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rtos rtos concepts real time operating systems embedded systems dead lock counting semaphore binary semaphore semaphore types semaphores mutual exclusion reentrant function protect shared data context switching task context critical section of code shared resource rtos resource rtos events multitasking function pointers in structure typedef with the function pointer array of pointers to functions pointers to functions c development pointers pointer to function embedded rtos why not rtos why rtos determinism vs responsiveness rtos market mutex cpu starvation race conditions priority inheritance priority inversion resource synchronization