semphr. h xSemaphoreTakeRecursive( SemaphoreHandle_t xMutex, TickType_t xBlockTime )
Macro to recursively obtain, or 'take', a mutex type semaphore. The mutex must have previously been created using a call to xSemaphoreCreateRecursiveMutex();
configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this macro to be available.
This macro must not be used on mutexes created using xSemaphoreCreateMutex().
A mutex used recursively can be 'taken' repeatedly by the owner. The mutex doesn't become available again until the owner has called xSemaphoreGiveRecursive() for each successful 'take' request. For example, if a task successfully 'takes' the same mutex 5 times then the mutex will not be available to any other task until it has also 'given' the mutex back exactly five times.
xMutexA handle to the mutex being obtained. This is the handle returned by xSemaphoreCreateRecursiveMutex();
xBlockTimeThe time in ticks to wait for the semaphore to become available. The macro portTICK_PERIOD_MS can be used to convert this to a real time. A block time of zero can be used to poll the semaphore. If the task already owns the semaphore then xSemaphoreTakeRecursive() will return immediately no matter what the value of xBlockTime.
pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime expired without the semaphore becoming available.