<p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
    </tr>
    <tr valign="top">
      <td width="28%">
\endhtmlonly
wait_for_increment_of()
\htmlonly
      </td>
      <td width="6%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
    </tr>
    <tr valign="top">
      <td width="28%">
\endhtmlonly
yield()
\htmlonly
      </td>
      <td width="6%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
    </tr>
    <tr valign="top">
      <td width="28%">
\endhtmlonly
disable_interrupts()
\htmlonly
      </td>
      <td width="6%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
    </tr>
    <tr valign="top">
      <td width="28%">
\endhtmlonly
restore_interrupts()
\htmlonly
      </td>
      <td width="6%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
    </tr>
    <tr valign="top">
      <td width="28%">
\endhtmlonly
task_switcher_start()
\htmlonly
      </td>
      <td width="6%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">N</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="9%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="8%">
      <p align="center"><font face="Times New Roman, serif">n/a</font></p>
      </td>
      <td width="11%">
      <p align="center"><font face="Times New Roman, serif">Y</font></p>
      </td>
    </tr>
  </tbody>
</table>

<p><br>

</p>


\endhtmlonly

The columns in the above table are

\li \c "ISR" indicates whether the API call can be made from within an ISR
\li \c "Idle task" indicates whether an idle (i.e. zero-priority) task may use the API call
\li \c "Non-idle task" indicates whether a task with non-zero priority may use the call
\li \c "Lower-priority task" - for those calls that take a task argument, indicates whether a task with a lower priority than that of the argument may use the call
\li \c "Before RTOS start" indicates whether the call can be made before task_switcher_start() is called
\li \c "Current task" - for those calls that take a task argument, indicates whether the value of that argument may be \c current_task
\li \c "Idle task" - for those calls that take a task argument, indicates whether the value of that argument may be a zero-priority idle task
\li \c "Could switch tasks" indicates whether a side-effect of making the call could be that the task scheduler runs and switches tasks - see yield(). A side-effect of this is that interrupts could be re-enabled if the task switcher chooses a task that didn't disable them.

In addition, the only time that it is safe to directly set the value of a semaphore (i.e. without using the increment_semaphore_by() API call) is before the RTOS starts.

Finally, when an ISR finishes executing, the task scheduler is called, as the ISR may have changed the list of runnable tasks (e.g. by incrementing the value of a semaphore, or by successfully posting a message to a task).

*/

/**

\page LGPL GNU Lesser General Public License

Version 3, 29 June 2007

Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>

Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.

This version of the GNU Lesser General Public License incorporates the terms and conditions of \ref gpl "version 3 of the GNU General Public License", supplemented by the additional permissions listed below.

\section lgpl0 0. Additional Definitions.

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\section lgpl1 1. Exception to Section 3 of the GNU GPL.

You may convey a covered work under sections 3 and 4 of this License without being bound by section 3 of the GNU GPL.

\section lgpl2 2. Conveying Modified Versions.

If you modify a copy of the Library, and, in your modifications, a facility refers to a function or data to be supplied by an Application that uses the facility (other than as an argument passed when the facility is invoked), then you may convey a copy of the modified version:

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The object code form of an Application may incorporate material from a header file that is part of the Library. You may convey such object code under terms of your choice, provided that, if the incorporated material is not limited to numerical parameters, data structure layouts and accessors, or small macros, inline functions and templates (ten or fewer lines in length), you do both of the following:

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\li 1) Use a suitable shared library mechanism for linking with the Library. A suitable mechanism is one that (a) uses at run time a copy of the Library already present on the user's computer system, and (b) will operate properly with a modified version of the Library that is interface-compatible with the Linked Version. 

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\section lgpl5 5. Combined Libraries.

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b) Give prominent notice with the combined library that part of it is a work based on the Library, and explaining where to find the accompanying uncombined form of the same work. 

\section lgpl6 6. Revised Versions of the GNU Lesser General Public License.

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\page gpl GNU General Public License

Version 3, 29 June 2007

Copyright &copy; 2007 Free Software Foundation, Inc. <http://fsf.org/>

Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.

\section gpl-preamble Preamble

The GNU General Public License is a free, copyleft license for software and other kinds of works.

The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.

When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free sof