任务通知可用来代替信号量、消息队列、事件标志位,而且使用任务通知的形式效率会更高,它不需要像信号量那样创建队列和操作队列,任务通知的存储变量来自任务控制块中,当宏 configUSE_TASK_NOTIFICATIONS 被定义为1时就可以使用任务通知相关的函数了。任务通知的接口函数同样存在发送和接收,发送的接口函数如下:
/* 发送通知,有通知值但不保留接收任务原通知值 */
xTaskNotify( xTaskToNotify, ulValue, eAction )
xTaskNotifyFromISR(xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken)
/* 发送通知(可代替计数型信号量),没有通知值并且不保留接收任务的通知值,会将接收任务的通知值加一 */
xTaskNotifyGive(xTaskToNotify)
vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
/* 发送通知,有通知值并且保留接收任务的原通知值 */
xTaskNotifyAndQuery(xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue)
xTaskNotifyAndQueryFromISR(xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken)
这几个发送通知的接口实际上都是宏,定义如下:
#define xTaskNotify( xTaskToNotify, ulValue, eAction ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL )
#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
#define xTaskNotifyGive( xTaskToNotify ) xTaskGenericNotify( ( xTaskToNotify ), ( 0 ), eIncrement, NULL )
#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
有分任务之间的接口和中断的接口,核心主要就是这两个函数:
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
任务通知的写入方式有以下几种,使用一个枚举来定义:
typedef enum
{
eNoAction = 0, /* 不升级通知值 */
eSetBits, /* 更新指定的bit */
eIncrement, /* 通知值加一 */
eSetValueWithOverwrite, /* 覆写的方式更新通知值 */
eSetValueWithoutOverwrite /* 不覆盖通知值 */
} eNotifyAction;
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