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tics are well-defined and are enforced if CONFIG_DEBUG_MUTEXES is turned on. Semaphores on the other hand have virtually no debugging code or instrumentation. The mutex subsystem checks and enforces the following rules: * - only one task can hold the mutex at a time * - only the owner can unlock the mutex * - multiple unlocks are not permitted * - recursive locking is not permitted * - a mutex object must be initialized via the API * - a mutex object must not be initialized via memset or copying * - task may not exit with mutex held * - memory areas where held locks reside must not be freed * - held mutexes must not be reinitialized