|Hint: Use the tree menu to navigate groups of related pages|
[RTOS Task Notification API]
BaseType_t xTaskNotifyAndQuery( TaskHandle_t xTaskToNotify,
uint32_t *pulPreviousNotifyValue );
[If you are using RTOS task notifications to implement binary or counting semaphore type behaviour then use the simpler xTaskNotifyGive() API function instead of xTaskNotifyAndQuery().]
xTaskNotifyAndQuery() is similar to xTaskNotify(), but contains an additional parameter in which the subject task’s previous notification value is returned.
Each RTOS task has a 32-bit notification value which is initialised to zero when the RTOS task is created. xTaskNotifyAndQuery() is used to send an event directly to and potentially unblock an RTOS task, and optionally update the receiving task’s notification value in one of the following ways:
- Write a 32-bit number to the notification value
- Add one (increment) the notification value
- Set one or more bits in the notification value
- Leave the notification value unchanged
This function must not be called from an interrupt service routine (ISR).
xTaskToNotify The handle of the RTOS task being notified. This is the subject task.
To obtain a task’s handle create the task using xTaskCreate() and make use of the pxCreatedTask parameter, or create the task using xTaskCreateStatic() and store the returned value, or use the task’s name in a call to xTaskGetHandle().
The handle of the currently executing RTOS task is returned by the xTaskGetCurrentTaskHandle() API function.
ulValue Used to update the notification value of the subject task. See the description of the eAction parameter below. eAction An enumerated type that can take one of the values documented in the table below in order to perform the associated action. pulPreviousNotifyValue Can be used to pass out the subject task’s notification value before any bits are modified by the action of xTaskNotifyAndQuery().
pulPreviousNotifyValue is an optional parameter, and can be set to NULL if it is not required. If pulPreviousNotifyValue is not used then consider using xTaskNotify() in place of xTaskNotifyAndQuery().
|eAction Setting||Action Performed|
The subject task receives the event, but its
notification value is not updated.
In this case ulValue is not used.
The notification value of the subject task will
be bitwise ORed with ulValue. For example, if
ulValue is set to 0x01, then bit 0 will get set
within the subject task’s notification value.
Likewise if ulValue is 0x04 then bit 2 will get
set in the subject task’s notification value.
In this way the RTOS task notification mechanism can be used
as a light weight alternative to an
|eIncrement||The notification value of the subject task will be incremented by one, making the call to xTaskNotify() equivalent to a call to xTaskNotifyGive(). In this case ulValue is not used.|
|eSetValueWithOverwrite||The notification value of the subject task is unconditionally set to ulValue. In this way the RTOS task notification mechanism is being used as a light weight alternative to xQueueOverwrite().|
If the subject task does not already have a
notification pending then its notification value
will be set to ulValue.
If the subject task already has a notification pending then its notification value is not updated as to do so would overwrite the previous value before it was used. In this case the call to xTaskNotify() fails and pdFALSE is returned.
In this way the RTOS task notification mechanism is being used as a light weight alternative to xQueueSend() on a queue of length 1.
- pdPASS is returned in all cases other than when eAction is set to eSetValueWithoutOverwrite and the subject task’s notification value cannot be updated because the subject task already had a notification pending.
/* Set bit 8 in the notification value of the task referenced by xTask1Handle.
Store the task's previous notification value (before bit 8 is set) in
xTaskNotifyAndQuery( xTask1Handle, ( 1UL << 8UL ), eSetBits, &ulPreviousValue );
/* Send a notification to the task referenced by xTask2Handle, potentially
removing the task from the Blocked state, but without updating the task's
notification value. Store the tasks notification value in ulPreviousValue. */
xTaskNotifyAndQuery( xTask2Handle, 0, eNoAction, &ulPreviousValue );
/* Set the notification value of the task referenced by xTask3Handle to 0x50,
even if the task had not read its previous notification value. The task's
previous notification value is of no interest so the last parameter is set
to NULL. */
xTaskNotifyAndQuery( xTask3Handle, 0x50, eSetValueWithOverwrite, NULL );
/* Set the notification value of the task referenced by xTask4Handle to 0xfff,
but only if to do so would not overwrite the task's existing notification
value before the task had obtained it (by a call to xTaskNotifyWait()
or ulTaskNotifyTake()). The task's previous notification value is saved
in ulPreviousValue. */
if( xTaskNotifyAndQuery( xTask4Handle,
&ulPreviousValue ) == pdPASS )
/* The task's notification value was updated. */
/* The task's notification value was not updated. */