial.print(volts0); Serial.println("V");
  Serial.print("AIN1: "); Serial.print(adc1); Serial.print("  "); Serial.print(volts1); Serial.println("V");
  Serial.print("AIN2: "); Serial.print(adc2); Serial.print("  "); Serial.print(volts2); Serial.println("V");
  Serial.print("AIN3: "); Serial.print(adc3); Serial.print("  "); Serial.print(volts3); Serial.println("V");
  delay(100);
  }
}

void loop() {
  
}

Answer 1

您可以创建一个信号量，并在尝试访问该变量时使用它。如果你已经访问过它，你可以还给它。当您使用信号量时，其他代码块将等待其他代码块返回。您可以配置等待给定信号量的时间。这是一个(链接)解释更多细节。

这里有一个例子：

SemaphoreHandle_t i2cSemaphore;
void createSemaphore(){
    i2cSemaphore = xSemaphoreCreateMutex();
    xSemaphoreGive( ( i2cSemaphore) );
}

// Lock the variable indefinietly. ( wait for it to be accessible )
void lockVariable(){
    xSemaphoreTake(i2cSemaphore, portMAX_DELAY);
}

// give back the semaphore.
void unlockVariable(){
    xSemaphoreGive(i2cSemaphore);
}

TaskHandle_t Task1;
TaskHandle_t Task2;
#include <Adafruit_ADS1X15.h>
Adafruit_ADS1015 ads; 
volatile int16_t adc0, adc1, adc2, adc3;
volatile float volts0, volts1, volts2, volts3;
void setup() {
  Serial.begin(115200); 
  delay(1000);
  Serial.println("Hello!");
  Serial.println("Getting single-ended readings from AIN0..3");
  Serial.println("ADC Range: +/- 6.144V (1 bit = 3mV/ADS1015, 0.1875mV/ADS1115");
  createSemaphore();
  //create a task that will be executed in the Task1code() function, with priority 1 and executed on core 0
  xTaskCreatePinnedToCore(
                    Task1code,   /* Task function. */
                    "Task1",     /* name of task. */
                    10000,       /* Stack size of task */
                    NULL,        /* parameter of the task */
                    1,           /* priority of the task */
                    &Task1,      /* Task handle to keep track of created task */
                    0);          /* pin task to core 0 */                  
  delay(500); 

  //create a task that will be executed in the Task2code() function, with priority 1 and executed on core 1
  xTaskCreatePinnedToCore(
                    Task2code,   /* Task function. */
                    "Task2",     /* name of task. */
                    10000,       /* Stack size of task */
                    NULL,        /* parameter of the task */
                    2,           /* priority of the task */
                    &Task2,      /* Task handle to keep track of created task */
                    1);          /* pin task to core 1 */
    delay(500); 
    if (!ads.begin()) {
    Serial.println("Failed to initialize ADS.");
    while (1);
  }
}

void Task1code( void * pvParameters ){
  for(;;){
  lockVariable();
  Serial.print("Task1 running on core ");
  Serial.println(xPortGetCoreID());
adc0 = ads.readADC_SingleEnded(0);
  adc1 = ads.readADC_SingleEnded(1);
  adc2 = ads.readADC_SingleEnded(2);
  adc3 = ads.readADC_SingleEnded(3);

  volts0 = ads.computeVolts(adc0);
  volts1 = ads.computeVolts(adc1);
  volts2 = ads.computeVolts(adc2);
  volts3 = ads.computeVolts(adc3);
  unlockVariable();
  vTaskDelay(100);
  }
}

void Task2code( void * pvParameters ){
  delay(500);
  Serial.print("Task2 running on core ");
  Serial.println(xPortGetCoreID());

  for(;;){}{
   lockVariable();
    Serial.println("-----------------------------------------------------------");
  Serial.print("AIN0: "); Serial.print(adc0); Serial.print("  "); Serial.print(volts0); Serial.println("V");
  Serial.print("AIN1: "); Serial.print(adc1); Serial.print("  "); Serial.print(volts1); Serial.println("V");
  Serial.print("AIN2: "); Serial.print(adc2); Serial.print("  "); Serial.print(volts2); Serial.println("V");
  Serial.print("AIN3: "); Serial.print(adc3); Serial.print("  "); Serial.print(volts3); Serial.println("V");
  unlockVariable();
  vTaskDelay(100);
  }
}

void loop() {
  
}