freertos 任务通知和事件组

任务通知本质是操作在任务控制块中数据。在任务创建阶段，就已经申请好任务通知的数据空间。分为Value，state为一组。例如index 0，Value值和状态。状态有三种。分别为不在等待，在等待，已接收。
该种方法优点非常明显就是，不再使用额外的空间，利用任务控制块指针直接进行写值操作。所以通知必须要给到特定的任务，已对应其指针。对任务的空间具有入侵性。

/* Values that can be assigned to the ucNotifyState member of the TCB. */
#define taskNOT_WAITING_NOTIFICATION              ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
#define taskWAITING_NOTIFICATION                  ( ( uint8_t ) 1 )
#define taskNOTIFICATION_RECEIVED                 ( ( uint8_t ) 2 )

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
                                   UBaseType_t uxIndexToNotify,
                                   uint32_t ulValue,
                                   eNotifyAction eAction,
                                   uint32_t * pulPreviousNotificationValue )
    {
        TCB_t * pxTCB;
        BaseType_t xReturn = pdPASS;
        uint8_t ucOriginalNotifyState;

        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
        configASSERT( xTaskToNotify );
        pxTCB = xTaskToNotify;

        taskENTER_CRITICAL();
        {
            if( pulPreviousNotificationValue != NULL )
            {
                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
            }

            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];

            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

            switch( eAction )
            {
                case eSetBits:
                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                    break;

                case eIncrement:
                    ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                    break;

                case eSetValueWithOverwrite:
                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                    break;

                case eSetValueWithoutOverwrite:

                    if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                    {
                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                    }
                    else
                    {
                        /* The value could not be written to the task. */
                        xReturn = pdFAIL;
                    }

                    break;

                case eNoAction:

                    /* The task is being notified without its notify value being
                     * updated. */
                    break;

                default:

                    /* Should not get here if all enums are handled.
                     * Artificially force an assert by testing a value the
                     * compiler can't assume is const. */
                    configASSERT( xTickCount == ( TickType_t ) 0 );

                    break;
            }

            traceTASK_NOTIFY( uxIndexToNotify );

            /* If the task is in the blocked state specifically to wait for a
             * notification then unblock it now. */
            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
            {
                listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                prvAddTaskToReadyList( pxTCB );

                /* The task should not have been on an event list. */
                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                #if ( configUSE_TICKLESS_IDLE != 0 )
                    {
                        /* If a task is blocked waiting for a notification then
                         * xNextTaskUnblockTime might be set to the blocked task's time
                         * out time.  If the task is unblocked for a reason other than
                         * a timeout xNextTaskUnblockTime is normally left unchanged,
                         * because it will automatically get reset to a new value when
                         * the tick count equals xNextTaskUnblockTime.  However if
                         * tickless idling is used it might be more important to enter
                         * sleep mode at the earliest possible time - so reset
                         * xNextTaskUnblockTime here to ensure it is updated at the
                         * earliest possible time. */
                        prvResetNextTaskUnblockTime();
                    }
                #endif

                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
                {
                    /* The notified task has a priority above the currently
                     * executing task so a yield is required. */
                    taskYIELD_IF_USING_PREEMPTION();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL();

        return xReturn;
    }

#endif /* configUSE_TASK_NOTIFICATIONS */

通知函数
在发送通知前如果需要之前的数据 可以通过 pulPreviousNotificationValue
该表当前index 通知state为taskNOTIFICATION_RECEIVED
所相应的通知Value改写动作
如果先前的状态时等待通知，那么就解除等待通知任务的阻塞状态。
整体的思路非常清洗
写入数据，解除状态

等待通知函数

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
                                       uint32_t ulBitsToClearOnEntry,
                                       uint32_t ulBitsToClearOnExit,
                                       uint32_t * pulNotificationValue,
                                       TickType_t xTicksToWait )
    {
        BaseType_t xReturn;

        configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );

        taskENTER_CRITICAL();
        {
            /* Only block if a notification is not already pending. */
            if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
            {
                /* Clear bits in the task's notification value as bits may get
                 * set  by the notifying task or interrupt.  This can be used to
                 * clear the value to zero. */
                pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;

                /* Mark this task as waiting for a notification. */
                pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;

                if( xTicksToWait > ( TickType_t ) 0 )
                {
                    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                    traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );

                    /* All ports are written to allow a yield in a critical
                     * section (some will yield immediately, others wait until the
                     * critical section exits) - but it is not something that
                     * application code should ever do. */
                    portYIELD_WITHIN_API();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL();

        taskENTER_CRITICAL();
        {
            traceTASK_NOTIFY_WAIT( uxIndexToWait );

            if( pulNotificationValue != NULL )
            {
                /* Output the current notification value, which may or may not
                 * have changed. */
                *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
            }

            /* If ucNotifyValue is set then either the task never entered the
             * blocked state (because a notification was already pending) or the
             * task unblocked because of a notification.  Otherwise the task
             * unblocked because of a timeout. */
            if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
            {
                /* A notification was not received. */
                xReturn = pdFALSE;
            }
            else
            {
                /* A notification was already pending or a notification was
                 * received while the task was waiting. */
                pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
                xReturn = pdTRUE;
            }

            pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
        }
        taskEXIT_CRITICAL();

        return xReturn;
    }

#endif /* configUSE_TASK_NOTIFICATIONS */

如果等待的通知没有到达，那么进行阻塞等待。状态改为等待通知 。
如果调用函数时，通知已经抵达，那么返回TRUE
如果解除阻塞后，通知等待已经失效，修改状态为不等待。

事件组

事件组的本质是按照位排列的flag
用一个变量16 bit or 32bit来表示Flag
同时，高8位用来做控制使用。
优点是可以用多个条件来同步任务，有事件或，事件与。

#if configUSE_16_BIT_TICKS == 1
    
    #define eventCLEAR_EVENTS_ON_EXIT_BIT    0x0100U
    #define eventUNBLOCKED_DUE_TO_BIT_SET    0x0200U
    #define eventWAIT_FOR_ALL_BITS           0x0400U
    #define eventEVENT_BITS_CONTROL_BYTES    0xff00U
#else
    #define eventCLEAR_EVENTS_ON_EXIT_BIT    0x01000000UL
    #define eventUNBLOCKED_DUE_TO_BIT_SET    0x02000000UL
    #define eventWAIT_FOR_ALL_BITS           0x04000000UL
    #define eventEVENT_BITS_CONTROL_BYTES    0xff000000UL
#endif

eventCLEAR_EVENTS_ON_EXIT_BIT
退出后是否对EVENT清除，有点像队列取完一个数值后要删除一样。

eventUNBLOCKED_DUE_TO_BIT_SET
应为事件满足条件而解除阻塞状态

eventWAIT_FOR_ALL_BITS
所设定的所有事件都满足，也就是事件与。默认是事件或一个满足就解除阻塞。

eventEVENT_BITS_CONTROL_BYTES
高8bit用作控制位

其中事件控制块里面存放了一个链表。等待事件的所有任务都会加入到链表中，Value值代表等待的事件位。

写操作
写入的时候，会查找等待列表，解除满足事件条件的任务。
等待事件，事件满足退出阻塞状态。
Freertos的任务同步功能的核心就是调度器的调度列表
delaylist，readylist。其余的部分根据具体的通信同步方法条件来对任务列表进行操作。