two

power.py

@@ -7,10 +7,12 @@
 import config
 import os
 import subprocess
+import _thread
 from logger_manager import logger_manager
 from maix import time as maix_time
 
 _INA226_PRESENT = None
+_INA226_LOCK = _thread.allocate_lock()
 
 
 def _ina226_ready() -> bool:
@@ -32,7 +34,11 @@ def write_register(reg, value):
     data = [(value >> 8) & 0xFF, value & 0xFF]
     # 某些底层驱动在失败时只打印 “write failed” 并返回 -1，而不是抛异常；
     # 为避免误判“初始化成功”导致后续 readfrom_mem SIGSEGV，这里把失败显式转成异常。
-    ret = hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
+    _INA226_LOCK.acquire()
+    try:
+        ret = hardware_manager.bus.writeto_mem(config.INA226_ADDR, reg, bytes(data))
+    finally:
+        _INA226_LOCK.release()
     if isinstance(ret, int) and ret < 0:
         if logger:
             logger.error(f"[INA226] writeto_mem 失败: addr=0x{config.INA226_ADDR:02X} reg=0x{reg:02X} ret={ret}")
@@ -42,7 +48,11 @@ def write_register(reg, value):
 def read_register(reg):
     """读取INA226寄存器"""
     from hardware import hardware_manager
-    data = hardware_manager.bus.readfrom_mem(config.INA226_ADDR, reg, 2)
+    _INA226_LOCK.acquire()
+    try:
+        data = hardware_manager.bus.readfrom_mem(config.INA226_ADDR, reg, 2)
+    finally:
+        _INA226_LOCK.release()
     return (data[0] << 8) | data[1]